iMSTK: imstk::VRPNDeviceManager Class Reference

connects to the vrpn.exe server and lets iMSTK attach devices to the server More...

#include <imstkVRPNDeviceManager.h>

Inheritance diagram for imstk::VRPNDeviceManager:

Collaboration diagram for imstk::VRPNDeviceManager:

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Public Member Functions
	VRPNDeviceManager (const std::string &machine="localhost", int port=vrpn_DEFAULT_LISTEN_PORT_NO)
	Constructor. More...

void	addDeviceClient (std::shared_ptr< VRPNDeviceClient > client)

std::shared_ptr< DeviceClient >	makeDeviceClient (const std::string &deviceName, VRPNDeviceType deviceType)
	Creates a client from the given parameters. More...

std::shared_ptr< DeviceClient >	makeDeviceClient (const std::string deviceName) override
	Create a haptic device client and add it to the internal list. More...

Public Member Functions inherited from imstk::Module
virtual const std::string	getTypeName () const =0
	Returns collision detection type string name.

	SIGNAL (Module, preUpdate)
	Posted before updateModule is called.

	SIGNAL (Module, postUpdate)
	Posted after updateModule is called.

	SIGNAL (Module, end)
	Posted when module wants to end.

double	getDt () const
	Get/Set the time step.

void	setDt (const double dt)

bool	getInit () const
	Get whether the module is initialized yet.

bool	getPaused () const
	Set/Get whether the module is currently paused.

void	setPaused (const bool paused)

void	setMuteUpdateEvents (const bool mute)
	Set/Get whether the module should post pre/post update events.

bool	getMuteUpdateEvents () const

ExecutionType	getExecutionType () const
	Set/Get the execution type (see imstk::ExecutionType)

void	setExecutionType (const ExecutionType type)

void	setSleepDelay (const double ms)

double	getSleepDelay () const

void	pause ()

void	resume ()

void	init ()

void	update ()

void	uninit ()

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
bool	initModule () override
	Initialize the server module.

void	updateModule () override
	Run the server module.

void	uninitModule () override
	Clean the server module.

Additional Inherited Members
Public Types inherited from imstk::Module
enum	ExecutionType { SEQUENTIAL, PARALLEL, ADAPTIVE }
	Currently 3 execution types are provided. These inform the driver on how it should run.

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

Protected Attributes inherited from imstk::Module
std::atomic< bool >	m_init = ATOMIC_VAR_INIT(false)

std::atomic< bool >	m_paused = ATOMIC_VAR_INIT(false)

double	m_dt = 0.0

ExecutionType	m_executionType = ExecutionType::PARALLEL

bool	m_muteUpdateEvents = false

double	m_sleepDelay = 0.0

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

connects to the vrpn.exe server and lets iMSTK attach devices to the server

This module enables communication with VRPN and lets us map VRPN devices to the imstk DeviceClient interface. The VRPN server is external to iMSTK and needs to be run from the command line vrpn_server, when using the default vrpn.cfg file needs to be edited represent the projects requirements. For more information on VRPN see the wiki https://github.com/vrpn/vrpn/wiki

Definition at line 41 of file imstkVRPNDeviceManager.h.

Constructor & Destructor Documentation

◆ VRPNDeviceManager()

imstk::VRPNDeviceManager::VRPNDeviceManager	(	const std::string &	machine = `"localhost"`,
		int	port = `vrpn_DEFAULT_LISTEN_PORT_NO`
	)

Constructor.

Parameters

machine	The ip address of the machine where the vrpn server is running, "localhost" and "loopback" are also options
port	The port that the vrpn server is listening to (can set on the command line)

Definition at line 19 of file imstkVRPNDeviceManager.cpp.

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Member Function Documentation

◆ makeDeviceClient() [1/2]

std::shared_ptr< imstk::DeviceClient > imstk::VRPNDeviceManager::makeDeviceClient	(	const std::string &	deviceName,
		VRPNDeviceType	deviceType
	)

Creates a client from the given parameters.

Parameters

deviceName	The name of the device that you want, it must match (case-sensitive) with the name in the selected `vrpn.cfg` file
deviceType	A binary combination of the parameters that should be updated. Note that this is a request, if the server doesn't supply the requested updates no changes will be observable

Definition at line 67 of file imstkVRPNDeviceManager.cpp.

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