vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Flock.h>
Public Types | |
enum | { HEMI_PLUSX , HEMI_MINUSX , HEMI_PLUSY , HEMI_MINUSY , HEMI_PLUSZ , HEMI_MINUSZ } |
Public Member Functions | |
vrpn_Tracker_Flock (char *name, vrpn_Connection *c, int cSensors=1, const char *port="/dev/ttyd3", long baud=38400, int fStreamMode=1, int useERT=1, bool invertQuaternion=false, int active_hemisphere=HEMI_PLUSZ) | |
virtual | ~vrpn_Tracker_Flock () |
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vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400) | |
virtual | ~vrpn_Tracker_Serial () |
virtual void | mainloop () |
Uses the get_report, send_report, and reset routines to implement a server. | |
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vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL) | |
virtual | ~vrpn_Tracker (void) |
int | read_config_file (FILE *config_file, const char *tracker_name) |
void | print_latest_report (void) |
int | register_server_handlers (void) |
void | get_local_t2r (vrpn_float64 *vec, vrpn_float64 *quat) |
void | get_local_u2s (vrpn_int32 sensor, vrpn_float64 *vec, vrpn_float64 *quat) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
virtual void | mainloop ()=0 |
Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop(). | |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. | |
Protected Member Functions | |
virtual int | get_report (void) |
Gets a report if one is available, returns 0 if not, 1 if complete report. | |
virtual void | send_report (void) |
virtual void | reset () |
Reset the tracker. | |
void | printError (unsigned char uchErrCode, unsigned char uchExpandedErrCode) |
int | checkError () |
double | getMeasurementRate () |
virtual int | get_report (void)=0 |
Gets a report if one is available, returns 0 if not, 1 if complete report. | |
virtual void | send_report (void) |
virtual void | reset (void)=0 |
Reset the tracker. | |
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bool | ensure_enough_unit2sensors (unsigned num) |
virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. | |
virtual int | encode_to (char *buf) |
virtual int | encode_vel_to (char *buf) |
virtual int | encode_acc_to (char *buf) |
virtual int | encode_tracker2room_to (char *buf) |
Encodes the "Tracker to Room" transformation into the buffer specified. | |
virtual int | encode_unit2sensor_to (char *buf) |
Encodes the "Unit to Sensor" transformation into the buffer specified. | |
virtual int | encode_workspace_to (char *buf) |
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virtual int | init (void) |
Initialize things that the constructor can't. Returns 0 on success, -1 on failure. | |
virtual int | register_senders (void) |
Register the sender for this device (by default, the name of the device). Return 0 on success, -1 on fail. | |
virtual int | register_types (void)=0 |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. | |
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int | register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER) |
Registers a handler with the connection, and remembers to delete at destruction. | |
int | send_text_message (const char *msg, struct timeval timestamp, vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL, vrpn_uint32 level=0) |
Sends a NULL-terminated text message from the device d_sender_id. | |
SendTextMessageBoundCall | send_text_message (vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL) |
Returns an object you can stream into to send a text message from the device like send_text_message(vrpn_TEXT_WARNING) << "Value of i is: " << i; This use requires including vrpn_SendTextMessageStreamProxy.h. | |
void | server_mainloop (void) |
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should be called by all servers in their mainloop() | |
void | client_mainloop (void) |
Handles functions that all clients should provide in their mainloop() (warning of no server, for example) Should be called by all clients in their mainloop() | |
Protected Attributes | |
int | activeHemisphere |
int | cSensors |
int | fStream |
int | fGroupMode |
int | d_useERT |
bool | d_invertQuaternion |
unsigned | cResets |
unsigned | cSyncs |
int | fFirstStatusReport |
struct timeval | tvLastStatusReport |
int | cReports |
int | cStatusInterval |
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char | portname [VRPN_TRACKER_BUF_SIZE] |
