vrpn_ImmersionBox.h

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#ifndef VRPN_IMMERSIONBOX_H
#define VRPN_IMMERSIONBOX_H
#include "vrpn_Analog.h"                // for vrpn_Serial_Analog
#include "vrpn_Button.h"                // for vrpn_Button_Filter
#include "vrpn_Configure.h"             // for VRPN_API
#include "vrpn_Connection.h"            // for vrpn_CONNECTION_LOW_LATENCY, etc
#include "vrpn_Dial.h"                  // for vrpn_Dial
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Types.h"                 // for vrpn_uint32
 
// Written by Rob King at Navy Research Labs.  The button code works;
// the others are not fully implemented.
 
class VRPN_API vrpn_ImmersionBox: public vrpn_Serial_Analog,
             public vrpn_Button_Filter,
             public vrpn_Dial
{
 public:
    vrpn_ImmersionBox (const char * name, 
               vrpn_Connection * c,
               const char * port, 
               int baud,
               const int numbuttons, 
               const int numchannels, 
               const int numencoders);
 
    ~vrpn_ImmersionBox ()  {};
 
    // Called once through each main loop iteration to handle
    // updates.
    virtual void mainloop (void);
    
 protected:
    int _status;
    int _numbuttons;    // How many buttons to open
    int _numchannels;   // How many analog channels to open
    int _numencoders;   // How many encoders to open
 
    unsigned _expected_chars;   // How many characters to expect in the report
    unsigned char _buffer[512]; // Buffer of characters in report
    unsigned _bufcount;     // How many characters we have so far
 
    struct timeval 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
 
    // send report iff changed
    virtual void report_changes (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
    // send report whether or not changed
    virtual void report (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
 
    // NOTE:  class_of_service is only applied to vrpn_Analog
    //  values, not vrpn_Button or vrpn_Dial
 
 private:
 
#define MAX_IENCODERS 6 
#define MAX_ICHANNELS 8 
#define MAX_IBUTTONS     7
#define MAX_IBOX_STRING 32
 
// utility routine to sync up the baudrate
    int syncBaudrate (double seconds);
 
// utility to read a string from the ibox
    int sendIboxCommand (char cmd, char * returnString, double delay);
 
// identification strings obtained from the ibox
    char iname  [MAX_IBOX_STRING];
    char comment[MAX_IBOX_STRING];
    char serial [MAX_IBOX_STRING];
    char id     [MAX_IBOX_STRING];
    char model  [MAX_IBOX_STRING];
    char vers   [MAX_IBOX_STRING];
    char parmf  [MAX_IBOX_STRING];
    
    
// stores the byte sent to the ibox 
    unsigned char commandByte;
    unsigned char dataPacketHeader;
    int  dataRecordLength;
 
// makes a command byte, given the user's choice of time stamping and the number of 
// reports desired from each type of sensor
// also calculates the expected number of bytes in each report that follow the packet header
    inline void setupCommand (int useTimeStamp, 
                  unsigned int numAnalog, 
                  unsigned int numEncoder) {
    commandByte = (unsigned char) (
        (useTimeStamp ? 0x20 : 0) |
        (numAnalog  > 4 ? 0x0C : (numAnalog  > 2 ? 0x08 : (numAnalog  ? 0x04 : 0 ) ) ) |
        (numEncoder > 3 ? 0x03 : (numEncoder > 2 ? 0x02 : (numEncoder ? 0x01 : 0 ) ) ) );
    
    dataPacketHeader = (unsigned char)(commandByte | 0x80);
 
    // packet header
    // button status  
    // (optionally) 2 bytes of timer data
    // 8,4,2,or 0 analog   @1 byte each + byte to hold extra controller bits 
    // 6,4,2,or 0 encoders @2 bytes each 
    dataRecordLength =  1 + (useTimeStamp ? 2 : 0)  +
        (numAnalog > 4 ? 9 :(numAnalog > 2 ? 5: (numAnalog ? 3 : 0 ) ) )  +
        (numEncoder > 4 ? 12 :(numEncoder > 2 ? 8: (numEncoder ? 4: 0 ) ) );
    };
 
};
 
#endif