thesis-motion-guidance/eaiwrappercsharp/MotorTest/MainWindow.xaml.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;

namespace MotorTest
{
    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        
        
        public MainWindow()
        {
            InitializeComponent();
            IntPtr actuator = EAIWrapper.BodyActuator_new();
            Console.WriteLine(actuator.ToString());
            EAIWrapper.BodyActuator_init(actuator, ActuatorType.EAI, "COM5" , 16);
            EAIWrapper.BodyActuator_startActuation(actuator, 0 , (float)0.3);
            System.Threading.Thread.Sleep(1000);
            EAIWrapper.BodyActuator_stopActuation(actuator, 0);
        }
    }

    class EAIWrapper
    {
        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern IntPtr BodyActuator_new();

        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern void BodyActuator_init(IntPtr self, ActuatorType type, [MarshalAs(UnmanagedType.LPStr)]string port, int actuatorCount);

        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern void BodyActuator_startActuation(IntPtr self, int tactor, float intensity);

        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern void BodyActuator_actuate(IntPtr self, int tactor, float intensity, int duration);

        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern void BodyActuator_stopActuation(IntPtr self, int tactor);

        [DllImport("BodyActuator.dll", CallingConvention = CallingConvention.Cdecl)]
        public static extern void BodyActuator_setFrequency(IntPtr self, int tactor, int frequency);
    }

    enum ActuatorType
    {
        NONE = 0,
        EAI,
        PIEZO,
        ERM,
        EMS 
    }
}