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extern crate libc;
mod ffi;
pub use ffi::{
ResultCode, LockingPolicy, VibrationType, UnlockType, VersionComponent, EventType,
Arm, XDirection, WarmupState, WarmupResult, Pose, OrientationIndex, HandlerResult,
HardwareRevision
};
use std::ffi::CStr;
pub type Result<T> = std::result::Result<T, ErrorDetails>;
pub struct MyoString(ffi::libmyo_string_t);
impl MyoString
{
pub fn c_str(&self) -> &CStr
{
unsafe { CStr::from_ptr(ffi::libmyo_string_c_str(self.0)) }
}
}
impl Drop for MyoString
{
fn drop(&mut self)
{
unsafe { ffi::libmyo_string_free(self.0) };
}
}
impl std::fmt::Debug for MyoString
{
fn fmt(&self, fmt: &mut std::fmt::Formatter) -> std::fmt::Result
{
self.c_str().fmt(fmt)
}
}
pub struct ErrorDetails(ffi::libmyo_error_details_t);
impl ErrorDetails
{
pub fn message(&self) -> &CStr
{
unsafe { CStr::from_ptr(ffi::libmyo_error_cstring(self.0)) }
}
pub fn kind(&self) -> ResultCode
{
unsafe { ffi::libmyo_error_kind(self.0) }
}
}
impl Drop for ErrorDetails
{
fn drop(&mut self)
{
unsafe { ffi::libmyo_free_error_details(self.0) };
}
}
impl std::fmt::Debug for ErrorDetails
{
fn fmt(&self, fmt: &mut std::fmt::Formatter) -> std::fmt::Result
{
write!(fmt, "libmyo Error Details({:?}: {:?})", self.kind(), self.message())
}
}
impl std::fmt::Display for ErrorDetails
{
fn fmt(&self, fmt: &mut std::fmt::Formatter) -> std::fmt::Result
{
std::fmt::Debug::fmt(self, fmt)
}
}
impl std::error::Error for ErrorDetails
{
fn description(&self) -> &str { "libmyo Error" }
}
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
pub struct MACAddress(u64);
impl std::fmt::Display for MACAddress
{
fn fmt(&self, fmt: &mut std::fmt::Formatter) -> std::fmt::Result
{
write!(fmt, "{}", MyoString(unsafe { ffi::libmyo_mac_address_to_string(self.0) }).c_str().to_str().unwrap())
}
}
macro_rules! DefWrapperFunc
{
(pub fn $ename: ident ( $($narg: ident : $targ: ty),* ) = $fname: ident ( $($farg: expr),* )) =>
{
pub fn $ename(&self $(, $narg: $targ)*) -> Result<()>
{
let mut e = std::ptr::null_mut();
let r = unsafe { ffi::$fname(self.0 $(, $farg)*, &mut e) };
if r == ResultCode::Success { Ok(()) } else { Err(ErrorDetails(e)) }
}
};
(pub fn $ename: ident ( $($narg: ident : $targ: ty),* ) -> $rtype: ty = $fname: ident ( $($farg: expr),* )) =>
{
pub fn $ename(&self $(, $narg: $targ)*) -> $rtype
{
unsafe { ffi::$fname(self.0 $(, $farg)*) as _ }
}
}
}
pub trait EventListener
{
fn on_paired(&mut self, _: PairedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_unpaired(&mut self, _: UnpairedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_connected(&mut self, _: ConnectedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_disconnected(&mut self, _: DisconnectedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_arm_synced(&mut self, _: ArmSyncedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_arm_unsynced(&mut self, _: ArmUnsyncedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_orientation_data(&mut self, _: OrientationEvent) -> HandlerResult { HandlerResult::Continue }
fn on_pose(&mut self, _: PoseEvent) -> HandlerResult { HandlerResult::Continue }
fn on_rssi_value(&mut self, _: RSSIEvent) -> HandlerResult { HandlerResult::Continue }
fn on_unlocked(&mut self, _: UnlockedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_locked(&mut self, _: LockedEvent) -> HandlerResult { HandlerResult::Continue }
fn on_emg_data(&mut self, _: EMGEvent) -> HandlerResult { HandlerResult::Continue }
fn on_battery_level(&mut self, _: BatteryLevelEvent) -> HandlerResult { HandlerResult::Continue }
fn on_warmup_completed(&mut self, _: WarmupCompletedEvent) -> HandlerResult { HandlerResult::Continue }
}
struct TraitObjectStore<'a, T: 'a + ?Sized>(&'a mut T);
