vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_3DMicroscribe Class Reference

#include <vrpn_3DMicroscribe.h>

Inheritance diagram for vrpn_3DMicroscribe:
Collaboration diagram for vrpn_3DMicroscribe:

Public Member Functions

 vrpn_3DMicroscribe (const char *name, vrpn_Connection *c, const char *Port, long int BaudRate, float OffsetX=0.0f, float OffsetY=0.0f, float OffsetZ=0.0f, float Scale=1.0f)
 
 ~vrpn_3DMicroscribe ()
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates.
 
virtual int reset (void)
 Set device back to starting config.
 
- 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_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 ConvertOriToQuat (float ori[3])
 
virtual void clear_values (void)
 Set all buttons, analogs and encoders back to 0.
 
virtual int get_report (void)
 Try to read reports from the device. Returns 1 if a complete report received, 0 otherwise. Sets status to current mode.
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report if changed
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report whether or not changed
 
- 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_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.
 

Protected Attributes

float m_OffSet [3]
 
float m_Scale
 
int m_PortNumber
 port number
 
long int m_BaudRate
 baud rate
 
int _numbuttons
 How many buttons to open.
 
unsigned char buf [512]
 Buffer of characters in report,.
 
int bufpos
 Current char pos in buffer.
 
struct timeval timestamp
 Time of the last report from the device.
 
- 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_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
 
- 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.
 
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)
 

Detailed Description

Definition at line 11 of file vrpn_3DMicroscribe.h.

Constructor & Destructor Documentation

◆ vrpn_3DMicroscribe()

vrpn_3DMicroscribe::vrpn_3DMicroscribe ( const char * name,
vrpn_Connection * c,
const char * Port,
long int BaudRate,
float OffsetX = 0.0f,
float OffsetY = 0.0f,
float OffsetZ = 0.0f,
float Scale = 1.0f )

◆ ~vrpn_3DMicroscribe()

vrpn_3DMicroscribe::~vrpn_3DMicroscribe ( )
inline

Definition at line 22 of file vrpn_3DMicroscribe.h.

Member Function Documentation

◆ clear_values()

void vrpn_3DMicroscribe::clear_values ( void )
protectedvirtual

Set all buttons, analogs and encoders back to 0.

Definition at line 117 of file vrpn_3DMicroscribe.C.

Referenced by vrpn_3DMicroscribe().

◆ ConvertOriToQuat()

void vrpn_3DMicroscribe::ConvertOriToQuat ( float ori[3])
protected

Definition at line 217 of file vrpn_3DMicroscribe.C.

References vrpn_Tracker::d_quat, pcos(), and psin().

Referenced by get_report().

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◆ get_report()

int vrpn_3DMicroscribe::get_report ( void )
protectedvirtual

Try to read reports from the device. Returns 1 if a complete report received, 0 otherwise. Sets status to current mode.

Definition at line 178 of file vrpn_3DMicroscribe.C.

References vrpn_Button::buttons, ConvertOriToQuat(), m_OffSet, m_Scale, MM_TO_METERS, vrpn_Tracker::pos, vrpn_Button_Filter::report_changes(), vrpn_Tracker::status, STATUS_READING, timestamp, vrpn_gettimeofday, and VRPN_MSG_ERROR.

Referenced by mainloop().

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◆ mainloop()

void vrpn_3DMicroscribe::mainloop ( void )
virtual

Called once through each main loop iteration to handle updates.

Implements vrpn_BaseClass.

Definition at line 285 of file vrpn_3DMicroscribe.C.

References get_report(), reset(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, STATUS_READING, STATUS_RESETTING, and STATUS_SYNCING.

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◆ report()

void vrpn_3DMicroscribe::report ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

send report whether or not changed

Definition at line 276 of file vrpn_3DMicroscribe.C.

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

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◆ report_changes()

void vrpn_3DMicroscribe::report_changes ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

◆ reset()

int vrpn_3DMicroscribe::reset ( void )
virtual

Set device back to starting config.

Definition at line 123 of file vrpn_3DMicroscribe.C.

References vrpn_Tracker::status, STATUS_SYNCING, timestamp, vrpn_gettimeofday, and VRPN_MSG_ERROR.

Referenced by mainloop().

Member Data Documentation

◆ _numbuttons

int vrpn_3DMicroscribe::_numbuttons
protected

How many buttons to open.

Definition at line 36 of file vrpn_3DMicroscribe.h.

Referenced by vrpn_3DMicroscribe().

◆ buf

unsigned char vrpn_3DMicroscribe::buf[512]
protected

Buffer of characters in report,.

Definition at line 37 of file vrpn_3DMicroscribe.h.

◆ bufpos

int vrpn_3DMicroscribe::bufpos
protected

Current char pos in buffer.

Definition at line 38 of file vrpn_3DMicroscribe.h.

◆ m_BaudRate

long int vrpn_3DMicroscribe::m_BaudRate
protected

baud rate

Definition at line 33 of file vrpn_3DMicroscribe.h.

Referenced by vrpn_3DMicroscribe().

◆ m_OffSet

float vrpn_3DMicroscribe::m_OffSet[3]
protected

Definition at line 30 of file vrpn_3DMicroscribe.h.

Referenced by get_report(), and vrpn_3DMicroscribe().

◆ m_PortNumber

int vrpn_3DMicroscribe::m_PortNumber
protected

port number

Definition at line 32 of file vrpn_3DMicroscribe.h.

Referenced by vrpn_3DMicroscribe().

◆ m_Scale

float vrpn_3DMicroscribe::m_Scale
protected

Definition at line 31 of file vrpn_3DMicroscribe.h.

Referenced by get_report(), and vrpn_3DMicroscribe().

◆ timestamp

struct timeval vrpn_3DMicroscribe::timestamp
protected

Time of the last report from the device.

Definition at line 39 of file vrpn_3DMicroscribe.h.

Referenced by get_report(), report(), report_changes(), reset(), and vrpn_3DMicroscribe().


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