vrpn 07.35
Virtual Reality Peripheral Network
|
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>
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. | |
![]() | |
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) |
![]() | |
vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
![]() | |
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. | |
![]() | |
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 () |
![]() | |
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) |
![]() | |
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. | |
![]() | |
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() | |
![]() | |
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. | |
![]() | |
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 |
![]() | |
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 |
![]() | |
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. | |
![]() | |
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 |
![]() | |
vrpn_HidAcceptor * | m_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 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) |
![]() | |
bool | shutup |
![]() | |
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. | |
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.
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.
vrpn_Tracker_OSVRHackerDevKit::vrpn_Tracker_OSVRHackerDevKit | ( | const char * | name, |
hid_device * | dev = NULL, | ||
vrpn_Connection * | c = NULL ) |
Constructor.
name | Name of tracker. |
dev | Optional Already-opened HIDAPI device for the tracker. |
c | Optional vrpn_Connection. |
Definition at line 58 of file vrpn_Tracker_OSVRHackerDevKit.C.
References shared_init().
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().
|
virtual |
Destructor.
Definition at line 102 of file vrpn_Tracker_OSVRHackerDevKit.C.
References vrpn_HidInterface::m_acceptor.
|
virtual |
Standard VRPN mainloop method.
Implements vrpn_BaseClass.
Definition at line 293 of file vrpn_Tracker_OSVRHackerDevKit.C.
References _knownVersion, _reportVersion, _timestamp, _wasConnected, vrpn_Analog::channel, vrpn_HidInterface::connected(), vrpn_HidInterface::m_acceptor, vrpn_HidInterface::reconnect(), vrpn_Analog::report_changes(), vrpn_HidAcceptor::reset(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::server_mainloop(), STATUS_UNKNOWN, vrpn_HidInterface::update(), vrpn_gettimeofday, vrpn_TEXT_NORMAL, and vrpn_TEXT_WARNING.
|
protected |
Extracts the sensor values from each report.
Highlight that we don't know this report version well...
Do a minimal check of it.
Definition at line 112 of file vrpn_Tracker_OSVRHackerDevKit.C.
References _knownVersion, _messageCount, _reportVersion, _timestamp, vrpn_Analog::channel, vrpn_BaseClassUnique::d_connection, vrpn_Tracker::d_quat, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Tracker::encode_vel_to(), vrpn::FixedPoint< INTEGER_BITS, FRACTIONAL_BITS, SIGNED >::get(), vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_Analog::report(), vrpn_Analog::report_changes(), vrpn_BaseClassUnique::send_text_message(), STATUS_LANDSCAPE_VIDEO_INPUT, STATUS_NO_VIDEO_INPUT, STATUS_PORTRAIT_VIDEO_INPUT, STATUS_UNKNOWN, vrpn_Tracker::timestamp, vrpn_Tracker::vel_quat, vrpn_Tracker::velocity_m_id, vrpn_CONNECTION_LOW_LATENCY, and vrpn_TEXT_WARNING.
|
protected |
Tracker setup
Analog setup
Definition at line 85 of file vrpn_Tracker_OSVRHackerDevKit.C.
References _timestamp, vrpn_Tracker::d_quat, vrpn_Analog::num_channel, vrpn_Tracker::num_sensors, vrpn_Tracker::vel_quat_dt, and vrpn_gettimeofday.
Referenced by vrpn_Tracker_OSVRHackerDevKit(), and vrpn_Tracker_OSVRHackerDevKit().
|
protected |
Definition at line 139 of file vrpn_Tracker_OSVRHackerDevKit.h.
Referenced by mainloop(), and on_data_received().
|
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().
|
protected |
Definition at line 138 of file vrpn_Tracker_OSVRHackerDevKit.h.
Referenced by mainloop(), and on_data_received().
|
protected |
Timestamp updated during mainloop()
Definition at line 127 of file vrpn_Tracker_OSVRHackerDevKit.h.
Referenced by mainloop(), on_data_received(), and shared_init().
|
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().