vrpn
07.33
Virtual Reality Peripheral Network
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OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again…) is “OSVR Hacker Dev Kit. More...
#include <vrpn_Tracker_OSVRHackerDevKit.h>
Public Member Functions | |
vrpn_Tracker_OSVRHackerDevKit (const char *name, vrpn_Connection *c=NULL) | |
Constructor. More... | |
virtual | ~vrpn_Tracker_OSVRHackerDevKit () |
Destructor. More... | |
virtual void | mainloop () |
Standard VRPN mainloop method. More... | |
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vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL) | |
virtual | ~vrpn_Tracker (void) |
int | read_config_file (FILE *config_file, const char *tracker_name) |
void | print_latest_report (void) |
int | register_server_handlers (void) |
void | get_local_t2r (vrpn_float64 *vec, vrpn_float64 *quat) |
void | get_local_u2s (vrpn_int32 sensor, vrpn_float64 *vec, vrpn_float64 *quat) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. More... | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. More... | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. More... | |
Protected Member Functions | |
void | on_data_received (std::size_t bytes, vrpn_uint8 *buffer) |
Extracts the sensor values from each report. More... | |
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bool | ensure_enough_unit2sensors (unsigned num) |
virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More... | |
virtual int | encode_to (char *buf) |
virtual int | encode_vel_to (char *buf) |
virtual int | encode_acc_to (char *buf) |
virtual int | encode_tracker2room_to (char *buf) |
Encodes the "Tracker to Room" transformation into the buffer specified. More... | |
virtual int | encode_unit2sensor_to (char *buf) |
Encodes the "Unit to Sensor" transformation into the buffer specified. More... | |
virtual int | encode_workspace_to (char *buf) |
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virtual int | init (void) |
Initialize things that the constructor can't. Returns 0 on success, -1 on failure. More... | |
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. More... | |
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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. More... | |
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. More... | |
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. More... | |
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() More... | |
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() More... | |
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virtual void | on_data_received (size_t bytes, vrpn_uint8 *buffer)=0 |
Derived class reimplements this callback. More... | |
void | send_data (size_t bytes, const vrpn_uint8 *buffer) |
Call this to send data to the device. More... | |
void | send_feature_report (size_t bytes, const vrpn_uint8 *buffer) |
Call this to send a feature report to the device - first byte must be Report ID (or 0x0 for devices without numbered reports) More... | |
int | get_feature_report (size_t bytes, vrpn_uint8 *buffer) |
Call this to get a feature report from the device - first byte must be Report ID (or 0x0 for devices without numbered reports) More... | |
vrpn_HidInterface (vrpn_HidAcceptor *acceptor) | |
virtual | ~vrpn_HidInterface () |
virtual bool | connected () const |
Returns true iff the last device I/O succeeded. More... | |
virtual void | update () |
Polls the device buffers and causes on_data_received callbacks if appropriate You NEED to call this frequently to ensure the OS doesn't drop data. More... | |
virtual bool | reconnect () |
Tries to reconnect to an acceptable device. Call this if you suspect a hotplug event has occurred. More... | |
vrpn_uint16 | vendor () const |
Returns USB vendor ID of connected device. More... | |
vrpn_uint16 | product () const |
Returns USB product ID of connected device. More... | |
int | interface_number () const |
Returns the USB interface number of connected device. More... | |
Protected Attributes | |
struct timeval | _timestamp |
Timestamp updated during mainloop() More... | |
bool | _wasConnected |
Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device. More... | |
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vrpn_int32 | position_m_id |
vrpn_int32 | velocity_m_id |
vrpn_int32 | accel_m_id |
vrpn_int32 | tracker2room_m_id |
vrpn_int32 | unit2sensor_m_id |
vrpn_int32 | request_t2r_m_id |
vrpn_int32 | request_u2s_m_id |
vrpn_int32 | request_workspace_m_id |
vrpn_int32 | workspace_m_id |
vrpn_int32 | update_rate_id |
vrpn_int32 | connection_dropped_m_id |
vrpn_int32 | reset_origin_m_id |
vrpn_int32 | d_sensor |
vrpn_float64 | pos [3] |
vrpn_float64 | d_quat [4] |
vrpn_float64 | vel [3] |
vrpn_float64 | vel_quat [4] |
vrpn_float64 | vel_quat_dt |
vrpn_float64 | acc [3] |
vrpn_float64 | acc_quat [4] |
vrpn_float64 | acc_quat_dt |
struct timeval | timestamp |
vrpn_int32 | frame_count |
struct timeval | watchdog_timestamp |
vrpn_float64 | tracker2room [3] |
vrpn_float64 | tracker2room_quat [4] |
vrpn_int32 | num_sensors |
vrpn_Tracker_Pos * | unit2sensor |
vrpn_Tracker_Quat * | unit2sensor_quat |
unsigned | num_unit2sensors |
vrpn_float64 | workspace_min [3] |
vrpn_float64 | workspace_max [3] |
int | status |
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vrpn_Connection * | d_connection |
Connection that this object talks to. More... | |
char * | d_servicename |
Name of this device, not including the connection part. More... | |
vrpn_int32 | d_sender_id |
Sender ID registered with the connection. More... | |
vrpn_int32 | d_text_message_id |
ID for text messages. More... | |
vrpn_int32 | d_ping_message_id |
Ask the server if they are there. More... | |
vrpn_int32 | d_pong_message_id |
Server telling that it is there. More... | |
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vrpn_HidAcceptor * | _acceptor |
This is the HidAcceptor we use when reconnecting. More... | |
bool | _working |
vrpn_uint16 | _vendor |
vrpn_uint16 | _product |
int | _interface |
Additional Inherited Members | |
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static int VRPN_CALLBACK | handle_t2r_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_u2s_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_workspace_request (void *userdata, vrpn_HANDLERPARAM p) |
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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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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. More... | |
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. More... | |
OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again…) is “OSVR Hacker Dev Kit.
”
The devkit will have a built-in head tracker.
VID 0x1532 PID 0x0B00
The head tracker shows as a generic HID device
Protocol for it is as follows (in byte offsets):
0: Version number, currently 1 1: message sequence number (8 bit)
2: Unit quaternion i component LSB 3: Unit quaternion i component MSB
4: Unit quaternion j component LSB 5: Unit quaternion j component MSB
6: Unit quaternion k component LSB 7: Unit quaternion k component MSB
8: Unit quaternion real component LSB 9: Unit quaternion real component MSB
10-31: reserved for future use
Each quaternion is presented as signed, 16-bit fixed point, 2’s complement number with a Q point of 14.
Definition at line 58 of file vrpn_Tracker_OSVRHackerDevKit.h.
vrpn_Tracker_OSVRHackerDevKit::vrpn_Tracker_OSVRHackerDevKit | ( | const char * | name, |
vrpn_Connection * | c = NULL |
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Constructor.
filter | HID acceptor. |
name | Name of tracker. |
c | Optional vrpn_Connection. |
Definition at line 33 of file vrpn_Tracker_OSVRHackerDevKit.C.
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virtual |
Destructor.
Definition at line 53 of file vrpn_Tracker_OSVRHackerDevKit.C.
References vrpn_HidInterface::_acceptor.
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virtual |
Standard VRPN mainloop method.
Implements vrpn_BaseClass.
Definition at line 98 of file vrpn_Tracker_OSVRHackerDevKit.C.
References _timestamp, _wasConnected, vrpn_HidInterface::connected(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::server_mainloop(), vrpn_HidInterface::update(), vrpn_gettimeofday, and vrpn_TEXT_NORMAL.
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protected |
Extracts the sensor values from each report.
Definition at line 58 of file vrpn_Tracker_OSVRHackerDevKit.C.
References _timestamp, vrpn_BaseClassUnique::d_connection, vrpn_Tracker::d_quat, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::send_text_message(), vrpn_Tracker::timestamp, vrpn_CONNECTION_LOW_LATENCY, and vrpn_TEXT_WARNING.
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protected |
Timestamp updated during mainloop()
Definition at line 82 of file vrpn_Tracker_OSVRHackerDevKit.h.
Referenced by mainloop(), and on_data_received().
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protected |
Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device.
Definition at line 90 of file vrpn_Tracker_OSVRHackerDevKit.h.
Referenced by mainloop().