vrpn  07.33
Virtual Reality Peripheral Network
vrpn_YEI_3Space Class Referenceabstract

Base class with routines for YEI 3Space units. More...

#include <vrpn_YEI_3Space.h>

Inheritance diagram for vrpn_YEI_3Space:
Collaboration diagram for vrpn_YEI_3Space:

Public Member Functions

 vrpn_YEI_3Space (const char *name, vrpn_Connection *c, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char *reset_commands[]=NULL)
 Constructor. More...
 
virtual ~vrpn_YEI_3Space ()
 Destructor. More...
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates. More...
 
- Public Member Functions inherited from vrpn_Tracker_Server
 vrpn_Tracker_Server (const char *name, vrpn_Connection *c, vrpn_int32 sensors=1)
 
virtual int report_pose (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 These functions should be called to report changes in state, once per sensor. More...
 
virtual int report_pose_velocity (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 
virtual int report_pose_acceleration (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 
- Public Member Functions inherited from vrpn_Tracker
 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)
 
- Public Member Functions inherited from vrpn_BaseClass
 vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL)
 Names the device and assigns or opens connection, calls registration methods. More...
 
virtual ~vrpn_BaseClass ()
 
- Public Member Functions inherited from vrpn_BaseClassUnique
 vrpn_BaseClassUnique ()
 
virtual ~vrpn_BaseClassUnique ()
 Unregister all of the message handlers that were to be autodeleted. More...
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using. More...
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 
- Public Member Functions inherited from vrpn_Button_Filter
virtual void set_momentary (vrpn_int32 which_button)
 
virtual void set_toggle (vrpn_int32 which_button, vrpn_int32 current_state)
 
virtual void set_all_momentary (void)
 
virtual void set_all_toggle (vrpn_int32 default_state)
 
void set_alerts (vrpn_int32)
 
- Public Member Functions inherited from vrpn_Button
 vrpn_Button (const char *name, vrpn_Connection *c=NULL)
 
virtual ~vrpn_Button (void)
 
void print (void)
 

Protected Member Functions

void init (bool calibrate_gyros_on_setup, bool tare_on_setup, double frames_per_second, double red_LED_color, double green_LED_color, double blue_LED_color, int LED_mode)
 Initialization that would normally happen in the constructor, but we need to wait for the derived classes to open a communications port before we can do this. Derived classes should call this at the end of their constructors. More...
 
virtual void flush_input (void)=0
 Flush any incoming characters in the communications channel. More...
 
virtual int reset (void)
 
virtual bool get_report (void)=0
 
virtual void handle_report (unsigned char *report)
 
virtual bool send_binary_command (const unsigned char *cmd, int len)=0
 Compute the CRC for the message, append it, and send message. Returns true on success, false on failure. More...
 
virtual bool send_ascii_command (const char *cmd)=0
 Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure. More...
 
virtual bool receive_LED_mode_response (struct timeval *timeout=NULL)=0
 Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. More...
 
virtual bool receive_LED_values_response (struct timeval *timeout=NULL)=0
 Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. More...
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report iff changed More...
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report whether or not changed More...
 
- Protected Member Functions inherited from vrpn_Tracker
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. More...
 
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. More...
 
virtual int encode_unit2sensor_to (char *buf)
 Encodes the "Unit to Sensor" transformation into the buffer specified. More...
 
virtual int encode_workspace_to (char *buf)
 
- Protected Member Functions inherited from vrpn_BaseClass
virtual int init (void)
 Initialize things that the constructor can't. Returns 0 on success, -1 on failure. More...
 
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. More...
 
- Protected Member Functions inherited from vrpn_BaseClassUnique
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. More...
 
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. More...
 
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. More...
 
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() More...
 
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() More...
 
- Protected Member Functions inherited from vrpn_Analog
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More...
 
virtual vrpn_int32 encode_to (char *buf)
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report only if something has changed (for servers) Optionally, tell what time to stamp the value with. More...
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report whether something has changed or not (for servers) Optionally, tell what time to stamp the value with. More...
 
- Protected Member Functions inherited from vrpn_Button_Filter
 vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL)
 
virtual vrpn_int32 encode_states_to (char *buf)
 Encode a message describing the state of all buttons. More...
 
virtual void report_changes (void)
 
- Protected Member Functions inherited from vrpn_Button
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More...
 
virtual void report_states (void)
 
virtual vrpn_int32 encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)
 Encode a message describing the new state of a button. More...
 

