enpose_api.h

 
#pragma once
 
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum EnposeStatus {
    ENPOSE_OK = 0,           
    ENPOSE_ERR_INVALID_ARG = -1, 
    ENPOSE_ERR_IO = -2,      
    ENPOSE_ERR_PANIC = -3    
} EnposeStatus;
 
typedef struct EnposeDeviceInfo {
    char ip[46];        
    uint32_t serial;    
    bool compatible;    
} EnposeDeviceInfo;
 
typedef struct EnposeMarkerPose {
    uint64_t timestamp;     
    uint16_t marker_id;     
    double x;               
    double y;
    double z;
    double rotation[9];     
    double position_rmse;   
    double rotation_rmse;   
    uint8_t sensors;        
} EnposeMarkerPose;
 
typedef struct EnposePoseStream EnposePoseStream;
 
EnposeStatus enpose_discover(EnposeDeviceInfo **out_devices, size_t *out_count);
 
void enpose_device_info_array_free(EnposeDeviceInfo *devices, size_t count);
 
EnposePoseStream *enpose_pose_stream_connect(const char *ip, bool create_thread);
 
EnposeStatus enpose_pose_stream_receive(EnposePoseStream *stream,
                                        bool block,
                                        EnposeMarkerPose **out_poses,
                                        size_t *out_count);
 
void enpose_marker_pose_array_free(EnposeMarkerPose *poses, size_t count);
 
void enpose_pose_stream_free(EnposePoseStream *stream);
 
#ifdef __cplusplus
} /* extern "C" */
#endif