vrpn_YEI_3Space_Sensor_Wireless类 参考

Class to support reading data from a wireless YEI 3Space unit. 更多...

#include <vrpn_YEI_3Space.h>

类 vrpn_YEI_3Space_Sensor_Wireless 继承关系图:

vrpn_YEI_3Space_Sensor_Wireless 的协作图:

Public 成员函数
	vrpn_YEI_3Space_Sensor_Wireless (const char *name, vrpn_Connection *c, int logical_id, const char *port, int baud=115200, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char *reset_commands[]=NULL)
	Constructor for the first device, which will open the serial port and configure the dongle. The first device on a wireless dongle should call this constructor. The later ones should call the constructor that takes the serial_file_descriptor argument after querying the first for that descriptor.
	vrpn_YEI_3Space_Sensor_Wireless (const char *name, vrpn_Connection *c, int logical_id, int serial_file_descriptor, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char *reset_commands[]=NULL)
	Constructor for a follow-on device, once a wireless unit has already been opened on a given dongle. The serial_file_descriptor argument should be found by querying the first device.
virtual	~vrpn_YEI_3Space_Sensor_Wireless ()
	Destructor.
int	get_serial_file_descriptor (void) const
Public 成员函数 继承自 vrpn_YEI_3Space
	vrpn_YEI_3Space (const char *name, vrpn_Connection *c, double frames_per_second=50, const char *reset_commands[]=NULL)
	Constructor.
virtual	~vrpn_YEI_3Space ()
	Destructor.
virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.
Public 成员函数 继承自 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)
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 成员函数 继承自 vrpn_Tracker
	vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL)
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 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
	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_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 bool	configure_dongle (void)
	Configure the dongle (called if we are the first one)
virtual bool	set_logical_id (vrpn_uint8 logical_id, vrpn_int32 serial_number)
	Insert our serial number into the specified slot.
virtual void	flush_input (void)
	Flush any incoming characters in the communications channel.
virtual bool	get_report (void)
bool	send_binary_command_to_dongle (const unsigned char *cmd, int len)
bool	send_binary_command (const unsigned char *cmd, int len)
bool	send_ascii_command (const char *cmd)
bool	receive_LED_mode_response (struct timeval *timeout=NULL)
bool	receive_LED_values_response (struct timeval *timeout=NULL)
Protected 成员函数 继承自 vrpn_YEI_3Space
void	init (bool calibrate_gyros_on_setup, bool tare_on_setup, double red_LED_color, double green_LED_color, double blue_LED_color, int LED_mode)
virtual int	reset (void)
virtual void	handle_report (unsigned char *report)
virtual void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	send report iff changed
virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	send report whether or not changed
Protected 成员函数 继承自 vrpn_Tracker
bool	ensure_enough_unit2sensors (unsigned num)
virtual int	register_types (void)
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)
virtual int	encode_unit2sensor_to (char *buf)
virtual int	encode_workspace_to (char *buf)
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
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_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)

Protected 属性
bool	d_i_am_first
int	d_serial_fd
vrpn_uint8	d_logical_id
Protected 属性 继承自 vrpn_YEI_3Space
char **	d_reset_commands
int	d_reset_command_count
int	d_status
double	d_frames_per_second
int	d_LED_mode
vrpn_float32	d_LED_color [3]
unsigned char	d_buffer [128]
unsigned	d_expected_characters
unsigned	d_characters_read
struct timeval	timestamp
Protected 属性 继承自 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_Pos *	unit2sensor
vrpn_Tracker_Quat *	unit2sensor_quat
unsigned	num_unit2sensors
vrpn_float64	workspace_min [3]
vrpn_float64	workspace_max [3]
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
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_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
静态 Public 成员函数 继承自 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 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]
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)

详细描述

Class to support reading data from a wireless YEI 3Space unit.

构造及析构函数说明

vrpn_YEI_3Space_Sensor_Wireless() [1/2]

vrpn_YEI_3Space_Sensor_Wireless	(	const char *	name,
		vrpn_Connection *	c,
		int	logical_id,
		const char *	port,
		int	baud = 115200,
		bool	calibrate_gyros_on_setup = false,
		bool	tare_on_setup = false,
		double	frames_per_second = 50,
		double	red_LED_color = 0,
		double	green_LED_color = 0,
		double	blue_LED_color = 0,
		int	LED_mode = 1,
		const char *	reset_commands[] = NULL )

Constructor for the first device, which will open the serial port and configure the dongle. The first device on a wireless dongle should call this constructor. The later ones should call the constructor that takes the serial_file_descriptor argument after querying the first for that descriptor.

