vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Tracker_OSVRHackerDevKit Class Reference

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>

Inheritance diagram for vrpn_Tracker_OSVRHackerDevKit:
Collaboration diagram for vrpn_Tracker_OSVRHackerDevKit:

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...
 
- Public Member Functions inherited from vrpn_Tracker
 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)
 
- 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. More...
 
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. More...
 
vrpn_ConnectionconnectionPtr ()
 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...
 
- Protected Member Functions inherited from vrpn_Tracker
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)
 
- 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. 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...
 
- 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. 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...
 
- Protected Member Functions inherited from vrpn_HidInterface
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...
 
- Protected Attributes inherited from vrpn_Tracker
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_Posunit2sensor
 
vrpn_Tracker_Quatunit2sensor_quat
 
unsigned num_unit2sensors
 
vrpn_float64 workspace_min [3]
 
vrpn_float64 workspace_max [3]
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_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...
 
- Protected Attributes inherited from vrpn_HidInterface
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

- Static Public Member Functions inherited from vrpn_Tracker
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)
 
- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- 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. 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...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ vrpn_Tracker_OSVRHackerDevKit()

vrpn_Tracker_OSVRHackerDevKit::vrpn_Tracker_OSVRHackerDevKit ( const char *  name,
vrpn_Connection c = NULL 
)

Constructor.

Parameters
filterHID acceptor.
nameName of tracker.
cOptional vrpn_Connection.

Definition at line 33 of file vrpn_Tracker_OSVRHackerDevKit.C.

◆ ~vrpn_Tracker_OSVRHackerDevKit()

vrpn_Tracker_OSVRHackerDevKit::~vrpn_Tracker_OSVRHackerDevKit ( )
virtual

Destructor.

Definition at line 53 of file vrpn_Tracker_OSVRHackerDevKit.C.

References vrpn_HidInterface::_acceptor.

Member Function Documentation

◆ mainloop()

void vrpn_Tracker_OSVRHackerDevKit::mainloop ( )
virtual

◆ on_data_received()

void vrpn_Tracker_OSVRHackerDevKit::on_data_received ( std::size_t  bytes,
vrpn_uint8 *  buffer 
)
protected

Member Data Documentation

◆ _timestamp

struct timeval vrpn_Tracker_OSVRHackerDevKit::_timestamp
protected

Timestamp updated during mainloop()

Definition at line 82 of file vrpn_Tracker_OSVRHackerDevKit.h.

Referenced by mainloop(), and on_data_received().

◆ _wasConnected

bool vrpn_Tracker_OSVRHackerDevKit::_wasConnected
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().


The documentation for this class was generated from the following files: