vrpn 07.35
Virtual Reality Peripheral Network
Loading...
Searching...
No Matches
vrpn_Tracker_OSVRHackerDevKit Class Reference

OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again...) is “OSVR Hacker Dev Kit. More...

#include <vrpn_Tracker_OSVRHackerDevKit.h>

Inheritance diagram for vrpn_Tracker_OSVRHackerDevKit:
Collaboration diagram for vrpn_Tracker_OSVRHackerDevKit:

Public Types

enum  Status { STATUS_UNKNOWN = 0 , STATUS_NO_VIDEO_INPUT = 1 , STATUS_PORTRAIT_VIDEO_INPUT = 2 , STATUS_LANDSCAPE_VIDEO_INPUT = 3 }
 

Public Member Functions

 vrpn_Tracker_OSVRHackerDevKit (const char *name, hid_device *dev=NULL, vrpn_Connection *c=NULL)
 Constructor.
 
 vrpn_Tracker_OSVRHackerDevKit (const char *name, vrpn_Connection *c)
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
 
virtual ~vrpn_Tracker_OSVRHackerDevKit ()
 Destructor.
 
virtual void mainloop ()
 Standard VRPN mainloop method.
 
- 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.
 
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.
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using.
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 

Protected Member Functions

void on_data_received (std::size_t bytes, vrpn_uint8 *buffer)
 Extracts the sensor values from each report.
 
void shared_init ()
 
- 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.
 
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)
 
- 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.
 
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.
 
- 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.
 
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 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.
 
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.
 
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.
 
- Protected Member Functions inherited from vrpn_HidInterface
virtual void on_data_received (size_t bytes, vrpn_uint8 *buffer)=0
 Derived class reimplements this callback.
 
void send_data (size_t bytes, const vrpn_uint8 *buffer)
 Call this to send data to the device.
 
void send_feature_report (size_t bytes, const vrpn_uint8 *buffer)
 Call this to send a feature report to the device - first byte must be Report ID (or 0x0 for devices without numbered reports)
 
int get_feature_report (size_t bytes, vrpn_uint8 *buffer)
 Call this to get a feature report from the device - first byte must be Report ID (or 0x0 for devices without numbered reports)
 
 vrpn_HidInterface (vrpn_HidAcceptor *acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0, hid_device *device=NULL)
 Constructor If we already have a HID device from some other source, it can be passed and we'll take ownership: still need the acceptor for reconnect, we just won't do it right away.
 
 vrpn_HidInterface (vrpn_HidAcceptor *acceptor, hid_device *device)
 Simplified constructor that just takes an acceptor and an underlying HID device (both non-optional).
 
 vrpn_HidInterface (const char *device_path, vrpn_HidAcceptor *acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0)
 Constructor If we already know the path to the device we want, we can pass it in and open it directly: still need the acceptor for reconnect enumeration, we just won't do it right away.
 
virtual ~vrpn_HidInterface ()
 
virtual bool connected () const
 Returns true iff the last device I/O succeeded.
 
virtual void update ()
 Polls the device buffers and causes on_data_received callbacks if appropriate You NEED to call this frequently to ensure the OS doesn't drop data.
 
virtual bool reconnect ()
 Tries to reconnect to an acceptable device. Call this if you suspect a hotplug event has occurred.
 
vrpn_uint16 vendor () const
 Returns USB vendor ID of connected device May not contain valid if an already-open device was provided to the constructor.
 
vrpn_uint16 product () const
 Returns USB product ID of connected device May not contain valid if an already-open device was provided to the constructor.
 
int interface_number () const
 Returns the USB interface number of connected device May not contain valid information on all platforms or if an already-open device was provided to the constructor.
 

Protected Attributes

struct timeval _timestamp
 Timestamp updated during mainloop()
 
bool _wasConnected
 Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device and to handle re-connecting after a USB disconnect.
 
vrpn_uint16 _messageCount
 Used to forcibly send the analog update every so often.
 
vrpn_uint8 _reportVersion
 
bool _knownVersion
 
- 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.
 
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.
 
- 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_HidInterface
vrpn_HidAcceptorm_acceptor
 This is the HidAcceptor we use when reconnecting.
 
bool m_working
 
vrpn_uint16 m_vendor
 
vrpn_uint16 m_product
 
int m_interface
 
vrpn_uint16 m_vendor_sought
 What vendor we want.
 
vrpn_uint16 m_product_sought
 What product we want.
 

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
 
- 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.
 
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.
 

Detailed Description

OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again...) is “OSVR Hacker Dev Kit.

