vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Flock_Parallel.h>
Public Member Functions | |
vrpn_Tracker_Flock_Parallel (char *name, vrpn_Connection *c, int cSensors, char *port, long baud, char *slavePortArray[], bool invertQuaternion=false) | |
virtual | ~vrpn_Tracker_Flock_Parallel () |
virtual void | mainloop () |
Uses the get_report, send_report, and reset routines to implement a server. | |
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vrpn_Tracker_Flock (char *name, vrpn_Connection *c, int cSensors=1, const char *port="/dev/ttyd3", long baud=38400, int fStreamMode=1, int useERT=1, bool invertQuaternion=false, int active_hemisphere=HEMI_PLUSZ) | |
virtual | ~vrpn_Tracker_Flock () |
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vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400) | |
virtual | ~vrpn_Tracker_Serial () |
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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) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
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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. | |
Protected Member Functions | |
virtual int | get_report (void) |
Gets a report if one is available, returns 0 if not, 1 if complete report. | |
virtual void | reset () |
Reset the tracker. | |
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virtual void | send_report (void) |
void | printError (unsigned char uchErrCode, unsigned char uchExpandedErrCode) |
int | checkError () |
double | getMeasurementRate () |
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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) |
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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. | |
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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 Attributes | |
vrpn_Tracker_Flock_Parallel_Slave * | rgSlaves [VRPN_FLOCK_MAX_SENSORS] |
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int | activeHemisphere |
int | cSensors |
int | fStream |
int | fGroupMode |
int | d_useERT |
bool | d_invertQuaternion |
unsigned | cResets |
unsigned | cSyncs |
int | fFirstStatusReport |
struct timeval | tvLastStatusReport |
int | cReports |
int | cStatusInterval |
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char | portname [VRPN_TRACKER_BUF_SIZE] |
long | baudrate |
int | serial_fd |
unsigned char | buffer [VRPN_TRACKER_BUF_SIZE] |
vrpn_uint32 | bufcount |
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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 |
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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. | |
Additional Inherited Members | |
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enum | { HEMI_PLUSX , HEMI_MINUSX , HEMI_PLUSY , HEMI_MINUSY , HEMI_PLUSZ , HEMI_MINUSZ } |
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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) |
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bool | shutup |
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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. | |
Definition at line 48 of file vrpn_Flock_Parallel.h.
vrpn_Tracker_Flock_Parallel::vrpn_Tracker_Flock_Parallel | ( | char * | name, |
vrpn_Connection * | c, | ||
int | cSensors, | ||
char * | port, | ||
long | baud, | ||
char * | slavePortArray[], | ||
bool | invertQuaternion = false ) |
Definition at line 46 of file vrpn_Flock_Parallel.C.
References vrpn_Tracker_Flock::cSensors, vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, rgSlaves, and vrpn_Tracker_Flock_Parallel_Slave.
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virtual |
Definition at line 88 of file vrpn_Flock_Parallel.C.
References vrpn_Tracker_Flock::cSensors, and rgSlaves.
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protectedvirtual |
Gets a report if one is available, returns 0 if not, 1 if complete report.
Reimplemented from vrpn_Tracker_Flock.
Definition at line 118 of file vrpn_Flock_Parallel.C.
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virtual |
Uses the get_report, send_report, and reset routines to implement a server.
This function should be called each time through the main loop of the server code.
It polls for a report from the tracker and sends them if there are one or more. It will reset the tracker if there is no data from it for a few seconds.
Reimplemented from vrpn_Tracker_Serial.
Definition at line 124 of file vrpn_Flock_Parallel.C.
References vrpn_Tracker_Serial::baudrate, vrpn_Tracker_Flock::checkError(), vrpn_Tracker_Flock::cResets, vrpn_Tracker_Flock::cSensors, vrpn_Tracker_Flock_Parallel_Slave::mainloop(), vrpn_Tracker_Serial::portname, reset(), rgSlaves, vrpn_Tracker_Serial::serial_fd, vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, vrpn_close_commport(), vrpn_open_commport(), vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, vrpn_TRACKER_RESETTING, and vrpn_TRACKER_SYNCING.
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protectedvirtual |
Reset the tracker.
Reimplemented from vrpn_Tracker_Flock.
Definition at line 106 of file vrpn_Flock_Parallel.C.
References vrpn_Tracker_Flock::cSensors, vrpn_Tracker_Flock::reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), and rgSlaves.
Referenced by mainloop().
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protected |
Definition at line 67 of file vrpn_Flock_Parallel.h.
Referenced by mainloop(), reset(), vrpn_Tracker_Flock_Parallel(), and ~vrpn_Tracker_Flock_Parallel().