| commit | author | age | ||
| 0a10d5 | 1 | /************************************************************************ |
| JS | 2 | |
| 3 | POLHEMUS PROPRIETARY | |
| 4 | ||
| 5 | Polhemus | |
| 6 | P.O. Box 560 | |
| 7 | Colchester, Vermont 05446 | |
| 8 | (802) 655-3159 | |
| 9 | ||
| 10 | ||
| 11 | ||
| 12 | ||
| 13 | Copyright © 2009 by Polhemus | |
| 14 | All Rights Reserved. | |
| 15 | ||
| 16 | ||
| 17 | *************************************************************************/ | |
| 18 | ||
| 19 | // G4TrackIncl.h | |
| 20 | ||
| 21 | ||
| 22 | #ifndef _G4TRACKINCL_H_ | |
| 23 | #define _G4TRACKINCL_H_ | |
| 24 | ||
| 25 | #include "stdint.h" // for uint32_t -- unfortunately compiler specific | |
| 26 | ||
| 27 | // defines | |
| 28 | ||
| 29 | ||
| 30 | #define G4_SENSORS_PER_HUB 3 | |
| 31 | #define G4_CREATE_ID(sys,hub,sensor) (((sys<<24)&0xff000000)|((hub<<8)&0x0fff00)|(sensor&0x7f)) | |
| 32 | #define G4_CREATE_ID_SENS_MAP(sys,hub,sensorMap) G4_CREATE_ID(sys,hub,sensorMap)|0x80 | |
| 33 | ||
| 34 | ||
| 35 | // enum definitions | |
| 36 | ||
| 37 | // commands | |
| 38 | enum { | |
| 39 | G4_CMD_WHOAMI, | |
| 40 | G4_CMD_GETMAXSRC, | |
| 41 | G4_CMD_BORESIGHT, | |
| 42 | G4_CMD_FILTER, | |
| 43 | G4_CMD_INCREMENT, | |
| 44 | G4_CMD_FOR_ROTATE, | |
| 45 | G4_CMD_FOR_TRANSLATE, | |
| 46 | G4_CMD_TIP_OFFSET, | |
| 47 | G4_CMD_UNITS, | |
| 48 | G4_CMD_GET_ACTIVE_HUBS, | |
| 49 | G4_CMD_GET_STATION_MAP, | |
| 50 | G4_CMD_GET_SOURCE_MAP, | |
| 51 | G4_CMD_FRAMERATE, | |
| 52 | G4_CMD_RESTORE_DEF_CFG, | |
| 53 | G4_CMD_BLOCK_CFG, | |
| 54 | G4_TOTAL_COMMANDS | |
| 55 | }; | |
| 56 | ||
| 57 | // different actions | |
| 58 | enum {G4_ACTION_SET,G4_ACTION_GET,G4_ACTION_RESET}; | |
| 59 | ||
| 60 | // unit types | |
| 61 | enum dataType {G4_DATA_POS,G4_DATA_ORI}; | |
| 62 | ||
| 63 | ||
| 64 | // types | |
| 65 | enum { | |
| 66 | G4_TYPE_EULER_DEGREE, | |
| 67 | G4_TYPE_EULER_RADIAN, | |
| 68 | G4_TYPE_QUATERNION, | |
| 69 | G4_TYPE_INCH, | |
| 70 | G4_TYPE_FOOT, | |
| 71 | G4_TYPE_CM, | |
| 72 | G4_TYPE_METER, | |
| 73 | }; | |
| 74 | ||
| 75 | ||
| 76 | // errors -- just the beginning | |
| 77 | enum { | |
| 78 | G4_ERROR_NONE, | |
| 79 | G4_ERROR_NO_FRAME_DATA_AVAIL=-100, | |
| 80 | G4_ERROR_UNSUPPORTED_ACTION, | |
| 81 | G4_ERROR_UNSUPPORTED_TYPE, | |
| 82 | G4_ERROR_UNSUPPORTED_COMMAND, | |
| 83 | G4_ERROR_INVALID_STATION, | |
| 84 | G4_ERROR_NO_CONNECTION, //-95 | |
| 85 | G4_ERROR_NO_HUBS, | |
| 86 | G4_ERROR_FRAMERATE_SET, | |
| 87 | G4_ERROR_MEMORY_ALLOCATION, | |
| 88 | G4_ERROR_INVALID_SYSTEM_ID, | |
| 89 | G4_ERROR_SRC_CFG_FILE_OPEN, //-90 | |
| 90 | G4_ERROR_INVALID_SRC_CFG_FILE, | |
| 91 | G4_ERROR_UNABLE_TO_START_TIMER, | |
| 92 | G4_ERROR_HUB_NOT_ACTIVE, | |
| 93 | G4_ERROR_SYS_RESET_FAIL, | |
| 94 | G4_ERROR_DONGLE_CONNECTION, //-85 | |
| 95 | G4_ERROR_DONGLE_USB_CONFIGURATION, | |
| 96 | G4_ERROR_DONGLE_USB_INTERFACE_0, | |
| 97 | G4_ERROR_DUPLICATE_SYS_IDS, | |
| 98 | G4_ERROR_INVALID_WILDCARD_USE, | |
| 99 | G4_ERROR_TOTAL | |
| 100 | }; | |
| 101 | ||
| 102 | ||
| 103 | // structure definitions | |
| 104 | ||
| 105 | // for giving pno data to host app | |
| 106 | typedef struct _G4_SEN_FRAMEDATA { // per sensor data | |
| 107 | uint32_t id; | |
| 108 | float pos[3]; | |
| 109 | float ori[4]; | |
| 110 | }*LPG4_SENFRAMEDATA,G4_SENFRAMEDATA; //32 bytes | |
| 111 | ||
| 112 | typedef struct _G4_FRAMEDATA { // all sensors in hub | |
| 113 | uint32_t hub; | |
| 114 | uint32_t frame; | |
| 115 | uint32_t stationMap; // indicates active sensors on hub | |
| 116 | uint32_t dig_io; | |
| 117 | G4_SENFRAMEDATA sfd[G4_SENSORS_PER_HUB]; | |
| 118 | }*LPG4_FRAMEDATA,G4_FRAMEDATA; | |
| 119 | ||
| 120 | ||
| 121 | ||
| 122 | ||
| 123 | // for receiving config commands from host app or SDK | |
| 124 | typedef struct _G4_CMD_DATA_STRUCT{ | |
| 125 | uint32_t id; // -1 for all sensors | |
| 126 | uint32_t action; // set,get,reset | |
| 127 | uint32_t iParam; // command specific | |
| 128 | void* pParam; // ditto | |
| 129 | }*LPG4_CMD_DATA_STRUCT,G4_CMD_DATA_STRUCT; | |
| 130 | ||
| 131 | ||
| 132 | typedef struct _G4_CMD_STRUCT { | |
| 133 | int cmd; | |
| 134 | G4_CMD_DATA_STRUCT cds; | |
| 135 | }*LPG4_CMD_STRUCT,G4_CMD_STRUCT; | |
| 136 | ||
| 137 | typedef struct _G4_SRC_MAP { | |
| 138 | int id; | |
| 139 | int freq; | |
| 140 | float pos[3]; | |
| 141 | float att[4]; | |
| 142 | }*LPG4_SRC_MAP,G4_SRC_MAP; | |
| 143 | ||
| 144 | typedef struct _G4_CMD_BLOCK_STRUCT { | |
| 145 | int units[2]; // pos, att | |
| 146 | uint8_t version_info[50]; | |
| 147 | float filter_params[2][4]; // pos,att | |
| 148 | float increment[G4_SENSORS_PER_HUB][2]; // pos, att | |
| 149 | float rot_angles[3]; // az, el, rl | |
| 150 | float translate_xyz[3]; | |
| 151 | float tip_offset[G4_SENSORS_PER_HUB][3]; | |
| 152 | }*LPG4_CMD_BLOCK_STRUCT,G4_CMD_BLOCK_STRUCT; | |
| 153 | ||
| 154 | ||
| 155 | #ifdef __cplusplus | |
| 156 | extern "C" { | |
| 157 | #endif | |
| 158 | ||
| 159 | // function prototypes ///////////////////////////////////////////////////// | |
| 160 | ||
| 161 | ||
| 162 | // Function name : g4_init_sys | |
| 163 | // Description : Initializes the G4 Tracker | |
| 164 | // Return type : int - ERROR_NONE if successful, otherwise an error enum | |
| 165 | // Argument : int* pDongleId - System id of the dongle will be returned here | |
| 166 | // Argument : const char* src_cfg_file - the source configuration file. | |
| 167 | // Argument : void* reserved - Should always be NULL | |
| 168 | uint32_t g4_init_sys(int* pDongleId,const char* src_cfg_file,void* reserved); | |
| 169 | ||
| 170 | ||
| 171 | ||
| 172 | // Function name : g4_get_frame_data | |
| 173 | // Description : Gets the G4 frame data from a list of desired hubs | |
| 174 | // Return type : int -- Upper 16-bit word is total hubs on system | |
| 175 | // Lower 16-bit word is hubs successfully read | |
| 176 | // Argument : FRAMEDATA* fd_array -- an array of FRAMEDATA structures to hold the data | |
| 177 | // Argument : int sysId -- The system id | |
| 178 | // Argument : const int* hub_id_list -- An array of hub id's that the frame data is requested. | |
| 179 | // Argument : int num_hubs -- the number of ids in the hub_id_list | |
| 180 | uint32_t g4_get_frame_data(G4_FRAMEDATA* fd_array,int sysId,const int* hub_id_list,int num_hubs); | |
| 181 | ||
| 182 | ||
| 183 | ||
| 184 | ||
| 185 | // Function name : g4_set_query | |
| 186 | // Description : The function to get or set the G4 Tracker parameters | |
| 187 | // Return type : int - ERROR_NONE if successful, otherwise an error enum | |
| 188 | // Argument : LPCMD_STRUCT pcs - The command structure. The values of this structure | |
| 189 | // are dependent upon the actual command. | |
| 190 | uint32_t g4_set_query(LPG4_CMD_STRUCT pcs); | |
| 191 | ||
| 192 | ||
| 193 | ||
| 194 | ||
| 195 | // Function name : close_tracker | |
| 196 | // Description : This function will close the tracker connection. | |
| 197 | // Return type : void | |
| 198 | // Argument : void | |
| 199 | void g4_close_tracker(void); | |
| 200 | ||
| 201 | #ifdef __cplusplus | |
| 202 | } | |
| 203 | #endif | |
| 204 | #endif | |
