cortex.h

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/*=========================================================
//
// File: Cortex.h  v200
//
// Created by Ned Phipps, Oct-2004
//
// This file defines the interface to Cortex ethernet communication.
//
//----------------------------------------------------------
Modification History:

Date      By          Comment
------------------------------------------------------------
Oct 2004  np          First version

=============================================================================*/

#ifndef Cortex_H
#define Cortex_H

#include <stdint.h>


typedef enum maReturnCode
{
    RC_Okay=0,             
    RC_GeneralError,       
    RC_ApiError,           
    RC_NetworkError,       
    RC_TimeOut,            
    RC_MemoryError,        
    RC_Unrecognized        
}
maReturnCode;


typedef enum maVerbosityLevel
{
    VL_None=0,   
    VL_Error,    
    VL_Warning,  
    VL_Info,     
    VL_Debug,    
}
maVerbosityLevel;


// Array dimensions

#define MAX_N_BODIES      100


#define XEMPTY 9999999.0f


typedef double tSegmentData[7]; 

typedef float  tMarkerData[3];  

typedef float  tForceData[7];   

typedef double tDofData;        




//==================================================================
//==================================================================
//
//   S T R U C T U R E S
//
//==================================================================
//==================================================================


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


typedef struct sHostInfo
{
    int           bFoundHost;              
    int           LatestConfirmationTime;  
    char          szHostMachineName[128];  
    unsigned char HostMachineAddress[4];   
    char          szHostProgramName[128];  
    unsigned char HostProgramVersion[4];   

} sHostInfo;


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


typedef struct sHierarchy
{
    int32_t            nSegments;         
    char**         szSegmentNames;    
    int32_t*           iParents;          

} sHierarchy;


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


typedef struct sBodyDef
{
    char*          szName;            

    int            nMarkers;          
    char**         szMarkerNames;     

    sHierarchy     Hierarchy;         

    int            nDofs;             
    char**         szDofNames;        

} sBodyDef;


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


typedef struct sBodyDefs
{
    int            nBodyDefs;               
    sBodyDef       BodyDefs[MAX_N_BODIES];  

    int            nAnalogChannels;         
    char**         szAnalogChannelNames;    

    int            nForcePlates;            

    void*          AllocatedSpace;          

} sBodyDefs;


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


typedef struct sBodyData
{
    char           szName[128];          

    int            nMarkers;             
    tMarkerData*   Markers;              
    float          fAvgMarkerResidual;   

    int            nSegments;            
    tSegmentData*  Segments;             

    int            nDofs;                
    tDofData*      Dofs;                 
    float          fAvgDofResidual;      
    int            nIterations;          

    int32_t        ZoomEncoderValue;     
    int32_t        FocusEncoderValue;    

} sBodyData;


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


typedef struct sAnalogData
{
    int            nAnalogChannels;  
    int            nAnalogSamples;   
    int16_t*       AnalogSamples;    

    int            nForcePlates;     
    int            nForceSamples;    
    tForceData*    Forces;           

    int            nAngleEncoders;      
    int            nAngleEncoderSamples;
    double*        AngleEncoderSamples; 

} sAnalogData;


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

typedef struct sRecordingStatus
{
    int32_t        bRecording;   
    int32_t        iFirstFrame;  
    int32_t        iLastFrame;   
    char           szFilename[256]; 

} sRecordingStatus;


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


typedef struct sFrameOfData
{
    int32_t        iFrame;                  
    float          fDelay;                  

    int            nBodies;                 
    sBodyData      BodyData[MAX_N_BODIES];  

    int            nUnidentifiedMarkers;    
    tMarkerData*   UnidentifiedMarkers;     

    sAnalogData    AnalogData;              

    sRecordingStatus RecordingStatus;       

} sFrameOfData;



#ifdef  __cplusplus
extern "C" {
#endif


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

int Cortex_GetSdkVersion(unsigned char Version[4]);

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

int Cortex_SetVerbosityLevel(int iLevel);

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

int Cortex_SetErrorMsgHandlerFunc(void (*MyFunction)(int iLogLevel, const char* szLogMessage, void *params), void *params);

int Cortex_SetRequestPort(unsigned short port);
int Cortex_SetMulticastPort(unsigned short port);

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

int Cortex_SetDataHandlerFunc(void (*MyFunction)(sFrameOfData* pFrameOfData, void *params), void *params);

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

int Cortex_Initialize(const char* szCortexNicCardAddress);  // Hostname or IP Address or NULL (auto find)

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

int Cortex_GetHostInfo(sHostInfo *pHostInfo);

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

int Cortex_Exit();

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

//int Cortex_Request(const char* szCommand, void** ppResponse, int *pnBytes);  // Friendly extendable command function.
int Cortex_Request(const char* szCommand, void** ppResponse, int *pnBytes, double timeout);  // Friendly extendable command function.

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

//sBodyDefs*     Cortex_GetBodyDefs();      // The description of what we are tracking.
sBodyDefs*     Cortex_GetBodyDefs(double timeout);      // The description of what we are tracking.

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

int Cortex_FreeBodyDefs(sBodyDefs* pBodyDefs);

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

//sFrameOfData*  Cortex_GetCurrentFrame();
sFrameOfData* Cortex_GetCurrentFrame(double timeout);
//==================================================================

int Cortex_CopyFrame(const sFrameOfData* pSrc, sFrameOfData* pDst);  // Allocates or reallocates pointers

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

int Cortex_FreeFrame(sFrameOfData* pFrame);

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

int Cortex_SendHtr(sHierarchy *pHierarchy, tSegmentData *pFrame);    // Push a skeleton definition to Cortex

int Cortex_SetMetered(bool bActive, float fFixedLatency);

//==================================================================
// Euler angle utility functions
//==================================================================

#define ZYX_ORDER 1
#define XYZ_ORDER 2
#define YXZ_ORDER 3
#define YZX_ORDER 4
#define ZXY_ORDER 5
#define XZY_ORDER 6

// Special rotation orders
#define XYX_ORDER 7
#define XZX_ORDER 8
#define YZY_ORDER 9
#define YXY_ORDER 10
#define ZXZ_ORDER 11
#define ZYZ_ORDER 12


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

void  Cortex_ConstructRotationMatrix(
        double angles[3],
        int iRotationOrder,
        double matrix[3][3]);

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

void  Cortex_ExtractEulerAngles(
        double matrix[3][3],
        int    iRotationOrder,
        double angles[3]);



#ifdef  __cplusplus
}
#endif

#endif