ReplayPoseScaffold.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, 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_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H
#define SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H

#include <boost/thread/mutex.hpp>
#include <memory>

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

namespace SurgSim
{
namespace Devices
{

class ReplayPoseDevice;

class ReplayPoseScaffold : public SurgSim::Framework::BasicThread
{
    friend class ReplayPoseDevice;

public:
    ReplayPoseScaffold();

    ~ReplayPoseScaffold();

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

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

private:
    struct DeviceData;

    bool registerDevice(ReplayPoseDevice* device);

    bool unregisterDevice();

    bool updateDevice(ReplayPoseScaffold::DeviceData* info);

    static DataStructures::DataGroup buildDeviceInputData();

    std::shared_ptr<Framework::Logger> m_logger;

    boost::mutex m_deviceLock;

    std::unique_ptr<DeviceData> m_device;
};

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

#endif  // SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H