5 #ifndef VRPN_NATIONALINSTRUMENTS_H 6 #define VRPN_NATIONALINSTRUMENTS_H 8 #ifdef VRPN_USE_NATIONAL_INSTRUMENTS_MX 19 #define vrpn_NI_INPUT_MODE_DIFFERENTIAL (0) 20 #define vrpn_NI_INPUT_MODE_REF_SINGLE_ENDED (1) 21 #define vrpn_NI_INPUT_MODE_NON_REF_SINGLE_ENDED (2) 22 #define vrpn_NI_INPUT_RANGE_5V (5) 23 #define vrpn_NI_INPUT_RANGE_10V (10) 24 #define vrpn_NI_INPUT_RANGE_20V (20) 33 const char *boardName =
"PCI-6713",
36 double minInputReportDelaySecs = 0.0,
37 bool inBipolar =
false,
40 bool driveAIS =
false,
42 bool outBipolar =
false,
43 double minOutVoltage = 0.0,
44 double maxOutVoltage = 10.0);
51 #ifdef VRPN_USE_NATIONAL_INSTRUMENTS_MX 55 void reportError(int32 errnumber, vrpn_bool exitProgram = vrpn_false);
57 short d_device_number;
65 struct timeval d_last_report_time;
70 int setNumInChannels (
int sizeRequested);
75 int setNumOutChannels (
int sizeRequested);
81 static int VRPN_CALLBACK handle_request_message(
void *userdata,
88 static int VRPN_CALLBACK handle_request_channels_message(
void* userdata,
96 virtual vrpn_int32 encode_num_channels_to(
char* buf, vrpn_int32 num );
106 const char *boardName =
"PCI-6713",
108 bool bipolar =
false,
109 double minVoltage = 0.0,
110 double maxVoltage = 10.0);
125 vrpn_int32 setNumChannels (vrpn_int32 sizeRequested);
131 static int VRPN_CALLBACK handle_request_message(
void *userdata,
138 static int VRPN_CALLBACK handle_request_channels_message(
void* userdata,
146 virtual vrpn_int32 encode_num_channels_to(
char* buf, vrpn_int32 num );
TaskHandle d_analog_task_handle
const vrpn_uint32 vrpn_CONNECTION_RELIABLE
Classes of service for messages, specify multiple by ORing them together Priority of satisfying these...
#define vrpn_NI_INPUT_RANGE_10V
Generic connection class not specific to the transport mechanism.
virtual void mainloop()=0
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
This structure is what is passed to a vrpn_Connection message callback.
#define vrpn_NI_INPUT_MODE_DIFFERENTIAL
TaskHandle d_analog_out_task_handle