CraftwarePC (Win32)
Craftware_Varsstruct Craftware_Vars();
{ double rollAmplitude; //defines the range of motion for the ROLL axis ( Range of values: 1 -> 100 Default value: 85 ) double pitchAmplitude; //defines the range of motion for the PITCH axis ( Range of values: 1 -> 100 Default value: 85 ) double yawAmplitude; //defines the range of motion for the YAW axis ( Range of values: 1 -> 100 Default value: 85 ) int rollIntensity; //defines the motion intensity for the ROLL axis ( Range of values: 1 -> 200 Default value: 100 ) int pitchIntensity; //defines the motion intensity for the PITCH axis ( Range of values: 1 -> 200 Default value: 100 ) int yawIntensity; //defines the motion intensity for the YAW axis ( Range of values: 1 -> 200 Default value: 100 ) };
Craftwareprotected Craftware();
~Craftwareprotected virtual ~Craftware();
angularAccelerationAndOrientationpublic CRAFTWARE_API bool angularAccelerationAndOrientation( float orientation[3], float acceleration[3], float fRadius[3], bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. acceleration[3] (float): X, Y, Z values for angular acceleration; X = ROLL, Y = PITCH, Z = YAW; must be provided in Body Coordinates. Values must be given in either radians per second^2 or degrees per second^2. If provided in radians, bInDegrees must be set to false so the appropriate conversion from radians to degrees can be performed. X represents ROLL (left/right) accel, Y represents PITCH accel (forward/backward), and Z represents YAW accel (twist). fRadius[3] (float): Radius values for the X, Y, Z angular acceleration values. The radius for each axis will be used to convert the values provided in acceleration[3] from angular acceleration to linear acceleration. bInDegrees (boolean) : Specifies if the values of orientation[3] and acceleration[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system. angularVelocityAndOrientationpublic CRAFTWARE_API bool angularVelocityAndOrientation( float orientation[3], float angular_velocity[3], bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. angular_velocity[3] (float): X, Y, Z values for angular velocity; X = ROLL, Y = PITCH, Z = YAW; must be provided in Body Coordinates. Values must be given in either radians per second or degrees per second. If provided in radians, bInDegrees must be set to false so the appropriate conversion from radians to degrees can be performed. X represents ROLL (left/right), Y represents PITCH (forward/backward), and Z represents YAW (twist). bInDegrees (boolean) : Specifies if the values of orientation[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system. calibratePlatformpublic CRAFTWARE_API bool calibratePlatform( bool bHomeSystem = false );
Params bHomeSystem (boolean): Specifies if each of the actuators will be homed prior to calibration. Homing of the actuators is generally only required for attempts to correct error corrections. (default is false) Return Value (boolean) True is returned if the motion simulator was calibrated successfully. A return value of false indicates that either calibration or homing, if specified, failed. Failures could be caused by an unresponsive control system or an error condition within the actuators. A message box will be displayed if any error occurs. convertLinearAccelToAngularAccelpublic CRAFTWARE_API bool convertLinearAccelToAngularAccel( float* inLinearX,
In Params inLinearX (float*): Linear acceleration X (sway) value as input. inLinearY (float*): Linear acceleration Y (surge) value as input. inLinearZ (float*): Linear acceleration Z (heave) value as input. Out Params outLinearX (float*): Angular acceleration X (Roll) value as output. outLinearY (float*): Angular acceleration Y (Pitch) value as output. outLinearX (float*): Angular acceleration Z (Yaw) value as output. Return Value (void) errorCorrectionpublic CRAFTWARE_API bool errorCorrection();
Params (void) NONE Return Value (boolean) True is returned when the installed actuators were responsive and all error conditions have been cleared. If false is returned, a message box will be displayed indicated a failure to clear the error condition and SimCraft Support will need to be contacted by the motion simulator user to get the condition corrected. getAxisStatuspublic CRAFTWARE_API bool getAxisStatus ( UINT axis );
Params (void) axis UINT: Specifies the axis to obtain status information. Return Value bool The returned boolean provides a true value for "ready" state and false for "error" state of the supplied axis. getAxisPositionpublic CRAFTWARE_API int getAxisPosition ( UINT axis );
Params (void) axis UINT: Specifies the axis to obtain position information. Return Value int The returned integer is the current position of the supplied axis. getCraftwareVersionpublic CRAFTWARE_API char* getCraftwareVersion();
Params (void) NONE Return Value (char*) The returned character pointer provides the location of the character array that contains the Craftware version. getMaxPosForAxispublic CRAFTWARE_API int getMaxPosForAxis ( UINT axis );
Params (void) axis UINT: Specifies the axis to obtain max position information. Return Value int The returned integer is the maximum position of the supplied axis. getSettingsUpdatespublic CRAFTWARE_API bool getSettingsUpdates();
Params (void) NONE Return Value (boolean) True is returned if the xml file was successfully queried for settings updates. False is returned if the file could not be queried, and is generally caused by insufficient system level permissions. getVarspublic CRAFTWARE_API Craftware_Vars getVars();
Params (void) NONE Return Value (Craftware_Vars) Returns a copy of the Craftware_Vars struct. goHomepublic CRAFTWARE_API bool goHome( bool bLockPlatform, bool bWarnOfMotion = true );
Params bLockPlatform (boolean): This variable will invoke the automatic locking mechanism in each of the axes of the motion platform. Craftware will automatically check the lock status and unlock the platform before any motion is invoked. There may be times when you want to "goHome" and not lock the platform immediately following the call. In this case, set this variable to false. bWarnOfMotion (boolean): If true, the user will receive a message box prompt warning of impending motion of the platform. The user will be given an option to proceed (OK) or to cancel (CANCEL). (default is true) Return Value (boolean) If the user is prompted and warned of motion (if bWarnOfMotion is true) and the user cancels the action by selecting "Cancel" in the prompt messagebox, a value of false will be returned. False will also be returned if the home position could not be achieved or if the locking mechanism (bLockPlatform is true) failed to locked the system upon achieving home. initializepublic CRAFTWARE_API bool initialize( char* gameModule, bool bInitControlSystem = true, bool bWarnOfMotion );
Params gameModule (char*): Specifies the unique id for the game given in the format scGMX where X is the unique game ID (integer) provided by SimCraft. If you need to obtain a unique game ID, please contact SimCraft Support. (support@simcraft.com or 1.877.SimCraft) bInitControlSystem (boolean): If true, the motion control system will be initialized. In test and implementation cases where a SimCraft motion device is not present, this value should be false. (default is true) bWarnOfMotion (boolean): If true, the motion control system will not be initialized until user accepts a safety warning message box. SimCraft CraftCon will warn user explicitly so it skips the step. Any title embedding Craftware should definately do this and leave true. (default is true) Return Value (boolean) If true, the initialization process of the motion control system was successful. If false, the user will be provided a message box indicating the error. For implementation and testing without the presence of a SimCraft motion platform, this method will return false which indicates that the device was not found, but all methods including those intended to provide data to the motion control system can still be called. After a successful initialization, the logging of messages and values will occur to a logs directory contained within the SimCraft control panel installation. If this control panel system is not present on a test or implementation system, logging will still occur but instead to the file "C:\craftwareTestOut.txt". isShutdownInProgresspublic CRAFTWARE_API bool isShutdownInProgress();
Params (void) NONE Return Value (boolean) True if a Craftware shutdown sequence is in process, False if not. isSystemInitializedpublic CRAFTWARE_API bool isSystemInitialized();
Params (void) NONE Return Value (boolean) True if the Craftware motion control system has been successfully initialized, False if not. linearAccelerationAndOrientationpublic CRAFTWARE_API bool linearAccelerationAndOrientation( float orientation[3], float acceleration[3], bool bTransformAccelerationVals = true, bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. acceleration[3] (float): X, Y, Z values for linear acceleration; X = SWAY, Y = SURGE, Z = HEAVE; can be provided in either Body or World Coordinates. Values must be given in meters per second^2. If provided in World Coordinates, bTransformAccelerationVals must be set to true so the appropriate transformation to Body Coordinates can be performed. X represents SWAY (left/right) accel, Y represents SURGE accel (forward/backward), and Z represents HEAVE accel (up/down). bTransformAccelerationVals (boolean) : If specified as true, the provided vector as acceleration[3] will be assumed to be provided in World