#include <vrpn_IDEA.h>

Inheritance diagram for vrpn_IDEA:

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Collaboration diagram for vrpn_IDEA:

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Public Member Functions
	vrpn_IDEA (const char name, vrpn_Connection c, const char *port, int run_speed_tics_sec=3200, int start_speed_tics_sec=1200, int end_speed_tics_sec=2000, int accel_rate_tics_sec_sec=40000, int decel_rate_tics_sec_sec=100000, int run_current=290, int hold_current=0, int accel_current=290, int decel_current=290, int delay=50, int step=8, int high_limit_index=-1, int low_limit_index=-1, int output_1_setting=-1, int output_2_setting=-1, int output_3_setting=-1, int output_4_setting=-1, double initial_move=0, double fractional_c_a=1.0, double reset_location=0.0)
	~vrpn_IDEA ()
virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.
Public Member Functions inherited from vrpn_Serial_Analog
	vrpn_Serial_Analog (const char name, vrpn_Connection connection, const char *port, int baud=9600, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE, bool rts_flow=false)
	~vrpn_Serial_Analog ()
Public Member Functions inherited from vrpn_Analog
	vrpn_Analog (const char name, vrpn_Connection c=NULL)
void	print (void)
vrpn_int32	getNumChannels (void) const
Public Member Functions inherited from vrpn_BaseClass
	vrpn_BaseClass (const char name, vrpn_Connection c=NULL)
	Names the device and assigns or opens connection, calls registration methods.
virtual	~vrpn_BaseClass ()
Public Member Functions inherited from vrpn_BaseClassUnique
	vrpn_BaseClassUnique ()
virtual	~vrpn_BaseClassUnique ()
	Unregister all of the message handlers that were to be autodeleted.
vrpn_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using.
Public Member Functions inherited from vrpn_Analog_Output
	vrpn_Analog_Output (const char name, vrpn_Connection c=NULL)
void	o_print (void)
vrpn_int32	getNumChannels () const
Public Member Functions inherited from 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 Member Functions inherited from vrpn_Button
	vrpn_Button (const char name, vrpn_Connection c=NULL)
virtual	~vrpn_Button (void)
void	print (void)

Protected Member Functions
virtual int	reset (void)
virtual int	get_report (void)
bool	send_command (const char *cmd)
	Appends carriage-return and then sends the command.
bool	send_move_request (vrpn_float64 location_in_steps, double scale=1.0)
	Request a move from the motor to the specified location.
bool	move_until_done_or_error (vrpn_float64 location_in_steps, double scale=1.0)
	Send a move request and then wait for the move to complete. Repeat.
int	convert_report_to_position (unsigned char *buf)
	Parses a position report. Returns -1 on failure, 0 on no value.
int	convert_report_to_buttons (unsigned char *buf)
	Parses an input/output report. Returns -1 on failure, 0 on no value.
virtual void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
	send report iff changed
virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE)
	send report whether or not changed
Protected Member Functions inherited from vrpn_Serial_Analog
int	read_available_characters (char *buffer, int bytes)
Protected Member Functions inherited from vrpn_Analog
virtual int	register_types (void)
	Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
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)
	Send a report only if something has changed (for servers) Optionally, tell what time to stamp the value with.
virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
	Send a report whether something has changed or not (for servers) Optionally, tell what time to stamp the value with.
Protected Member Functions inherited from vrpn_BaseClass
virtual int	init (void)
	Initialize things that the constructor can't. Returns 0 on success, -1 on failure.
virtual int	register_senders (void)
	Register the sender for this device (by default, the name of the device). Return 0 on success, -1 on fail.
Protected Member Functions inherited from vrpn_BaseClassUnique
int	register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)
	Registers a handler with the connection, and remembers to delete at destruction.
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)
	Returns an object you can stream into to send a text message from the device like send_text_message(vrpn_TEXT_WARNING) << "Value of i is: " << i; This use requires including vrpn_SendTextMessageStreamProxy.h.
void	server_mainloop (void)
	Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should be called by all servers in their mainloop().
void	client_mainloop (void)
	Handles functions that all clients should provide in their mainloop() (warning of no server, for example) Should be called by all clients in their mainloop().
Protected Member Functions inherited from vrpn_Analog_Output
virtual int	register_types (void)
	Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
Protected Member Functions inherited from vrpn_Button_Filter
	vrpn_Button_Filter (const char , vrpn_Connection c=NULL)
virtual vrpn_int32	encode_states_to (char *buf)
	Encode a message describing the state of all buttons.
virtual void	report_changes (void)
Protected Member Functions inherited from vrpn_Button
virtual int	register_types (void)
	Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
virtual void	report_states (void)
virtual vrpn_int32	encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)
	Encode a message describing the new state of a button.

