32 , numbuttons_ (Buttons)
33 , numchannels_ (Channels)
45 fprintf(stderr,
"vrpn_inertiamouse::vrpn_inertiamouse(): Out of memory\n");
102 if (ret != 1) {
return 0; }
113 fprintf(stderr,
"vrpn_inertiamouse: Unknown command (%c), resetting\n",
buffer_[0]);
155 packet = (
buffer_[++nextchar] & 0xf0) << 8;
156 packet |= (
buffer_[++nextchar] & 0xf0) << 4;
157 packet |= (
buffer_[++nextchar] & 0xf0);
158 packet |= (
buffer_[++nextchar] & 0xf0) >> 4;
160 int chnl = (packet >> 10) & 7;
168 int acc = packet & 0x3ff;
172 double normval = ((double)(acc - 256) /
178 if ( (chnl == 4) || (chnl == 5) ) {
190 double pos =
vel_[chnl] * dt + normval * dt * dt / 2;
192 vel_[chnl] += normval*dt;
193 if(fabs (
vel_[chnl]) < dt/2.0)
213 fprintf(stderr,
"vrpn_inertiamouse: Unknown [internal] command (%c), resetting\n",
buffer_[0]);
267 fprintf(stderr,
"vrpn_inertiamouse: Unknown mode (internal error)\n");
void server_mainloop(void)
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should...
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 val...
static vrpn_inertiamouse * create(const char *name, vrpn_Connection *c, const char *port, int baud_rate)
virtual int get_report(void)
Try to read a report from the device. Returns 1 if complete report received, 0 otherwise....
int vrpn_flush_input_buffer(int comm)
Throw out any characters within the input buffer.
vrpn_Serial: Pulls all the serial port routines into one file to make porting to new operating system...
virtual void report(vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
send report whether or not changed
vrpn_inertiamouse(const char *name, vrpn_Connection *c, const char *port, int baud_rate)
vrpn_float64 channel[vrpn_CHANNEL_MAX]
Generic connection class not specific to the transport mechanism.
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 ...
All types of client/server/peer objects in VRPN should be derived from the vrpn_BaseClass type descri...
int vrpn_read_available_characters(int comm, unsigned char *buffer, size_t bytes)
static const double Vel_Decay
virtual void mainloop()
Called once through each main loop iteration to handle updates.
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.
virtual void clear_values(void)
#define MAX_TIME_INTERVAL
#define vrpn_gettimeofday
unsigned char buffer_[512]
vrpn_float64 last[vrpn_CHANNEL_MAX]