705375085f
- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware - Add independent C++ example with command and streaming modes - Rewrite Python example with threaded streaming (read_loop + consumer pattern) - Add ROS2 C++ publisher/subscriber examples - Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table - Add CHANGELOG
145 lines
2.9 KiB
C++
145 lines
2.9 KiB
C++
#ifndef ESkin_FFI_H
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#define ESkin_FFI_H
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#include <cstdint>
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef void* EskinDeviceHandle;
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typedef struct {
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uint16_t major;
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uint16_t minor;
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uint16_t patch;
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} EskinSdkVersion;
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typedef enum {
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ESkinSuccess = 0,
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ESkinInvalidPointer = 1,
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ESkinDeviceNotFound = 2,
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ESkinDeviceAlreadyOpen = 3,
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ESkinNotInitialized = 4,
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ESkinAlreadyStreaming = 5,
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ESkinNotStreaming = 6,
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ESkinConfigError = 7,
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ESkinIoError = 8,
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ESkinTimeout = 9,
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ESkinChannelClosed = 10,
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ESkinInternalError = 11,
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ESkinBufferOverflow = 12,
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ESkinInvalidParameter = 13,
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ESkinCrcError = 14,
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ESkinFrameError = 15,
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ESkinProtocolError = 16,
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ESkinDeviceError = 17,
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} EskinSdkErrorCode;
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EskinSdkVersion eskin_version(void);
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EskinDeviceHandle eskin_open(const char* path, const void* config);
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EskinSdkErrorCode eskin_close(EskinDeviceHandle handle);
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EskinSdkErrorCode eskin_read_register(
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EskinDeviceHandle handle,
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uint32_t addr,
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uint16_t length,
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uint8_t* buf,
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uint32_t buf_len,
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uint32_t* actual_len
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);
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EskinSdkErrorCode eskin_write_register(
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EskinDeviceHandle handle,
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uint32_t addr,
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const uint8_t* data,
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uint16_t data_len,
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uint16_t* return_count
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);
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// Device function interfaces (EskinDeviceFunc)
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EskinSdkErrorCode eskin_read_hdw_version(
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EskinDeviceHandle handle,
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char* buf,
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uint32_t buf_len,
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uint32_t* actual_len
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);
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EskinSdkErrorCode eskin_read_matrix_row(
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EskinDeviceHandle handle,
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uint8_t* out
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);
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EskinSdkErrorCode eskin_read_matrix_col(
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EskinDeviceHandle handle,
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uint8_t* out
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);
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EskinSdkErrorCode eskin_read_device_config1(
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EskinDeviceHandle handle,
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uint8_t* out
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);
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EskinSdkErrorCode eskin_read_device_config2(
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EskinDeviceHandle handle,
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uint8_t* out
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);
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EskinSdkErrorCode eskin_write_device_config1(
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EskinDeviceHandle handle,
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bool enable,
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uint16_t* return_count
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);
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EskinSdkErrorCode eskin_write_device_config2(
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EskinDeviceHandle handle,
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bool enable,
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uint16_t* return_count
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);
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EskinSdkErrorCode eskin_write_matrix_row(
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EskinDeviceHandle handle,
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uint8_t row,
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uint16_t* return_count
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);
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EskinSdkErrorCode eskin_write_matrix_col(
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EskinDeviceHandle handle,
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uint8_t col,
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uint16_t* return_count
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);
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// Streaming interfaces
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typedef struct {
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uint32_t fx;
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uint32_t fy;
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uint32_t fz;
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} CForce3D;
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typedef struct {
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uint32_t module;
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CForce3D force;
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} CCombinedForce;
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typedef struct {
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uint64_t timestamp_us;
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uint32_t sequence;
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CCombinedForce combined_force;
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} CFingerSample;
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EskinSdkErrorCode eskin_start_stream(EskinDeviceHandle handle);
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EskinSdkErrorCode eskin_stop_stream(EskinDeviceHandle handle);
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EskinSdkErrorCode eskin_read_sample(EskinDeviceHandle handle, uint32_t timeout_ms, CFingerSample* out);
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EskinSdkErrorCode eskin_get_mode(EskinDeviceHandle handle, uint32_t* out);
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#ifdef __cplusplus
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}
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#endif
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#endif
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