A class that manages Nimble devices.
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#include <SurgSim/Devices/Nimble/NimbleScaffold.h>
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bool | doInitialize () override |
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bool | doStartUp () override |
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bool | doUpdate (double dt) override |
| Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function. More...
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void | doBeforeStop () override |
| Prepares the thread for its execution to be stopped. More...
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bool | initialize () |
| Trigger the initialization of this object, this will be called before all other threads doStartup() are called. More...
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bool | startUp () |
| Trigger the startup of this object, this will be called after all other threads doInit() was called the thread will only enter the run loop triggering upated() if all threads doInit() and doStartup() returned true. More...
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bool | waitForBarrier (bool success) |
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virtual bool | executeInitialization () |
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static std::array< std::pair< std::string, int >, 15 > | m_jointPoseNames |
| The data group name for the joint poses, and the corresponding indices within the state data. More...
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A class that manages Nimble devices.
- See also
- SurgSim::Devices::NimbleDevice
§ ~NimbleScaffold()
SurgSim::Devices::NimbleScaffold::~NimbleScaffold |
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§ NimbleScaffold()
SurgSim::Devices::NimbleScaffold::NimbleScaffold |
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§ buildDeviceInputData()
Builds the data layout for the application input (i.e. device output).
§ doBeforeStop()
void SurgSim::Devices::NimbleScaffold::doBeforeStop |
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§ doInitialize()
bool SurgSim::Devices::NimbleScaffold::doInitialize |
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§ doStartUp()
bool SurgSim::Devices::NimbleScaffold::doStartUp |
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§ doUpdate()
bool SurgSim::Devices::NimbleScaffold::doUpdate |
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double |
dt | ) |
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Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function.
- Returns
- false when the thread is done, this will stop execution
Reimplemented from SurgSim::Framework::BasicThread.
§ getOrCreateSharedInstance()
std::shared_ptr< NimbleScaffold > SurgSim::Devices::NimbleScaffold::getOrCreateSharedInstance |
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Gets or creates the scaffold shared by all NimbleDevice instances.
The scaffold is managed using a SingleInstance object.
- Returns
- the scaffold object.
§ registerDevice()
bool SurgSim::Devices::NimbleScaffold::registerDevice |
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NimbleDevice * |
device | ) |
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Registers the specified device object.
- Parameters
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device | The device object to be used. |
- Returns
- True if the initialization succeeds, false if it fails.
- Note
- There can be only one NimbleDevice at a time.
§ resetDeviceData()
void SurgSim::Devices::NimbleScaffold::resetDeviceData |
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§ unregisterDevice()
bool SurgSim::Devices::NimbleScaffold::unregisterDevice |
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const NimbleDevice * |
device | ) |
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Unregisters the specified device object.
- Parameters
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- Returns
- true on success, false on failure.
§ updateDeviceData()
void SurgSim::Devices::NimbleScaffold::updateDeviceData |
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Update the devices based on the data read from the Nimble server.
§ NimbleDevice
§ NimbleThread
friend class NimbleThread |
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§ m_jointPoseNames
std::array< std::pair< std::string, int >, 15 > SurgSim::Devices::NimbleScaffold::m_jointPoseNames |
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The data group name for the joint poses, and the corresponding indices within the state data.
§ m_logger
Logger used by the scaffold and all devices.
§ m_serverIpAddress
std::string SurgSim::Devices::NimbleScaffold::m_serverIpAddress |
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The IP address of the Nimble hand tracking server.
§ m_serverPort
std::string SurgSim::Devices::NimbleScaffold::m_serverPort |
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The port where the server is communicating.
§ m_serverSocketOpen
bool SurgSim::Devices::NimbleScaffold::m_serverSocketOpen |
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Flag to indicate that the socket is opened successfully.
§ m_state
std::unique_ptr<StateData> SurgSim::Devices::NimbleScaffold::m_state |
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The documentation for this class was generated from the following files: