IsdHwnd = cint

IsdBool = enum
  isdFalse = 0, isdTrue = 1

IsdOnOff = enum
  isdOff = 0, isdOn = 2

IsdSystemType = enum
  none = 0,                     ## Not found, unable to identify, or not initialized
  precisionSeries,            ## InertiaCube, NavChip, IS-300, IS-600, IS-900 and IS-1200
  intertraxSeries             ## InterTrax

IsdSystemModel = enum
  unknown = 0, is300,            ## 3DOF system (unsupported)
  is600,                      ## 6DOF system (unsupported)
  is900,                      ## 6DOF system
  intertrax,                  ## InterTrax (Serial) (unsupported)
  intertrax2,                 ## InterTrax (USB) (unsupported)
  intertraxLS,                ## InterTraxLS, verification required (unsupported)
  intertraxLC,                ## InterTraxLC (unsupported)
  icube2,                     ## InertiaCube2
  icube2pro,                  ## InertiaCube2 Pro
  is1200,                     ## 6DOF system
  icube3,                     ## InertiaCube3
  navchip,                    ## NavChip
  intertrax3,                 ## InterTrax3 (unsupported)
  imuk,                       ## K-Sensor
  icube2bPro,                 ## InertiaCube2B Pro
  icube2Plus,                 ## InertiaCube2 Plus
  icubeBT,                    ## InertiaCube BT
  icube4                      ## InertiaCube4

IsdInterfaceType = enum
  unknown = 0, serial, usb, udp, tcp, ioCard, pcmcia, file, pipe

IsdAngleFormat = enum
  euler = 1, quaternion = 2

IsdCoordFrame = enum
  defaultFrame = 1, vsetFrame = 2

IsdTrackerSyncState = enum
  off = 0,                      ## Off (system is in free run)
  autoGenlock,                ## On (hardware genlock frequency is automatically determined)
  userGenlock,                ## On (hardware genlock frequency is specified by the user)
  userFrequency               ## On (no hardware signal, lock to user specified frequency)

IsdBatteryState = enum
  notAvailable = 0, voltageLow, voltageOk

IsdTrackerHandle = cint

IsdTrackerHandleArray = array[isdMaxTrackers, IsdTrackerHandle]

IsdTrackerInfo = object
  libVersion*: cfloat          ## InterSense Library version (version of DLL or shared library)
  trackerType*: IsdSystemType  ## The type of tracking system
  trackerModel*: IsdSystemModel ## The tracking device model
  port*: cint ## Number of the RS232 port that the tracker is connected to (starts with
            ## 1 for COM1/ttyS0)
  recordsPerSec*: cuint        ## Data records per second from tracker
  kBitsPerSec*: cfloat         ## kB per second of data from tracker
  syncState*: IsdTrackerSyncState ## Synchronization state
  syncRate*: cfloat ## Number of hardware sync signals per second, or, if `SyncState` is 3,
                  ## data record output frequency
  syncPhase*: cint ## The time within the sync period at which a data record is transmitted.
                 ## The phase point is specified as a percentage of the sync period. 0%
                 ## (the default) instructs the tracker to output a data record as soon as
                 ## possible after the sync period begins. 100% delays the output of a
                 ## record as much as possible before the next sync period begins.
  Interface*: IsdInterfaceType ## Hardware interface type
  ultTimeout*: cint            ## Ultrasonic timeout (sampling rate); IS-900 only
  ultVolume*: cint             ## Ultrasonic speaker volume; IS-900 only
  dwReserved4*: cint           ## Reserved for future use
  firmwareRev*: cfloat         ## Firmware revision fopr tracker
  fReserved2*: cfloat          ## Reserved for future use
  fReserved3*: cfloat          ## Reserved for future use
  fReserved4*: cfloat          ## Reserved for future use
  ledEnable*: IsdBool ## Enables flashing blue LEDs on SoniStrips/SoniDiscs if
                    ## `isdTrue <#IsdBool>`_; IS-900 only
  bReserved2*: IsdBool         ## Reserved for future use
  bReserved3*: IsdBool         ## Reserved for future use
  bReserved4*: IsdBool         ## Reserved for future use
  

