vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_Freespace Class Reference

This provides an interface to devices powered by Hillcrest Lab's Freespace. More...

#include <vrpn_Freespace.h>

Inheritance diagram for vrpn_Freespace:
Collaboration diagram for vrpn_Freespace:

Public Member Functions

virtual ~vrpn_Freespace (void)
 
virtual void mainloop (void)
 Main loop.
 
- 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_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)
 
- Public Member Functions inherited from vrpn_Dial
 vrpn_Dial (const char *name, vrpn_Connection *c=NULL)
 

Static Public Member Functions

static vrpn_Freespacecreate (const char *name, vrpn_Connection *conn, int device_index=0, bool send_body_frames=false, bool send_user_frames=true)
 Create a freespace server using the given FreespaceDeviceId.
 
- 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)
 

Protected Attributes

FreespaceDeviceId _freespaceDevice
 
FreespaceDeviceInfo _deviceInfo
 
vrpn_float64 _lastBodyFrameTime
 
- 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
 
- Protected Attributes inherited from vrpn_Dial
vrpn_float64 dials [vrpn_DIAL_MAX]
 
vrpn_int32 num_dials
 
struct timeval timestamp
 
vrpn_int32 change_m_id
 

Additional Inherited Members

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
- Public Attributes inherited from vrpn_Button_Filter
vrpn_int32 buttonstate [vrpn_BUTTON_MAX_BUTTONS]
 
- 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 Member Functions inherited from vrpn_Dial
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, vrpn_int32 buflen, vrpn_int32 dial, vrpn_float64 delta)
 
virtual void report_changes (void)
 
virtual void report (void)
 
- 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

This provides an interface to devices powered by Hillcrest Lab's Freespace.


Freespace is a sensor technology for tracking relative movement of a handheld device. A Freespace device exposes itself as a combination of 3 VRPN interfaces. as a tracker, with linear acceleration and angular velocity, as a Dial, with a single dial for an on-board scroll wheel (loop pointer) and as a Button for the various buttons on the device.

The implementation here uses the synchronous API to read data from the device, but could fairly easily be modified to use the asynchronous API. This may be desired as a cleaner way to provide access to multiple Freespace devices and/or handle hot-plugging of devices (such as the loop, which uses a USB dongle for communications).

More info on libfreespace can be found at https://launchpad.net/libfreespace or http://hillcrestlabs.com/products/tools/

Definition at line 33 of file vrpn_Freespace.h.

Constructor & Destructor Documentation

◆ ~vrpn_Freespace()

vrpn_Freespace::~vrpn_Freespace ( void )
virtual

Definition at line 206 of file vrpn_Freespace.C.

References _freespaceDevice.

Member Function Documentation

◆ create()

vrpn_Freespace * vrpn_Freespace::create ( const char * name,
vrpn_Connection * conn,
int device_index = 0,
bool send_body_frames = false,
bool send_user_frames = true )
static

Create a freespace server using the given FreespaceDeviceId.

This factory will automatically initialize the libfreespace library as needed. This method will open the device and configure it to receive relavant messages. See the test_freespace.C, or libfreespace-examples, for steps to initialize the library and enumerate devices.

Definition at line 124 of file vrpn_Freespace.C.

◆ mainloop()

void vrpn_Freespace::mainloop ( void )
virtual

Main loop.

This will try to read data from the loop, and send appropriate messages to a VRPN client.

Reimplemented from vrpn_Tracker_Server.

Definition at line 166 of file vrpn_Freespace.C.

References _freespaceDevice, vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Dial::timestamp, vrpn_gettimeofday, and vrpn_TEXT_WARNING.

Here is the call graph for this function:

Member Data Documentation

◆ _deviceInfo

FreespaceDeviceInfo vrpn_Freespace::_deviceInfo
protected

Definition at line 93 of file vrpn_Freespace.h.

◆ _freespaceDevice

FreespaceDeviceId vrpn_Freespace::_freespaceDevice
protected

Definition at line 92 of file vrpn_Freespace.h.

Referenced by mainloop(), and ~vrpn_Freespace().

◆ _lastBodyFrameTime

vrpn_float64 vrpn_Freespace::_lastBodyFrameTime
protected

Definition at line 94 of file vrpn_Freespace.h.


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