iMSTK: imstk::VRPNDeviceClient Class Reference

This class is the receiver of the updates sent by the vrpn_server. More...

#include <imstkVRPNDeviceClient.h>

Inheritance diagram for imstk::VRPNDeviceClient:

Collaboration diagram for imstk::VRPNDeviceClient:

Public Member Functions
	VRPNDeviceClient (const std::string &deviceName, VRPNDeviceType type, const std::string &ip="localhost")
	Constructor.

virtual	~VRPNDeviceClient () override=default
	Destructor.

VRPNDeviceType	getType () const

Public Member Functions inherited from imstk::DeviceClient
	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.

Static Public Member Functions
static void VRPN_CALLBACK	trackerPositionChangeHandler (void *userData, const _vrpn_TRACKERCB t)
	VRPN call back for position and orientation data. More...

static void VRPN_CALLBACK	trackerVelocityChangeHandler (void *userData, const _vrpn_TRACKERVELCB v)
	VRPN call back for velocity data. More...

static void VRPN_CALLBACK	analogChangeHandler (void *userData, const _vrpn_ANALOGCB a)
	VRPN call back analog data. More...

static void VRPN_CALLBACK	buttonChangeHandler (void *userData, const _vrpn_BUTTONCB b)
	VRPN call back for button changed (pressed or released) More...

Additional Inherited Members
Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >

Protected Member Functions inherited from imstk::DeviceClient
	DeviceClient (const std::string &name, const std::string &ip)

Protected Attributes inherited from imstk::DeviceClient
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

Detailed Description

This class is the receiver of the updates sent by the vrpn_server.

After adding a VRPNDeviceClient to the VRPNDeviceManger the static functions in this class will be called whenever new data comes in from vrpn_server.

Definition at line 27 of file imstkVRPNDeviceClient.h.

Member Function Documentation

◆ analogChangeHandler()

void VRPN_CALLBACK imstk::VRPNDeviceClient::analogChangeHandler	(	void *	userData,
		const _vrpn_ANALOGCB	a
	)

static

VRPN call back analog data.

Parameters

userData	Pointer to a VRPNDeviceClient to allow updating internal data the server class used the device client pointer when registering
a	VRPN callback structure for the analog data

Definition at line 42 of file imstkVRPNDeviceClient.cpp.

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◆ buttonChangeHandler()

void VRPN_CALLBACK imstk::VRPNDeviceClient::buttonChangeHandler	(	void *	userData,
		const _vrpn_BUTTONCB	b
	)

static

VRPN call back for button changed (pressed or released)

Parameters

userData	Pointer to a VRPNDeviceClient to allow updating internal data the server class used the device client pointer when registering
b	VRPN callback structure containing new button data

Definition at line 69 of file imstkVRPNDeviceClient.cpp.

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◆ getType()

imstk::VRPNDeviceType imstk::VRPNDeviceClient::getType ( ) const

Returns: all the types that this client is tracking

Definition at line 76 of file imstkVRPNDeviceClient.cpp.

◆ trackerPositionChangeHandler()

void VRPN_CALLBACK imstk::VRPNDeviceClient::trackerPositionChangeHandler	(	void *	userData,
		const _vrpn_TRACKERCB	t
	)

static

VRPN call back for position and orientation data.

Parameters

userData	Pointer to a VRPNDeviceClient to allow updating internal data the server class used the device client pointer when registering
t	VRPN callback structure containing new position and orientation data

Definition at line 25 of file imstkVRPNDeviceClient.cpp.

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◆ trackerVelocityChangeHandler()

void VRPN_CALLBACK imstk::VRPNDeviceClient::trackerVelocityChangeHandler	(	void *	userData,
		const _vrpn_TRACKERVELCB	v
	)

static

VRPN call back for velocity data.

Parameters

userData	Pointer to a VRPNDeviceClient to allow updating internal data the server class used the device client pointer when registering
v	VRPN callback structure tracker velocity

Definition at line 55 of file imstkVRPNDeviceClient.cpp.

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

Source/Devices/imstkVRPNDeviceClient.h
Source/Devices/imstkVRPNDeviceClient.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ analogChangeHandler()

◆ buttonChangeHandler()

◆ getType()

◆ trackerPositionChangeHandler()

◆ trackerVelocityChangeHandler()