pub struct Hub(ffi::libmyo_hub_t);
impl Hub
{
pub fn init<AppID: Into<Vec<u8>>>(application_identifier: AppID) -> Result<Self>
{
let (mut h, mut e) = (std::ptr::null_mut(), std::ptr::null_mut());
let appid = std::ffi::CString::new(application_identifier).unwrap();
let r = unsafe { ffi::libmyo_init_hub(&mut h, appid.as_ptr(), &mut e) };
if r == ResultCode::Success { Ok(Hub(h)) } else { Err(ErrorDetails(e)) }
}
DefWrapperFunc!(pub fn set_locking_policy(locking_policy: LockingPolicy) = libmyo_set_locking_policy(locking_policy));
pub fn run(&self, duration_ms: u32, listener: &mut EventListener) -> Result<()>
{
let mut to = TraitObjectStore(listener);
let mut e = std::ptr::null_mut();
let r = unsafe { ffi::libmyo_run(self.0, duration_ms as _, Self::run_internal_handler, &mut to as *mut TraitObjectStore<_> as *mut libc::c_void, &mut e) };
if r == ResultCode::Success { Ok(()) } else { Err(ErrorDetails(e)) }
}
extern "system" fn run_internal_handler(elptr: *mut libc::c_void, event: ffi::libmyo_event_t) -> HandlerResult
{
let el: &mut EventListener = unsafe { std::mem::transmute::<_, &mut TraitObjectStore<'static, EventListener>>(&mut *elptr).0 };
match unsafe { std::mem::transmute(ffi::libmyo_event_get_type(event)) }
{
EventType::Paired => el.on_paired(PairedEvent(event)),
EventType::Unpaired => el.on_unpaired(UnpairedEvent(event)),
EventType::Connected => el.on_connected(ConnectedEvent(event)),
EventType::Disconnected => el.on_disconnected(DisconnectedEvent(event)),
EventType::ArmSynced => el.on_arm_synced(ArmSyncedEvent(event)),
EventType::ArmUnsynced => el.on_arm_unsynced(ArmUnsyncedEvent(event)),
EventType::Orientation => el.on_orientation_data(OrientationEvent(event)),
EventType::Pose => el.on_pose(PoseEvent(event)),
EventType::RSSI => el.on_rssi_value(RSSIEvent(event)),
EventType::Unlocked => el.on_unlocked(UnlockedEvent(event)),
EventType::Locked => el.on_locked(LockedEvent(event)),
EventType::EMG => el.on_emg_data(EMGEvent(event)),
EventType::BatteryLevel => el.on_battery_level(BatteryLevelEvent(event)),
EventType::WarmupCompleted => el.on_warmup_completed(WarmupCompletedEvent(event))
}
}
}
impl Drop for Hub
{
fn drop(&mut self)
{
let mut e = std::ptr::null_mut();
let r = unsafe { ffi::libmyo_shutdown_hub(self.0, &mut e) };
if r != ResultCode::Success
{
panic!("Error on drop: {:?}", ErrorDetails(e).message());
}
}
}
#[derive(Debug)]
pub struct Armband(ffi::libmyo_myo_t);
impl Armband
{
pub fn raw_id(&self) -> usize { unsafe { std::mem::transmute(self.0) } }
DefWrapperFunc!(pub fn vibrate(vtype: VibrationType) = libmyo_vibrate(vtype));
DefWrapperFunc!(pub fn request_rssi() = libmyo_request_rssi());
DefWrapperFunc!(pub fn request_battery_level() = libmyo_request_battery_level());
DefWrapperFunc!(pub fn set_stream_emg(stream_emg_data: bool) =
libmyo_set_stream_emg(if stream_emg_data { ffi::EMGStreamingMode::Enabled } else { ffi::EMGStreamingMode::Disabled }));
DefWrapperFunc!(pub fn lock() = libmyo_myo_lock());
DefWrapperFunc!(pub fn unlock(unlock_type: UnlockType) = libmyo_myo_unlock(unlock_type));
DefWrapperFunc!(pub fn notify_user_action() = libmyo_myo_notify_user_action(ffi::UserActionType::Single));
}
pub trait Event
{
fn handle(&self) -> ffi::libmyo_event_t;
fn event_type(&self) -> EventType { unsafe { std::mem::transmute(ffi::libmyo_event_get_type(self.handle())) } }
fn timestamp(&self) -> u64 { unsafe { ffi::libmyo_event_get_timestamp(self.handle()) } }
fn device(&self) -> Armband { Armband(unsafe { ffi::libmyo_event_get_myo(self.handle()) }) }
fn mac_address(&self) -> MACAddress { MACAddress(unsafe { ffi::libmyo_event_get_mac_address(self.handle()) }) }
fn device_name(&self) -> MyoString { MyoString(unsafe { ffi::libmyo_event_get_myo_name(self.handle()) }) }
}
macro_rules! DefEvent
