vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Tracker_LibertyHS.h>
Public Member Functions | |
vrpn_Tracker_LibertyHS (const char *name, vrpn_Connection *c, long baud=115200, int enable_filtering=1, int numstations=vrpn_LIBERTYHS_MAX_STATIONS, int receptoridx=1, const char *additional_reset_commands=NULL, int whoamilen=288) | |
The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the baud rate at which it is to communicate (default 115200), whether filtering is enabled (default yes), the number of stations that are possible on this LibertyHS (default 8) and the receptor used to launch the stations (default 1). The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Liberty Latus manual for a list of these. There can be multiple lines of them but putting <CR> into the string. | |
~vrpn_Tracker_LibertyHS () | |
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vrpn_Tracker_USB (const char *name, vrpn_Connection *c, vrpn_uint16 vendor, vrpn_uint16 product, long baud=115200) | |
virtual | ~vrpn_Tracker_USB () |
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 reports if some are available, returns 0 if not, 1 if complete report(s). | |
virtual void | reset () |
Reset the tracker. | |
int | set_sensor_output_format (int sensor=-1) |
Augments the basic LibertyHS format. | |
int | report_length (int sensor) |
Augments the basic LibertyHS report length. | |
int | write_usb_data (void *data, int len) |
Writes len bytes from data buffer to USB device. | |
int | read_usb_data (void *data, int maxlen, unsigned int timeout=50) |
Reads at most maxlen bytes from USB device and copy them into data buffer. Returns the number of read bytes. The maximum period in milliseconds to wait for reading USB data is defined by parameter timeout. | |
void | flush_usb_data () |
Empties the USB read buffer. | |
int | test_markers () |
Launches num_stations markers using receptor receptor_index to detect them. | |
int | launch_markers () |
Returns the number of detected and lauched trackers. | |
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virtual int | get_report (void)=0 |
Gets reports if some are available, returns 0 if not, 1 if complete report(s). | |
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 | do_filter |
int | num_stations |
int | receptor_index |
int | num_resets |
char | add_reset_cmd [2048] |
int | whoami_len |
int | read_len |
int | sync_index |
struct timeval | liberty_zerotime |
struct timeval | liberty_timestamp |
vrpn_uint32 | REPORT_LEN |
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struct libusb_device_handle * | _device_handle |
struct libusb_context * | _context |
vrpn_uint16 | _vendor |
vrpn_uint16 | _product |
long | _baudrate |
vrpn_uint8 | buffer [VRPN_TRACKER_USB_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 34 of file vrpn_Tracker_LibertyHS.h.
vrpn_Tracker_LibertyHS::vrpn_Tracker_LibertyHS | ( | const char * | name, |
vrpn_Connection * | c, | ||
long | baud = 115200 , |
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int | enable_filtering = 1 , |
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int | numstations = vrpn_LIBERTYHS_MAX_STATIONS , |
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int | receptoridx = 1 , |
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const char * | additional_reset_commands = NULL , |
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int | whoamilen = 288 |
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The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the baud rate at which it is to communicate (default 115200), whether filtering is enabled (default yes), the number of stations that are possible on this LibertyHS (default 8) and the receptor used to launch the stations (default 1). The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Liberty Latus manual for a list of these. There can be multiple lines of them but putting <CR> into the string.
Definition at line 30 of file vrpn_Tracker_LibertyHS.C.
References add_reset_cmd, and vrpn_strcpy().
vrpn_Tracker_LibertyHS::~vrpn_Tracker_LibertyHS | ( | ) |
Definition at line 50 of file vrpn_Tracker_LibertyHS.C.
References flush_usb_data(), vrpn_SleepMsecs(), and write_usb_data().
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Empties the USB read buffer.
Definition at line 161 of file vrpn_Tracker_LibertyHS.C.
References read_usb_data(), and VRPN_TRACKER_USB_BUF_SIZE.
Referenced by launch_markers(), reset(), test_markers(), and ~vrpn_Tracker_LibertyHS().
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protectedvirtual |
Gets reports if some are available, returns 0 if not, 1 if complete report(s).
Implements vrpn_Tracker_USB.
Definition at line 484 of file vrpn_Tracker_LibertyHS.C.
