vrpnTracker.h

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/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file vrpnTracker.h
 * @author drose
 * @date 2001-01-25
 */

#ifndef VRPNTRACKER_H
#define VRPNTRACKER_H

#include "pandabase.h"

#include "vrpn_interface.h"

#include "pvector.h"

class VrpnTrackerDevice;

/**
 * This is the actual interface to a particular VRPN tracker object, and all
 * of its sensors.  A pointer to this object is stored in the VrpnClient class
 * for each differently-named VRPN tracker we connect to.
 *
 * The VRPN callbacks go here, which in turn get vectored out to any
 * VrpnTrackerDevice objects that register with this.  When the last
 * VrpnTrackerDevice object unregisters, the VrpnTracker will be deleted by
 * the VrpnClient.
 *
 * This class does not need to be exported from the DLL.
 */
class VrpnTracker {
public:
  VrpnTracker(const std::string &tracker_name, vrpn_Connection *connection);
  ~VrpnTracker();

  INLINE const std::string &get_tracker_name() const;
  INLINE bool is_empty() const;

  void mark(VrpnTrackerDevice *device);
  void unmark(VrpnTrackerDevice *device);

  INLINE void poll();

  void output(std::ostream &out) const;
  void write(std::ostream &out, int indent_level = 0) const;

private:
  static void VRPN_CALLBACK
  vrpn_position_callback(void *userdata, const vrpn_TRACKERCB info);
  static void VRPN_CALLBACK
  vrpn_velocity_callback(void *userdata, const vrpn_TRACKERVELCB info);
  static void VRPN_CALLBACK
  vrpn_acceleration_callback(void *userdata, const vrpn_TRACKERACCCB info);

private:
  std::string _tracker_name;
  vrpn_Tracker_Remote *_tracker;

  typedef pvector<VrpnTrackerDevice *> Devices;
  Devices _devices;
};

INLINE std::ostream &operator << (std::ostream &out, const VrpnTracker &tracker) {
  tracker.output(out);
  return out;
}

#include "vrpnTracker.I"

#endif