The devkit will have a built-in head tracker.

VID 0x1532 PID 0x0B00

The head tracker shows as a generic HID device

Protocol for it is as follows (in byte offsets):

0: Bits 0-3: Version number, currently 1, 2, or 3 Upper nibble holds additional data for v3+: Bit 4: 1 if video detected, 0 if not. Bit 5: 1 if portrait, 0 if landscape

1: message sequence number (8 bit)

2: Unit quaternion i component LSB 3: Unit quaternion i component MSB

4: Unit quaternion j component LSB 5: Unit quaternion j component MSB

6: Unit quaternion k component LSB 7: Unit quaternion k component MSB

8: Unit quaternion real component LSB 9: Unit quaternion real component MSB

10: Instantaneous angular velocity about X LSB 11: Instantaneous angular velocity about X MSB

12: Instantaneous angular velocity about Y LSB 13: Instantaneous angular velocity about Y MSB

14: Instantaneous angular velocity about Z LSB 15: Instantaneous angular velocity about Z MSB

Each quaternion is presented as signed, 16-bit fixed point, 2’s complement number with a Q point of 14. The components of angular velocity are signed, 16-bit fixed point, 2's complement with Q of 9. Reports are either 32 (in old firmware, early v1 reports) or 16 bytes (most firmware, both v1 and v2) long, and only v2+ reports contain angular velocity data.

v3+ reports also contain additional data in the upper nibble of the version number.

Report version number is exposed as Analog channel 0. Analog channel 1 should be interpreted as follows: 0: Status unknown - reports are < v3 or no connection. 1: No video input. 2: Portrait video input detected. 3: Landscape video input detected.

Definition at line 85 of file vrpn_Tracker_OSVRHackerDevKit.h.

Member Enumeration Documentation

◆ Status

Enumerator
STATUS_UNKNOWN 
STATUS_NO_VIDEO_INPUT 
STATUS_PORTRAIT_VIDEO_INPUT 
STATUS_LANDSCAPE_VIDEO_INPUT 

Definition at line 114 of file vrpn_Tracker_OSVRHackerDevKit.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_OSVRHackerDevKit() [1/2]

vrpn_Tracker_OSVRHackerDevKit::vrpn_Tracker_OSVRHackerDevKit ( const char *  name,
hid_device dev = NULL,
vrpn_Connection c = NULL 
)

Constructor.

Parameters
nameName of tracker.
devOptional Already-opened HIDAPI device for the tracker.
cOptional vrpn_Connection.

Definition at line 58 of file vrpn_Tracker_OSVRHackerDevKit.C.

References shared_init().

Here is the call graph for this function:

◆ vrpn_Tracker_OSVRHackerDevKit() [2/2]

vrpn_Tracker_OSVRHackerDevKit::vrpn_Tracker_OSVRHackerDevKit ( const char *  name,
vrpn_Connection c 
)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 72 of file vrpn_Tracker_OSVRHackerDevKit.C.

References shared_init().

Here is the call graph for this function:

◆ ~vrpn_Tracker_OSVRHackerDevKit()

vrpn_Tracker_OSVRHackerDevKit::~vrpn_Tracker_OSVRHackerDevKit ( )
virtual

Destructor.

Definition at line 102 of file vrpn_Tracker_OSVRHackerDevKit.C.

References vrpn_HidInterface::m_acceptor.

Member Function Documentation

◆ mainloop()

◆ on_data_received()

◆ shared_init()

void vrpn_Tracker_OSVRHackerDevKit::shared_init ( )
protected

Member Data Documentation

◆ _knownVersion

bool vrpn_Tracker_OSVRHackerDevKit::_knownVersion
protected

Definition at line 139 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by mainloop(), and on_data_received().

◆ _messageCount

vrpn_uint16 vrpn_Tracker_OSVRHackerDevKit::_messageCount
protected

Used to forcibly send the analog update every so often.

Definition at line 136 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by on_data_received().

◆ _reportVersion

vrpn_uint8 vrpn_Tracker_OSVRHackerDevKit::_reportVersion
protected

Definition at line 138 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by mainloop(), and on_data_received().

◆ _timestamp

struct timeval vrpn_Tracker_OSVRHackerDevKit::_timestamp
protected

Timestamp updated during mainloop()

Definition at line 127 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by mainloop(), on_data_received(), and shared_init().

◆ _wasConnected

bool vrpn_Tracker_OSVRHackerDevKit::_wasConnected
protected

Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device and to handle re-connecting after a USB disconnect.

Definition at line 133 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by mainloop().


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