long | baudrate |
int | serial_fd |
unsigned char | buffer [VRPN_TRACKER_BUF_SIZE] |
vrpn_uint32 | bufcount |
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vrpn_int32 | position_m_id |
vrpn_int32 | velocity_m_id |
vrpn_int32 | accel_m_id |
vrpn_int32 | tracker2room_m_id |
vrpn_int32 | unit2sensor_m_id |
vrpn_int32 | request_t2r_m_id |
vrpn_int32 | request_u2s_m_id |
vrpn_int32 | request_workspace_m_id |
vrpn_int32 | workspace_m_id |
vrpn_int32 | update_rate_id |
vrpn_int32 | connection_dropped_m_id |
vrpn_int32 | reset_origin_m_id |
vrpn_int32 | d_sensor |
vrpn_float64 | pos [3] |
vrpn_float64 | d_quat [4] |
vrpn_float64 | vel [3] |
vrpn_float64 | vel_quat [4] |
vrpn_float64 | vel_quat_dt |
vrpn_float64 | acc [3] |
vrpn_float64 | acc_quat [4] |
vrpn_float64 | acc_quat_dt |
struct timeval | timestamp |
vrpn_int32 | frame_count |
struct timeval | watchdog_timestamp |
vrpn_float64 | tracker2room [3] |
vrpn_float64 | tracker2room_quat [4] |
vrpn_int32 | num_sensors |
vrpn_Tracker_Pos * | unit2sensor |
vrpn_Tracker_Quat * | unit2sensor_quat |
unsigned | num_unit2sensors |
vrpn_float64 | workspace_min [3] |
vrpn_float64 | workspace_max [3] |
int | status |
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vrpn_Connection * | d_connection |
Connection that this object talks to. | |
char * | d_servicename |
Name of this device, not including the connection part. | |
vrpn_int32 | d_sender_id |
Sender ID registered with the connection. | |
vrpn_int32 | d_text_message_id |
ID for text messages. | |
vrpn_int32 | d_ping_message_id |
Ask the server if they are there. | |
vrpn_int32 | d_pong_message_id |
Server telling that it is there. | |
Additional Inherited Members | |
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static int VRPN_CALLBACK | handle_t2r_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_u2s_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_workspace_request (void *userdata, vrpn_HANDLERPARAM p) |
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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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static int | encode_text_message_to_buffer (char *buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char *msg) |
Encodes the body of the text message into a buffer, preparing for sending. | |
static int | decode_text_message_from_buffer (char *msg, vrpn_TEXT_SEVERITY *severity, vrpn_uint32 *level, const char *buf) |
Decodes the body of the text message from a buffer from the connection. | |
Definition at line 38 of file vrpn_Flock.h.
anonymous enum |
Enumerator | |
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HEMI_PLUSX | |
HEMI_MINUSX | |
HEMI_PLUSY | |
HEMI_MINUSY | |
HEMI_PLUSZ | |
HEMI_MINUSZ |
Definition at line 46 of file vrpn_Flock.h.
vrpn_Tracker_Flock::vrpn_Tracker_Flock | ( | char * | name, |
vrpn_Connection * | c, | ||
int | cSensors = 1 , |
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const char * | port = "/dev/ttyd3" , |
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long | baud = 38400 , |
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int | fStreamMode = 1 , |
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int | useERT = 1 , |
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bool | invertQuaternion = false , |
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int | active_hemisphere = HEMI_PLUSZ |
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Definition at line 216 of file vrpn_Flock.C.
References cSensors, and VRPN_FLOCK_MAX_SENSORS.
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Definition at line 277 of file vrpn_Flock.C.
References vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, vrpn_drain_output_buffer(), vrpn_flush_output_buffer(), vrpn_TRACKER_FAIL, and vrpn_write_characters().
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Definition at line 156 of file vrpn_Flock.C.
References printError(), vrpn_Tracker_Serial::serial_fd, vrpn_drain_output_buffer(), vrpn_flush_input_buffer(), vrpn_read_available_characters(), vrpn_SleepMsecs(), and vrpn_write_characters().
Referenced by vrpn_Tracker_Flock_Parallel::mainloop().
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Gets a report if one is available, returns 0 if not, 1 if complete report.
Implements vrpn_Tracker_Serial.
Reimplemented in vrpn_Tracker_Flock_Parallel.
