/************************************************************************
|
|
POLHEMUS PROPRIETARY
|
|
Polhemus
|
P.O. Box 560
|
Colchester, Vermont 05446
|
(802) 655-3159
|
|
|
|
|
Copyright © 2009 by Polhemus
|
All Rights Reserved.
|
|
|
*************************************************************************/
|
|
// G4TrackIncl.h
|
|
|
#ifndef _G4TRACKINCL_H_
|
#define _G4TRACKINCL_H_
|
|
#include "stdint.h" // for uint32_t -- unfortunately compiler specific
|
|
// defines
|
|
|
#define G4_SENSORS_PER_HUB 3
|
#define G4_CREATE_ID(sys,hub,sensor) (((sys<<24)&0xff000000)|((hub<<8)&0x0fff00)|(sensor&0x7f))
|
#define G4_CREATE_ID_SENS_MAP(sys,hub,sensorMap) G4_CREATE_ID(sys,hub,sensorMap)|0x80
|
|
|
// enum definitions
|
|
// commands
|
enum {
|
G4_CMD_WHOAMI,
|
G4_CMD_GETMAXSRC,
|
G4_CMD_BORESIGHT,
|
G4_CMD_FILTER,
|
G4_CMD_INCREMENT,
|
G4_CMD_FOR_ROTATE,
|
G4_CMD_FOR_TRANSLATE,
|
G4_CMD_TIP_OFFSET,
|
G4_CMD_UNITS,
|
G4_CMD_GET_ACTIVE_HUBS,
|
G4_CMD_GET_STATION_MAP,
|
G4_CMD_GET_SOURCE_MAP,
|
G4_CMD_FRAMERATE,
|
G4_CMD_RESTORE_DEF_CFG,
|
G4_CMD_BLOCK_CFG,
|
G4_TOTAL_COMMANDS
|
};
|
|
// different actions
|
enum {G4_ACTION_SET,G4_ACTION_GET,G4_ACTION_RESET};
|
|
// unit types
|
enum dataType {G4_DATA_POS,G4_DATA_ORI};
|
|
|
// types
|
enum {
|
G4_TYPE_EULER_DEGREE,
|
G4_TYPE_EULER_RADIAN,
|
G4_TYPE_QUATERNION,
|
G4_TYPE_INCH,
|
G4_TYPE_FOOT,
|
G4_TYPE_CM,
|
G4_TYPE_METER,
|
};
|
|
|
// errors -- just the beginning
|
enum {
|
G4_ERROR_NONE,
|
G4_ERROR_NO_FRAME_DATA_AVAIL=-100,
|
G4_ERROR_UNSUPPORTED_ACTION,
|
G4_ERROR_UNSUPPORTED_TYPE,
|
G4_ERROR_UNSUPPORTED_COMMAND,
|
G4_ERROR_INVALID_STATION,
|
G4_ERROR_NO_CONNECTION, //-95
|
G4_ERROR_NO_HUBS,
|
G4_ERROR_FRAMERATE_SET,
|
G4_ERROR_MEMORY_ALLOCATION,
|
G4_ERROR_INVALID_SYSTEM_ID,
|
G4_ERROR_SRC_CFG_FILE_OPEN, //-90
|
G4_ERROR_INVALID_SRC_CFG_FILE,
|
G4_ERROR_UNABLE_TO_START_TIMER,
|
G4_ERROR_HUB_NOT_ACTIVE,
|
G4_ERROR_SYS_RESET_FAIL,
|
G4_ERROR_DONGLE_CONNECTION, //-85
|
G4_ERROR_DONGLE_USB_CONFIGURATION,
|
G4_ERROR_DONGLE_USB_INTERFACE_0,
|
G4_ERROR_DUPLICATE_SYS_IDS,
|
G4_ERROR_INVALID_WILDCARD_USE,
|
G4_ERROR_TOTAL
|
};
|
|
|
// structure definitions
|
|
// for giving pno data to host app
|
typedef struct _G4_SEN_FRAMEDATA { // per sensor data
|
uint32_t id;
|
float pos[3];
|
float ori[4];
|
}*LPG4_SENFRAMEDATA,G4_SENFRAMEDATA; //32 bytes
|
|
typedef struct _G4_FRAMEDATA { // all sensors in hub
|
uint32_t hub;
|
uint32_t frame;
|
uint32_t stationMap; // indicates active sensors on hub
|
uint32_t dig_io;
|
G4_SENFRAMEDATA sfd[G4_SENSORS_PER_HUB];
|
}*LPG4_FRAMEDATA,G4_FRAMEDATA;
|
|
|
|
|
// for receiving config commands from host app or SDK
