#include <vrpn_Tracker_GPS.h>

Inheritance diagram for vrpn_Tracker_GPS:

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Collaboration diagram for vrpn_Tracker_GPS:

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Public Member Functions
	vrpn_Tracker_GPS (const char name, vrpn_Connection c, const char port="/dev/ttyS1", long baud=4800, int utmFlag=1, int testFileFlag=0, const char startStr="RMC")

	~vrpn_Tracker_GPS ()

Public Member Functions inherited from vrpn_Tracker_Serial
	vrpn_Tracker_Serial (const char name, vrpn_Connection c, const char *port="/dev/ttyS1", long baud=38400)

virtual	~vrpn_Tracker_Serial ()

virtual void	mainloop ()
	Uses the get_report, send_report, and reset routines to implement a server.

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.

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.

Protected Member Functions
virtual int	get_report (void)
	Gets a report if one is available, returns 0 if not, 1 if complete report.

virtual void	reset ()
	Reset the tracker.

Protected Member Functions inherited from vrpn_Tracker_Serial
virtual void	send_report (void)

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.

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.

virtual int	encode_unit2sensor_to (char *buf)
	Encodes the "Unit to Sensor" transformation into the buffer specified.

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.

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 Attributes
unsigned char	buffer [VRPN_TRACKER_BUF_SIZE *10]
	This function should be called each time through the main loop of the server code. It polls for a report from the tracker and sends it if there is one. It will reset the tracker if there is no data from it for a few seconds.

struct timeval	reset_time

FILE *	testfile

char	testfilename [256]

NMEAData	nmeaData

NMEAParser	nmeaParser

UTMCoord	utmCoord

int	useUTM

Protected Attributes inherited from vrpn_Tracker_Serial
char	portname [VRPN_TRACKER_BUF_SIZE]

long	baudrate

int	serial_fd

unsigned char	buffer [VRPN_TRACKER_BUF_SIZE]

vrpn_uint32	bufcount

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_Pos *	unit2sensor

vrpn_Tracker_Quat *	unit2sensor_quat

unsigned	num_unit2sensors

vrpn_float64	workspace_min [3]

vrpn_float64	workspace_max [3]

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.

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

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.

Detailed Description

Definition at line 20 of file vrpn_Tracker_GPS.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_GPS()

vrpn_Tracker_GPS::vrpn_Tracker_GPS	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port = "/dev/ttyS1",
		long	baud = 4800,
		int	utmFlag = 1,
		int	testFileFlag = 0,
		const char *	startStr = "RMC" )

Definition at line 30 of file vrpn_Tracker_GPS.C.

References nmeaParser, vrpn_Tracker::register_server_handlers(), vrpn_Tracker_Serial::serial_fd, testfile, testfilename, useUTM, vrpn_Connection, VRPN_MSG_WARNING, vrpn_set_rts(), and vrpn_Tracker_Serial::vrpn_Tracker_Serial().

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◆ ~vrpn_Tracker_GPS()

vrpn_Tracker_GPS::~vrpn_Tracker_GPS ( )

Definition at line 68 of file vrpn_Tracker_GPS.C.

References vrpn_Tracker_Serial::serial_fd, testfile, and vrpn_close_commport().

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Member Function Documentation

◆ get_report()

int vrpn_Tracker_GPS::get_report ( void )

protectedvirtual

Gets a report if one is available, returns 0 if not, 1 if complete report.

Implements vrpn_Tracker_Serial.

Definition at line 117 of file vrpn_Tracker_GPS.C.

References vrpn_Tracker_Serial::bufcount, buffer, nmeaData, nmeaParser, vrpn_Tracker::pos, vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, testfile, vrpn_Tracker::timestamp, useUTM, utmCoord, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_INFO, vrpn_read_available_characters(), VRPN_TRACKER_BUF_SIZE, vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, vrpn_TRACKER_RESETTING, and vrpn_TRACKER_SYNCING.

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◆ reset()

void vrpn_Tracker_GPS::reset ( )

protectedvirtual

Reset the tracker.

Implements vrpn_Tracker_Serial.

Definition at line 80 of file vrpn_Tracker_GPS.C.

References nmeaParser, vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, testfile, VRPN_MSG_WARNING, vrpn_set_rts(), vrpn_TRACKER_FAIL, and vrpn_TRACKER_SYNCING.

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Member Data Documentation

◆ buffer

unsigned char vrpn_Tracker_GPS::buffer[VRPN_TRACKER_BUF_SIZE *10]

protected

This function should be called each time through the main loop of the server code. It polls for a report from the tracker and sends it if there is one. It will reset the tracker if there is no data from it for a few seconds.

Definition at line 44 of file vrpn_Tracker_GPS.h.

Referenced by get_report().

◆ nmeaData

NMEAData vrpn_Tracker_GPS::nmeaData

protected

Definition at line 55 of file vrpn_Tracker_GPS.h.

Referenced by get_report().

◆ nmeaParser

NMEAParser vrpn_Tracker_GPS::nmeaParser

protected

Definition at line 56 of file vrpn_Tracker_GPS.h.

Referenced by get_report(), reset(), and vrpn_Tracker_GPS().

◆ reset_time

struct timeval vrpn_Tracker_GPS::reset_time

protected

Definition at line 49 of file vrpn_Tracker_GPS.h.

◆ testfile

FILE* vrpn_Tracker_GPS::testfile

protected

Definition at line 51 of file vrpn_Tracker_GPS.h.

Referenced by get_report(), reset(), vrpn_Tracker_GPS(), and ~vrpn_Tracker_GPS().

◆ testfilename

char vrpn_Tracker_GPS::testfilename[256]

protected

Definition at line 52 of file vrpn_Tracker_GPS.h.

Referenced by vrpn_Tracker_GPS().

◆ useUTM

int vrpn_Tracker_GPS::useUTM

protected

Definition at line 58 of file vrpn_Tracker_GPS.h.

Referenced by get_report(), and vrpn_Tracker_GPS().

◆ utmCoord

UTMCoord vrpn_Tracker_GPS::utmCoord

protected

Definition at line 57 of file vrpn_Tracker_GPS.h.

Referenced by get_report().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ vrpn_Tracker_GPS()

◆ ~vrpn_Tracker_GPS()

Member Function Documentation

◆ get_report()

◆ reset()

Member Data Documentation

◆ buffer

◆ nmeaData

◆ nmeaParser

◆ reset_time

◆ testfile

◆ testfilename

◆ useUTM

◆ utmCoord