vrpn_Dyna.h

#ifndef INCLUDED_DYNA
#define INCLUDED_DYNA
 
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Serial.h"
#include "vrpn_Tracker.h" // for vrpn_Tracker_Serial
 
class VRPN_API vrpn_Connection;
 
// only 13 receivers allowed in normal addressing mode
#define VRPN_DYNA_MAX_SENSORS 13
 
// This is a class which provides a server for an ascension 
// DynaSight.  The server will send out messages
// The timestamp is the time when the first character was read
// from the serial driver with "read".  No adjustment is currently
// made to this time stamp.
 
// If this is running on a non-linux system, then the serial port driver
// is probably adding more latency -- see the vrpn README for more info.
 
class VRPN_API vrpn_Tracker_Dyna: public vrpn_Tracker_Serial {
private:
 unsigned reportLength;
 unsigned totalReportLength;
 
 public:
 
  vrpn_Tracker_Dyna(char *name, vrpn_Connection *c, int cSensors=1,
 const char *port = "/dev/ttyd3", long baud = 38400);
 
 virtual ~vrpn_Tracker_Dyna();
 
private:
 void my_flush() {
 // clear the input data buffer 
 unsigned char foo[128];
 while (vrpn_read_available_characters(serial_fd, foo, 1) > 0) ;
  }
 int valid_report();
 int decode_record();
 int get_status();
 protected:
 
 virtual int get_report(void);
 virtual void reset();
 void printError(unsigned char uchErrCode, unsigned char uchExpandedErrCode);
 int checkError();
 int cResets;
 int cSensors;
};
 
 
#endif