vrpn_Analog_5dt.h

#ifndef VRPN_5DT_H
#define VRPN_5DT_H
 
#include "vrpn_Analog.h" // for vrpn_Serial_Analog
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Connection.h" // for vrpn_CONNECTION_LOW_LATENCY, etc
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Types.h" // for vrpn_uint32
 
/** @brief Class to support reading data from serial 5DT data gloves.
*/
class VRPN_API vrpn_5dt: public vrpn_Serial_Analog
{
public:
    /** @brief Constructor.
        @param name Name for the device
        @param c Connection to use.
        @param port serial port to connect to
        @param baud Baud rate - 19200 for "wired"-type gloves (send/receive),
            9600 implies a "wireless" (may be wired, but is send-only) glove
        @param mode Set to 1 for the driver to request reports, set to 2
            to stream them. (wireless implies 2, overriding value passed here)
        @param tenbytes Whether reports should be 10 bytes instead of
            the documented 9. (wireless implies true, overriding value passed here)
    */
 vrpn_5dt (const char * name,
 vrpn_Connection * c,
 const char * port,
 int baud = 19200,
 int mode = 1,
 bool tenbytes = false);
 
    /// Called once through each main loop iteration to handle updates.
 virtual void mainloop ();
 
 void syncing (void);
 
 protected:
 bool _announced;        //< Did we make the note about potential warnings yet?
 bool _wireless;         //< Whether this glove is using the wireless protocol
 bool _gotInfo;          //< Whether we've sent a message about this wireless glove
 int _status;            //< Reset, Syncing, or Reading
 int _numchannels;       //< How many analog channels to open
 int _mode ;                  //< glove mode for reporting data (see glove manual)
 unsigned _expected_chars;       //< How many characters to expect in the report
 unsigned char _buffer[512]; //< Buffer of characters in report
 unsigned _bufcount;         //< How many characters we have so far
 bool  _tenbytes;        //< Whether there are 10-byte responses (unusual, but seen)
 
 struct timeval timestamp;   //< Time of the last report from the device
 
 virtual int reset(void);        //< Set device back to starting config
 virtual void get_report(void);      //< Try to read a report from the device
 
 virtual void clear_values(void);    //< Clears all channels to 0
 
    /// Compute the CRC for the message, append it, and send message.
    /// Returns 0 on success, -1 on failure.
 int send_command(const unsigned char *cmd, int len);
 
    /// send report iff changed
 virtual void report_changes
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
        /// send report whether or not changed
 virtual void report
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
};
 
#endif