IsdStationInfo = object
  id*: cint ## Unique number identifying a station. It is the same as that passed to
          ## the `isdSetStationConfig` and `isdGetStationConfig` functions and can
          ## be `1` to `isdMaxStations <#isdMaxStations>`_
  state*: IsdBool ## Whether the station is turned on or off
                ## (`isdTrue <#IsdBool>`_ = ON, `isdFalse <#IsdBool>`_ = OFF).
                ## InertiaCubes are considered to be a tracking system consisting of one
                ## station, which cannot be turned off, so this field will always be
                ## `true <#IsdBool>`_. The IS-900 may have up to 7 stations
                ## connected.
  compass*: IsdOnOff ## Controls the state of the compass component (only available for
                   ## InertiaCube devices). The compass is only used when the station is is
                   ## configured GEOS or Dual modes. In Fusion mode, compass readings are not
                   ## used, regardless of this setting. When the station is configured for
                   ## full compass mode, the readings produced by the magnetometers inside
                   ## the InertiaCube are used as absolute reference orientation for yaw.
                   ## Compasses can be affected by metallic objects and electronic equipment
                   ## in close proximity to an InertiaCube.
  inertiaCube*: cint ## InertiaCube associated with this station. If no InertiaCube is
                   ## assigned, this number is `-1`. Otherwise, it is a positive number
                   ## between `1` and `isdMaxStations <#isdMaxStations>`_. Only relevant for
                   ## IS-300 and IS-600 series devices. For IS-900 systems it is always the
                   ## same as the station number, and for InterTrax and InertiaCubes it is
                   ## always `1`.
  enhancement*: cint           ## Perceptual enhancement level (0, 1, or 2)
  sensitivity*: cint           ## Sensitivity level (1 to 4) if `enhancement` is 1 or 2
  prediction*: cint ## Motion prediction (0 to 50 msec); only supported by IS-300, IS-600,
                  ## IS-900 and InertiaCubes; not available for InterTrax
  angleFormat*: IsdAngleFormat ## Format of returned orientation angles. Used only for IS-900 and IS-1200
                             ## series devices. 3DOF sensors report both, regardless of this setting.
  timeStamped*: IsdBool        ## Whether data should be timestamped
  getInputs*: IsdBool          ## Whether button and joystick data should be included
  getEncoderData*: IsdBool     ## Whether raw encoder data should be included.
  compassCompensation*: cuchar ## Controls how Magnetic Environment Calibration is applied. This
                             ## calibration calculates nominal field strength and dip angle for the
                             ## environment in which the sensor is used. Based on these values, the
                             ## system can assign a weight to compass measurements, allowing it to
                             ## reject bad measurements.
                             ## 
                             ## If CompassCompensation is set to `0`, the calibration is ignored and
                             ## all compass data is used. Higher values result in a tighter rejection
                             ## threshold, resulting in more measurements being rejected. If the sensor
                             ## is used in an environment with significant magnetic interference this
                             ## can result in drift due to insufficient compensation from the compass
                             ## data. Default setting is 2, maximum setting is 3.
                             ## 
                             ## Note: the sensor must be calibrated in the ISDemo Compass Calibration
                             ## Tool for this setting to have any effect.
  imuShockSuppression*: cuchar ## Controls how the system deals with sharp changes in IMU data that can
                             ## be caused by shock or impact. Sensors may experience momentary rotation
                             ## rates or accelerations that are outside of the specified range,
                             ## resulting in undesirable behavior. By turning on shock suppression you
                             ## can have the system filter out corrupted data.
                             ## 
                             ## Values 0 (OFF) to 2 are accepted, with higher values resulting in
                             ## greater filtering.
  urmRejectionFactor*: cuchar ## Controls the rejection threshold for ultrasonic measurements. Currently
                            ## implemented only for the IS-900 PCTracker. Default setting is 4, which
                            ## results in measurements with range errors greater than 4 times the
                            ## average to be rejected.
                            ## 
                            ## Note: do not change this setting without first consulting with
                            ## InterSense technical support.
  bReserved2*: cuchar          ## Reserved for future use
  coordFrame*: IsdCoordFrame   ## Coordinate frame in which position and orientation data is reported
  accelSensitivity*: cint ## Acceleration sensitivity for 3-DOF tracking with InertiaCube products
                        ## only. It controls how fast tilt correction, using accelerometers, is
                        ## applied. Valid values are 1 to 4, with 2 as default.
                        ## 
                        ## - Level 1 reduces the amount of tilt correction during movement. While
                        ##   it will prevent any effect linear accelerations may have on pitch and
                        ##   roll, it will also reduce stability and dynamic accuracy. It should
                        ##   only be used in situations when sensor is not expected to experience
                        ##   a lot of movement.
                        ## - Level 2 (default) is best for head tracking in static environment,
                        ##   with user seated.
                        ## - Level 3 allows for more aggressive tilt compensation, appropriate
                        ##   when sensor is moved a lot, for example, when the user is walking for
                        ##   long periods of time.
                        ## - Level 4 allows for even greater tilt corrections. It will reduce
                        ##   orientation accuracy by  allowing linear accelerations to effect
                        ##   orientation, but increase stability. This level is appropriate for
                        ##   when the user is running, or in other situations where the sensor
                        ##   experiences a great deal of movement.
  fReserved1*: cfloat          ## Reserved for future use
  fReserved2*: cfloat          ## Reserved for future use
  tipOffset*: array[3, cfloat] ## Offset of the reported position from the physical point being tracked.
                            ## This is only applicable system capable of tracking position.
  fReserved3*: cfloat          ## Reserved for future use
  getCameraData*: IsdBool ## Whether to include computed FOV, aperture and other camera data in
                        ## output (default is `isdFalse <#IsdBool>`_)
  getAuxInputs*: IsdBool ## Whether to include values from auxiliary inputs connected to the I2C
                       ## port in MicroTrax devices
  getCovarianceData*: IsdBool
  getExtendedData*: IsdBool ## Retrieving extended data will reduce update rate with even a single
                          ## tracker when using serial communications; Ethernet is highly
                          ## recommended when retrieving extended data
  

