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@@ -1,12 +1,62 @@
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using System;
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using System.Runtime.InteropServices;
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+using System.Threading;
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namespace SketchAssistantWPF
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{
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internal class Armband
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{
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- //[DllImport("BodyActuator.dll")]
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- //static extern void pushForward(BodyActuator* self, uint8_t tactor, double intensity, uint64_t duration);
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+ [StructLayout(LayoutKind.Sequential)]
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+ public class BodyActuator
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+ {
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+ enum BodyActuator_Type
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+ {
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+ BODYACTUATOR_TYPE_NONE,
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+ BODYACTUATOR_TYPE_EAI,
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+ BODYACTUATOR_TYPE_PIEZO,
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+ BODYACTUATOR_TYPE_ERM,
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+ BODYACTUATOR_TYPE_EMS
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+ };
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+ bool valid;
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+ ushort actuatorCount;
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+ BodyActuator_Type type;
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+ ArduinoHub arduinoHub;
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+ EAIHub eaiHub;
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+ }
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+
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+
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+ [StructLayout(LayoutKind.Sequential)]
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+ public class EAIHub
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+ {
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+ bool valid;
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+ pthread_mutex_t mutex; //TODO fix this
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+ Thread thread;
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+ Actuator* actuators; //TODO
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+ uint tactorType;
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+ uint modulation;
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+ int deviceID;
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+ }
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+
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+ [StructLayout(LayoutKind.Sequential)]
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+ public class ArduinoHub
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+ {
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+ enum ArduinoHub_Type
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+ {
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+ ARDUINOHUB_TYPE_PIEZO = 'P',
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+ ARDUINOHUB_TYPE_ERM = 'E',
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+ ARDUINOHUB_TYPE_EMS = 'M'
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+ }
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+ bool valid;
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+ pthread_mutex_t mutex; //TODO fix this
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+ Thread thread;
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+ ArduinoHub_Type arduinoType;
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+ Serial* serial;
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+ Actuator* actuators;
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+ }
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+
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+ [DllImport("BodyActuator.dll", EntryPoint = "BodyActuator_actuate")]
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+ static extern void pushForward(ref BodyActuator self, byte tactor, double intensity, ulong duration);
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+
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internal void pushForward()
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{
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Console.WriteLine("FORWARD_PUSH");
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