#include <vrpn_Zaber.h>

Inheritance diagram for vrpn_Zaber:

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Collaboration diagram for vrpn_Zaber:

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Public Member Functions
	vrpn_Zaber (const char name, vrpn_Connection c, const char *port)
	~vrpn_Zaber ()
virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.
Public Member Functions inherited from vrpn_Serial_Analog
	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 ()
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_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_Output
	vrpn_Analog_Output (const char name, vrpn_Connection c=NULL)
void	o_print (void)
vrpn_int32	getNumChannels () const

Protected Member Functions
virtual int	reset (void)
virtual int	get_report (void)
bool	send_command (unsigned char devicenum, unsigned char cmd, vrpn_int32 data)
bool	send_command (unsigned char devnum, unsigned char cmd, unsigned char d0, unsigned char d1, unsigned char d2, unsigned char d3)
vrpn_int32	convert_bytes_to_reading (const unsigned char *buf)
	Convert the four bytes that have been read into a signed integer value.
virtual void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
	send report iff changed
virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
	send report whether or not changed
Protected Member Functions inherited from vrpn_Serial_Analog
int	read_available_characters (char *buffer, int bytes)
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_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_Output
virtual int	register_types (void)
	Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.

Static Protected Member Functions
static int VRPN_CALLBACK	handle_request_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a request to change one of the values by setting the channel to that value.
static int VRPN_CALLBACK	handle_request_channels_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a request to change multiple channels at once.
static int VRPN_CALLBACK	handle_connect_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a connection request with a report of the values.
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.

Protected Attributes
unsigned	d_expected_chars
unsigned char	d_buffer [512]
unsigned	d_bufcount
struct timeval	timestamp
struct timeval	d_last_poll
Protected Attributes inherited from vrpn_Serial_Analog
int	serial_fd
char	portname [1024]
int	baudrate
unsigned char	buffer [1024]
int	bufcounter
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_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_Output
vrpn_float64	o_channel [vrpn_CHANNEL_MAX]
vrpn_int32	o_num_channel
struct timeval	o_timestamp
vrpn_int32	request_m_id
vrpn_int32	request_channels_m_id
vrpn_int32	report_num_channels_m_id
vrpn_int32	got_connection_m_id
int	o_status

Additional Inherited Members
Public Attributes inherited from vrpn_BaseClassUnique
bool	shutup

Detailed Description

Definition at line 11 of file vrpn_Zaber.h.

Constructor & Destructor Documentation

◆ vrpn_Zaber()

vrpn_Zaber::vrpn_Zaber	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port )

◆ ~vrpn_Zaber()

vrpn_Zaber::~vrpn_Zaber ( )

inline

Definition at line 16 of file vrpn_Zaber.h.

Member Function Documentation

◆ convert_bytes_to_reading()

vrpn_int32 vrpn_Zaber::convert_bytes_to_reading ( const unsigned char * buf )

protected

Convert the four bytes that have been read into a signed integer value.

Definition at line 114 of file vrpn_Zaber.C.

Referenced by get_report(), and reset().

◆ get_report()

int vrpn_Zaber::get_report ( void )

protectedvirtual

Definition at line 226 of file vrpn_Zaber.C.

References vrpn_Analog::channel, convert_bytes_to_reading(), d_bufcount, d_buffer, d_expected_chars, vrpn_Analog::num_channel, report_changes(), vrpn_Serial_Analog::serial_fd, vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, timestamp, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, and vrpn_read_available_characters().

Referenced by mainloop().

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◆ handle_connect_message()

int vrpn_Zaber::handle_connect_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a connection request with a report of the values.

When we get a connection request from a remote object, send our state so they will know it to start with.

Definition at line 391 of file vrpn_Zaber.C.

References report(), vrpn_BaseClassUnique::userdata, vrpn_CONNECTION_RELIABLE, and vrpn_Zaber().

Referenced by vrpn_Zaber().

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◆ handle_request_channels_message()

int vrpn_Zaber::handle_request_channels_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a request to change multiple channels at once.

Definition at line 363 of file vrpn_Zaber.C.

References vrpn_HANDLERPARAM::buffer, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, send_command(), vrpn_BaseClassUnique::send_text_message(), timestamp, vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, vrpn_unbuffer(), and vrpn_Zaber().

Referenced by vrpn_Zaber().

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◆ handle_request_message()

int vrpn_Zaber::handle_request_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a request to change one of the values by setting the channel to that value.

Definition at line 335 of file vrpn_Zaber.C.

References vrpn_HANDLERPARAM::buffer, vrpn_Analog::channel, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, send_command(), vrpn_BaseClassUnique::send_text_message(), timestamp, vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, vrpn_unbuffer(), and vrpn_Zaber().

Referenced by vrpn_Zaber().

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◆ mainloop()

void vrpn_Zaber::mainloop ( void )

virtual

Called once through each main loop iteration to handle updates.

This routine is called each time through the server's main loop.

It will take a course of action depending on the current status of the device, either trying to reset it or trying to get a reading from it. It will try to reset the device if no data has come from it for a couple of seconds

Implements vrpn_BaseClass.

Definition at line 420 of file vrpn_Zaber.C.

References d_last_poll, get_report(), POLL_INTERVAL, reset(), send_command(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, TIMEOUT_TIME_INTERVAL, timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().