vrpn 07.35
Virtual Reality Peripheral Network
Loading...
Searching...
No Matches
vrpn_Tracker_Crossbow Class Reference

#include <vrpn_Tracker_Crossbow.h>

Inheritance diagram for vrpn_Tracker_Crossbow:
Collaboration diagram for vrpn_Tracker_Crossbow:

Classes

struct  raw_packet
 

Public Member Functions

 vrpn_Tracker_Crossbow (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS0", long baud=38400, float g_range=2.0f, float ar_range=100.0f)
 The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the name of the serial port it is to open (default is /dev/ttyS0 (first serial port in Linux), the baud rate at which it is to communicate (default 38400), the linear acceleration range of the sensor in Gs (default 2), and the angular acceleration range of the sensor in degrees per second (default 100).
 
 ~vrpn_Tracker_Crossbow ()
 
virtual void mainloop ()
 Uses the get_report, send_report, and reset routines to implement a server.
 
void reset ()
 Reset the tracker.
 
int get_report ()
 Gets a report if one is available, returns 0 if not, 1 if complete report.
 
vrpn_uint32 get_serial_number ()
 
const char * get_version_string ()
 
void recalibrate (vrpn_uint16 num_samples=20000)
 
- Public Member Functions inherited from vrpn_Tracker_Serial
 vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400)
 
virtual ~vrpn_Tracker_Serial ()
 
- 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.
 

Protected Member Functions

void unbuffer_packet (raw_packet &dest, unsigned char *buffer)
 
int validate_packet (const raw_packet &packet)
 
void process_packet (const raw_packet &packet)
 
float convert_scalar (vrpn_int16 data, float scale) const
 
void xb_quat_from_euler (q_type destQuat, double pitch, double roll) const
 
void send_report ()
 
void ping ()
 
- 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 Attributes

struct timeval init_time
 
float lin_accel_range
 
float ang_accel_range
 
vrpn_uint32 device_serial
 
char * device_version
 
int just_read_something
 
- Protected Attributes inherited from vrpn_Tracker_Serial
char portname [VRPN_TRACKER_BUF_SIZE]
 
long baudrate
 
int serial_fd
 
unsigned char buffer [VRPN_TRACKER_BUF_SIZE]
 
vrpn_uint32 bufcount
 
- 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.
 

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
 
- 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.
 

Detailed Description

Definition at line 16 of file vrpn_Tracker_Crossbow.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Crossbow()

vrpn_Tracker_Crossbow::vrpn_Tracker_Crossbow ( const char * name,
vrpn_Connection * c,
const char * port = "/dev/ttyS0",
long baud = 38400,
float g_range = 2.0f,
float ar_range = 100.0f )

The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the name of the serial port it is to open (default is /dev/ttyS0 (first serial port in Linux), the baud rate at which it is to communicate (default 38400), the linear acceleration range of the sensor in Gs (default 2), and the angular acceleration range of the sensor in degrees per second (default 100).

Definition at line 17 of file vrpn_Tracker_Crossbow.C.

◆ ~vrpn_Tracker_Crossbow()

vrpn_Tracker_Crossbow::~vrpn_Tracker_Crossbow ( )

Definition at line 28 of file vrpn_Tracker_Crossbow.C.

References device_version.

Member Function Documentation

◆ convert_scalar()

float vrpn_Tracker_Crossbow::convert_scalar ( vrpn_int16 data,
float scale ) const
protected

Definition at line 334 of file vrpn_Tracker_Crossbow.C.

Referenced by process_packet().

◆ get_report()

int vrpn_Tracker_Crossbow::get_report ( )
virtual

◆ get_serial_number()

vrpn_uint32 vrpn_Tracker_Crossbow::get_serial_number ( )

Definition at line 316 of file vrpn_Tracker_Crossbow.C.

References device_serial, and reset().

Here is the call graph for this function:

◆ get_version_string()

const char * vrpn_Tracker_Crossbow::get_version_string ( )

Definition at line 322 of file vrpn_Tracker_Crossbow.C.

References device_version, and reset().

Here is the call graph for this function:

◆ mainloop()

void vrpn_Tracker_Crossbow::mainloop ( void )
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 329 of file vrpn_Tracker_Crossbow.C.

References vrpn_Tracker_Serial::mainloop().

Here is the call graph for this function:

◆ ping()

void vrpn_Tracker_Crossbow::ping ( )
protected

Definition at line 266 of file vrpn_Tracker_Crossbow.C.

References vrpn_Tracker_Serial::buffer, vrpn_Tracker_Serial::serial_fd, vrpn_read_available_characters(), and vrpn_write_characters().

Here is the call graph for this function:

◆ process_packet()

◆ recalibrate()

void vrpn_Tracker_Crossbow::recalibrate ( vrpn_uint16 num_samples = 20000)

◆ reset()

◆ send_report()

◆ unbuffer_packet()

◆ validate_packet()

int vrpn_Tracker_Crossbow::validate_packet ( const raw_packet & packet)
protected

◆ xb_quat_from_euler()

void vrpn_Tracker_Crossbow::xb_quat_from_euler ( q_type destQuat,
double pitch,
double roll ) const
protected

Definition at line 397 of file vrpn_Tracker_Crossbow.C.

Referenced by process_packet().

Member Data Documentation

◆ ang_accel_range

float vrpn_Tracker_Crossbow::ang_accel_range
protected

Definition at line 71 of file vrpn_Tracker_Crossbow.h.

Referenced by process_packet().

◆ device_serial

vrpn_uint32 vrpn_Tracker_Crossbow::device_serial
protected

Definition at line 73 of file vrpn_Tracker_Crossbow.h.

Referenced by get_serial_number(), and reset().

◆ device_version

char* vrpn_Tracker_Crossbow::device_version
protected

Definition at line 74 of file vrpn_Tracker_Crossbow.h.

Referenced by get_version_string(), reset(), and ~vrpn_Tracker_Crossbow().

◆ init_time

struct timeval vrpn_Tracker_Crossbow::init_time
protected

Definition at line 69 of file vrpn_Tracker_Crossbow.h.

◆ just_read_something

int vrpn_Tracker_Crossbow::just_read_something
protected

Definition at line 76 of file vrpn_Tracker_Crossbow.h.

Referenced by get_report(), and reset().

◆ lin_accel_range

float vrpn_Tracker_Crossbow::lin_accel_range
protected

Definition at line 70 of file vrpn_Tracker_Crossbow.h.

Referenced by process_packet().


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