vrpn  07.33
Virtual Reality Peripheral Network
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. More...
 
virtual int reset (void)
 Set device back to starting config. 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)
 
- 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_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. More...
 
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. More...
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report if changed More...
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report whether or not changed 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)
 
- 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_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. More...
 
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. More...
 
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. More...
 

Protected Attributes

float m_OffSet [3]
 
float m_Scale
 
int m_PortNumber
 port number More...
 
long int m_BaudRate
 baud rate More...
 
int _numbuttons
 How many buttons to open. More...
 
unsigned char buf [512]
 Buffer of characters in report,. More...
 
int bufpos
 Current char pos in buffer. More...
 
int packtype
 What kind of packet we are decoding. More...
 
int packlen
 Expected packet length. More...
 
int escapedchar
 We're processing an escaped char. More...
 
int erroroccured
 A device error has occurred. More...
 
int resetoccured
 A reset event has occurred. More...
 
struct timeval timestamp
 Time of the last report from the device. 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
 
- 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_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
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- 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. 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...
 
- 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 
)

Definition at line 38 of file vrpn_3DMicroscribe.C.

References _numbuttons, clear_values(), m_BaudRate, m_OffSet, m_PortNumber, m_Scale, vrpn_Button::num_buttons, vrpn_Tracker::status, STATUS_RESETTING, and VRPN_MSG_ERROR.

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◆ ~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 115 of file vrpn_3DMicroscribe.C.

Referenced by vrpn_3DMicroscribe().

◆ ConvertOriToQuat()

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

Definition at line 215 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 176 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 ( )
virtual

Called once through each main loop iteration to handle updates.

Implements vrpn_BaseClass.

Definition at line 283 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 274 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 121 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.

◆ erroroccured

int vrpn_3DMicroscribe::erroroccured
protected

A device error has occurred.

Definition at line 42 of file vrpn_3DMicroscribe.h.

◆ escapedchar

int vrpn_3DMicroscribe::escapedchar
protected

We're processing an escaped char.

Definition at line 41 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().

◆ packlen

int vrpn_3DMicroscribe::packlen
protected

Expected packet length.

Definition at line 40 of file vrpn_3DMicroscribe.h.

◆ packtype

int vrpn_3DMicroscribe::packtype
protected

What kind of packet we are decoding.

Definition at line 39 of file vrpn_3DMicroscribe.h.

◆ resetoccured

int vrpn_3DMicroscribe::resetoccured
protected

A reset event has occurred.

Definition at line 43 of file vrpn_3DMicroscribe.h.

◆ timestamp

struct timeval vrpn_3DMicroscribe::timestamp
protected

Time of the last report from the device.

Definition at line 44 of file vrpn_3DMicroscribe.h.

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


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