IsdStationData = object
  trackingStatus*: cuchar
  newData*: cuchar             ## `1` if data changed since last call to
                 ## `isdGetTrackingData <#isdGetTrackingData>`_, `0` otherwise
  commIntegrity*: cuchar ## Communication integrity (percentage of packets received from tracker,
                       ## 0-100)
  batteryState*: IsdBatteryState ## Battery state (wireless devices only; not currently used by MiniTrax
                               ## and MicroTrax stations)
  euler*: array[3, cfloat]      ## Orientation in Euler angles (yaw, pitch, roll)
  Quaternion*: array[4, cfloat] ## Orientation in Quaternion format (W,X,Y,Z)
  position*: array[3, cfloat]   ## Position in meters
  timeStamp*: cfloat           ## Timestamp in seconds, reported only if requested
  stillTime*: cfloat           ## InertiaCube and PC-Tracker products only, whether
                   ## sensor is still
  batteryLevel*: cfloat        ## Battery voltage, if available
  compassYaw*: cfloat ## Magnetometer heading, computed based on current orientation; available
                    ## for InertiaCube products only, such as IC2, IC3 and IC2+
  buttonState*: array[isdMaxButtons, IsdBool] ## Button states, if requested
  analogData*: array[isdMaxChannels, cshort] ## Analog data, if requested Current hardware is limited to 10 channels,
                                          ## with only 2 being used. The only device using this is the IS-900 wand
                                          ## that has a built-in analog joystick. Channel 1 is X-axis rotation,
                                          ## channel 2 is Y-axis rotation
  auxInputs*: array[isdMaxAuxInputs, cuchar] ## Auxiliary data, if requested
  angularVelBodyFrame*: array[3, cfloat] ## rad/sec, in sensor body coordinate frame. Reported as rates about X, Y
                                      ## and Z axes, corresponding to Roll, Pitch, Yaw order. This is the
                                      ## processed angular rate, with current biases removed. This is the
                                      ## angular rate used to produce orientation updates.
  angularVelNavFrame*: array[3, cfloat] ## rad/sec, in world coordinate frame, with boresight and other
                                     ## transformations applied. Reported as rates about X, Y and Z axes,
                                     ## corresponding to Roll, Pitch, Yaw order.
  accelBodyFrame*: array[3, cfloat] ## meter/sec^2, in sensor body coordinate frame. These are the
                                 ## accelerometer measurements in the sensor body coordinate frame. Only
                                 ## factory calibration is applied to this data, gravity component is not
                                 ## removed. Reported as accelerations along X, Y and Z axes.
  accelNavFrame*: array[3, cfloat] ## meters/sec^2, in the navigation (earth) coordinate frame. This is the
                                ## accelerometer measurements with calibration, current sensor orientation
                                ## applied, and gravity subtracted. This is the best available estimate of
                                ## tracker acceleration. Reported as accelerations along X, Y and Z axes.
  velocityNavFrame*: array[3, cfloat] ## meters/sec, 6-DOF systems only. Reported as velocity along X, Y and Z
                                   ## axes.
  angularVelRaw*: array[3, cfloat] ## Raw gyro output, only factory calibration is applied. Some errors due
                                ## to temperature dependant gyro bias drift will remain.
  measQuality*: cuchar         ## Ultrasonic Measurement Quality (IS-900 only, firmware >= 4.26)
  bReserved2*: cuchar          ## Reserved for future use
  bReserved3*: cuchar          ## Reserved for future use
  bReserved4*: cuchar          ## Reserved for future use
  timeStampSeconds*: cuint     ## Time Stamp in whole seconds
  timeStampMicroSec*: cuint    ## Fractional part of the Time Stamp in
                          ## micro-seconds.
  oSTimeStampSeconds*: cuint   ## Data record arrival time stamp based on OS time
  oSTimeStampMicroSec*: cuint  ## Reserved for future use; not implemented
  reserved*: array[55, cfloat]  ## Reserved for future use
  temperature*: cfloat         ## Station temperature in degrees C (3DOF sensors only)
  magBodyFrame*: array[3, cfloat] ## 3DOF sensors only. Magnetometer data along the X, Y, and Z axes. Units
                               ## are nominally in Gauss, and factory calibration is applied. Note,
                               ## however, that most sensors are not calibrated precisely since the exact
                               ## field strength is not necessary to for tracking purposes. Relative
                               ## magnitudes should be accurate, however. Fixed metal compass calibration
                               ## may rescale the values, as well.
  

