D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDeltaDevices.h

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//===========================================================================
/*
    This file is part of the CHAI 3D visualization and haptics libraries.
    Copyright (C) 2003-2009 by CHAI 3D. All rights reserved.

    This library is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License("GPL") version 2
    as published by the Free Software Foundation.

    For using the CHAI 3D libraries with software that can not be combined
    with the GNU GPL, and for taking advantage of the additional benefits
    of our support services, please contact CHAI 3D about acquiring a
    Professional Edition License.

    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \author    Force Dimension - www.forcedimension.com
    \version   2.0.0 $Rev: 250 $
*/
//===========================================================================

//---------------------------------------------------------------------------
#ifndef CDeltaDevicesH
#define CDeltaDevicesH
//---------------------------------------------------------------------------
#if defined(_ENABLE_DELTA_DEVICE_SUPPORT)
//---------------------------------------------------------------------------
#include "devices/CGenericHapticDevice.h"
//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================

#if defined(_WIN32)

#ifndef DOXYGEN_SHOULD_SKIP_THIS

/* devices */
#define DHD_DEVICE_NONE            0
#define DHD_DEVICE_SIMULATOR      11
#define DHD_DEVICE_3DOF           31
#define DHD_DEVICE_6DOF           61
#define DHD_DEVICE_6DOF_500       62
#define DHD_DEVICE_OMEGA          32
#define DHD_DEVICE_OMEGA3         33
#define DHD_DEVICE_OMEGA33        34
#define DHD_DEVICE_OMEGA33_LEFT   36
#define DHD_DEVICE_OMEGA331       35
#define DHD_DEVICE_OMEGA331_LEFT  37
#define DHD_DEVICE_CONTROLLER     81
#define DHD_DEVICE_CONTROLLER_HR  82
#define DHD_DEVICE_CUSTOM         91

/* status */
#define DHD_ON                     1
#define DHD_OFF                    0

/* device count */
#define DHD_MAX_DEVICE             4

/* TimeGuard return value */
#define DHD_TIMEGUARD              1

/* status count */
#define DHD_MAX_STATUS            13

/* status codes */
#define DHD_STATUS_POWER           0
#define DHD_STATUS_CONNECTED       1
#define DHD_STATUS_STARTED         2
#define DHD_STATUS_RESET           3
#define DHD_STATUS_IDLE            4
#define DHD_STATUS_FORCE           5
#define DHD_STATUS_BRAKE           6
#define DHD_STATUS_TORQUE          7
#define DHD_STATUS_WRIST_DETECTED  8
#define DHD_STATUS_ERROR           9
#define DHD_STATUS_GRAVITY        10
#define DHD_STATUS_TIMEGUARD      11
#define DHD_STATUS_ROTATOR_RESET  12

/* buttons count */
#define DHD_MAX_BUTTONS            8

/* velocity estimator computation mode */
#define DHD_VELOCITY_WINDOWING     0
#define DHD_VELOCITY_AVERAGING     1

#endif  // DOXYGEN_SHOULD_SKIP_THIS
#endif  // _WIN32

//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================
class cDeltaDevice : public cGenericHapticDevice
{
  public:

    //-----------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //-----------------------------------------------------------------------
    cDeltaDevice(unsigned int a_deviceNumber = 0);

    virtual ~cDeltaDevice();


    //-----------------------------------------------------------------------
    // METHODS:
    //-----------------------------------------------------------------------

    int open();

    int close();

    int initialize(const bool a_resetEncoders=false);

    unsigned int getNumDevices();

    int getPosition(cVector3d& a_position);

    int getLinearVelocity(cVector3d& a_linearVelocity);

    int getRotation(cMatrix3d& a_rotation);

    int getGripperAngleRad(double& a_angle);

    int setForce(cVector3d& a_force);

    int setTorque(cVector3d& a_torque);

    int setGripperTorque(double a_gripperTorque);

    int setForceAndTorqueAndGripper(cVector3d& a_force, cVector3d& a_torque, double a_gripperTorque);

    int getUserSwitch(int a_switchIndex, bool& a_status);


    //-----------------------------------------------------------------------
    // METHODS RESTRICTED TO FORCE DIMENSION DEVICES ONLY:
    //-----------------------------------------------------------------------

    int getDeviceType() { return m_deviceType; }

    int enableForces(bool a_value);

  protected:

    static int m_activeDeltaDevices;

    int m_deviceID;

    int m_deviceType;

    int m_userSwitchCount[8];

        int m_userSwitchStatus[8];

    cPrecisionClock m_userSwitchClock[8];

    int getUserSwitch(int a_deviceID);

    bool statusEnableForcesFirstTime;

    #ifndef DOXYGEN_SHOULD_SKIP_THIS
    static bool sdhdGetDeviceCount;
    static bool sdhdGetDeviceID;
    static bool sdhdGetSystemType;
    static bool sdhdOpenID;
    static bool sdhdClose;
    static bool sdhdGetButton;
    static bool sdhdReset;
    static bool sdhdGetPosition;
    static bool sdhdGetLinearVelocity;
    static bool sdhdSetForce;
    static bool sdhdGetOrientationRad;
    static bool sdhdSetTorque;
    static bool sdhdGetOrientationFrame;
    static bool sdhdSetForceAndGripperForce;
    static bool sdhdGetGripperThumbPos;
    static bool sdhdGetGripperFingerPos;
    static bool sdhdEnableExpertMode;
    static bool sdhdDisableExpertMode;
    static bool sdhdEnableForce;
    static bool sdhdIsLeftHanded;
    #endif  // DOXYGEN_SHOULD_SKIP_THIS
};

//---------------------------------------------------------------------------
#endif //_DISABLE_DELTA_DEVICE_SUPPORT
//---------------------------------------------------------------------------
#endif
//---------------------------------------------------------------------------

---

CHAI3D 2.0.0 documentation
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(C) 2003-2009 - CHAI 3D
All Rights Reserved.