类 vrpn_IDEA 继承关系图:

vrpn_IDEA 的协作图:

Public 成员函数
	vrpn_IDEA (const char name, vrpn_Connection c, const char *port, int run_speed_tics_sec=3200, int start_speed_tics_sec=1200, int end_speed_tics_sec=2000, int accel_rate_tics_sec_sec=40000, int decel_rate_tics_sec_sec=100000, int run_current=290, int hold_current=0, int accel_current=290, int decel_current=290, int delay=50, int step=8, int high_limit_index=-1, int low_limit_index=-1, int output_1_setting=-1, int output_2_setting=-1, int output_3_setting=-1, int output_4_setting=-1, double initial_move=0, double fractional_c_a=1.0, double reset_location=0.0)

virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.

Public 成员函数继承自 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)

Public 成员函数继承自 vrpn_Analog
	vrpn_Analog (const char name, vrpn_Connection c=NULL)

void	print (void)

vrpn_int32	getNumChannels (void) const

Public 成员函数继承自 vrpn_BaseClass
	vrpn_BaseClass (const char name, vrpn_Connection c=NULL)

Public 成员函数继承自 vrpn_BaseClassUnique
vrpn_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using

Public 成员函数继承自 vrpn_Analog_Output
	vrpn_Analog_Output (const char name, vrpn_Connection c=NULL)

void	o_print (void)

vrpn_int32	getNumChannels () const

Public 成员函数继承自 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 成员函数继承自 vrpn_Button
	vrpn_Button (const char name, vrpn_Connection c=NULL)

void	print (void)

Protected 成员函数
virtual int	reset (void)

virtual int	get_report (void)

bool	send_command (const char *cmd)
	Appends carriage-return and then sends the command.

bool	send_move_request (vrpn_float64 location_in_steps, double scale=1.0)
	Request a move from the motor to the specified location.

bool	move_until_done_or_error (vrpn_float64 location_in_steps, double scale=1.0)
	Send a move request and then wait for the move to complete. Repeat

int	convert_report_to_position (unsigned char *buf)
	Parses a position report. Returns -1 on failure, 0 on no value

int	convert_report_to_buttons (unsigned char *buf)
	Parses an input/output report. Returns -1 on failure, 0 on no 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 成员函数继承自 vrpn_Serial_Analog
int	read_available_characters (char *buffer, int bytes)

Protected 成员函数继承自 vrpn_Analog
virtual int	register_types (void)

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)

virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)

Protected 成员函数继承自 vrpn_BaseClass
virtual int	init (void)

virtual int	register_senders (void)

Protected 成员函数继承自 vrpn_BaseClassUnique
int	register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)

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)

void	server_mainloop (void)

void	client_mainloop (void)

Protected 成员函数继承自 vrpn_Analog_Output
virtual int	register_types (void)

Protected 成员函数继承自 vrpn_Button_Filter
	vrpn_Button_Filter (const char , vrpn_Connection c=NULL)

virtual vrpn_int32	encode_states_to (char *buf)

virtual void	report_changes (void)

Protected 成员函数继承自 vrpn_Button
virtual int	register_types (void)

virtual void	report_states (void)

virtual vrpn_int32	encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)

静态 Protected 成员函数
static int VRPN_CALLBACK	handle_request_message (void *userdata, vrpn_HANDLERPARAM p)

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

静态 Protected 成员函数继承自 vrpn_BaseClassUnique
static int	encode_text_message_to_buffer (char buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char msg)

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

静态 Protected 成员函数继承自 vrpn_Button_Filter
static int VRPN_CALLBACK	handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)

Protected 属性
unsigned char	d_buffer [512]

unsigned	d_bufcount

struct timeval	d_timestamp

int	d_run_speed_tics_sec

int	d_start_speed_tics_sec

int	d_end_speed_tics_sec

int	d_accel_rate_tics_sec_sec

int	d_decel_rate_tics_sec_sec

int	d_run_current

int	d_hold_current

int	d_accel_current

int	d_decel_current

int	d_delay

int	d_step

int	d_high_limit_index

int	d_low_limit_index

int	d_output_1_setting

int	d_output_2_setting

int	d_output_3_setting

int	d_output_4_setting

double	d_initial_move

double	d_fractional_c_a

double	d_reset_location

struct timeval	d_last_poll

Protected 属性继承自 vrpn_Serial_Analog
int	serial_fd

char	portname [1024]

int	baudrate

unsigned char	buffer [1024]

int	bufcounter

Protected 属性继承自 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 属性继承自 vrpn_BaseClassUnique
vrpn_Connection *	d_connection
	Connection that this object talks to

char *	d_servicename

vrpn_int32	d_sender_id
	part

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 属性继承自 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

Protected 属性继承自 vrpn_Button_Filter
int	send_alerts

vrpn_int32	alert_message_id

Protected 属性继承自 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

额外继承的成员函数
Public 属性继承自 vrpn_BaseClassUnique
bool	shutup

Public 属性继承自 vrpn_Button_Filter
vrpn_int32	buttonstate [vrpn_BUTTON_MAX_BUTTONS]

成员函数说明

◆ convert_report_to_buttons()

int convert_report_to_buttons ( unsigned char * buf )

protected

Parses an input/output report. Returns -1 on failure, 0 on no value

◆ convert_report_to_position()

int convert_report_to_position ( unsigned char * buf )

protected

Parses a position report. Returns -1 on failure, 0 on no value

◆ handle_connect_message()

static int VRPN_CALLBACK handle_connect_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a connection request with a report of the values

◆ handle_request_channels_message()

static int VRPN_CALLBACK handle_request_channels_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a request to change multiple channels at once.

◆ handle_request_message()

static int VRPN_CALLBACK 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.

◆ mainloop()

virtual void mainloop ( )

virtual

Called once through each main loop iteration to handle updates.

实现了 vrpn_BaseClass.

◆ move_until_done_or_error()

bool move_until_done_or_error	(	vrpn_float64	location_in_steps,
		double	scale = 1.0 )

protected

Send a move request and then wait for the move to complete. Repeat

◆ report()

virtual void report ( vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE )

protectedvirtual

send report whether or not changed

◆ report_changes()

virtual void report_changes ( vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE )

protectedvirtual

send report iff changed

◆ send_command()

bool send_command ( const char * cmd )

protected

Appends carriage-return and then sends the command.

这是这个函数的调用关系图:

◆ send_move_request()

bool send_move_request	(	vrpn_float64	location_in_steps,
		double	scale = 1.0 )

protected

Request a move from the motor to the specified location.

该类的文档由以下文件生成:

simulink/vrpn/vrpn_IDEA.h

Public 成员函数

Protected 成员函数

静态 Protected 成员函数

Protected 属性

额外继承的成员函数

成员函数说明

◆ convert_report_to_buttons()

◆ convert_report_to_position()

◆ handle_connect_message()

◆ handle_request_channels_message()

◆ handle_request_message()

◆ mainloop()

◆ move_until_done_or_error()

◆ report()

◆ report_changes()

◆ send_command()

◆ send_move_request()