Protected Attributes

char ** d_reset_commands
 
int d_reset_command_count
 
int d_status
 
double d_frames_per_second
 
int d_LED_mode
 
vrpn_float32 d_LED_color [3]
 
unsigned char d_buffer [128]
 
unsigned d_expected_characters
 
unsigned d_characters_read
 
struct timeval timestamp
 
- Protected Attributes inherited from vrpn_Tracker
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_Posunit2sensor
 
vrpn_Tracker_Quatunit2sensor_quat
 
unsigned num_unit2sensors
 
vrpn_float64 workspace_min [3]
 
vrpn_float64 workspace_max [3]
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_connection
 Connection that this object talks to. More...
 
char * d_servicename
 Name of this device, not including the connection part. More...
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection. More...
 
vrpn_int32 d_text_message_id
 ID for text messages. More...
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there. More...
 
vrpn_int32 d_pong_message_id
 Server telling that it is there. More...
 
- Protected Attributes inherited from vrpn_Analog
vrpn_float64 channel [vrpn_CHANNEL_MAX]
 
vrpn_float64 last [vrpn_CHANNEL_MAX]
 
vrpn_int32 num_channel
 
struct timeval timestamp
 
vrpn_int32 channel_m_id
 
int status
 
- Protected Attributes inherited from vrpn_Button_Filter
int send_alerts
 
vrpn_int32 alert_message_id
 
- Protected Attributes inherited from vrpn_Button
unsigned char buttons [vrpn_BUTTON_MAX_BUTTONS]
 
unsigned char lastbuttons [vrpn_BUTTON_MAX_BUTTONS]
 
vrpn_int32 minrate [vrpn_BUTTON_MAX_BUTTONS]
 
vrpn_int32 num_buttons
 
struct timeval timestamp
 
vrpn_int32 change_message_id
 
vrpn_int32 states_message_id
 
vrpn_int32 admin_message_id
 

Additional Inherited Members

- Static Public Member Functions inherited from vrpn_Tracker
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)
 
- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- Public Attributes inherited from vrpn_Button_Filter
vrpn_int32 buttonstate [vrpn_BUTTON_MAX_BUTTONS]
 
- Static Protected Member Functions inherited from vrpn_BaseClassUnique
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. More...
 
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. More...
 
- Static Protected Member Functions inherited from vrpn_Button_Filter
static int VRPN_CALLBACK handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)
 

Detailed Description

Base class with routines for YEI 3Space units.

Definition at line 11 of file vrpn_YEI_3Space.h.

Constructor & Destructor Documentation

◆ vrpn_YEI_3Space()

vrpn_YEI_3Space::vrpn_YEI_3Space ( const char *  name,
vrpn_Connection c,
bool  calibrate_gyros_on_setup = false,
bool  tare_on_setup = false,
double  frames_per_second = 50,
double  red_LED_color = 0,
double  green_LED_color = 0,
double  blue_LED_color = 0,
int  LED_mode = 1,
const char *  reset_commands[] = NULL 
)

Constructor.

Parameters
nameName for the device
cConnection to use.
calibrate_gyros_on_setup- true to cause this to happen
tare_on_setup- true to cause this to happen (usually manufacturing-time operation!)
frames_per_second- How many frames/second to read
red_LED_color- brightness of LED (0-1)
green_LED_color- brightness of LED (0-1)
blue_LED_color- brightness of LED (0-1)
LED_state- 0 = standard, 1 = static
reset_commands- Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor.

Definition at line 28 of file vrpn_YEI_3Space.C.

References vrpn_Button::buttons, d_reset_command_count, d_reset_commands, d_status, vrpn_Button::lastbuttons, vrpn_Button::num_buttons, vrpn_Analog::num_channel, and STATUS_NOT_INITIALIZED.

◆ ~vrpn_YEI_3Space()

vrpn_YEI_3Space::~vrpn_YEI_3Space ( )
virtual

Destructor.

Definition at line 88 of file vrpn_YEI_3Space.C.

References d_reset_command_count, and d_reset_commands.

Member Function Documentation

◆ flush_input()

virtual void vrpn_YEI_3Space::flush_input ( void  )
protectedpure virtual

Flush any incoming characters in the communications channel.

Implemented in vrpn_YEI_3Space_Sensor_Wireless, and vrpn_YEI_3Space_Sensor.

Referenced by reset().

