void vrpn_Analog_USDigital_A2::mainloop()
{
server_mainloop(); // let the server do its stuff
#ifdef VRPN_USE_USDIGITAL
long readErr, readVal ;
// Read the data from the available channels
for (vrpn_uint32 c=0 ; c<(vrpn_uint32) num_channel ; c++)
{
// see if there's really a readable device there.
if (c<_numDevices && _devAddr[c]>=0)
{
readErr = A2GetPosition(_devAddr[c], &readVal) ;
if (readErr)
{
fprintf(stderr,
"vrpn_Analog_USDigital_A2: Error code %d received while reading channel %d.\n",
readErr, c) ;
fprintf(stderr, "vrpn_Analog_USDigital_A2: Attempting to reinitialize SEI bus...") ;
readErr = ResetSEI() ;
if (readErr)
fprintf(stderr, "failed.") ;
fprintf(stderr, "failed.") ;
// don't flood the log, and give the reset time to work
vrpn_SleepMsecs(1000) ;
}
else
channel[c] = (vrpn_float64) readVal ;
}
else
channel[c] = 0 ; // default to 0 for unreadable/unavailable.
} // for
#endif
// Finally, the point of all this, deliver the data
if (_reportChange)
report_changes() ;
else
report() ;
} // mainloop
//---------------
long A2Device::getPosiiton() {
long position;
A2GetPosition(address, &position);
return position;
}