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vrpn_Analog_Output.h

This is the verbatim text of the vrpn_Analog_Output.h include file.

// vrpn_Analog_Output.h
// David Borland, September 2002
//
// These classes are for setting values for an analog output device.  The vrpn_Analog was
// getting overloaded by trying to have functionality for both reading and writing in it.
// If wanting to read analog values from a device, a vrpn_Analog should be used, if 
// wanting ro write analog values to a device, a vrpn_Analog_Output should be used.  
// This is similar to the Tracker/Poser dichotomy.

#ifndef VRPN_ANALOG_OUTPUT_H
#define VRPN_ANALOG_OUTPUT_H

#include "vrpn_Analog.h"    // just for some #define's and constants

// Similar to vrpn_Analog, but messages are different
// Members beginning with o_ are also found in vrpn_Analog, the o_ is 
// so that you can derive a class from both without getting ambiguities
class vrpn_Analog_Output : public vrpn_BaseClass {
    public:
        vrpn_Analog_Output(const char* name, vrpn_Connection* c = NULL);

        // Print the status of the analog output device
        void o_print(void);

    protected:
            vrpn_float64        o_channel[vrpn_CHANNEL_MAX];
            vrpn_int32      o_num_channel;
            struct timeval      o_timestamp;
            vrpn_int32      request_m_id;               //< Request to change message from client
        vrpn_int32      request_channels_m_id;  //< Request to change channels message from client
            int             o_status; 

            virtual     int     register_types(void);

            //------------------------------------------------------------------
            // Routines used to send data from the client
            virtual vrpn_int32 encode_to(char *buf);
};

// A *Sample* Analog output server.  Use this, or derive your own server
// from vrpn_Analog_Output with this as a guide

class vrpn_Analog_Output_Server : public vrpn_Analog_Output {
    public:
        vrpn_Analog_Output_Server(const char* name, vrpn_Connection* c);
        virtual ~vrpn_Analog_Output_Server(void);

        virtual void mainloop() { server_mainloop(); }

        vrpn_int32 setNumChannels (vrpn_int32 sizeRequested);

        static int handle_request_message(void *userdata,
                vrpn_HANDLERPARAM p);

        static int handle_request_channels_message(void* userdata,
            vrpn_HANDLERPARAM p);
};

// Open an analog device that is on the other end of a connection
// and handle updates from it.  This is the type of analog device
// that user code will deal with.
class vrpn_Analog_Output_Remote : public vrpn_Analog_Output {
    public:
        // The name of the analog device to connect to
        // Optional argument to be used when the Remote should listen on
        // a connection that is already open.
        vrpn_Analog_Output_Remote(const char* name, vrpn_Connection* c = NULL);
        virtual ~vrpn_Analog_Output_Remote (void);

        // This routine calls the mainloop of the connection it's on
        virtual void mainloop();

        // Request the analog to change its value to the one specified.
        // Returns false on failure.
        virtual bool request_change_channel_value(unsigned int chan, vrpn_float64 val,
            vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);

        // Request the analog to change values all at once.  If more values are given than we have channels, the 
        // Extra values are discarded.  If less values are given than we have channels, the extra channels are set to 0
        // Returns false on failure
        virtual bool request_change_channels(int num, vrpn_float64* vals,
            vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);

    protected:
        // Routines used to send requests from the client
        virtual vrpn_int32 encode_change_to(char *buf, vrpn_int32 chan, vrpn_float64 val);
        virtual vrpn_int32 encode_change_channels_to(char* buf, vrpn_int32 num, vrpn_float64* vals);
};

#endif

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