vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_IDEA Class Reference

#include <vrpn_IDEA.h>

Inheritance diagram for vrpn_IDEA:
Collaboration diagram for vrpn_IDEA:

Public Member Functions

 vrpn_IDEA (const char *name, vrpn_Connection *c, const char *port, int run_speed_tics_sec=3200, int start_speed_tics_sec=1200, int end_speed_tics_sec=2000, int accel_rate_tics_sec_sec=40000, int decel_rate_tics_sec_sec=100000, int run_current=290, int hold_current=0, int accel_current=290, int decel_current=290, int delay=50, int step=8, int high_limit_index=-1, int low_limit_index=-1, int output_1_setting=-1, int output_2_setting=-1, int output_3_setting=-1, int output_4_setting=-1, double initial_move=0, double fractional_c_a=1.0, double reset_location=0.0)
 
 ~vrpn_IDEA ()
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates.
 
- Public Member Functions inherited from vrpn_Serial_Analog
 vrpn_Serial_Analog (const char *name, vrpn_Connection *connection, const char *port, int baud=9600, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE, bool rts_flow=false)
 
 ~vrpn_Serial_Analog ()
 
- 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_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_Output
 vrpn_Analog_Output (const char *name, vrpn_Connection *c=NULL)
 
void o_print (void)
 
vrpn_int32 getNumChannels () 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

virtual int reset (void)
 
virtual int get_report (void)
 
bool send_command (const char *cmd)
 Appends carriage-return and then sends the command.
 
bool send_move_request (vrpn_float64 location_in_steps, double scale=1.0)
 Request a move from the motor to the specified location.
 
bool move_until_done_or_error (vrpn_float64 location_in_steps, double scale=1.0)
 Send a move request and then wait for the move to complete. Repeat.
 
int convert_report_to_position (unsigned char *buf)
 Parses a position report. Returns -1 on failure, 0 on no value.
 
int convert_report_to_buttons (unsigned char *buf)
 Parses an input/output report. Returns -1 on failure, 0 on no value.
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
 send report iff changed
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
 send report whether or not changed
 
- Protected Member Functions inherited from vrpn_Serial_Analog
int read_available_characters (char *buffer, int bytes)
 
- 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_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_Output
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
- 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.
 
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.
 
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.
 

Static Protected Member Functions

static int VRPN_CALLBACK handle_request_message (void *userdata, vrpn_HANDLERPARAM p)
 Responds to a request to change one of the values by setting the channel to that value.
 
static int VRPN_CALLBACK handle_request_channels_message (void *userdata, vrpn_HANDLERPARAM p)
 Responds to a request to change multiple channels at once.
 
static int VRPN_CALLBACK handle_connect_message (void *userdata, vrpn_HANDLERPARAM p)
 Responds to a connection request with a report of the values.
 
- 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.
 
- Static Protected Member Functions inherited from vrpn_Button_Filter
static int VRPN_CALLBACK handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)
 

Protected Attributes

unsigned char d_buffer [512]
 
unsigned d_bufcount
 
struct timeval d_timestamp
 
int d_run_speed_tics_sec
 
int d_start_speed_tics_sec
 
int d_end_speed_tics_sec
 
int d_accel_rate_tics_sec_sec
 
int d_decel_rate_tics_sec_sec
 
int d_run_current
 
int d_hold_current
 
int d_accel_current
 
int d_decel_current
 
int d_delay
 
int d_step
 
int d_high_limit_index
 
int d_low_limit_index
 
int d_output_1_setting
 
int d_output_2_setting
 
int d_output_3_setting
 
int d_output_4_setting
 
double d_initial_move
 
double d_fractional_c_a
 
double d_reset_location
 
struct timeval d_last_poll
 
- Protected Attributes inherited from vrpn_Serial_Analog
int serial_fd
 
char portname [1024]
 
int baudrate
 
unsigned char buffer [1024]
 
int bufcounter
 
- 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_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_Output
vrpn_float64 o_channel [vrpn_CHANNEL_MAX]
 
vrpn_int32 o_num_channel
 
struct timeval o_timestamp
 
vrpn_int32 request_m_id
 
vrpn_int32 request_channels_m_id
 
vrpn_int32 report_num_channels_m_id
 
vrpn_int32 got_connection_m_id
 
int o_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

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
- Public Attributes inherited from vrpn_Button_Filter
vrpn_int32 buttonstate [vrpn_BUTTON_MAX_BUTTONS]
 

Detailed Description

Definition at line 27 of file vrpn_IDEA.h.

