vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Poser_Tek4662 Class Reference

#include <vrpn_Poser_Tek4662.h>

Inheritance diagram for vrpn_Poser_Tek4662:
Collaboration diagram for vrpn_Poser_Tek4662:

Public Member Functions

 vrpn_Poser_Tek4662 (const char *name, vrpn_Connection *c, const char *port, int baud=1200, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE)
 
virtual ~vrpn_Poser_Tek4662 ()
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop(). More...
 
- Public Member Functions inherited from vrpn_Poser
 vrpn_Poser (const char *name, vrpn_Connection *c=NULL)
 
virtual ~vrpn_Poser (void)
 
void p_print ()
 
void p_print_vel ()
 
- 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. More...
 
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. More...
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using. More...
 
- 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)
 

Protected Member Functions

void reset (void)
 
void run ()
 
- Protected Member Functions inherited from vrpn_Poser
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More...
 
virtual int encode_to (char *buf)
 
virtual int encode_vel_to (char *buf)
 
virtual void set_pose (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4])
 
virtual void set_pose_relative (const struct timeval t, const vrpn_float64 position_delta[3], const vrpn_float64 quaternion[4])
 
virtual void set_pose_velocity (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval)
 
virtual void set_pose_velocity_relative (const struct timeval t, const vrpn_float64 velocity_delta[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval_delta)
 
- 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. More...
 
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. More...
 
- 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. More...
 
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. More...
 
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. More...
 
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() More...
 
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() More...
 
- 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. More...
 
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. More...
 
virtual int encode_unit2sensor_to (char *buf)
 Encodes the "Unit to Sensor" transformation into the buffer specified. More...
 
virtual int encode_workspace_to (char *buf)
 

Static Protected Member Functions

static int VRPN_CALLBACK handle_change_message (void *userdata, vrpn_HANDLERPARAM p)
 
static int VRPN_CALLBACK handle_vel_change_message (void *userdata, vrpn_HANDLERPARAM p)
 
- 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. More...
 
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. More...
 

Protected Attributes

int d_serial_fd
 
unsigned char d_inbuf [1024]
 
int d_inbufcounter
 
float d_newx
 
float d_newy
 
bool d_new_location_requested
 
int d_outstanding_requests
 
- Protected Attributes inherited from vrpn_Poser
vrpn_int32 req_position_m_id
 
vrpn_int32 req_position_relative_m_id
 
vrpn_int32 req_velocity_m_id
 
vrpn_int32 req_velocity_relative_m_id
 
vrpn_float64 p_pos [3]
 
vrpn_float64 p_quat [4]
 
vrpn_float64 p_vel [3]
 
vrpn_float64 p_vel_quat [4]
 
vrpn_float64 p_vel_quat_dt
 
struct timeval p_timestamp
 
vrpn_float64 p_pos_min [3]
 
vrpn_float64 p_pos_max [3]
 
vrpn_float64 p_pos_rot_min [3]
 
vrpn_float64 p_pos_rot_max [3]
 
vrpn_float64 p_vel_min [3]
 
vrpn_float64 p_vel_max [3]
 
vrpn_float64 p_vel_rot_min [3]
 
vrpn_float64 p_vel_rot_max [3]
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_connection
 Connection that this object talks to. More...
 
char * d_servicename
 Name of this device, not including the connection part. More...
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection. More...
 
vrpn_int32 d_text_message_id
 ID for text messages. More...
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there. More...
 
vrpn_int32 d_pong_message_id
 Server telling that it is there. More...
 
- 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
 

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
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 

Detailed Description

Definition at line 24 of file vrpn_Poser_Tek4662.h.

Constructor & Destructor Documentation

◆ vrpn_Poser_Tek4662()

◆ ~vrpn_Poser_Tek4662()

vrpn_Poser_Tek4662::~vrpn_Poser_Tek4662 ( )
virtual

Definition at line 118 of file vrpn_Poser_Tek4662.C.

References d_serial_fd, and vrpn_close_commport().

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Member Function Documentation

◆ handle_change_message()

int vrpn_Poser_Tek4662::handle_change_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

◆ handle_vel_change_message()

int vrpn_Poser_Tek4662::handle_vel_change_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

◆ mainloop()

void vrpn_Poser_Tek4662::mainloop ( )
virtual

Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().

Implements vrpn_BaseClass.

Definition at line 357 of file vrpn_Poser_Tek4662.C.

References reset(), run(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, vrpn_Poser_Tek4662_FAIL, vrpn_Poser_Tek4662_RESETTING, vrpn_Poser_Tek4662_RUNNING, and vrpn_Poser_Tek4662_SYNCING.

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◆ reset()

void vrpn_Poser_Tek4662::reset ( void  )
protected

◆ run()

Member Data Documentation

◆ d_inbuf

unsigned char vrpn_Poser_Tek4662::d_inbuf[1024]
protected

Definition at line 36 of file vrpn_Poser_Tek4662.h.

Referenced by run().

◆ d_inbufcounter

int vrpn_Poser_Tek4662::d_inbufcounter
protected

Definition at line 37 of file vrpn_Poser_Tek4662.h.

Referenced by run().

◆ d_new_location_requested

bool vrpn_Poser_Tek4662::d_new_location_requested
protected

Definition at line 40 of file vrpn_Poser_Tek4662.h.

Referenced by handle_change_message(), and run().

◆ d_newx

float vrpn_Poser_Tek4662::d_newx
protected

Definition at line 39 of file vrpn_Poser_Tek4662.h.

◆ d_newy

float vrpn_Poser_Tek4662::d_newy
protected

Definition at line 39 of file vrpn_Poser_Tek4662.h.

◆ d_outstanding_requests

int vrpn_Poser_Tek4662::d_outstanding_requests
protected

Definition at line 41 of file vrpn_Poser_Tek4662.h.

Referenced by run().

◆ d_serial_fd

int vrpn_Poser_Tek4662::d_serial_fd
protected

Definition at line 35 of file vrpn_Poser_Tek4662.h.

Referenced by reset(), run(), vrpn_Poser_Tek4662(), and ~vrpn_Poser_Tek4662().


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