|
typedef struct _G4_CMD_DATA_STRUCT{
|
uint32_t id; // -1 for all sensors
|
uint32_t action; // set,get,reset
|
uint32_t iParam; // command specific
|
void* pParam; // ditto
|
}*LPG4_CMD_DATA_STRUCT,G4_CMD_DATA_STRUCT;
|
|
|
typedef struct _G4_CMD_STRUCT {
|
int cmd;
|
G4_CMD_DATA_STRUCT cds;
|
}*LPG4_CMD_STRUCT,G4_CMD_STRUCT;
|
|
typedef struct _G4_SRC_MAP {
|
int id;
|
int freq;
|
float pos[3];
|
float att[4];
|
}*LPG4_SRC_MAP,G4_SRC_MAP;
|
|
typedef struct _G4_CMD_BLOCK_STRUCT {
|
int units[2]; // pos, att
|
uint8_t version_info[50];
|
float filter_params[2][4]; // pos,att
|
float increment[G4_SENSORS_PER_HUB][2]; // pos, att
|
float rot_angles[3]; // az, el, rl
|
float translate_xyz[3];
|
float tip_offset[G4_SENSORS_PER_HUB][3];
|
}*LPG4_CMD_BLOCK_STRUCT,G4_CMD_BLOCK_STRUCT;
|
|
|
#ifdef __cplusplus
|
extern "C" {
|
#endif
|
|
// function prototypes /////////////////////////////////////////////////////
|
|
|
// Function name : g4_init_sys
|
// Description : Initializes the G4 Tracker
|
// Return type : int - ERROR_NONE if successful, otherwise an error enum
|
// Argument : int* pDongleId - System id of the dongle will be returned here
|
// Argument : const char* src_cfg_file - the source configuration file.
|
// Argument : void* reserved - Should always be NULL
|
uint32_t g4_init_sys(int* pDongleId,const char* src_cfg_file,void* reserved);
|
|
|
|
// Function name : g4_get_frame_data
|
// Description : Gets the G4 frame data from a list of desired hubs
|
// Return type : int -- Upper 16-bit word is total hubs on system
|
// Lower 16-bit word is hubs successfully read
|
// Argument : FRAMEDATA* fd_array -- an array of FRAMEDATA structures to hold the data
|
// Argument : int sysId -- The system id
|
// Argument : const int* hub_id_list -- An array of hub id's that the frame data is requested.
|
// Argument : int num_hubs -- the number of ids in the hub_id_list
|
uint32_t g4_get_frame_data(G4_FRAMEDATA* fd_array,int sysId,const int* hub_id_list,int num_hubs);
|
|
|
|
|
// Function name : g4_set_query
|
// Description : The function to get or set the G4 Tracker parameters
|
// Return type : int - ERROR_NONE if successful, otherwise an error enum
|
// Argument : LPCMD_STRUCT pcs - The command structure. The values of this structure
|
// are dependent upon the actual command.
|
uint32_t g4_set_query(LPG4_CMD_STRUCT pcs);
|
|
|
|
|
// Function name : close_tracker
|
// Description : This function will close the tracker connection.
|
// Return type : void
|
// Argument : void
|
void g4_close_tracker(void);
|
|
#ifdef __cplusplus
|
}
|
#endif
|
#endif
|
