NovintScaffold.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_NOVINTSCAFFOLD_H
#define SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H

#include <memory>
#include <string>

#include "SurgSim/DataStructures/DataGroup.h"

namespace SurgSim
{
namespace Devices
{

class NovintDevice;

class NovintScaffold
{
public:
    NovintScaffold();

    ~NovintScaffold();

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

private:
    NovintScaffold(const NovintScaffold&) /*= delete*/;
    NovintScaffold& operator=(const NovintScaffold&) /*= delete*/;

    struct StateData;
    struct DeviceData;
    class Callback;
    class Handle;

    friend class NovintDevice;

    bool registerDevice(NovintDevice* device);

    bool unregisterDevice(const NovintDevice* device);

    bool initializeDeviceState(DeviceData* info);

    std::shared_ptr<NovintScaffold::Handle> findHandleByInitializationName(const std::string& initializationName);

    bool updateDeviceInput(DeviceData* info);

    bool updateDeviceOutput(DeviceData* info, bool pulledOutput);

    void checkDeviceHoming(DeviceData* info);

    void calculateForceAndTorque(DeviceData* info);

    void setInputData(DeviceData* info);

    std::map<std::string, std::string> getNameMap();

    bool createAllHandles();

    void destroyAllHandles();

    bool storeHandleIfValid(const std::shared_ptr<Handle>& handle, const std::string& serial);

    void runHapticFrame();

    bool getGravityCompensation(const DeviceData* info, bool* gravityCompensationState);

    bool enforceGravityCompensation(const DeviceData* info, bool gravityCompensationState);

    bool setGravityCompensation(const DeviceData* info, bool gravityCompensationState);

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

    void setPositionScale(const NovintDevice* device, double scale);

    void setOrientationScale(const NovintDevice* device, double scale);

    std::unique_ptr<StateData> m_state;
};

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

#endif  // SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H