Coordinates and will be transformed to the craft Body Coordinates. If false, no transformation is necessary. bInDegrees (boolean) : Specifies if the values of orientation[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system, linearAndAngularAccelerationsAndOrientationpublic CRAFTWARE_API bool linearAndAngularAccelerationsAndOrientation( float orientation[3], float linear_accel[3], float angular_accel[3], bool bTransformAccelerationVals = true, bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. linear_accel[3] (float): X, Y, Z values for linear acceleration; X = SWAY, Y = SURGE, Z = HEAVE; can be provided in either Body or World Coordinates. Values must be given in meters per second^2. If provided in World Coordinates, bTransformAccelerationVals must be set to true so the appropriate transformation to Body Coordinates can be performed. X represents SWAY (left/right) accel, Y represents SURGE accel (forward/backward), and Z represents HEAVE accel (up/down). angular_accel[3] (float): X, Y, Z values for angular (rotational) acceleration; X = ROLL, Y = PITCH, Z = YAW; must be provided in Body Coordinates only. Values must be given in degrees per second^2. X represents Roll (left/right) accel, Y represents Pitch accel (forward/backward), and Z represents Yaw accel. bTransformAccelerationVals (boolean) : If specified as true, the provided linear accel vector as linear_accel[3] will be assumed to be provided in World Coordinates and will be transformed to the craft Body Coordinates. If false, no transformation is necessary. bInDegrees (boolean) : Specifies if the values of orientation[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system, logpublic CRAFTWARE_API void log( char* logStr, bool bOverRideOnError = false, bool bWriteToStdOut = false, bool bMessageBox = false, UINT iconForMessageBox =-1 );
Params logStr (char*): Character pointer bOverRideOnError (boolean): Logging will only log to the file if the log settings "logging enable" is true. If logging enable is false, but an error occurs I can override the log settings by making sure the override error is true. (default is false) bWriteToStdOut (boolean): Will write out logStr, assuming logging is enabled, to standard output which is the console window. This value is automatically set as false. This value needs to be true for any messages that would like to be viewed in the game module window. Debugging, etc. (default is false) bMessageBox (boolean): If true the log messages will be displayed in a message box. (default is false) iconForMessageBox (UINT): Unassigned integer and assigns the icons to the message box. There area 3 values: a. INFO: information icon b. WARNING: warning exclamation icon c. ERR: will show you a red X icon. Error has occurred. Return Value (void) NONE orientationOnlypublic CRAFTWARE_API bool orientationOnly( float orientation[3], bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. bInDegrees (boolean): Specifies if the values of orientation[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system, orientationAndGspublic CRAFTWARE_API bool orientationAndGs( float orientation[3], float gs, bool bInDegrees = true );
Params orientation[3] (float): X, Y, Z values for orientation; X = ROLL, Y = PITCH, Z = YAW; can be provided in radians or degrees. Range of values = +/- 180° or +/- 3.14 rad. +X results in ROLL right, +Y results in PITCH up, +Z results in YAW left. gs (float): Value representing Gs bInDegrees (boolean): Specifies if the values of orientation[3] are provided in degrees (true) or radians (false). (default is true) Return Value (boolean) True if the command was received and applied without error. A return value of false indicates that an error occurred in the motion control system, setVarspublic CRAFTWARE_API bool setVars(Craftware_Vars);
Params Craftware_Vars struct defined as Craftware_Vars Return Value (boolean) Returns true if the setting of the Craftware_Vars struct was successful, false if otherwise. shutdownpublic CRAFTWARE_API bool shutdown();
Params (void) NONE Return Value (boolean) True if shutdown occurred without error. False if a problem occurred. If an error does occur during shutdown, the user will see a messagebox indicating the problem. toggleLoggingpublic CRAFTWARE_API void toggleLogging( bool enableDisable );
Params enableDisable (bool): If true, logging is enabled. If false, logging is disabled. After a successful initialization, the logging of messages and values will occur to a logs directory contained within the SimCraft control panel installation. If this control panel system is not present on a test or implementation system, logging will still occur but instead to the file "C:\craftwareTestOut.txt". Return Value (void) NONE
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