The device client's represents the device and provides an interface to acquire data from a device. It posts events the device may have as well as provides the state. More...
#include <imstkDeviceClient.h>
Inheritance diagram for imstk::DeviceClient:
Collaboration diagram for imstk::DeviceClient:
Public Member Functions | |
| SIGNAL (DeviceClient, buttonStateChanged) | |
| bool | getTrackingEnabled () const |
| Get/Set what listeners to enable on the device: tracking, analogic, force, buttons. | |
| void | setTrackingEnabled (const bool status) |
| bool | getAnalogicEnabled () const |
| void | setAnalogicEnabled (const bool status) |
| bool | getButtonsEnabled () const |
| void | setButtonsEnabled (const bool status) |
| bool | getForceEnabled () const |
| void | setForceEnabled (const bool status) |
| Vec3d | getPosition () |
| Get the device position. | |
| Vec3d | getVelocity () |
| Get the device velocity. | |
| Vec3d | getAngularVelocity () |
| Get the device angular velocity. | |
| Quatd | getOrientation () |
| Get the device orientation. | |
| const Vec3d & | getOffset () const |
| Get offset from position for device end effector. | |
| const std::unordered_map< int, int > & | getButtons () const |
| Get button map. | |
| int | getButton (const int buttonId) |
| Get the state of a button returns 0 if can't find button. | |
| std::vector< double > | getAnalog () const |
| get values of the analog input | |
| double | getAnalog (int i) const |
| get single analog value More... | |
| virtual void | update () |
| Do runtime logic. | |
| const std::string & | getIp () |
| Get/Set the device IP. | |
| void | setIp (const std::string &ip) |
| const std::string & | getDeviceName () |
| Get/Set the device name. | |
| void | setDeviceName (const std::string &deviceName) |
| Vec3d | getForce () |
| Get/Set the device force. | |
| void | setForce (Vec3d force) |
 Public Member Functions inherited from imstk::EventObject | |
| template<typename T > | |
| void | postEvent (const T &e) |
| Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent. | |
| template<typename T > | |
| void | queueEvent (const T &e) |
| Queues event directly to this. | |
| void | doEvent () |
| Do an event, if none exists return. | |
| void | doAllEvents () |
| Do all the events in the event queue. | |
| void | foreachEvent (std::function< void(Command cmd)> func) |
| Thread safe loop over all event commands, one can implement a custom handler. | |
| void | rforeachEvent (std::function< void(Command cmd)> func) |
| thread safe reverse loop over all event commands, one can implement a custom handler | |
| void | clearEvents () |
| Removes all events from queue cleans up copies of the event. | |
Protected Member Functions | |
| DeviceClient (const std::string &name, const std::string &ip) | |
Protected Attributes | |
| std::string | m_deviceName |
| Device Name. | |
| std::string | m_ip |
| Connection device IP. | |
| bool | m_trackingEnabled = true |
| Tracking enabled if true. | |
| bool | m_analogicEnabled = true |
| Analogic enabled if true. | |
| bool | m_buttonsEnabled = true |
| Buttons enabled if true. | |
| bool | m_forceEnabled = false |
| Force enabled if true. | |
| Vec3d | m_position |
| Position of end effector. | |
| Vec3d | m_velocity |
| Linear velocity of end effector. | |
| Vec3d | m_angularVelocity |
| Angular velocity of the end effector. | |
| Quatd | m_orientation |
| Orientation of the end effector. | |
| Vec3d | m_force |
| Force vector. | |
| Vec3d | m_endEffectorOffset = Vec3d(0.0, 0.0, 0.0) |
| Offset from origin. | |
| std::unordered_map< int, int > | m_buttons |
| std::vector< double > | m_analogChannels |
| ParallelUtils::SpinLock | m_transformLock |
| Used for devices filling data from other threads. | |
| ParallelUtils::SpinLock | m_forceLock |
| Used for devices filling data from other threads. | |
| ParallelUtils::SpinLock | m_dataLock |
| Used for button and analog data. | |
| Protected Attributes inherited from imstk::EventObject | |
| ParallelUtils::SpinLock | eventQueueLock |
| std::deque< Command > | eventQueue |
| std::vector< std::pair< std::string, std::vector< Observer > > > | queuedObservers |
| std::vector< std::pair< std::string, std::vector< Observer > > > | directObservers |
Additional Inherited Members | |
| Public Types inherited from imstk::EventObject | |
| using | Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> > |
Detailed Description
The device client's represents the device and provides an interface to acquire data from a device. It posts events the device may have as well as provides the state.
- Todo:
- Abstract base class for device client
Definition at line 53 of file imstkDeviceClient.h.
Member Function Documentation
◆ getAnalog()
| double imstk::DeviceClient::getAnalog | ( | int | i | ) | const |
get single analog value
- Returns
- the value of the analog channel if exists, NAN otherwise
Definition at line 111 of file imstkDeviceClient.cpp.
The documentation for this class was generated from the following files:
- Source/Devices/imstkDeviceClient.h
- Source/Devices/imstkDeviceClient.cpp
