spnav-csharp-wrapper/SpaceNav.cs

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using System;
using System.Runtime.InteropServices;
namespace SpaceNavWrapper
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{
public class SpaceNav : IDisposable
{
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const string DLL_NAME = "spnavhdi";
#region Constants
private const int SPNAV_EVENT_MOTION = 1;
private const int SPNAV_EVENT_BUTTON = 2;
private const ushort SPNAV_VENDOR_ID = 0x046d;
private const ushort SPNAV_PRODUCT_ID = 0x0c627;
#endregion
public event EventHandler<MotionEventArgs> Motion;
public event EventHandler<ButtonEventArgs> Button;
private double _sensitivity = 1.0;
private int _threshold = 5;
private bool _nonblocking;
private bool isDisposed;
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#region Structures
private struct SpNavEventMotion
{
public int type;
public int x, y, z;
public int rx, ry, rz;
public uint period;
public IntPtr data;
}
private struct SpNavEventButton
{
public int type;
[MarshalAs(UnmanagedType.Bool)]
public bool press;
public int bnum;
}
[StructLayout(LayoutKind.Explicit)]
private struct SpNavEvent
{
[FieldOffset(0)] public int type;
[FieldOffset(0)] public SpNavEventMotion motion;
[FieldOffset(0)] public SpNavEventButton button;
}
#endregion
#region DLL Imports
[DllImport(DLL_NAME)]
private static extern int spnav_open(ushort vendor_id, ushort product_id);
[DllImport(DLL_NAME)]
private static extern int spnav_close();
[DllImport(DLL_NAME)]
private static extern int spnav_set_nonblocking(bool nonblock);
[DllImport(DLL_NAME)]
private static extern int spnav_wait_event(ref SpNavEvent ev);
[DllImport(DLL_NAME)]
private static extern int spnav_wait_event_timeout(ref SpNavEvent ev, int timeout);
[DllImport(DLL_NAME)]
private static extern int spnav_sensitivity(double sens);
[DllImport(DLL_NAME)]
private static extern int spnav_deadzone(int threshold);
#endregion
public void InitDevice()
{
// TODO handle retcode and errors
spnav_open(SPNAV_VENDOR_ID, SPNAV_PRODUCT_ID);
}
public void WaitEvent(int millis = -1)
{
SpNavEvent sev = new SpNavEvent();
int ev_type;
if (millis == -1)
{
ev_type = spnav_wait_event(ref sev);
}
else
{
ev_type = spnav_wait_event_timeout(ref sev, (int)millis);
}
switch (ev_type)
{
case SPNAV_EVENT_BUTTON:
var e = sev.button;
Button(this, new ButtonEventArgs(e.press, e.bnum));
break;
case SPNAV_EVENT_MOTION:
var ev = sev.motion;
Motion(this, new MotionEventArgs(ev.x, ev.y, ev.z, ev.rx, ev.ry, ev.rz));
break;
default:
break;
}
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}
private void CloseDevice()
{
// TODO : handle retcode and errors
spnav_close();
}
#region Properties
public double Sensitivity
{
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get
{
return _sensitivity;
}
set
{
_sensitivity = value;
spnav_sensitivity(value);
}
}
public int Threshold
{
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get
{
return _threshold;
}
set
{
_threshold = value;
spnav_deadzone(value);
}
}
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public bool Nonblocking
{
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get
{
return _nonblocking;
}
set
{
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_nonblocking = value;
spnav_set_nonblocking(value);
}
}
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#endregion
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public void Dispose()
{
if (!isDisposed)
{
CloseDevice();
Button = null;
Motion = null;
}
isDisposed = true;
}
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}
}