IsdCameraEncoderData = object
  trackingStatus*: cuchar      ## Tracking status
  bReserved1*: cuchar          ## Pack to 4 byte boundary
  bReserved2*: cuchar
  bReserved3*: cuchar
  timecode*: cuint             ## Timecode, not implemented yet
  apertureEncoder*: cint       ## Aperture encoder counts, relative to last reset or power up
  focusEncoder*: cint          ## Focus encoder counts
  zoomEncoder*: cint           ## Zoom encoded counts
  timecodeUserBits*: cint      ## Time code user bits, not implemented yet
  aperture*: cfloat            ## Computed aperture value
  focus*: cfloat               ## Computed focus value (mm), not implemented yet
  fOV*: cfloat                 ## Computed vertical FOV value (degrees)
  nodalPoint*: cfloat          ## Nodal point offset due to zoom and focus (mm)
  covarianceOrientation*: array[3, cfloat] ## Available only for IS-1200
  covariancePosition*: array[3, cfloat]
  dwReserved1*: cint           ## Reserved for future use
  dwReserved2*: cint           ## Reserved for future use
  fReserved1*: cfloat          ## Reserved for future use
  fReserved2*: cfloat          ## Reserved for future use
  fReserved3*: cfloat          ## Reserved for future use
  fReserved4*: cfloat          ## Reserved for future use
  

IsdTrackingData = object
  station*: array[isdMaxStations, IsdStationData]

IsdCameraData = object
  camera*: array[isdMaxStations, IsdCameraEncoderData]

IsdAuxSystem = enum
  none = 0, ultrasonic, optical, magnetic, rf, gps

IsdHardwareCapability = object
  position*: IsdBool           ## Can track position
  orientation*: IsdBool        ## Can track orientation
  encoders*: IsdBool           ## Can support lens encoders
  prediction*: IsdBool         ## Predictive algorithms are available
  enhancement*: IsdBool        ## Enhancement level can be changed
  compass*: IsdBool            ## Compass setting can be changed
  selfTest*: IsdBool           ## Has the self-test capability
  errorLog*: IsdBool           ## Can keep error log
  ultVolume*: IsdBool          ## Can control ultrasonic volume via software
  ultGain*: IsdBool            ## Can control microphone sensitivity by software
  ultTimeout*: IsdBool         ## Can change ultrasonic sampling frequency
  photoDiode*: IsdBool         ## SoniDiscs support photodiode
  maxStations*: cint           ## Number of supported stations
  maxImus*: cint               ## Number of supported IMUs
  maxFPses*: cint              ## Maximum number of Fixed Position Sensing Elements
                ## (constellation/galaxy)
  maxChannels*: cint           ## Max. number of analog channels supported per station
  maxButtons*: cint            ## Maximum number of digital button inputs per station
  measData*: IsdBool           ## Can provide measurement data
  diagData*: IsdBool           ## Can provide diagnostic data
  pseConfig*: IsdBool          ## Supports PSE configuration/reporting tools
  configLock*: IsdBool         ## Supports configuration locking
  ultMaxRange*: cfloat         ## Maximum ultrasonic range
  fReserved2*: cfloat          ## Reserved for future use
  fReserved3*: cfloat          ## Reserved for future use
  fReserved4*: cfloat          ## Reserved for future use
  compassCal*: IsdBool         ## Supports dynamic compass calibration
  bReserved2*: IsdBool         ## Reserved for future use
  bReserved3*: IsdBool         ## Reserved for future use
  bReserved4*: IsdBool         ## Reserved for future use
  dwReserved1*: cint           ## Reserved for future use
  dwReserved2*: cint           ## Reserved for future use
  dwReserved3*: cint           ## Reserved for future use
  dwReserved4*: cint           ## Reserved for future use
  

IsdHardwareInfo = object
  valid*: IsdBool              ## Set to `isdTrue <#IsdBool>`_ if
                ## `isdGetSystemHardwareInfo <#isdGetSystemHardwareInfo>`_ succeeded
  trackerType*: IsdSystemType  ## See `IsdSystemType <#IsdSystemType>`_
  trackerModel*: IsdSystemModel ## See `IsdSystemModel <#IsdSystemModel>`_
  port*: cint                  ## Hardware port number (1 for COM1/ttyS0, etc.)
  iftype*: IsdInterfaceType    ## Hardware interface (RS232, USB, etc.)
  onHost*: IsdBool ## `isdTrue <#IsdBool>`_ if tracking algorithms are executed in the
                 ## library.
  auxSystem*: IsdAuxSystem     ## Position tracking hardware
                         ## (see `IsdAuxSystemType <#IsdAuxSystemType>`_)
  firmwareRev*: cfloat         ## Firmware revision
  modelName*: array[128, cchar] ## Model name string
  capability*: IsdHardwareCapability ## Hardware capabilities
  bReserved1*: IsdBool         ## Reserved for future use
  bReserved2*: IsdBool         ## Reserved for future use
  bReserved3*: IsdBool         ## Reserved for future use
  bReserved4*: IsdBool         ## Reserved for future use
  baudRate*: cuint             ## Serial port baud rate
  numTestLevels*: cint         ## Number of self test levels
  dwReserved3*: cint           ## Reserved for future use
  dwReserved4*: cint           ## Reserved for future use
  fReserved1*: cfloat          ## Reserved for future use
  fReserved2*: cfloat          ## Reserved for future use
  fReserved3*: cfloat          ## Reserved for future use
  fReserved4*: cfloat          ## Reserved for future use
  cReserved1*: array[128, cchar] ## Reserved for future use
  cReserved2*: array[128, cchar] ## Reserved for future use
  cReserved3*: array[128, cchar] ## Reserved for future use
  cReserved4*: array[128, cchar] ## Reserved for future use
  

IsdStationCapability = object
  position*: IsdBool           ## Whether the station can track position
  orientation*: IsdBool        ## Wether the station can track orientation
  encoders*: cint              ## Number of lens encoders (`0` = none are available)
  numChannels*: cint ## Number of analog channels supported by this station, wand has 2
                   ## (joystick axes)
  numButtons*: cint            ## Number of digital button inputs supported by this station
  auxInputs*: cint             ## Number of auxiliary input channels (OEM products)
  auxOutputs*: cint            ## Number of auxiliary output channels (OEM products)
  compass*: IsdBool            ## Whether the station has a compass
  bReserved1*: IsdBool         ## Reserved for future use
  bReserved2*: IsdBool         ## Reserved for future use
  bReserved3*: IsdBool         ## Reserved for future use
  bReserved4*: IsdBool         ## Reserved for future use
  dwReserved1*: cint           ## Reserved for future use
  dwReserved2*: cint           ## Reserved for future use
  dwReserved3*: cint           ## Reserved for future use
  dwReserved4*: cint           ## Reserved for future use
  

IsdStationHardwareInfo = object
  Valid*: IsdBool              ## Will be set to `isdTrue <#IsdBool>`_ if
                ## `isdGetStationHardwareInfo <#isdGetStationHardwareInfo>`_ succeeded
  id*: cint ## Unique number identifying a station. It is the same as that passed to
          ## the `isdSetStationConfig` and `isdGetStationConfig` functions and can
          ## be `1` to `isdMaxStations <#isdMaxStations>`_
  descVersion*: array[20, cchar] ## Station Descriptor version
  firmwareRev*: cfloat         ## Station firmware revision
  serialNum*: cint             ## Station serial number
  calDate*: array[20, cchar]    ## Last factory calibration date (mm/dd/yyyy)
  port*: cint                  ## Hardware port number
  capability*: IsdStationCapability ## Station capabilities
  bReserved1*: IsdBool         ## Reserved for future use
  bReserved2*: IsdBool         ## Reserved for future use
  bReserved3*: IsdBool         ## Reserved for future use
  bReserved4*: IsdBool         ## Reserved for future use
  stationType*: cint
  deviceId*: cint
  dwReserved3*: cint           ## Reserved for future use
  dwReserved4*: cint           ## Reserved for future use
  fReserved1*: cfloat          ## Reserved for future use
  fReserved2*: cfloat          ## Reserved for future use
  fReserved3*: cfloat          ## Reserved for future use
  fReserved4*: cfloat          ## Reserved for future use
  cReserved1*: array[128, cchar] ## Reserved for future use
  cReserved2*: array[128, cchar] ## Reserved for future use
  cReserved3*: array[128, cchar] ## Reserved for future use
  cReserved4*: array[128, cchar] ## Reserved for future use
  

IsdPortWirelessInfo = object
  valid*: IsdBool
  status*: cint
  wireless*: IsdBool
  channel*: cint
  id*: array[4, cint]
  radioVersion*: cint ## Type of radio hardware:
                    ## - 15 or 31: 2.4 GHz (Aerocomm, radio used with older MiniTrax trackers)
                    ## - 128: 2.4 GHz (Chipcon, MicroTrax only)
                    ## - 144: 900 MHz (MicroTrax only)
                    ## - 160: 868 MHz (MicroTrax only)
  dReserved1*: cint            ## Reserved for future use
  dReserved2*: cint            ## Reserved for future use
  dReserved3*: cint            ## Reserved for future use
  dReserved4*: cint            ## Reserved for future use
  

islibVersion = "4.2381"

isdMaxTrackers = 32

isdMaxStations = 8

isdMaxButtons = 8

isdMaxChannels = 10

isdMaxAuxInputs = 4

isdMaxAuxOutputs = 4

proc isdOpenTracker(hParent: IsdHwnd; commPort: cint; infoScreen: IsdBool;
                   verbose: IsdBool): IsdTrackerHandle {.cdecl, dynlib: dllname,
    importc: "ISD_OpenTracker".}

proc isdOpenAllTrackers(hParent: IsdHwnd; handles: ptr IsdTrackerHandleArray;
                       infoScreen: IsdBool; verbose: IsdBool): cint {.cdecl,
    dynlib: dllname, importc: "ISD_OpenAllTrackers".}

proc isdCloseTracker(handle: IsdTrackerHandle): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_CloseTracker".}

proc isdGetTrackerConfig(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo;
                        verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_GetTrackerConfig".}

proc isdSetTrackerConfig(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo;
                        verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_SetTrackerConfig".}

proc isdGetCommInfo(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_GetCommInfo".}

proc isdSetStationConfig(handle: IsdTrackerHandle; station: ptr IsdStationInfo;
                        stationId: cshort; verbose: IsdBool): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_SetStationConfig".}

proc isdGetStationConfig(handle: IsdTrackerHandle; station: ptr IsdStationInfo;
                        stationId: cshort; verbose: IsdBool): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_GetStationConfig".}

proc isdConfigureFromFile(handle: IsdTrackerHandle; path: cstring; verbose: IsdBool): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_ConfigureFromFile".}

proc isdConfigSave(handle: IsdTrackerHandle): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_ConfigSave".}

proc isdGetTrackingData(handle: IsdTrackerHandle; data: ptr IsdTrackingData): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_GetTrackingData".}

proc isdGetTrackingDataAtTime(handle: IsdTrackerHandle; atTime: cdouble;
                             maxSyncWait: cdouble): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_GetTrackingDataAtTime".}

proc isdGetCameraData(handle: IsdTrackerHandle; data: ptr IsdCameraData): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_GetCameraData".}

proc ISD_RingBufferSetup(handle: IsdTrackerHandle; stationId: cshort;
                        dataBuffer: ptr IsdStationData; samples: cint): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_RingBufferSetup".}

proc isdRingBufferStart(handle: IsdTrackerHandle; stationId: cshort): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_RingBufferStart".}

proc isdRingBufferStop(handle: IsdTrackerHandle; stationId: cshort): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_RingBufferStop".}

proc isdRingBufferQuery(handle: IsdTrackerHandle; stationId: cshort;
                       currentData: ptr IsdStationData; head: ptr cint; tail: ptr cint): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_RingBufferQuery".}

proc isdResetHeading(handle: IsdTrackerHandle; stationId: cshort): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_ResetHeading".}

proc isdBoresightReferenced(handle: IsdTrackerHandle; stationId: cshort; yaw: cfloat;
                           pitch: cfloat; roll: cfloat): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_BoresightReferenced".}

proc isdBoresight(handle: IsdTrackerHandle; stationId: cshort; set: IsdBool): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_Boresight".}

proc isdSendScript(handle: IsdTrackerHandle; script: cstring): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_SendScript".}

proc isdAuxOutput(handle: IsdTrackerHandle; stationId: cshort; AuxOutput: ptr cuchar;
                 length: cushort): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_AuxOutput".}

proc isdNumOpenTrackers(num: ptr cshort): IsdBool {.cdecl, dynlib: dllname,
    importc: "ISD_NumOpenTrackers".}

proc isdGetTime(): cfloat {.cdecl, dynlib: dllname, importc: "ISD_GetTime".}

proc isdUdpDataBroadcast(handle: IsdTrackerHandle; port: cint;
                        trackingData: ptr IsdTrackingData;
                        cameraData: ptr IsdCameraData): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_UdpDataBroadcast".}

proc isdGetSystemHardwareInfo(handle: IsdTrackerHandle; hwInfo: ptr IsdHardwareInfo): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_GetSystemHardwareInfo".}

proc isdGetStationHardwareInfo(handle: IsdTrackerHandle;
                              info: ptr IsdStationHardwareInfo; stationId: cshort): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_GetStationHardwareInfo".}

proc isdEnterHeading(handle: IsdTrackerHandle; stationId: cshort; yaw: cfloat): IsdBool {.
    cdecl, dynlib: dllname, importc: "ISD_EnterHeading".}

proc isdGetPortWirelessInfo(handle: IsdTrackerHandle; port: cshort;
                           info: ptr IsdPortWirelessInfo): IsdBool {.cdecl,
    dynlib: dllname, importc: "ISD_GetPortWirelessInfo".}