/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2022 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 *
 */


#include "SGCore/SGSenseGloveVars.h"

#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGSenseGloveInfoImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_TArray_bool.h"
#include "SGInterop/SGIC_TArray_FQuat.h"
#include "SGInterop/SGIC_TArray_FVector.h"
#include "SGInterop/SGIC_TArray_TArray_FVector.h"
#include "SGUtils/SGArrayUtils.h"

FString FSGSenseGloveVars::GetStandardConstantsString(const FString& HardwareVersion, const float FirmwareVersion,
                                                      const bool bRightHanded)
{
    FSGIC_FString OutStringContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetStandardConstantsString(&OutStringContainer,
                                                                &HardwareVersionContainer, FirmwareVersion,
                                                                bRightHanded);
    return MoveTemp(OutStringContainer.String);
}

FString FSGSenseGloveVars::GetSensorString(const FString& HardwareVersion, const float FirmwareVersion)
{
    FSGIC_FString OutStringContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetSensorString(&OutStringContainer, &HardwareVersionContainer, FirmwareVersion);
    return MoveTemp(OutStringContainer.String);
}

TArray<FVector> FSGSenseGloveVars::GetStartPositions(const FString& HardwareVersion, const bool bRightHanded)
{
    FSGIC_TArray_FVector OutPositionsContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetStartPositions(&OutPositionsContainer, &HardwareVersionContainer, bRightHanded);
    return MoveTemp(OutPositionsContainer.Array);
}

TArray<FQuat> FSGSenseGloveVars::GetStartRotationsQ(const FString& HardwareVersion, const bool bRightHanded)
{
    FSGIC_TArray_FQuat OutRotationsContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetStartRotations(&OutRotationsContainer, &HardwareVersionContainer, bRightHanded);
    return MoveTemp(OutRotationsContainer.Array);
}

TArray<FRotator> FSGSenseGloveVars::GetStartRotations(const FString& HardwareVersion, const bool bRightHanded)
{
    FSGIC_TArray_FQuat OutRotationsContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetStartRotations(&OutRotationsContainer, &HardwareVersionContainer, bRightHanded);
    return FSGArrayUtils::QuatsToRotators(OutRotationsContainer.Array);
}

TArray<TArray<FVector>> FSGSenseGloveVars::GetGloveLengths(const FString& HardwareVersion)
{
    FSGIC_TArray_TArray_FVector OutLengthsContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetGloveLengths(&OutLengthsContainer, &HardwareVersionContainer);
    return MoveTemp(OutLengthsContainer.Array);
}

/*
TArray<FSGVectorArray> FSGSenseGloveVars::GetGloveLengths_BP(const FString& HardwareVersion)
{
    return FSGArrayUtils::ToBPNestedArray<FVector, FSGVectorArray>(GetGloveLengths(HardwareVersion));
}
*/
int32 FSGSenseGloveVars::GetSensors(const FString& HardwareVersion)
{
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    return SGCoreImpl_FSGSenseGloveVarsImpl_GetSensors(&HardwareVersionContainer);
}

FQuat FSGSenseGloveVars::GetImuCorrectionQ(const FString& HardwareVersion,
                                           const int32 FirmwareVersion, const int32 SubFirmwareVersion)
{
    FSGIC_FQuat OutCorrectionContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetImuCorrection(&OutCorrectionContainer,
                                                      &HardwareVersionContainer, FirmwareVersion, SubFirmwareVersion);
    return MoveTemp(OutCorrectionContainer.Quat);
}

FRotator FSGSenseGloveVars::GetImuCorrection(const FString& HardwareVersion,
                                             const int32 FirmwareVersion, const int32 SubFirmwareVersion)
{
    FSGIC_FQuat OutCorrectionContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetImuCorrection(&OutCorrectionContainer,
                                                      &HardwareVersionContainer, FirmwareVersion, SubFirmwareVersion);
    return OutCorrectionContainer.Quat.Rotator();
}

TArray<bool> FSGSenseGloveVars::GetFunctions(const FString& HardwareVersion,
                                             const int32 FirmwareVersion, const int32 SubFirmwareVersion)
{
    FSGIC_TArray_bool OutFunctionsContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GetFunctions(&OutFunctionsContainer,
                                                  &HardwareVersionContainer, FirmwareVersion, SubFirmwareVersion);
    return MoveTemp(OutFunctionsContainer.Array);
}

USGSenseGloveInfo* FSGSenseGloveVars::GenerateGloveModel(UObject* Outer, const FString& HardwareVersion,
                                                         const int32 FirmwareVersion, const int32 SubFirmwareVersion,
                                                         const bool bRightHanded)
{
    FSGIC_FSGSenseGloveInfoImpl OutModelContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    SGCoreImpl_FSGSenseGloveVarsImpl_GenerateGloveModel_HardwareVersion_FirmwareVersion_SubFirmwareVersion_bRightHanded(
        &OutModelContainer, &HardwareVersionContainer, FirmwareVersion, SubFirmwareVersion, bRightHanded);

    return USGSenseGloveInfo::NewSenseGloveInfo(Outer, MoveTemp(OutModelContainer.SenseGloveInfoImpl));
}

USGSenseGloveInfo* FSGSenseGloveVars::GenerateGloveModel(UObject* Outer, const FString& HardwareVersion,
                                                         const int32 FirmwareVersion, const int32 SubFirmwareVersion,
                                                         const bool bRightHanded, const FString& CustomId)
{
    FSGIC_FSGSenseGloveInfoImpl OutModelContainer;
    FSGIC_FString HardwareVersionContainer{HardwareVersion};
    FSGIC_FString CustomIdContainer{CustomId};
    SGCoreImpl_FSGSenseGloveVarsImpl_GenerateGloveModel_HardwareVersion_FirmwareVersion_SubFirmwareVersion_bRightHanded_CustomId(
        &OutModelContainer, &HardwareVersionContainer, FirmwareVersion, SubFirmwareVersion, bRightHanded,
        &CustomIdContainer);

    return USGSenseGloveInfo::NewSenseGloveInfo(Outer, MoveTemp(OutModelContainer.SenseGloveInfoImpl));
}