Base class with routines for YEI 3Space units. More...

#include <vrpn_YEI_3Space.h>

Inheritance diagram for vrpn_YEI_3Space:

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Collaboration diagram for vrpn_YEI_3Space:

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Public Member Functions
	vrpn_YEI_3Space (const char name, vrpn_Connection c, double frames_per_second=50, const char *reset_commands[]=NULL)
	Constructor.
virtual	~vrpn_YEI_3Space ()
	Destructor.
virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.
Public Member Functions inherited from vrpn_Tracker_Server
	vrpn_Tracker_Server (const char name, vrpn_Connection c, vrpn_int32 sensors=1)
virtual int	report_pose (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	These functions should be called to report changes in state, once per sensor.
virtual int	report_pose_velocity (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
virtual int	report_pose_acceleration (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
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_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using.
Public Member Functions inherited from vrpn_Analog
	vrpn_Analog (const char name, vrpn_Connection c=NULL)
void	print (void)
vrpn_int32	getNumChannels (void) const
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	init (bool calibrate_gyros_on_setup, bool tare_on_setup, double red_LED_color, double green_LED_color, double blue_LED_color, int LED_mode)
	Initialization that would normally happen in the constructor, but we need to wait for the derived classes to open a communications port before we can do this. Derived classes should call this at the end of their constructors.
virtual void	flush_input (void)=0
	Flush any incoming characters in the communications channel.
virtual int	reset (void)
virtual bool	get_report (void)=0
virtual void	handle_report (unsigned char *report)
virtual bool	send_binary_command (const unsigned char *cmd, int len)=0
	Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.
virtual bool	send_ascii_command (const char *cmd)=0
	Put a ':' character at the front and ' ' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.
virtual bool	receive_LED_mode_response (struct timeval *timeout=NULL)=0
	Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.
virtual bool	receive_LED_values_response (struct timeval *timeout=NULL)=0
	Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false 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
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_Analog
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.
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
char **	d_reset_commands
int	d_reset_command_count
int	d_status
double	d_frames_per_second
int	d_LED_mode
vrpn_float32	d_LED_color [3]
unsigned char	d_buffer [128]
unsigned	d_expected_characters
unsigned	d_characters_read
struct timeval	timestamp
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_Pos *	unit2sensor
vrpn_Tracker_Quat *	unit2sensor_quat
unsigned	num_unit2sensors
vrpn_float64	workspace_min [3]
vrpn_float64	workspace_max [3]
int	status
Protected Attributes inherited from vrpn_BaseClassUnique
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.
Protected Attributes inherited from vrpn_Analog
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
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

Base class with routines for YEI 3Space units.

Definition at line 11 of file vrpn_YEI_3Space.h.

Constructor & Destructor Documentation

◆ vrpn_YEI_3Space()

vrpn_YEI_3Space::vrpn_YEI_3Space	(	const char *	name,
		vrpn_Connection *	c,
		double	frames_per_second = 50,
		const char *	reset_commands[] = NULL )

Constructor.

Parameters

name	Name for the device
c	Connection to use.
reset_commands	- Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor.

Definition at line 28 of file vrpn_YEI_3Space.C.

References vrpn_Button::buttons, d_frames_per_second, d_reset_command_count, d_reset_commands, d_status, vrpn_Button::lastbuttons, vrpn_Button::num_buttons, vrpn_Analog::num_channel, STATUS_NOT_INITIALIZED, timestamp, vrpn_Analog::vrpn_Analog(), vrpn_Button_Filter::vrpn_Button_Filter(), vrpn_gettimeofday, and vrpn_Tracker_Server::vrpn_Tracker_Server().

Referenced by vrpn_YEI_3Space_Sensor::vrpn_YEI_3Space_Sensor(), vrpn_YEI_3Space_Sensor_Wireless::vrpn_YEI_3Space_Sensor_Wireless(), and vrpn_YEI_3Space_Sensor_Wireless::vrpn_YEI_3Space_Sensor_Wireless().

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◆ ~vrpn_YEI_3Space()

vrpn_YEI_3Space::~vrpn_YEI_3Space ( )

virtual

Destructor.

Definition at line 76 of file vrpn_YEI_3Space.C.

References d_reset_command_count, and d_reset_commands.

Member Function Documentation

◆ flush_input()

virtual void vrpn_YEI_3Space::flush_input ( void )

protectedpure virtual

Flush any incoming characters in the communications channel.

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

Referenced by reset().

◆ get_report()

virtual bool vrpn_YEI_3Space::get_report ( void )

protectedpure virtual

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

References handle_report(), and report().

Referenced by mainloop().

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◆ handle_report()

void vrpn_YEI_3Space::handle_report ( unsigned char * report )

protectedvirtual

Definition at line 277 of file vrpn_YEI_3Space.C.

References vrpn_Tracker::acc, vrpn_Tracker::acc_quat, vrpn_Button::buttons, vrpn_Analog::channel, d_status, vrpn_Analog::getNumChannels(), vrpn_Tracker::pos, report(), vrpn_Button_Filter::report_changes(), vrpn_Tracker_Server::report_pose(), vrpn_Tracker_Server::report_pose_acceleration(), STATUS_RESETTING, timestamp, VRPN_MSG_ERROR, and vrpn_unbuffer().

Referenced by get_report(), vrpn_YEI_3Space_Sensor::get_report(), and vrpn_YEI_3Space_Sensor_Wireless::get_report().

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◆ init()

void vrpn_YEI_3Space::init	(	bool	calibrate_gyros_on_setup,
		bool	tare_on_setup,
		double	red_LED_color,
		double	green_LED_color,
		double	blue_LED_color,
		int	LED_mode )

protected

Initialization that would normally happen in the constructor, but we need to wait for the derived classes to open a communications port before we can do this. Derived classes should call this at the end of their constructors.

