vrpn_Poser_Tek4662.h

#ifndef vrpn_POSER_TEK4662_H
#define vrpn_POSER_TEK4662_H
#include "vrpn_Configure.h" // for VRPN_CALLBACK, VRPN_API
#include "vrpn_Poser.h" // for vrpn_Poser
#include "vrpn_Serial.h" // for ::vrpn_SER_PARITY_NONE, etc
#include "vrpn_Tracker.h" // for vrpn_Tracker
 
class VRPN_API vrpn_Connection;
struct vrpn_HANDLERPARAM;
 
// This code is for a Poser server that uses a Tektronix 4662 plotter in the
// RS-232 mode.  This is a 2D device.
// This class also acts as a vrpn_Tracker so that it can report back the new positions
// to the client.  This lets the system operate in a closed-loop fashion.
//
// It assumes the following settings on the plotter: GIN terminator (none), no
// DEL modification, device A, copy mode off, 1 stop bit, CR translation off,
// low-speed plotting off, RS-232 interface enabled. It assumes that the plotter
// is not in local mode and that the communications is through the Modem port.
 
// If multiple requests for motion to a new location arrive while an ongoing
// move is being made, all but the last are ignored.
 
class VRPN_API vrpn_Poser_Tek4662 : public vrpn_Poser, public vrpn_Tracker {
public:
  vrpn_Poser_Tek4662(const char* name, vrpn_Connection* c,
 const char * port, int baud = 1200, int bits = 8, 
              vrpn_SER_PARITY parity = vrpn_SER_PARITY_NONE);
 
 virtual ~vrpn_Poser_Tek4662();
 
 virtual void mainloop();
 
protected:
 int       d_serial_fd;        //< File descriptor for the serial port we're using
 unsigned char d_inbuf[1024];      //< Input buffer for characters from the plotter
 int       d_inbufcounter;     //< How many characters have been read
 
 float     d_newx, d_newy;     //< New location that we're supposed to go to
 bool      d_new_location_requested; //< Has a new location been requested since our last move?
 int       d_outstanding_requests;   //< How many GIN requests are outstanding?
 
 void  reset(void);
 void  run();
 
 static int VRPN_CALLBACK handle_change_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK handle_vel_change_message(void *userdata, vrpn_HANDLERPARAM p);
};
 
#endif