vrpn 07.35
Virtual Reality Peripheral Network
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Class to support reading data from serial 5DT data gloves. More...
#include <vrpn_Analog_5dt.h>
Public Member Functions | |
vrpn_5dt (const char *name, vrpn_Connection *c, const char *port, int baud=19200, int mode=1, bool tenbytes=false) | |
Constructor. | |
virtual void | mainloop () |
Called once through each main loop iteration to handle updates. | |
void | syncing (void) |
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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 () | |
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vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
void | print (void) |
vrpn_int32 | getNumChannels (void) const |
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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 () |
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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 | reset (void) |
virtual void | get_report (void) |
virtual void | clear_values (void) |
int | send_command (const unsigned char *cmd, int len) |
Compute the CRC for the message, append it, and send message. Returns 0 on success, -1 on failure. | |
virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report iff changed | |
virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report whether or not changed | |
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int | read_available_characters (char *buffer, int bytes) |
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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. | |
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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. | |
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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 | |
bool | _announced |
bool | _wireless |
bool | _gotInfo |
int | _status |
int | _numchannels |
int | _mode |
unsigned | _expected_chars |
unsigned char | _buffer [512] |
unsigned | _bufcount |
bool | _tenbytes |
struct timeval | timestamp |
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int | serial_fd |
char | portname [1024] |
int | baudrate |
unsigned char | buffer [1024] |
int | bufcounter |
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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 |
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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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bool | shutup |
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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. | |
Class to support reading data from serial 5DT data gloves.
Definition at line 12 of file vrpn_Analog_5dt.h.
vrpn_5dt::vrpn_5dt | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | port, | ||
int | baud = 19200, | ||
int | mode = 1, | ||
bool | tenbytes = false ) |
Constructor.
name | Name for the device |
c | Connection to use. |
port | serial port to connect to |
baud | Baud rate - 19200 for "wired"-type gloves (send/receive), 9600 implies a "wireless" (may be wired, but is send-only) glove |
mode | Set to 1 for the driver to request reports, set to 2 to stream them. (wireless implies 2, overriding value passed here) |
tenbytes | Whether reports should be 10 bytes instead of the documented 9. (wireless implies true, overriding value passed here) |
Definition at line 35 of file vrpn_Analog_5dt.C.
References _expected_chars, _mode, _numchannels, _status, _tenbytes, _wireless, clear_values(), vrpn_Analog::num_channel, STATUS_RESETTING, timestamp, and vrpn_gettimeofday.
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Definition at line 86 of file vrpn_Analog_5dt.C.
References _numchannels, vrpn_Analog::channel, and vrpn_Analog::last.
Referenced by vrpn_5dt().
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protectedvirtual |
Definition at line 280 of file vrpn_Analog_5dt.C.
References _bufcount, _buffer, _expected_chars, _gotInfo, _mode, _status, _wireless, vrpn_Analog::channel, report_changes(), vrpn_Serial_Analog::serial_fd, STATUS_RESETTING, STATUS_SYNCING, timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_INFO, VRPN_MSG_WARNING, and vrpn_read_available_characters().
Referenced by mainloop().
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Called once through each main loop iteration to handle updates.
Implements vrpn_BaseClass.
Definition at line 427 of file vrpn_Analog_5dt.C.
References _announced, _status, _wireless, get_report(), MAX_TIME_INTERVAL, reset(), vrpn_BaseClassUnique::server_mainloop(), STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, syncing(), timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_INFO, and vrpn_TimevalDuration().
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protectedvirtual |
send report whether or not changed
Definition at line 410 of file vrpn_Analog_5dt.C.
References vrpn_Analog::report(), vrpn_Analog::timestamp, and timestamp.
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send report iff changed
Definition at line 397 of file vrpn_Analog_5dt.C.
References vrpn_Analog::report_changes(), vrpn_Analog::timestamp, and timestamp.
Referenced by get_report().
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protectedvirtual |
Definition at line 127 of file vrpn_Analog_5dt.C.
References _bufcount, _buffer, _gotInfo, _mode, _status, _wireless, send_command(), vrpn_Serial_Analog::serial_fd, STATUS_SYNCING, timestamp, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_INFO, vrpn_read_available_characters(), and vrpn_SleepMsecs().
Referenced by mainloop().
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Compute the CRC for the message, append it, and send message. Returns 0 on success, -1 on failure.
Definition at line 105 of file vrpn_Analog_5dt.C.
References vrpn_Serial_Analog::serial_fd, and vrpn_write_characters().
Referenced by reset(), and syncing().
void vrpn_5dt::syncing | ( | void | ) |
Definition at line 225 of file vrpn_Analog_5dt.C.
References _bufcount, _buffer, _expected_chars, _mode, _status, _wireless, send_command(), vrpn_Serial_Analog::serial_fd, STATUS_READING, STATUS_RESETTING, VRPN_MSG_ERROR, VRPN_MSG_INFO, VRPN_MSG_WARNING, and vrpn_read_available_characters().
Referenced by mainloop().
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Definition at line 39 of file vrpn_Analog_5dt.h.
Referenced by mainloop().
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Definition at line 47 of file vrpn_Analog_5dt.h.
Referenced by get_report(), reset(), and syncing().
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Definition at line 46 of file vrpn_Analog_5dt.h.
Referenced by get_report(), reset(), and syncing().
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Definition at line 45 of file vrpn_Analog_5dt.h.
Referenced by get_report(), syncing(), and vrpn_5dt().
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Definition at line 41 of file vrpn_Analog_5dt.h.
Referenced by get_report(), and reset().
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Definition at line 44 of file vrpn_Analog_5dt.h.
Referenced by get_report(), reset(), syncing(), and vrpn_5dt().
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Definition at line 43 of file vrpn_Analog_5dt.h.
Referenced by clear_values(), and vrpn_5dt().
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Definition at line 42 of file vrpn_Analog_5dt.h.
Referenced by get_report(), mainloop(), reset(), syncing(), and vrpn_5dt().
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Definition at line 48 of file vrpn_Analog_5dt.h.
Referenced by vrpn_5dt().
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Definition at line 40 of file vrpn_Analog_5dt.h.
Referenced by get_report(), mainloop(), reset(), syncing(), and vrpn_5dt().
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Definition at line 50 of file vrpn_Analog_5dt.h.
Referenced by get_report(), mainloop(), report(), report_changes(), reset(), and vrpn_5dt().