WeArtCommon.h

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#pragma once
#include <vector>
 
#define WIN32_LEAN_AND_MEAN
#include <windows.h>
 
#include <string>
#include "nlohmann/json.hpp"
 
enum class TrackingType {
    DEFAULT,    
    WEART_HAND, 
};
 
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 {
    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);
 
struct ThimbleStatus {
    ActuationPoint id;
    bool connected;
    int statusCode;
    std::string errorDesc;
};
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(ThimbleStatus, id, connected, statusCode, errorDesc);
 
struct ConnectedDeviceStatus {
    std::string macAddress;
 
    HandSide handSide;
 
    int batteryLevel;
 
    bool charging;
 
    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;
};