Static Protected Member Functions
static int VRPN_CALLBACK	handle_request_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a request to change one of the values by setting the channel to that value.
static int VRPN_CALLBACK	handle_request_channels_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a request to change multiple channels at once.
static int VRPN_CALLBACK	handle_connect_message (void *userdata, vrpn_HANDLERPARAM p)
	Responds to a connection request with a report of the values.
Static Protected Member Functions inherited from vrpn_BaseClassUnique
static int	encode_text_message_to_buffer (char buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char msg)
	Encodes the body of the text message into a buffer, preparing for sending.
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.
Static Protected Member Functions inherited from vrpn_Button_Filter
static int VRPN_CALLBACK	handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)

Protected Attributes
unsigned char	d_buffer [512]
unsigned	d_bufcount
struct timeval	d_timestamp
int	d_run_speed_tics_sec
int	d_start_speed_tics_sec
int	d_end_speed_tics_sec
int	d_accel_rate_tics_sec_sec
int	d_decel_rate_tics_sec_sec
int	d_run_current
int	d_hold_current
int	d_accel_current
int	d_decel_current
int	d_delay
int	d_step
int	d_high_limit_index
int	d_low_limit_index
int	d_output_1_setting
int	d_output_2_setting
int	d_output_3_setting
int	d_output_4_setting
double	d_initial_move
double	d_fractional_c_a
double	d_reset_location
struct timeval	d_last_poll
Protected Attributes inherited from vrpn_Serial_Analog
int	serial_fd
char	portname [1024]
int	baudrate
unsigned char	buffer [1024]
int	bufcounter
Protected Attributes inherited from 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 Attributes inherited from vrpn_BaseClassUnique
vrpn_Connection *	d_connection
	Connection that this object talks to.
char *	d_servicename
	Name of this device, not including the connection part.
vrpn_int32	d_sender_id
	Sender ID registered with the connection.
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 Attributes inherited from vrpn_Analog_Output
vrpn_float64	o_channel [vrpn_CHANNEL_MAX]
vrpn_int32	o_num_channel
struct timeval	o_timestamp
vrpn_int32	request_m_id
vrpn_int32	request_channels_m_id
vrpn_int32	report_num_channels_m_id
vrpn_int32	got_connection_m_id
int	o_status
Protected Attributes inherited from vrpn_Button_Filter
int	send_alerts
vrpn_int32	alert_message_id
Protected Attributes inherited from 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

Additional Inherited Members
Public Attributes inherited from vrpn_BaseClassUnique
bool	shutup
Public Attributes inherited from vrpn_Button_Filter
vrpn_int32	buttonstate [vrpn_BUTTON_MAX_BUTTONS]

Detailed Description

Definition at line 27 of file vrpn_IDEA.h.

Constructor & Destructor Documentation

◆ vrpn_IDEA()

vrpn_IDEA::vrpn_IDEA	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port,
		int	run_speed_tics_sec = 3200,
		int	start_speed_tics_sec = 1200,
		int	end_speed_tics_sec = 2000,
		int	accel_rate_tics_sec_sec = 40000,
		int	decel_rate_tics_sec_sec = 100000,
		int	run_current = 290,
		int	hold_current = 0,
		int	accel_current = 290,
		int	decel_current = 290,
		int	delay = 50,
		int	step = 8,
		int	high_limit_index = -1,
		int	low_limit_index = -1,
		int	output_1_setting = -1,
		int	output_2_setting = -1,
		int	output_3_setting = -1,
		int	output_4_setting = -1,
		double	initial_move = 0,
		double	fractional_c_a = 1.0,
		double	reset_location = 0.0 )

Definition at line 31 of file vrpn_IDEA.C.