Definition at line 532 of file vrpn_Flock.C.
References vrpn_Tracker_Serial::bufcount, vrpn_Tracker_Serial::buffer, cSyncs, d_invertQuaternion, vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, d_useERT, fGroupMode, vrpn_Tracker::pos, vrpn_Tracker::print_latest_report(), vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, vrpn_read_available_characters(), vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, vrpn_TRACKER_RESETTING, vrpn_TRACKER_SYNCING, and WTF.
Referenced by vrpn_Tracker_Flock_Parallel_Slave::mainloop().
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Definition at line 238 of file vrpn_Flock.C.
References reset(), vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, vrpn_drain_output_buffer(), vrpn_read_available_characters(), vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and vrpn_write_characters().
Referenced by reset().
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Definition at line 30 of file vrpn_Flock.C.
Referenced by checkError().
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Reset the tracker.
Implements vrpn_Tracker_Serial.
Reimplemented in vrpn_Tracker_Flock_Parallel, and vrpn_Tracker_Flock_Parallel_Slave.
Definition at line 303 of file vrpn_Flock.C.
References activeHemisphere, cResets, cSensors, cSyncs, d_useERT, fFirstStatusReport, fStream, getMeasurementRate(), HEMI_MINUSX, HEMI_MINUSY, HEMI_MINUSZ, HEMI_PLUSX, HEMI_PLUSY, HEMI_PLUSZ, reset(), vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_clear_rts(), vrpn_drain_output_buffer(), VRPN_FLOCK_MAX_SENSORS, vrpn_flush_input_buffer(), vrpn_gettimeofday, vrpn_read_available_characters(), vrpn_set_rts(), vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, vrpn_TRACKER_SYNCING, and vrpn_write_characters().
Referenced by getMeasurementRate(), reset(), and vrpn_Tracker_Flock_Parallel::reset().
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protectedvirtual |
Reimplemented from vrpn_Tracker_Serial.
Definition at line 711 of file vrpn_Flock.C.
References cReports, cResets, cSensors, cStatusInterval, vrpn_Tracker::d_sensor, fFirstStatusReport, fStream, poll, vrpn_Tracker_Serial::send_report(), STATUS_MSG_SECS, tvLastStatusReport, vrpn_gettimeofday, vrpn_TimevalDiff(), and vrpn_TimevalMsecs().
Referenced by vrpn_Tracker_Flock_Parallel_Slave::mainloop().
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Definition at line 50 of file vrpn_Flock.h.
Referenced by reset().
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Definition at line 71 of file vrpn_Flock.h.
Referenced by send_report().
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Definition at line 65 of file vrpn_Flock.h.
Referenced by vrpn_Tracker_Flock_Parallel::mainloop(), reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), and send_report().
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Definition at line 57 of file vrpn_Flock.h.
Referenced by vrpn_Tracker_Flock_Parallel::mainloop(), reset(), vrpn_Tracker_Flock_Parallel::reset(), send_report(), vrpn_Tracker_Flock(), vrpn_Tracker_Flock_Parallel::vrpn_Tracker_Flock_Parallel(), and vrpn_Tracker_Flock_Parallel::~vrpn_Tracker_Flock_Parallel().
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Definition at line 72 of file vrpn_Flock.h.
Referenced by send_report().
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Definition at line 66 of file vrpn_Flock.h.
Referenced by get_report(), reset(), and vrpn_Tracker_Flock_Parallel_Slave::reset().
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Definition at line 62 of file vrpn_Flock.h.
Referenced by get_report().
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Definition at line 61 of file vrpn_Flock.h.
Referenced by get_report(), and reset().
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Definition at line 69 of file vrpn_Flock.h.
Referenced by reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), and send_report().
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Definition at line 59 of file vrpn_Flock.h.
Referenced by get_report(), and vrpn_Tracker_Flock_Parallel_Slave::vrpn_Tracker_Flock_Parallel_Slave().
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Definition at line 58 of file vrpn_Flock.h.
Referenced by reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), and send_report().
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Definition at line 70 of file vrpn_Flock.h.
Referenced by send_report().