参数

name	Name for the device
c	Connection to use.
logical_id	Which logical ID to use on the wireless unit.
port	serial port to connect to
baud	Baud rate - 115200 is default.
calibrate_gyros_on_setup	- true to cause this to happen
tare_on_setup	- true to cause this to happen (usually manufacturing-time operation!)
frames_per_second	- How many frames/second to read
red_LED_color	- brightness of LED (0-1)
green_LED_color	- brightness of LED (0-1)
blue_LED_color	- brightness of LED (0-1)
LED_state	- 0 = standard, 1 = static
reset_commands	- Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor.

vrpn_YEI_3Space_Sensor_Wireless() [2/2]

vrpn_YEI_3Space_Sensor_Wireless	(	const char *	name,
		vrpn_Connection *	c,
		int	logical_id,
		int	serial_file_descriptor,
		bool	calibrate_gyros_on_setup = false,
		bool	tare_on_setup = false,
		double	frames_per_second = 50,
		double	red_LED_color = 0,
		double	green_LED_color = 0,
		double	blue_LED_color = 0,
		int	LED_mode = 1,
		const char *	reset_commands[] = NULL )

Constructor for a follow-on device, once a wireless unit has already been opened on a given dongle. The serial_file_descriptor argument should be found by querying the first device.

参数

name	Name for the device
c	Connection to use.
logical_id	Which logical ID to use on the wireless unit.
serial_file_descriptor	Pre-opened serial descriptor to use.
calibrate_gyros_on_setup	- true to cause this to happen
tare_on_setup	- true to cause this to happen (usually manufacturing-time operation!)
frames_per_second	- How many frames/second to read
red_LED_color	- brightness of LED (0-1)
green_LED_color	- brightness of LED (0-1)
blue_LED_color	- brightness of LED (0-1)
LED_state	- 0 = standard, 1 = static
reset_commands	- Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor.

~vrpn_YEI_3Space_Sensor_Wireless()

virtual ~vrpn_YEI_3Space_Sensor_Wireless ( )

virtual

Destructor.

成员函数说明

configure_dongle()

virtual bool configure_dongle ( void )

protectedvirtual

Configure the dongle (called if we are the first one)

flush_input()

virtual void flush_input ( void )

protectedvirtual

Flush any incoming characters in the communications channel.

实现了 vrpn_YEI_3Space.

get_report()

virtual bool get_report ( void )

protectedvirtual

Get and handle a report from the device if one is available. Return true if one was available, false if not.

实现了 vrpn_YEI_3Space.

get_serial_file_descriptor()

int get_serial_file_descriptor ( void ) const

inline

Reports the serial_fd that was opened, so that additional sensors that use the same wireless dongle can be opened.

receive_LED_mode_response()

bool receive_LED_mode_response ( struct timeval * timeout = NULL )

protectedvirtual

Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

实现了 vrpn_YEI_3Space.

receive_LED_values_response()

bool receive_LED_values_response ( struct timeval * timeout = NULL )

protectedvirtual

Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

实现了 vrpn_YEI_3Space.

send_ascii_command()

bool send_ascii_command ( const char * cmd )

protectedvirtual

Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.

实现了 vrpn_YEI_3Space.

send_binary_command()

bool send_binary_command ( const unsigned char * cmd, int len )

protectedvirtual

Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.

实现了 vrpn_YEI_3Space.

send_binary_command_to_dongle()

bool send_binary_command_to_dongle ( const unsigned char * cmd, int len )

protected

Compute the CRC for the message, append it, and send message to the dongle directly (not a wireless command). Returns true on success, false on failure.

set_logical_id()

virtual bool set_logical_id ( vrpn_uint8 logical_id, vrpn_int32 serial_number )

protectedvirtual

Insert our serial number into the specified slot.

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该类的文档由以下文件生成:

• simulink/vrpn/vrpn_YEI_3Space.h