PhantomScaffold.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_PHANTOM_PHANTOMSCAFFOLD_H
#define SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H

#include <memory>

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

namespace SurgSim
{
namespace Devices
{

class PhantomDevice;

class PhantomScaffold
{
public:
    PhantomScaffold();

    ~PhantomScaffold();

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

private:
    struct StateData;
    struct DeviceData;
    class Callback;
    class Handle;

    friend class PhantomDevice;

    bool registerDevice(PhantomDevice* device);

    bool unregisterDevice(const PhantomDevice* device);

    bool initializeDeviceState(DeviceData* info);

    bool finalizeDeviceState(DeviceData* info);

    bool updateDevice(DeviceData* info);

    void calculateForceAndTorque(DeviceData* info);

    void setInputData(DeviceData* info);

    bool runHapticFrame();

    bool createHapticLoop();

    bool destroyHapticLoop();

    bool startScheduler();

    bool stopScheduler();

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

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

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

#endif  // SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H