136 lines
3.6 KiB
Text
136 lines
3.6 KiB
Text
/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file vrpnClient.I
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* @author jason
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* @date 2000-08-04
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*/
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/**
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* Returns the name of the server as passed to the VrpnClient constructor.
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*/
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INLINE const std::string &VrpnClient::
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get_server_name() const {
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return _server_name;
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}
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/**
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* Returns true if everything seems to be kosher with the server (even if
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* there is no connection), or false otherwise.
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*/
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INLINE bool VrpnClient::
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is_valid() const {
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return (_connection->doing_okay() != 0);
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}
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/**
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* Returns true if the connection is established successfully, false
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* otherwise.
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*/
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INLINE bool VrpnClient::
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is_connected() const {
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return (_connection->connected() != 0);
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}
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/**
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* Little inline function to convert a struct timeval to only seconds
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*/
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INLINE double VrpnClient::
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convert_to_secs(struct timeval msg_time) {
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return (double)(msg_time.tv_sec) + (double)msg_time.tv_usec * 0.000001;
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}
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#if 0
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/**
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*
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*/
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INLINE VrpnClient::
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VrpnClient(const std::string &server) :
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ClientBase(server)
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{
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_connection = vrpn_get_connection_by_name(server.c_str());
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}
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/**
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* Stores the latest position information as sent by the tracker (for the
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* particular sensor we have interest in)
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*/
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INLINE void VrpnClient::
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tracker_position(const std::string &tracker, const vrpn_TRACKERCB info) {
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double ptime = convert_to_secs(info.msg_time);
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LPoint3 pos(info.pos[0], info.pos[1], info.pos[2]);
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LVector4 pquat(info.quat[0], info.quat[1], info.quat[2], info.quat[3]);
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push_tracker_position(tracker, info.sensor, ptime, pos, pquat);
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}
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/**
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* Stores the latest velocity information as sent by the tracker (for the
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* particular sensor we have interest in)
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*/
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INLINE void VrpnClient::
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tracker_velocity(const std::string &tracker, const vrpn_TRACKERVELCB info) {
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double vtime = convert_to_secs(info.msg_time);
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LPoint3 vel(info.vel[0], info.vel[1], info.vel[2]);
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LVector4 vquat(info.vel_quat[0], info.vel_quat[1],
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info.vel_quat[2], info.vel_quat[3]);
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PN_stdfloat dt = info.vel_quat_dt;
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push_tracker_velocity(tracker, info.sensor, vtime, vel, vquat, dt);
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}
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/**
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* Stores the latest acceleration information as sent by the tracker (for the
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* particular sensor we have interest in)
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*/
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INLINE void VrpnClient::
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tracker_acceleration(const std::string &tracker, const vrpn_TRACKERACCCB info) {
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double atime = convert_to_secs(info.msg_time);
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LPoint3 acc(info.acc[0], info.acc[1], info.acc[2]);
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LVector4 aquat(info.acc_quat[0], info.acc_quat[1],
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info.acc_quat[2], info.acc_quat[3]);
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PN_stdfloat dt = info.acc_quat_dt;
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push_tracker_acceleration(tracker, info.sensor, atime, acc, aquat, dt);
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}
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/**
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* Stores the latest information as sent by the analog device
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*/
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INLINE void VrpnClient::
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analog(const std::string &analog, const vrpn_ANALOGCB info) {
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double atime = convert_to_secs(info.msg_time);
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push_analog(analog, atime, info.channel, info.num_channel);
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}
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/**
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* Stores the latest button pressed information as sent by the button
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*/
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INLINE void VrpnClient::
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button(const std::string &button, const vrpn_BUTTONCB info) {
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double btime = convert_to_secs(info.msg_time);
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push_button(button, btime, info.button, info.state);
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}
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/**
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* Stores the latest change information as sent by the dial
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*/
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INLINE void VrpnClient::
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dial(const std::string &dial, const vrpn_DIALCB info) {
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double dtime = convert_to_secs(info.msg_time);
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push_dial(dial, dtime, info.dial, info.change);
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}
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#endif
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