vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Tracker_Flock_Parallel Class Reference

#include <vrpn_Flock_Parallel.h>

Inheritance diagram for vrpn_Tracker_Flock_Parallel:
Collaboration diagram for vrpn_Tracker_Flock_Parallel:

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. More...
 
- Public Member Functions inherited from vrpn_Tracker_Flock
 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 ()
 
- 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. More...
 
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. More...
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using. More...
 

Protected Member Functions

virtual int get_report (void)
 Gets a report if one is available, returns 0 if not, 1 if complete report. More...
 
virtual void reset ()
 Reset the tracker. More...
 
- Protected Member Functions inherited from vrpn_Tracker_Flock
virtual void send_report (void)
 
void printError (unsigned char uchErrCode, unsigned char uchExpandedErrCode)
 
int checkError ()
 
double getMeasurementRate ()
 
- 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. More...
 
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. More...
 
virtual int encode_unit2sensor_to (char *buf)
 Encodes the "Unit to Sensor" transformation into the buffer specified. More...
 
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. More...
 
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. More...
 
- 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. More...
 
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. More...
 
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. More...
 
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() More...
 
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() More...
 

Protected Attributes

vrpn_Tracker_Flock_Parallel_SlavergSlaves [VRPN_FLOCK_MAX_SENSORS]
 
- Protected Attributes inherited from vrpn_Tracker_Flock
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
 
- 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. More...
 
char * d_servicename
 Name of this device, not including the connection part. More...
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection. More...
 
vrpn_int32 d_text_message_id
 ID for text messages. More...
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there. More...
 
vrpn_int32 d_pong_message_id
 Server telling that it is there. More...
 

Additional Inherited Members

- Public Types inherited from vrpn_Tracker_Flock
enum  {
  HEMI_PLUSX, HEMI_MINUSX, HEMI_PLUSY, HEMI_MINUSY,
  HEMI_PLUSZ, HEMI_MINUSZ
}
 
- 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
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- 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. More...
 
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. More...
 

Detailed Description

Definition at line 48 of file vrpn_Flock_Parallel.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Flock_Parallel()

vrpn_Tracker_Flock_Parallel::vrpn_Tracker_Flock_Parallel ( char *  name,
vrpn_Connection c,
int  cSensors,
char *  port,
long  baud,
char *  slavePortArray[],
bool  invertQuaternion = false 
)

◆ ~vrpn_Tracker_Flock_Parallel()

vrpn_Tracker_Flock_Parallel::~vrpn_Tracker_Flock_Parallel ( )
virtual

Definition at line 88 of file vrpn_Flock_Parallel.C.

References vrpn_Tracker_Flock::cSensors, and rgSlaves.

Member Function Documentation

◆ get_report()

int vrpn_Tracker_Flock_Parallel::get_report ( void  )
protectedvirtual

Gets a report if one is available, returns 0 if not, 1 if complete report.

Reimplemented from vrpn_Tracker_Flock.

Definition at line 113 of file vrpn_Flock_Parallel.C.

◆ mainloop()

void vrpn_Tracker_Flock_Parallel::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 119 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.

Here is the call graph for this function:

◆ reset()

void vrpn_Tracker_Flock_Parallel::reset ( )
protectedvirtual

Reset the tracker.

Reimplemented from vrpn_Tracker_Flock.

Definition at line 101 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().

Here is the call graph for this function:

Member Data Documentation

◆ rgSlaves

vrpn_Tracker_Flock_Parallel_Slave* vrpn_Tracker_Flock_Parallel::rgSlaves[VRPN_FLOCK_MAX_SENSORS]
protected

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