References vrpn_Tracker_USB::bufcount, vrpn_Tracker_USB::buffer, vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, vrpn_Tracker::frame_count, liberty_zerotime, num_stations, vrpn_Tracker::pos, vrpn_Tracker::print_latest_report(), read_len, read_usb_data(), REPORT_LEN, report_length(), vrpn_Tracker_USB::send_report(), vrpn_Tracker::status, sync_index, vrpn_Tracker::timestamp, vrpn_gettimeofday, VRPN_INCHES_TO_METERS, vrpn_LIBERTYHS_MAX_STATIONS, VRPN_MSG_INFO, vrpn_TimevalSum(), vrpn_TRACKER_PARTIAL, vrpn_TRACKER_SYNCING, VRPN_TRACKER_USB_BUF_SIZE, and vrpn_Tracker::watchdog_timestamp.
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Returns the number of detected and lauched trackers.
Definition at line 741 of file vrpn_Tracker_LibertyHS.C.
References flush_usb_data(), num_stations, receptor_index, test_markers(), vrpn_SleepMsecs(), and write_usb_data().
Referenced by reset().
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Reads at most maxlen bytes from USB device and copy them into data buffer. Returns the number of read bytes. The maximum period in milliseconds to wait for reading USB data is defined by parameter timeout.
Definition at line 137 of file vrpn_Tracker_LibertyHS.C.
References vrpn_Tracker_USB::_device_handle, and read_len.
Referenced by flush_usb_data(), get_report(), reset(), and test_markers().
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Augments the basic LibertyHS report length.
This routine augments the standard LibertyHS report (3 initial characters + 3*4 for position + 4*4 for quaternions) to include the timestamp for the given sensor.
It returns the number of characters total to expect for a report for the given sensor.
Definition at line 110 of file vrpn_Tracker_LibertyHS.C.
Referenced by get_report().
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Reset the tracker.
Implements vrpn_Tracker_USB.
Definition at line 178 of file vrpn_Tracker_LibertyHS.C.
References add_reset_cmd, do_filter, flush_usb_data(), launch_markers(), liberty_zerotime, num_resets, num_stations, read_usb_data(), reset(), set_sensor_output_format(), vrpn_Tracker::status, vrpn_gettimeofday, vrpn_LIBERTYHS_MAX_WHOAMI_LEN, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_SleepMsecs(), vrpn_strcpy(), vrpn_TRACKER_FAIL, vrpn_TRACKER_SYNCING, vrpn_Tracker::watchdog_timestamp, whoami_len, and write_usb_data().
Referenced by reset().
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Augments the basic LibertyHS format.
This routine augments the basic sensor-output setting function of the LibertyHS It sets the device for position + quaternion + any of the extended fields. It puts a space at the end so that we can check to make sure we have complete good records for each report.
Returns 0 on success and -1 on failure.
Definition at line 69 of file vrpn_Tracker_LibertyHS.C.
References vrpn_Tracker::status, vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and write_usb_data().
Referenced by reset().
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Launches num_stations markers using receptor receptor_index to detect them.
Definition at line 699 of file vrpn_Tracker_LibertyHS.C.
References flush_usb_data(), read_usb_data(), vrpn_LIBERTYHS_MAX_MARKERMAP_LEN, vrpn_LIBERTYHS_MAX_STATIONS, vrpn_SleepMsecs(), and write_usb_data().
Referenced by launch_markers().
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Writes len bytes from data buffer to USB device.
Definition at line 124 of file vrpn_Tracker_LibertyHS.C.
References vrpn_Tracker_USB::_device_handle.
Referenced by launch_markers(), reset(), set_sensor_output_format(), test_markers(), and ~vrpn_Tracker_LibertyHS().
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Definition at line 68 of file vrpn_Tracker_LibertyHS.h.
Referenced by reset(), and vrpn_Tracker_LibertyHS().
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Definition at line 64 of file vrpn_Tracker_LibertyHS.h.
Referenced by reset().
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Definition at line 74 of file vrpn_Tracker_LibertyHS.h.
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Definition at line 73 of file vrpn_Tracker_LibertyHS.h.
Referenced by get_report(), and reset().
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Definition at line 67 of file vrpn_Tracker_LibertyHS.h.
Referenced by reset().
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Definition at line 65 of file vrpn_Tracker_LibertyHS.h.
Referenced by get_report(), launch_markers(), and reset().
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Definition at line 70 of file vrpn_Tracker_LibertyHS.h.
Referenced by get_report(), and read_usb_data().
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Definition at line 66 of file vrpn_Tracker_LibertyHS.h.
Referenced by launch_markers().
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Definition at line 75 of file vrpn_Tracker_LibertyHS.h.
Referenced by get_report().
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Definition at line 71 of file vrpn_Tracker_LibertyHS.h.
Referenced by get_report().
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Definition at line 69 of file vrpn_Tracker_LibertyHS.h.
Referenced by reset().