D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CGenericDevice.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
    \version   2.0.0 $Rev: 250 $
*/
//===========================================================================

//---------------------------------------------------------------------------
#ifndef CGenericDeviceH
#define CGenericDeviceH
//---------------------------------------------------------------------------
#include "extras/CGlobals.h"
#include "devices/CCallback.h"
#include <string>
#include <stdio.h>
//---------------------------------------------------------------------------
using std::string;
//---------------------------------------------------------------------------

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

//---------------------------------------------------------------------------
// GENERIC DEVICE or BOARD:
//---------------------------------------------------------------------------
const int   CHAI_CMD_GET_DEVICE_STATE   = 1010;

//---------------------------------------------------------------------------
// GENERIC I/O BOARDS:
//---------------------------------------------------------------------------

const int   CHAI_CMD_GET_ENCODER_0      = 1020;

const int   CHAI_CMD_GET_ENCODER_1      = 1021;

const int   CHAI_CMD_GET_ENCODER_2      = 1022;

const int   CHAI_CMD_GET_ENCODER_3      = 1023;

const int   CHAI_CMD_GET_ENCODER_4      = 1024;

const int   CHAI_CMD_GET_ENCODER_5      = 1025;

const int   CHAI_CMD_GET_ENCODER_6      = 1026;

const int   CHAI_CMD_GET_ENCODER_7      = 1027;



const int   CHAI_CMD_RESET_ENCODER_0    = 1040;

const int   CHAI_CMD_RESET_ENCODER_1    = 1041;

const int   CHAI_CMD_RESET_ENCODER_2    = 1042;

const int   CHAI_CMD_RESET_ENCODER_3    = 1043;

const int   CHAI_CMD_RESET_ENCODER_4    = 1044;

const int   CHAI_CMD_RESET_ENCODER_5    = 1045;

const int   CHAI_CMD_RESET_ENCODER_6    = 1046;

const int   CHAI_CMD_RESET_ENCODER_7    = 1047;



const int   CHAI_CMD_SET_DAC_0          = 1030;

const int   CHAI_CMD_SET_DAC_1          = 1031;

const int   CHAI_CMD_SET_DAC_2          = 1032;

const int   CHAI_CMD_SET_DAC_3          = 1033;

const int   CHAI_CMD_SET_DAC_4          = 1034;

const int   CHAI_CMD_SET_DAC_5          = 1035;

const int   CHAI_CMD_SET_DAC_6          = 1036;

const int   CHAI_CMD_SET_DAC_7          = 1037;

//---------------------------------------------------------------------------
// GENERIC POINT CONTACT 3/6 DOF HAPTIC DEVICES:
//---------------------------------------------------------------------------

const int   CHAI_CMD_GET_POS_3D         = 2000;

const int   CHAI_CMD_GET_POS_NORM_3D    = 2001;

const int   CHAI_CMD_GET_VEL_3D         = 2002;

const int   CHAI_CMD_SET_FORCE_3D       = 2010;

const int   CHAI_CMD_SET_FORCE_NORM_3D  = 2011;

const int   CHAI_CMD_SET_FORCE_TORQUE_3D       = 2012;

const int   CHAI_CMD_GET_ROT_ANGLES     = 2020;

const int   CHAI_CMD_GET_ROT_MATRIX     = 2021;

const int   CHAI_CMD_SET_TORQUE_3D      = 2030;

const int   CHAI_CMD_GET_SWITCH_0       = 2041;

const int   CHAI_CMD_GET_SWITCH_1       = 2042;

const int   CHAI_CMD_GET_SWITCH_2       = 2043;

const int   CHAI_CMD_GET_SWITCH_MASK       = 2044;

const int   CHAI_CMD_GET_NORMALIZED_SCALE_FACTOR = 2045;


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

const int   CHAI_MSG_OK                 =   0;

const int   CHAI_MSG_ERROR              =  -1;

const int   CHAI_MSG_NOT_IMPLEMENTED    =  -2;

const int   CHAI_MSG_SYSTEM_NOT_READY   =  -3;


//===========================================================================
//===========================================================================
class cGenericDevice
{
  public:
    
    //-----------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //-----------------------------------------------------------------------

    cGenericDevice();

    virtual ~cGenericDevice() {};


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

    virtual int open() { return -1; }

    virtual int close() { return -1; }

    virtual int initialize(const bool a_resetEncoders=false) { return -1; }

    virtual int command(int a_command, void* a_data) { return (CHAI_MSG_NOT_IMPLEMENTED); }

    virtual unsigned int getNumDevices() { return (0); }

    bool isSystemAvailable() { return (m_systemAvailable); }

    bool isSystemReady() { return (m_systemReady); }

    virtual bool setCallback(cCallback* a_callback);

  protected:
    bool m_systemAvailable;

    bool m_systemReady;

    cCallback* m_callback;
};

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

---

CHAI3D 2.0.0 documentation
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All Rights Reserved.