Definition at line 100 of file vrpn_YEI_3Space.C.

References d_status, send_binary_command(), STATUS_RESETTING, timestamp, vrpn_buffer(), vrpn_gettimeofday, and VRPN_MSG_ERROR.

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◆ mainloop()

void vrpn_YEI_3Space::mainloop ( void )

virtual

Called once through each main loop iteration to handle updates.

Reimplemented from vrpn_Tracker_Server.

Definition at line 390 of file vrpn_YEI_3Space.C.

References d_status, get_report(), MAX_TIME_INTERVAL, reset(), vrpn_BaseClassUnique::server_mainloop(), STATUS_NOT_INITIALIZED, STATUS_READING, STATUS_RESETTING, timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().

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◆ receive_LED_mode_response()

virtual bool vrpn_YEI_3Space::receive_LED_mode_response ( struct timeval * timeout = NULL )

protectedpure virtual

Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

Referenced by reset().

◆ receive_LED_values_response()

virtual bool vrpn_YEI_3Space::receive_LED_values_response ( struct timeval * timeout = NULL )

protectedpure virtual

Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

Referenced by reset().

◆ report()

void vrpn_YEI_3Space::report ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY )

protectedvirtual

send report whether or not changed

Definition at line 374 of file vrpn_YEI_3Space.C.

References vrpn_Analog::report(), vrpn_Analog::timestamp, and timestamp.

Referenced by get_report(), and handle_report().

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◆ report_changes()

void vrpn_YEI_3Space::report_changes ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY )

protectedvirtual

send report iff changed

Definition at line 359 of file vrpn_YEI_3Space.C.

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

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◆ reset()

int vrpn_YEI_3Space::reset ( void )

protectedvirtual

Definition at line 162 of file vrpn_YEI_3Space.C.

References d_characters_read, d_expected_characters, d_frames_per_second, d_reset_command_count, d_reset_commands, d_status, flush_input(), receive_LED_mode_response(), receive_LED_values_response(), send_ascii_command(), send_binary_command(), STATUS_READING, timestamp, vrpn_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_SleepMsecs().

Referenced by mainloop().

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◆ send_ascii_command()

virtual bool vrpn_YEI_3Space::send_ascii_command ( const char * cmd )

protectedpure virtual

Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

Referenced by reset().

◆ send_binary_command()

virtual bool vrpn_YEI_3Space::send_binary_command	(	const unsigned char *	cmd,
		int	len )

protectedpure virtual

Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.

Implemented in vrpn_YEI_3Space_Sensor, and vrpn_YEI_3Space_Sensor_Wireless.

Referenced by init(), and reset().

Member Data Documentation

◆ d_buffer

unsigned char vrpn_YEI_3Space::d_buffer[128]

protected

Definition at line 86 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), and vrpn_YEI_3Space_Sensor_Wireless::get_report().

◆ d_characters_read

unsigned vrpn_YEI_3Space::d_characters_read

protected

Definition at line 88 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), and reset().

◆ d_expected_characters

unsigned vrpn_YEI_3Space::d_expected_characters

protected

Definition at line 87 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), and reset().

◆ d_frames_per_second

double vrpn_YEI_3Space::d_frames_per_second

protected

Definition at line 63 of file vrpn_YEI_3Space.h.

Referenced by reset(), and vrpn_YEI_3Space().

◆ d_LED_color

vrpn_float32 vrpn_YEI_3Space::d_LED_color[3]

protected

Definition at line 65 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::receive_LED_values_response(), and vrpn_YEI_3Space_Sensor_Wireless::receive_LED_values_response().

◆ d_LED_mode

int vrpn_YEI_3Space::d_LED_mode

protected

Definition at line 64 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::receive_LED_mode_response(), and vrpn_YEI_3Space_Sensor_Wireless::receive_LED_mode_response().

◆ d_reset_command_count

int vrpn_YEI_3Space::d_reset_command_count

protected

Definition at line 55 of file vrpn_YEI_3Space.h.

Referenced by reset(), vrpn_YEI_3Space(), and ~vrpn_YEI_3Space().

◆ d_reset_commands

char** vrpn_YEI_3Space::d_reset_commands

protected

Definition at line 54 of file vrpn_YEI_3Space.h.

Referenced by reset(), vrpn_YEI_3Space(), and ~vrpn_YEI_3Space().

◆ d_status

int vrpn_YEI_3Space::d_status

protected

Definition at line 58 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), vrpn_YEI_3Space_Sensor_Wireless::get_report(), handle_report(), init(), mainloop(), reset(), and vrpn_YEI_3Space().

◆ timestamp

struct timeval vrpn_YEI_3Space::timestamp

protected

Definition at line 90 of file vrpn_YEI_3Space.h.

Referenced by vrpn_YEI_3Space_Sensor::get_report(), vrpn_YEI_3Space_Sensor_Wireless::get_report(), handle_report(), init(), mainloop(), report(), report_changes(), reset(), and vrpn_YEI_3Space().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ vrpn_YEI_3Space()

◆ ~vrpn_YEI_3Space()

Member Function Documentation

◆ flush_input()

◆ get_report()

◆ handle_report()

◆ init()

◆ mainloop()

◆ receive_LED_mode_response()

◆ receive_LED_values_response()

◆ report()

◆ report_changes()

◆ reset()

◆ send_ascii_command()

◆ send_binary_command()

Member Data Documentation

◆ d_buffer

◆ d_characters_read

◆ d_expected_characters

◆ d_frames_per_second

◆ d_LED_color

◆ d_LED_mode

◆ d_reset_command_count

◆ d_reset_commands

◆ d_status

◆ timestamp