RawMultiAxisScaffold.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_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H
#define SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H

#include <memory>
#include <vector>

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

namespace SurgSim
{
namespace Devices
{

class RawMultiAxisDevice;
class RawMultiAxisThread;
class SystemInputDeviceHandle;

class RawMultiAxisScaffold
{
public:
    RawMultiAxisScaffold();

    ~RawMultiAxisScaffold();

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

private:
    struct StateData;
    struct DeviceData;

    friend class RawMultiAxisDevice;
    friend class RawMultiAxisThread;
    friend struct StateData;

    bool registerDevice(RawMultiAxisDevice* device);

    bool unregisterDevice(const RawMultiAxisDevice* device);

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

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

    void setAxisDominance(const RawMultiAxisDevice* device, bool onOff);

    bool runInputFrame(DeviceData* info);

    bool runAfterLastFrame(DeviceData* info);

    bool updateDevice(DeviceData* info);

    bool findUnusedDeviceAndRegister(RawMultiAxisDevice* device, int* numUsedDevicesSeen);

    bool registerIfUnused(const std::string& path, RawMultiAxisDevice* device, int* numUsedDevicesSeen);

    bool createPerDeviceThread(DeviceData* data);

    bool destroyPerDeviceThread(DeviceData* data);

    std::unique_ptr<SystemInputDeviceHandle> openDevice(const std::string& path);

    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_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H