References vrpn_Button::buttons, vrpn_Analog::channel, d_accel_current, d_accel_rate_tics_sec_sec, d_bufcount, vrpn_BaseClassUnique::d_connection, d_decel_current, d_decel_rate_tics_sec_sec, d_delay, d_end_speed_tics_sec, d_fractional_c_a, d_high_limit_index, d_hold_current, d_initial_move, d_last_poll, d_low_limit_index, d_output_1_setting, d_output_2_setting, d_output_3_setting, d_output_4_setting, vrpn_BaseClassUnique::d_ping_message_id, d_reset_location, d_run_current, d_run_speed_tics_sec, vrpn_BaseClassUnique::d_sender_id, d_start_speed_tics_sec, d_step, d_timestamp, handle_connect_message(), handle_request_channels_message(), handle_request_message(), vrpn_Analog::last, vrpn_Button::lastbuttons, vrpn_Button::num_buttons, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, vrpn_BaseClassUnique::register_autodeleted_handler(), vrpn_Analog_Output::request_channels_m_id, vrpn_Analog_Output::request_m_id, reset(), vrpn_Analog::status, STATUS_RESETTING, vrpn_Analog_Output::vrpn_Analog_Output(), vrpn_Button_Filter::vrpn_Button_Filter(), vrpn_gettimeofday, and vrpn_Serial_Analog::vrpn_Serial_Analog().

Referenced by handle_connect_message(), handle_request_channels_message(), and handle_request_message().

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◆ ~vrpn_IDEA()

vrpn_IDEA::~vrpn_IDEA ( )

inline

Definition at line 53 of file vrpn_IDEA.h.

Member Function Documentation

◆ convert_report_to_buttons()

int vrpn_IDEA::convert_report_to_buttons ( unsigned char * buf )

protected

Parses an input/output report. Returns -1 on failure, 0 on no value.

Definition at line 321 of file vrpn_IDEA.C.

References vrpn_Button::buttons, d_high_limit_index, d_low_limit_index, vrpn_Button::lastbuttons, and VRPN_MSG_WARNING.

Referenced by get_report(), and reset().

◆ convert_report_to_position()

int vrpn_IDEA::convert_report_to_position ( unsigned char * buf )

protected

Parses a position report. Returns -1 on failure, 0 on no value.

Definition at line 294 of file vrpn_IDEA.C.

References vrpn_Analog::channel.

Referenced by get_report(), and reset().

◆ get_report()

int vrpn_IDEA::get_report ( void )

protectedvirtual

Definition at line 726 of file vrpn_IDEA.C.

References convert_report_to_buttons(), convert_report_to_position(), d_bufcount, d_buffer, d_timestamp, vrpn_Button_Filter::report_changes(), send_command(), vrpn_Serial_Analog::serial_fd, vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_read_available_characters(), and vrpn_SleepMsecs().

Referenced by mainloop().

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◆ handle_connect_message()

int vrpn_IDEA::handle_connect_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a connection request with a report of the values.

When we get a connection request from a remote object, send our state so they will know it to start with.

Definition at line 941 of file vrpn_IDEA.C.

References report(), vrpn_BaseClassUnique::userdata, vrpn_CONNECTION_RELIABLE, and vrpn_IDEA().

Referenced by vrpn_IDEA().

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◆ handle_request_channels_message()

int vrpn_IDEA::handle_request_channels_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a request to change multiple channels at once.

Definition at line 913 of file vrpn_IDEA.C.

References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_IDEA(), vrpn_TEXT_ERROR, and vrpn_unbuffer().

Referenced by vrpn_IDEA().

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◆ handle_request_message()

int vrpn_IDEA::handle_request_message	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

staticprotected

Responds to a request to change one of the values by setting the channel to that value.

Definition at line 885 of file vrpn_IDEA.C.

References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_IDEA(), vrpn_TEXT_ERROR, and vrpn_unbuffer().

Referenced by vrpn_IDEA().

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◆ mainloop()

void vrpn_IDEA::mainloop ( void )

virtual

Called once through each main loop iteration to handle updates.

This routine is called each time through the server's main loop.

It will take a course of action depending on the current status of the device, either trying to reset it or trying to get a reading from it. It will try to reset the device if no data has come from it for a couple of seconds

Implements vrpn_BaseClass.

Definition at line 974 of file vrpn_IDEA.C.

References d_last_poll, d_timestamp, get_report(), POLL_INTERVAL, reset(), send_command(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, TIMEOUT_TIME_INTERVAL, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().