a7b7192341
- FFI: eskin_open/close/read_register/write_register for C/C++/Python - Protocol: encode/decode tests with golden bytes verification - Stream: implement PollingSampleCollector producing FingerSample - Register: add parse_combined_forces/parse_module_errors - Transport: add MockSerialTransport for testing - Include: add C header file eskin_ffi.h - Examples: C++ and Python usage examples - README: full usage guide for Rust/C++/Python - Exclude docs/ from repo (internal only)
135 lines
3.0 KiB
Rust
135 lines
3.0 KiB
Rust
use serde::{Deserialize, Serialize};
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#[repr(C)]
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#[derive(Debug, Clone, Copy, Default, Serialize, Deserialize)]
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pub struct Force3D {
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pub fx: i16,
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pub fy: i16,
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pub fz: i16,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Copy, Default, Serialize, Deserialize)]
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pub struct Force3F {
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pub fx: f32,
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pub fy: f32,
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pub fz: f32,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
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pub enum SensorModule {
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ThumbProximal = 0,
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ThumbMiddle = 1,
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ThumbTip = 2,
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ThumbNail = 3,
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IndexProximal = 4,
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IndexMiddle = 5,
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IndexTip = 6,
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IndexNail = 7,
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MiddleProximal = 8,
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MiddleMiddle = 9,
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MiddleTip = 10,
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MiddleNail = 11,
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RingProximal = 12,
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RingMiddle = 13,
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RingTip = 14,
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RingNail = 15,
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PinkyProximal = 16,
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PinkyMiddle = 17,
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PinkyTip = 18,
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PinkyNail = 19,
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Palm1 = 20,
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Palm2 = 21,
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Palm3 = 22,
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Palm4 = 23,
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Palm5 = 24,
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Palm6 = 25,
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Palm7 = 26,
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Palm8 = 27,
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}
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impl SensorModule {
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pub fn from_index(index: u8) -> Self {
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match index {
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0 => Self::ThumbProximal,
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1 => Self::ThumbMiddle,
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2 => Self::ThumbTip,
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3 => Self::ThumbNail,
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4 => Self::IndexProximal,
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5 => Self::IndexMiddle,
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6 => Self::IndexTip,
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7 => Self::IndexNail,
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8 => Self::MiddleProximal,
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9 => Self::MiddleMiddle,
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10 => Self::MiddleTip,
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11 => Self::MiddleNail,
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12 => Self::RingProximal,
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13 => Self::RingMiddle,
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14 => Self::RingTip,
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15 => Self::RingNail,
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16 => Self::PinkyProximal,
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17 => Self::PinkyMiddle,
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18 => Self::PinkyTip,
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19 => Self::PinkyNail,
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20 => Self::Palm1,
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21 => Self::Palm2,
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22 => Self::Palm3,
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23 => Self::Palm4,
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24 => Self::Palm5,
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25 => Self::Palm6,
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26 => Self::Palm7,
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27 => Self::Palm8,
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_ => Self::ThumbProximal,
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}
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}
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}
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pub const SENSOR_MODULE_COUNT: usize = 28;
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#[repr(C)]
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#[derive(Debug, Clone, Serialize, Deserialize)]
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pub struct DistributionForce {
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pub module: SensorModule,
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pub point_count: u16,
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pub points: Vec<ForcePoint>,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
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pub struct CombinedForce {
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pub module: SensorModule,
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pub force: Force3D,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Serialize, Deserialize)]
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pub struct FingerSample {
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pub timestamp_us: u64,
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pub sequence: u32,
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pub combined_forces: Vec<CombinedForce>,
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pub distribution_forces: Vec<DistributionForce>,
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pub module_errors: Vec<ModuleError>,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Copy, Default, Serialize, Deserialize)]
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pub struct ModuleError {
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pub module: u8,
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pub error_code: u16,
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}
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#[repr(C)]
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#[derive(Debug, Clone, Copy, Default, Serialize, Deserialize)]
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pub struct ForcePoint {
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pub fx: i8,
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pub fy: i8,
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pub fz: i8,
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}
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