TrakstarScaffold.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_TRAKSTAR_TRAKSTARSCAFFOLD_H
#define SURGSIM_DEVICES_TRAKSTAR_TRAKSTARSCAFFOLD_H

#include <memory>

#include "SurgSim/Framework/BasicThread.h"

namespace SurgSim
{

namespace DataStructures
{
class DataGroup;
}
namespace Framework
{
class Barrier;
}

namespace Devices
{
class TrakstarDevice;

class TrakstarScaffold : public SurgSim::Framework::BasicThread
{
public:
    TrakstarScaffold();

    ~TrakstarScaffold();

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

private:
    struct StateData;
    struct DeviceData;

    friend class TrakstarDevice;
    friend struct StateData;

    bool isSuccess(int error);

    bool initializeSdk();
    bool finalizeSdk();

    bool registerDevice(TrakstarDevice* device);
    bool unregisterDevice(const TrakstarDevice* device);

    bool doInitialize() override;
    bool doStartUp() override;
    bool doUpdate(double dt) override;
    void updateDevice(DeviceData* info);
    
    static SurgSim::DataStructures::DataGroup buildDeviceInputData();

    std::unique_ptr<StateData> m_state;

    std::shared_ptr<Framework::Barrier> m_barrier;
};

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

#endif  // SURGSIM_DEVICES_TRAKSTAR_TRAKSTARSCAFFOLD_H