vrpn_GlobalHapticsOrb.h

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#ifndef VRPN_GLOBALHAPTICSORB_H
#define VRPN_GLOBALHAPTICSORB_H
 
#include "vrpn_Analog.h"                // for vrpn_Serial_Analog
#include "vrpn_Button.h"                // for vrpn_Button_Filter
#include "vrpn_Configure.h"             // for VRPN_API, VRPN_CALLBACK
#include "vrpn_Connection.h"            // for vrpn_CONNECTION_RELIABLE, etc
#include "vrpn_Dial.h"                  // for vrpn_Dial
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Types.h"                 // for vrpn_uint32
 
// Exports buttons 0-25 as 0-25.
// Exports left pushbutton as 26, right pushbutton as 27.
// Exports rocker up as 28, rocker down as 29.
// Exports Thumbwheel both as clamping analog (-1..1) 0 and as dial 0.
// Exports Trackball both as clamping analogs 1 and 2 and as dials 1 and 2.
 
class VRPN_API vrpn_GlobalHapticsOrb: public vrpn_Serial_Analog
            ,public vrpn_Button_Filter
            ,public vrpn_Dial
{
public:
    vrpn_GlobalHapticsOrb (const char * name, vrpn_Connection * c,
            const char * port, int baud);
    ~vrpn_GlobalHapticsOrb () {};
 
    // Called once through each main loop iteration to handle
    // updates.
    virtual void mainloop ();
 
  protected:
    int d_status;
 
    unsigned d_expected_chars;  //< How many characters to expect in the report
    unsigned char d_buffer[512];    //< Buffer of characters in report
    unsigned d_bufcount;        //< How many characters we have so far
 
    struct timeval d_timestamp; //< Time of the last report from the device
 
    virtual void clear_values(void);    //< Set all buttons, analogs and encoders back to 0
    virtual int reset(void);        //< Set device back to starting config
    virtual int get_report(void);       //< Try to read a report from the device
 
        // NOTE:  class_of_service is only applied to vrpn_Analog
        //  values, not vrpn_Button or vrpn_Dial
        virtual void report_changes(vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_RELIABLE);
        virtual void report(vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_RELIABLE);

    static  int VRPN_CALLBACK handle_firstConnection(void * userdata, vrpn_HANDLERPARAM);
};
 
#endif