152 lines
4.3 KiB
C
152 lines
4.3 KiB
C
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/*
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* dg2lib.h - header file for the DG2 library libdg2.a
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*
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* copyright 1988-92 VPL Research Inc.
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*
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*/
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/******** error returns from the library */
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extern int DG2_error; /* for error information */
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extern float DG2_lib_version; /* for the library version */
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extern int DG2_box_version; /* for the firmware version */
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extern int DG2_glove_sensors; /* for the number of sensors in the glove */
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/* defines for DG2_error values */
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#define DG2_AOK 0
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#define DG2_SETTINGS_FILE -1
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#define DG2_SERIAL_OPEN -2
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#define DG2_SERIAL_PORT -4
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#define DG2_RESET -6
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#define DG2_PARAMETER -7
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#define DG2_FILE_IO -8
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#define DG2_CALIBRATION_FILE -9
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#define DG2_GESTURE_FILE -10
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#define DG2_CAL_GEST_FILES -11
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/* defines for DG2_response() */
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#define DATAGLOVE 1
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#define POLHEMUS 2
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#define GESTURE 8
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#define DG2_60Hz 1
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#define DG2_30Hz 2
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#define DG2_oneShot 3
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/* defines for DG2_DataGlove_select() */
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#define THUMB_INNER 0x1
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#define THUMB_OUTER 0x2
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#define INDEX_INNER 0x4
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#define INDEX_OUTER 0x8
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#define MIDDLE_INNER 0x10
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#define MIDDLE_OUTER 0x20
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#define RING_INNER 0x40
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#define RING_OUTER 0x80
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#define LITTLE_INNER 0x100
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#define LITTLE_OUTER 0x200
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#define NORMAL_JOINTS 0x3ff
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#define FLEX11 0x400
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#define FLEX12 0x800
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#define FLEX13 0x1000
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#define FLEX14 0x2000
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#define FLEX15 0x4000
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#define FLEX16 0x8000
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/* defines for DG2_DataGlove_trans_select() */
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#define DG2_TRANSLATED 5
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#define DG2_RAW 6
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/* defines for DG2_Polhemus_units() */
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#define POL_RAW 0
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#define POL_INCHES 1
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#define POL_CM 2
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/* defines for DG2_user_IRQ() */
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#define IRQ_ON 1
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#define IRQ_OFF 2
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/* defines for DG2_get_data() */
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#define DG2_report 1
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#define DG2_userport 2
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/* dg2 command codes*/
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#define LEADINGBYTE 0x24
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#define RPT60 0x41 /* repeat 60 */
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#define RPT30 0x42 /* repeat 30 */
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#define ONESHOT 0x43 /* one shot */
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#define SYSID 0x44 /* system ID */
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#define EPTBUF 0x45 /* empty buffer */
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#define USRRD 0x46 /* user read */
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#define USRIRQ 0x47 /* user IRQ */
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#define QBRT 0x48 /* query bright */
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#define CDRST 0x49 /* cold reset */
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#define WMRST 0x4A /* warm reset */
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#define MEMALLO 0x4B /* memory alloc */
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#define DLTSND 0x4C /* delta send */
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#define SETBRT 0x4D /* set bright */
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#define SETDIM 0x4E /* set dim */
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#define FILBUF 0x4F /* fill buffer */
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#define LDTBL 0x50 /* load table */
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#define LDPOL 0x51 /* send up to 63 bytes to Polhemus */
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#define ANGLE 0x52 /* angles */
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#define NSNSR 0x53 /* num sensors */
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#define SETFB 0x54 /* set feedback */
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#define QCUT 0X55 /* query cutoff*/
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#define SETCUT 0X56 /* set cutoff */
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#define FLXVAL 0X57 /* raw flex values */
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#define USRWR 0X58 /* user write */
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#define JNTMAP 0X59 /* joint map */
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#define ERRMESS 0XFF /* error in command input */
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#define TIMOUT 0XFE /* timed out during command */
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/* response structure */
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typedef struct DG2_data {
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char gesture;
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double location[3]; /* X,Y,Z */
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double orientation[3]; /* yaw, pitch, roll */
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short flex[16];
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char gesture_name[20];
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short reserved[16];
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/* user port data: */
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char user_nibble;
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char user_analog[3];
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} DG2_data;
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/**************function prototypes*************/
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/*NOTE: all DG2_ functions return -1 on error*/
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extern int DG2_open(char *portname, int baud);
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extern int DG2_close(int filedes);
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extern int DG2_direct(int filedes,char *message,int count);
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extern int DG2_response(int filedes,int devices,int rate);
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extern int DG2_DataGlove_select(int filedes,int flex_sensors);
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extern int DG2_DataGlove_translation(int filedes,int flex_sensors,char table[16][256]);
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extern int DG2_DataGlove_trans_select(int filedes,int status);
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extern int DG2_DataGlove_LED_set(int filedes,int LED);
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extern int DG2_DataGlove_LED_read(int filedes);
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extern int DG2_Polhemus_units(int filedes,char type);
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extern int DG2_Polhemus_direct(int filedes,char *message,int count);
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extern int DG2_user_write(int filedes,int nibble);
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extern int DG2_user_IRQ(int filedes,int mode);
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extern int DG2_user_read(int filedes,DG2_data *data);
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extern int DG2_get_data(int filedes,DG2_data *data);
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extern int DG2_gesture_load(int filedes,char *calib,char *gest);
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/*use this with caution since it does not return until it gets a correct
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*response from the DG2
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*/
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extern int DG2U_get_reply(int filedes,char *buff,int response,int size);
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