vrpn_GlobalHapticsOrb.h

#ifndef VRPN_GLOBALHAPTICSORB_H
#define VRPN_GLOBALHAPTICSORB_H
 
#include "vrpn_Analog.h" // for vrpn_Serial_Analog
#include "vrpn_Button.h" // for vrpn_Button_Filter
#include "vrpn_Configure.h" // for VRPN_API, VRPN_CALLBACK
#include "vrpn_Connection.h" // for vrpn_CONNECTION_RELIABLE, etc
#include "vrpn_Dial.h" // for vrpn_Dial
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Types.h" // for vrpn_uint32
 
// Exports buttons 0-25 as 0-25.
// Exports left pushbutton as 26, right pushbutton as 27.
// Exports rocker up as 28, rocker down as 29.
// Exports Thumbwheel both as clamping analog (-1..1) 0 and as dial 0.
// Exports Trackball both as clamping analogs 1 and 2 and as dials 1 and 2.
 
class VRPN_API vrpn_GlobalHapticsOrb: public vrpn_Serial_Analog
            ,public vrpn_Button_Filter
            ,public vrpn_Dial
{
public:
 vrpn_GlobalHapticsOrb (const char * name, vrpn_Connection * c,
 const char * port, int baud);
 ~vrpn_GlobalHapticsOrb () {};
 
 // Called once through each main loop iteration to handle
 // updates.
 virtual void mainloop ();
 
 protected:
 int d_status;
 
 unsigned d_expected_chars;  //< How many characters to expect in the report
 unsigned char d_buffer[512];    //< Buffer of characters in report
 unsigned d_bufcount;        //< How many characters we have so far
 
 struct timeval d_timestamp; //< Time of the last report from the device
 
 virtual void clear_values(void);    //< Set all buttons, analogs and encoders back to 0
 virtual int reset(void);        //< Set device back to starting config
 virtual int get_report(void);       //< Try to read a report from the device
 
 // NOTE:  class_of_service is only applied to vrpn_Analog
 //  values, not vrpn_Button or vrpn_Dial
 virtual void report_changes(vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_RELIABLE);
 virtual void report(vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_RELIABLE);
 
 static int VRPN_CALLBACK handle_firstConnection(void * userdata, vrpn_HANDLERPARAM);
};
 
#endif