gloveDevice.h

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#ifndef GLOVEDEVICE_H
#define GLOVEDEVICE_H

/* system includes */
#include <pthread.h>

/* my includes */
#include "gloveTypes.h"
#include "gloveStatus.h"
#include "serial.h"

#define CR 13
#define LF 10
#define MAX_SENSORS 22

class gloveDevice
{
public:
        gloveDevice();
        ~gloveDevice();

        bool init(const char *serialDev);
        void stop();

        /* Display status */
        void showCurrentStatus();

        /* Sensors: init */

        //M
        bool cmdSetSwSensorMask(sensorMask_t mask);
        bool cmdGetSwSensorMask(sensorMask_t *mask);
        //K
        bool cmdGetHwSensorMask(sensorMask_t *mask);
        //N
        bool cmdSetNbSensorsEnabled(uchar_t n);
        bool cmdGetNbSensorsEnabled(uchar_t *n);
        //S
        bool cmdGetNbSensorsTotal(uchar_t *n);
        //T
        bool cmdSetSamplePeriod(samplePeriod_t period);
        bool cmdGetSamplePeriod(samplePeriod_t *period);

        /* Sensors: switches */

        //D
        bool cmdSetTimeStamp(bool enable);
        bool cmdGetTimeStamp(bool *enable);
        //U
        bool cmdSetGloveStatus(bool enable);
        bool cmdGetGloveStatus(bool *enable);

        /* Sensors: values */

        //G
        bool cmdGetSensorValues(vector_t values, uchar_t *n, statusQuery_t *query,
                        gloveStatusByte_t *gloveStatusByte);
        //Y
        bool cmdGetSensorValuesSync(vector_t values, uchar_t *n, bool *errorSync,
                        gloveStatusByte_t *gloveStatusByte);
        //S
        bool cmdSetStreamValues(bool enable);

        bool cmdGetSensorDummyValues(vector_t values, uchar_t *n,
                        statusQuery_t *query, gloveStatusByte_t *gloveStatusByte);

        /* Sensors: calibrate  */

        //A
        bool cmdSetActuate(int n, vector_t index, vector_t values);
        bool cmdSetActuateAll(vector_t values);
        bool cmdGetActuateAll(vector_t values);
        //C
        bool cmdSetCalibrateAll(vector_t offset, vector_t gain);
        bool cmdSetCalibrateOffset(uchar_t index, uchar_t offset);
        bool cmdSetCalibrateGain(uchar_t index, uchar_t gain);
        bool cmdGetCalibrateAll(vector_t offset, vector_t gain);

        /* Glove: information */

        //B
        bool cmdSetBaudRate(uchar_t baudDivide);
        bool cmdGetBaudRate(uchar_t *baudDivide);
        //P
        bool cmdSetParameterFlags(parameterFlags_t flags);
        bool cmdGetParameterFlags(parameterFlags_t *flags);
        //G
        bool cmdGetConnectStatus(statusConnect_t *status);
        //R
        bool cmdGetHand(bool *rightHand);
        //V
        bool cmdGetGloveVersion(gloveVersion_t *version);
        //Y
        bool cmdSetBinarySync(bool enable);
        bool cmdGetBinarySync(bool *enable);

        /* Glove: switches */

        //F
        bool cmdSetDigitalFilter(bool enable);
        bool cmdGetDigitalFilter(bool *enable);
        //J
        bool cmdSetControlLight(bool enable);
        bool cmdGetControlLight(bool *enable);
        //L
        bool cmdSetWristLight(bool enable);
        bool cmdGetWristLight(bool *enable);
        //Q
        bool cmdSetQuantized(bool enable);
        bool cmdGetQuantized(bool *enable);
        //W
        bool cmdSetWristToggle(bool enable);
        bool cmdGetWristToggle(bool *enable);

        /* Glove: internal commands */

        //^I
        bool cmdReinitializeCyberGlove();
        //^R
        bool cmdRestartFirmware();

private:
        gloveStatus status;
        SerialDevice serial;int serialId;
        bool error;
        pthread_mutex_t serial_lock;

        void lock_serial();
        void unlock_serial();

        uchar_t getChar();
        void getString(vector_t s, int n);
        void sendChar(uchar_t);
        void sendString(vector_t s, int n);

        bool readResponseSet(uchar_t c);
        bool readResponseSet(uchar_t c1, uchar_t c2);
        bool readNullChar();
        bool readResponseGet(uchar_t c);

        bool cmdSetChar(uchar_t name, uchar_t val);
        bool cmdGetChar(uchar_t name, uchar_t *val);
        bool cmdGetBool(uchar_t name, bool *val);

        bool internalCmd(uchar_t cmd);

};

#endif /* GLOVEDEVICE_H */