/Users/craigcornelius/Projects/SPRING Mac Release 0.2/haptic_v1.h

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// $Id: haptic_v1.h,v 1.12 2006/05/24 16:52:41 sean Exp $
// $Copyright: (c)2001 National Biocomputation Center, Stanford University $

//
//  haptic-v1.h
//

#ifndef Haptic_v1_Header
#define Haptic_v1_Header

#ifdef _WIN32
#include <winsock.h>
#else
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <stdio.h>

#ifndef SOCKET
#define SOCKET unsigned int
#endif // SOCKET

#endif // _WIN32

#include "sensor.h"
#include "socket.h"
#include "timer.h"
#include <iostream>      // For debugging messages

using namespace std;

class Haptic_v1 : public Sensor {
    // internal data
    char *buf;
    Point3D old_force;
    Point3D old_grid[2]; // The old point and its corresponding force
    float old_twist_force, old_grip_force;    // for devices that support it
    Socket *hsock;
        Timer timer;
        int update_iterations, force_iterations;
    
    // functions for telling if things are worth sending
    int forceChanged();
    int gridChanged();
    
    // specialized update functions
    void updateLinked();
    void updateStreaming();
    void updateForcegrid();

        // internal helpers
        void receive_info();
        void send_force();
    
public:
    // data made public for viewing
    Point3D force;     // force to apply (in Newtons)
    
    // forcegrid public data
    Point3D grid[2]; // One point and its corresponding force
    float force_scalefactor;
    bool active_status;
    bool first_grab;
    bool grid_mode;  // Does the haptic use the forcegrid method or not?
    
    // for linking haptics devices together
    enum haptic_link_mode_enum {link_position, link_force} haptic_link_mode;
    Sensor* linked_device;
    
    float twist_force;    // for devices that support it (in Nm)
    float grip_force;    // for devices that support it (in Nm)
    
public:
    Haptic_v1(char* machine_name, int port_num = 9999, 
        bool forcegridmode = false);
    virtual ~Haptic_v1();
    static const char* rcsid;
    static int debug;
    
    // the main update routine
    void Update();
    
    // for forcegrid method of haptics
    void SetActive(bool status);
    void SetGridMode(bool mode);
    bool GetGridMode();
    
    // for linking haptic devices together
    void HapticLink(Sensor* sensor);
};

#endif

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