NimbleScaffold.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H
#define SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H

#include <memory>

#include "SurgSim/DataStructures/DataGroup.h"
#include "SurgSim/Framework/BasicThread.h"
#include "SurgSim/Framework/Logger.h"

namespace SurgSim
{
namespace Devices
{

class NimbleDevice;
class NimbleThread;

class NimbleScaffold : public SurgSim::Framework::BasicThread
{
public:
    ~NimbleScaffold();

    static std::shared_ptr<NimbleScaffold> getOrCreateSharedInstance();

protected:
    bool doInitialize() override;
    bool doStartUp() override;
    bool doUpdate(double dt) override;
    void doBeforeStop() override;

private:
    struct StateData;

    friend class NimbleDevice;
    friend class NimbleThread;

    NimbleScaffold();

    bool registerDevice(NimbleDevice* device);

    bool unregisterDevice(const NimbleDevice* device);

    void updateDeviceData();

    void resetDeviceData();

    static SurgSim::DataStructures::DataGroup buildDeviceInputData();

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;
    std::unique_ptr<StateData> m_state;

    std::string m_serverIpAddress;
    std::string m_serverPort;
    bool m_serverSocketOpen;

    static std::array<std::pair<std::string, int>, 15> m_jointPoseNames;
};

};  // namespace Devices
};  // namespace SurgSim

#endif  // SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H