NovintDevice.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_NOVINT_NOVINTDEVICE_H
#define SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H

#include <string>

#include "SurgSim/DataStructures/OptionalValue.h"
#include "SurgSim/Input/CommonDevice.h"

namespace SurgSim
{
namespace Devices
{
class NovintScaffold;

SURGSIM_STATIC_REGISTRATION(NovintDevice);

class NovintDevice : public SurgSim::Input::CommonDevice
{
public:
    explicit NovintDevice(const std::string& name);

    SURGSIM_CLASSNAME(SurgSim::Devices::NovintDevice);

    virtual ~NovintDevice();

    void setSerialNumber(const std::string& serialNumber);

    bool getSerialNumber(std::string* serialNumber) const;

    void setInitializationName(const std::string& initializationName);

    bool getInitializationName(std::string* initializationName) const;

    bool initialize() override;

    bool isInitialized() const override;

    void setPositionScale(double scale);
    double getPositionScale() const;

    void setOrientationScale(double scale);
    double getOrientationScale() const;

    void set7DofDevice(bool val);
    virtual bool is7DofDevice() const;

    void setMaxForce(double force);

    double getMaxForce() const;

    void setAntigrav(Math::Vector3d antigrav);

    Math::Vector3d getAntigrav() const;

    double getYawOffset() const;

    void setYawOffset(double yawOffset);

    double getPitchOffset() const;

    void setPitchOffset(double pitchOffset);

    double getRollOffset() const;

    void setRollOffset(double rollOffset);

    double getToolDofOffset() const;

    void setToolDofOffset(double toolDofOffset);

protected:
    bool m_7DofDevice;

    double m_maxForce;

    Math::Vector3d m_antigrav;

    double m_yawOffset;
    double m_pitchOffset;
    double m_rollOffset;
    double m_toolDofOffset;

private:
    friend class NovintScaffold;

    bool finalize() override;

    const DataStructures::OptionalValue<std::string>& getOptionalInitializationName() const;
    void setOptionalInitializationName(const DataStructures::OptionalValue<std::string>& name);
    const DataStructures::OptionalValue<std::string>& getOptionalSerialNumber() const;
    void setOptionalSerialNumber(const DataStructures::OptionalValue<std::string>& serial);

    std::shared_ptr<NovintScaffold> m_scaffold;

    SurgSim::DataStructures::OptionalValue<std::string> m_initializationName;

    SurgSim::DataStructures::OptionalValue<std::string> m_serialNumber;

    double m_positionScale;
    double m_orientationScale;
};

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

#endif  // SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H