{
($t: ident) =>
{
pub struct $t(ffi::libmyo_event_t);
impl Event for $t { fn handle(&self) -> ffi::libmyo_event_t { self.0 } }
}
}
macro_rules! DefEventParamWrapper
{
(pub property<$obj: ty> $pn: ident [$($an: ident: $at: ty),*]: $pt: ty = $f: ident ($($fan: expr),*)) =>
{
impl $obj
{
pub fn $pn(&self $(, $an: $at)*) -> $pt
{
unsafe { ffi::$f(self.0 $(, $fan)*) as _ }
}
}
};
(pub property<$obj: ty> $pn: ident: $pt: ty = $f: ident ($($fan: expr),*)) =>
{
impl $obj
{
pub fn $pn(&self) -> $pt
{
unsafe { ffi::$f(self.0 $(, $fan)*) as _ }
}
}
};
}
DefEvent!(PairedEvent);
DefEvent!(UnpairedEvent);
DefEvent!(ConnectedEvent);
DefEvent!(DisconnectedEvent);
DefEvent!(ArmSyncedEvent);
DefEvent!(ArmUnsyncedEvent);
DefEvent!(OrientationEvent);
DefEvent!(PoseEvent);
DefEvent!(RSSIEvent);
DefEvent!(UnlockedEvent);
DefEvent!(LockedEvent);
DefEvent!(EMGEvent);
DefEvent!(BatteryLevelEvent);
DefEvent!(WarmupCompletedEvent);
impl PairedEvent
{
DefWrapperFunc!(pub fn firmware_version(component: VersionComponent) -> u32 = libmyo_event_get_firmware_version(component));
pub fn firmware_versions(&self) -> (u32, u32, u32, HardwareRevision)
{
(self.firmware_version(VersionComponent::Major),
self.firmware_version(VersionComponent::Minor),
self.firmware_version(VersionComponent::Patch),
unsafe { std::mem::transmute(self.firmware_version(VersionComponent::HardwareRevision)) })
}
}
impl ConnectedEvent
{
DefWrapperFunc!(pub fn firmware_version(component: VersionComponent) -> u32 = libmyo_event_get_firmware_version(component));
pub fn firmware_versions(&self) -> (u32, u32, u32, HardwareRevision)
{
(self.firmware_version(VersionComponent::Major),
self.firmware_version(VersionComponent::Minor),
self.firmware_version(VersionComponent::Patch),
unsafe { std::mem::transmute(self.firmware_version(VersionComponent::HardwareRevision)) })
}
}
impl ArmSyncedEvent
{
DefWrapperFunc!(pub fn arm() -> Arm = libmyo_event_get_arm());
DefWrapperFunc!(pub fn xdirection() -> XDirection = libmyo_event_get_x_direction());
DefWrapperFunc!(pub fn warmup_state() -> WarmupState = libmyo_event_get_warmup_state());
DefWrapperFunc!(pub fn rotation_on_arm() -> f32 = libmyo_event_get_rotation_on_arm());
}
DefEventParamWrapper!(pub property<WarmupCompletedEvent> result: WarmupResult = libmyo_event_get_warmup_result());
#[repr(u8)] pub enum CoordinateIndex
{
X = 0, Y = 1, Z = 2
}
impl OrientationEvent
{
DefWrapperFunc!(pub fn orientation(index: OrientationIndex) -> f32 = libmyo_event_get_orientation(index));
DefWrapperFunc!(pub fn accelerometer(index: CoordinateIndex) -> f32 = libmyo_event_get_accelerometer(index as _));
DefWrapperFunc!(pub fn gyroscope(index: CoordinateIndex) -> f32 = libmyo_event_get_gyroscope(index as _));
pub fn q_orientation(&self) -> (f32, f32, f32, f32)
{
(self.orientation(OrientationIndex::X), self.orientation(OrientationIndex::Y),
self.orientation(OrientationIndex::Z), self.orientation(OrientationIndex::W))
}
pub fn v_accelerometer(&self) -> (f32, f32, f32)
{
(self.accelerometer(CoordinateIndex::X), self.accelerometer(CoordinateIndex::Y), self.accelerometer(CoordinateIndex::Z))
}
pub fn v_gyroscope(&self) -> (f32, f32, f32)
{
(self.gyroscope(CoordinateIndex::X), self.gyroscope(CoordinateIndex::Y), self.gyroscope(CoordinateIndex::Z))
}
}
DefEventParamWrapper!(pub property<PoseEvent> pose: Pose = libmyo_event_get_pose());
DefEventParamWrapper!(pub property<RSSIEvent> rssi: i8 = libmyo_event_get_rssi());
DefEventParamWrapper!(pub property<BatteryLevelEvent> battery_level: u8 = libmyo_event_get_battery_level());
impl EMGEvent
{
DefWrapperFunc!(pub fn emg(sensor: u8) -> i8 = libmyo_event_get_emg(sensor as _));
pub fn emgs(&self) -> [i8; 8]
{
let mut a = [0; 8]; for n in 0 .. 8 { a[n] = self.emg(n as _); } a
}
}