◆ get_report()

virtual bool vrpn_YEI_3Space::get_report ( void  )
protectedpure virtual

◆ handle_report()

◆ init()

void vrpn_YEI_3Space::init ( bool  calibrate_gyros_on_setup,
bool  tare_on_setup,
double  frames_per_second,
double  red_LED_color,
double  green_LED_color,
double  blue_LED_color,
int  LED_mode 
)
protected

Initialization that would normally happen in the constructor, but we need to wait for the derived classes to open a communications port before we can do this. Derived classes should call this at the end of their constructors.

Definition at line 107 of file vrpn_YEI_3Space.C.

References d_status, send_binary_command(), STATUS_RESETTING, timestamp, vrpn_buffer(), vrpn_gettimeofday, and VRPN_MSG_ERROR.

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◆ mainloop()

void vrpn_YEI_3Space::mainloop ( void  )
virtual

Called once through each main loop iteration to handle updates.

Reimplemented from vrpn_Tracker_Server.

Definition at line 407 of file vrpn_YEI_3Space.C.

References d_status, get_report(), MAX_TIME_INTERVAL, reset(), vrpn_BaseClassUnique::server_mainloop(), STATUS_NOT_INITIALIZED, STATUS_READING, STATUS_RESETTING, timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().

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◆ receive_LED_mode_response()

virtual bool vrpn_YEI_3Space::receive_LED_mode_response ( struct timeval *  timeout = NULL)
protectedpure virtual

Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

Implemented in vrpn_YEI_3Space_Sensor_Wireless, and vrpn_YEI_3Space_Sensor.

Referenced by reset().

◆ receive_LED_values_response()

virtual bool vrpn_YEI_3Space::receive_LED_values_response ( struct timeval *  timeout = NULL)
protectedpure virtual

Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

Implemented in vrpn_YEI_3Space_Sensor_Wireless, and vrpn_YEI_3Space_Sensor.

Referenced by reset().

◆ report()

void vrpn_YEI_3Space::report ( vrpn_uint32  class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

send report whether or not changed

Definition at line 391 of file vrpn_YEI_3Space.C.

References vrpn_Analog::report(), vrpn_Analog::timestamp, and timestamp.

Referenced by handle_report().

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◆ report_changes()

void vrpn_YEI_3Space::report_changes ( vrpn_uint32  class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

send report iff changed

Definition at line 376 of file vrpn_YEI_3Space.C.

References vrpn_Analog::report_changes(), vrpn_Button::report_changes(), vrpn_Analog::timestamp, vrpn_Button::timestamp, and timestamp.

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◆ reset()

int vrpn_YEI_3Space::reset ( void  )
protectedvirtual

◆ send_ascii_command()

virtual bool vrpn_YEI_3Space::send_ascii_command ( const char *  cmd)
protectedpure virtual

Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.

Implemented in vrpn_YEI_3Space_Sensor_Wireless, and vrpn_YEI_3Space_Sensor.

Referenced by reset().

◆ send_binary_command()

virtual bool vrpn_YEI_3Space::send_binary_command ( const unsigned char *  cmd,
int  len 
)
protectedpure virtual

Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.

Implemented in vrpn_YEI_3Space_Sensor_Wireless, and vrpn_YEI_3Space_Sensor.

Referenced by init(), and reset().

Member Data Documentation

◆ d_buffer

unsigned char vrpn_YEI_3Space::d_buffer[128]
protected

◆ d_characters_read

unsigned vrpn_YEI_3Space::d_characters_read
protected

Definition at line 102 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report().

◆ d_expected_characters

unsigned vrpn_YEI_3Space::d_expected_characters
protected

Definition at line 101 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), and reset().

◆ d_frames_per_second

double vrpn_YEI_3Space::d_frames_per_second
protected

Definition at line 77 of file vrpn_YEI_3Space.h.

Referenced by reset().

◆ d_LED_color

vrpn_float32 vrpn_YEI_3Space::d_LED_color[3]
protected

◆ d_LED_mode

int vrpn_YEI_3Space::d_LED_mode
protected

◆ d_reset_command_count

int vrpn_YEI_3Space::d_reset_command_count
protected

Definition at line 69 of file vrpn_YEI_3Space.h.

Referenced by reset(), vrpn_YEI_3Space(), and ~vrpn_YEI_3Space().

◆ d_reset_commands

char** vrpn_YEI_3Space::d_reset_commands
protected

Definition at line 68 of file vrpn_YEI_3Space.h.

Referenced by reset(), vrpn_YEI_3Space(), and ~vrpn_YEI_3Space().

◆ d_status

int vrpn_YEI_3Space::d_status
protected

◆ timestamp

struct timeval vrpn_YEI_3Space::timestamp
protected

The documentation for this class was generated from the following files: