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WeArtCommon.h
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WeArtCommon.h
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//! @brief Collection of constants used throughout the SDK
#pragma once
#include <vector>
#define WIN32_LEAN_AND_MEAN
#include <windows.h>
#include <cstdint>
#include <string>
#include "nlohmann/json.hpp"
enum class TrackingType {
DEFAULT, //!< Deprecated, contains only closure values
WEART_HAND, //!< Tracking with closures, and abduction value for thumb
};
enum class HandSide {
//HSnone = 0
Left = 1 << 0,
Right = 1 << 1,
};
NLOHMANN_JSON_SERIALIZE_ENUM(HandSide, {
{HandSide::Left, "LEFT"},
{HandSide::Right, "RIGHT"},
})
enum class ActuationPoint {
//APnone = 0
Thumb = 1 << 0,
Index = 1 << 1,
Middle = 1 << 2,
Palm = 1 << 3,
};
NLOHMANN_JSON_SERIALIZE_ENUM(ActuationPoint, {
{ActuationPoint::Thumb, "THUMB"},
{ActuationPoint::Index, "INDEX"},
{ActuationPoint::Middle, "MIDDLE"},
{ActuationPoint::Palm, "PALM"},
})
enum HandClosingState {
Open = 0,
Closing = 1,
Closed = 2
};
enum GraspingState {
Grabbed = 0,
Released = 1
};
enum CalibrationStatus {
IDLE = 0,
Calibrating = 1,
Running = 2,
};
enum class MiddlewareStatus {
DISCONNECTED,
IDLE,
STARTING,
RUNNING,
STOPPING,
UPLOADING_TEXTURES,
CONNECTING_DEVICE,
CALIBRATION,
};
NLOHMANN_JSON_SERIALIZE_ENUM(MiddlewareStatus, {
{MiddlewareStatus::DISCONNECTED, "DISCONNECTED"},
{MiddlewareStatus::IDLE, "IDLE"},
{MiddlewareStatus::STARTING, "STARTING"},
{MiddlewareStatus::RUNNING, "RUNNING"},
{MiddlewareStatus::STOPPING, "STOPPING"},
{MiddlewareStatus::UPLOADING_TEXTURES, "UPLOADING_TEXTURES"},
{MiddlewareStatus::CONNECTING_DEVICE, "CONNECTING_DEVICE"},
{MiddlewareStatus::CALIBRATION, "CALIBRATION"},
})
enum class TextureType : uint8_t {
ClickNormal = 0, ClickSoft = 1, DoubleClick = 2,
AluminiumFineMeshSlow = 3, AluminiumFineMeshFast = 4,
PlasticMeshSlow = 5, ProfiledAluminiumMeshMedium = 6, ProfiledAluminiumMeshFast = 7,
RhombAluminiumMeshMedium = 8,
TextileMeshMedium = 9,
CrushedRock = 10,
VenetianGranite = 11,
SilverOak = 12,
LaminatedWood = 13,
ProfiledRubberSlow = 14,
VelcroHooks = 15,
VelcroLoops = 16,
PlasticFoil2 = 17,
Leather = 18,
Cotton1 = 19,
Aluminium = 20,
DoubleSidedTape = 21
};
struct AccelerometerData {
float x = 0.0f;
float y = 0.0f;
float z = 0.0f;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(AccelerometerData, x, y, z)
struct GyroscopeData {
float x = 0.0f;
float y = 0.0f;
float z = 0.0f;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(GyroscopeData, x,y,z)
struct TofData {
int distance = 0;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TofData, distance)
struct SensorData {
AccelerometerData accelerometer;
GyroscopeData gyroscope;
TofData timeOfFlight;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SensorData, accelerometer, gyroscope, timeOfFlight)
struct AnalogSensorRawData {
float ntcTemperatureRaw;
float ntcTemperatureConverted;
float forceSensingRaw;
float forceSensingConverted;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(AnalogSensorRawData, ntcTemperatureRaw, ntcTemperatureConverted, forceSensingRaw, forceSensingConverted)
struct MiddlewareConnectedDevice {
std::string macAddress;
HandSide handSide;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(MiddlewareConnectedDevice, macAddress, handSide)
struct MiddlewareStatusData {
std::uint64_t timestamp;
MiddlewareStatus status;
std::string version;
int statusCode;
std::string errorDesc;
bool actuationsEnabled;
std::vector<MiddlewareConnectedDevice> connectedDevices;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(MiddlewareStatusData, status, version, statusCode, errorDesc, actuationsEnabled, connectedDevices);
//! @brief Status of a single thimble connected to a device
struct ThimbleStatus {
//! @brief Actuation Point to which the thimble is assigned
ActuationPoint id;
//! @brief Tells whether the thimble is connected to the device or not
bool connected;
//! @brief Current status code of the thimble (0 = OK)
int statusCode;
//! @brief Description of the thimble status code
std::string errorDesc;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(ThimbleStatus, id, connected, statusCode, errorDesc);
//! @brief Status of a connected TouchDIVER device
struct ConnectedDeviceStatus {
//! @brief Device BLE mac address
std::string macAddress;
//! @brief Hand to which the device is assigned
HandSide handSide;
//! @brief Battery charge level (from 0 to 100)
int batteryLevel;
//! @brief Tells whether the device is under charge (true) or not (false)
bool charging;
//! @brief Status of the device thimbles
std::vector<ThimbleStatus> thimbles;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(ConnectedDeviceStatus, macAddress, handSide, batteryLevel, charging, thimbles);
// Constants shared by the WeArt components
namespace WeArtConstants {
const PCSTR DEFAULT_IP_ADDRESS = "127.0.0.1";
const PCSTR DEFAULT_TCP_PORT = "13031";
const std::string WEART_SDK_VERSION = "1.0.0";
const std::string WEART_SDK_TYPE = "SdkLLCPP";
const float defaultTemperature = 0.5f;
const float minTemperature = 0.0f;
const float maxTemperature = 1.0f;
const float defaultForce = 0.0f;
const float minForce = 0.0f;
const float maxForce = 1.0f;
const float defaultClosure = 0.0f;
const float minClosure = 0.0f;
const float maxClosure = 1.0f;
const float defaultAbduction = 0.442f;
const int defaultTextureIndex = 0;
const int minTextureIndex = 0;
const int maxTextureIndex = 21;
const int nullTextureIndex = 255;
const float defaultCollisionMultiplier = 20.0f;
const float minCollisionMultiplier = 0.0f;
const float maxCollisionMultiplier = 100.0f;
const float defaultVolumeTexture = 100.0f;
const float minVolumeTexture = 0.0f;
const float maxVolumeTexture = 100.0f;
const float thresholdThumbClosure = 0.5f;
const float thresholdIndexClosure = 0.5f;
const float thresholdMiddleClosure = 0.5f;
const float defaultGraspForce = 0.3f;
const float dynamicForceSensibility = 10.0f;
};