vrpn_Tracker_ThalmicLabsMyo.h

// vrpn_Tracker_ThalmicLabsMyo.h 
// 
// Thalmic Labs Myo's (https://www.thalmic.com/en/myo/) VRPN server
//
// (10/12/2014) developed by Florian Nouviale
 
#ifndef __TRACKER_THALMICLABSMYO_H
#define __TRACKER_THALMICLABSMYO_H
 
#include "vrpn_Configure.h" // for VRPN_API
 
#ifdef VRPN_INCLUDE_THALMICLABSMYO
 
#include "vrpn_Tracker.h" // for vrpn_Analog
#include "vrpn_Analog.h" // for vrpn_Analog
#include "vrpn_Button.h" // for vrpn_Button_Filterl
 
#include <myo/myo.hpp>
 
// --------------------------------------------------------------------------
// VRPN class:
 
class VRPN_API vrpn_Tracker_ThalmicLabsMyo : public vrpn_Tracker, public vrpn_Analog, public vrpn_Button_Filter, public myo::DeviceListener
{
 
public:
 
 enum ARMSIDE
    {
        ANY = 0,
        LEFT = 1,
        RIGHT = 2
    };
 
    vrpn_Tracker_ThalmicLabsMyo(const char *name,
 vrpn_Connection *c,
 bool useLock,
        ARMSIDE armSide);
 
    ~vrpn_Tracker_ThalmicLabsMyo();
 
 virtual void mainloop();
 
 
 virtual void onPair(myo::Myo* myo, uint64_t timestamp, myo::FirmwareVersion firmwareVersion);
 
 virtual void onPose(myo::Myo* myo, uint64_t timestamp, myo::Pose pose);
 
 virtual void onConnect(myo::Myo* myo, uint64_t timestamp, myo::FirmwareVersion firmwareVersion);
 
 virtual void onDisconnect(myo::Myo* myo, uint64_t timestamp);
 
 virtual void onArmSync(myo::Myo* myo, uint64_t timestamp, myo::Arm arm, myo::XDirection xDirection);
 
 virtual void onArmUnsync(myo::Myo* myo, uint64_t timestamp);
 
 virtual void onUnlock(myo::Myo* myo, uint64_t timestamp);
 
 virtual void onLock(myo::Myo* myo, uint64_t timestamp);
 
 virtual void onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& rotation);
 
 virtual void onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& accel);
 
 virtual void onGyroscopeData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& gyro);
 
private:
 
 struct timeval _timestamp;
 
 void _report_lock();
 
 enum {
        ANALOG_ROTATION_X = 0,
        ANALOG_ROTATION_Y = 1,
        ANALOG_ROTATION_Z = 2,
        ANALOG_ACCEL_X = 3,
        ANALOG_ACCEL_Y = 4,
        ANALOG_ACCEL_Z = 5,
        ANALOG_GYRO_X = 6,
        ANALOG_GYRO_Y = 7,
        ANALOG_GYRO_Z = 8
    };
 
    myo::Hub* hub;
 
    myo::Myo* _myo;
 
    ARMSIDE _armSide;
 
 bool _locked;
 
 bool _analogChanged;
};
 
#endif  //VRPN_INCLUDE_THALMICLABSMYO
#endif  //__TRACKER_THALMICLABSMYO_H