Constructor & Destructor Documentation

◆ vrpn_IDEA()

vrpn_IDEA::vrpn_IDEA ( const char *  name,
vrpn_Connection c,
const char *  port,
int  run_speed_tics_sec = 3200,
int  start_speed_tics_sec = 1200,
int  end_speed_tics_sec = 2000,
int  accel_rate_tics_sec_sec = 40000,
int  decel_rate_tics_sec_sec = 100000,
int  run_current = 290,
int  hold_current = 0,
int  accel_current = 290,
int  decel_current = 290,
int  delay = 50,
int  step = 8,
int  high_limit_index = -1,
int  low_limit_index = -1,
int  output_1_setting = -1,
int  output_2_setting = -1,
int  output_3_setting = -1,
int  output_4_setting = -1,
double  initial_move = 0,
double  fractional_c_a = 1.0,
double  reset_location = 0.0 
)

◆ ~vrpn_IDEA()

vrpn_IDEA::~vrpn_IDEA ( )
inline

Definition at line 53 of file vrpn_IDEA.h.

Member Function Documentation

◆ convert_report_to_buttons()

int vrpn_IDEA::convert_report_to_buttons ( unsigned char *  buf)
protected

Parses an input/output report. Returns -1 on failure, 0 on no value.

Definition at line 321 of file vrpn_IDEA.C.

References vrpn_Button::buttons, d_high_limit_index, d_low_limit_index, vrpn_Button::lastbuttons, and VRPN_MSG_WARNING.

Referenced by get_report(), and reset().

◆ convert_report_to_position()

int vrpn_IDEA::convert_report_to_position ( unsigned char *  buf)
protected

Parses a position report. Returns -1 on failure, 0 on no value.

Definition at line 294 of file vrpn_IDEA.C.

References vrpn_Analog::channel.

Referenced by get_report(), and reset().

◆ get_report()

◆ handle_connect_message()

int vrpn_IDEA::handle_connect_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

Responds to a connection request with a report of the values.

When we get a connection request from a remote object, send our state so they will know it to start with.

Definition at line 941 of file vrpn_IDEA.C.

References report(), vrpn_BaseClassUnique::userdata, and vrpn_CONNECTION_RELIABLE.

Referenced by vrpn_IDEA().

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◆ handle_request_channels_message()

int vrpn_IDEA::handle_request_channels_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

Responds to a request to change multiple channels at once.

Definition at line 913 of file vrpn_IDEA.C.

References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, and vrpn_unbuffer().

Referenced by vrpn_IDEA().

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◆ handle_request_message()

int vrpn_IDEA::handle_request_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

Responds to a request to change one of the values by setting the channel to that value.

Definition at line 885 of file vrpn_IDEA.C.

References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, and vrpn_unbuffer().

Referenced by vrpn_IDEA().

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◆ mainloop()

void vrpn_IDEA::mainloop ( void  )
virtual

Called once through each main loop iteration to handle updates.

This routine is called each time through the server's main loop.

It will take a course of action depending on the current status of the device, either trying to reset it or trying to get a reading from it. It will try to reset the device if no data has come from it for a couple of seconds

Implements vrpn_BaseClass.

Definition at line 974 of file vrpn_IDEA.C.

References d_last_poll, d_timestamp, get_report(), POLL_INTERVAL, reset(), send_command(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, TIMEOUT_TIME_INTERVAL, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().

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◆ move_until_done_or_error()

bool vrpn_IDEA::move_until_done_or_error ( vrpn_float64  location_in_steps,
double  scale = 1.0 
)
protected

Send a move request and then wait for the move to complete. Repeat.

Definition at line 245 of file vrpn_IDEA.C.

References send_command(), send_move_request(), vrpn_Serial_Analog::serial_fd, VRPN_MSG_ERROR, and vrpn_read_available_characters().

Referenced by reset().

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◆ report()

void vrpn_IDEA::report ( vrpn_uint32  class_of_service = vrpn_CONNECTION_RELIABLE)
protectedvirtual

send report whether or not changed

Definition at line 958 of file vrpn_IDEA.C.

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

Referenced by handle_connect_message().

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◆ report_changes()

void vrpn_IDEA::report_changes ( vrpn_uint32  class_of_service = vrpn_CONNECTION_RELIABLE)
protectedvirtual

send report iff changed

Definition at line 949 of file vrpn_IDEA.C.

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

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◆ reset()

◆ send_command()

bool vrpn_IDEA::send_command ( const char *  cmd)
protected

Appends carriage-return and then sends the command.

Definition at line 119 of file vrpn_IDEA.C.

References vrpn_Serial_Analog::serial_fd, and vrpn_write_characters().

Referenced by get_report(), mainloop(), move_until_done_or_error(), reset(), and send_move_request().

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◆ send_move_request()

bool vrpn_IDEA::send_move_request ( vrpn_float64  location_in_steps,
double  scale = 1.0 
)
protected

Member Data Documentation

◆ d_accel_current

int vrpn_IDEA::d_accel_current
protected

Definition at line 71 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_accel_rate_tics_sec_sec

int vrpn_IDEA::d_accel_rate_tics_sec_sec
protected

Definition at line 67 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_bufcount

unsigned vrpn_IDEA::d_bufcount
protected

Definition at line 60 of file vrpn_IDEA.h.

Referenced by get_report().

◆ d_buffer

unsigned char vrpn_IDEA::d_buffer[512]
protected

Definition at line 59 of file vrpn_IDEA.h.

Referenced by get_report().

◆ d_decel_current

int vrpn_IDEA::d_decel_current
protected

Definition at line 72 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_decel_rate_tics_sec_sec

int vrpn_IDEA::d_decel_rate_tics_sec_sec
protected

Definition at line 68 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_delay

int vrpn_IDEA::d_delay
protected

Definition at line 73 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_end_speed_tics_sec

int vrpn_IDEA::d_end_speed_tics_sec
protected

Definition at line 66 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_fractional_c_a

double vrpn_IDEA::d_fractional_c_a
protected

Definition at line 82 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_high_limit_index

int vrpn_IDEA::d_high_limit_index
protected

Definition at line 75 of file vrpn_IDEA.h.

Referenced by convert_report_to_buttons(), reset(), and send_move_request().

◆ d_hold_current

int vrpn_IDEA::d_hold_current
protected

Definition at line 70 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_initial_move

double vrpn_IDEA::d_initial_move
protected

Definition at line 81 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_last_poll

struct timeval vrpn_IDEA::d_last_poll
protected

Definition at line 84 of file vrpn_IDEA.h.

Referenced by mainloop(), and vrpn_IDEA().

◆ d_low_limit_index

int vrpn_IDEA::d_low_limit_index
protected

Definition at line 76 of file vrpn_IDEA.h.

Referenced by convert_report_to_buttons(), and send_move_request().

◆ d_output_1_setting

int vrpn_IDEA::d_output_1_setting
protected

Definition at line 77 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_output_2_setting

int vrpn_IDEA::d_output_2_setting
protected

Definition at line 78 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_output_3_setting

int vrpn_IDEA::d_output_3_setting
protected

Definition at line 79 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_output_4_setting

int vrpn_IDEA::d_output_4_setting
protected

Definition at line 80 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_reset_location

double vrpn_IDEA::d_reset_location
protected

Definition at line 83 of file vrpn_IDEA.h.

Referenced by reset().

◆ d_run_current

int vrpn_IDEA::d_run_current
protected

Definition at line 69 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_run_speed_tics_sec

int vrpn_IDEA::d_run_speed_tics_sec
protected

Definition at line 64 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_start_speed_tics_sec

int vrpn_IDEA::d_start_speed_tics_sec
protected

Definition at line 65 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_step

int vrpn_IDEA::d_step
protected

Definition at line 74 of file vrpn_IDEA.h.

Referenced by send_move_request().

◆ d_timestamp

struct timeval vrpn_IDEA::d_timestamp
protected

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