/**
 * @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
 *
 *
 */


#pragma once

#include "SGHapticGlove.h"
#include "Containers/Array.h"
#include "HAL/Platform.h"
#include "Math/Quat.h"
#include "Math/Vector.h"

#include "SGCore/SGBasicHandModel.h"
#include "SGCore/SGHandPose.h"
#include "SGCore/SGHandProfile.h"
#include "SGCore/SGHapticGlove.h"
#include "SGCore/SGSenseGlovePose.h"
#include "SGCore/SGSenseGloveSensorData.h"
#include "SGCore/SGThumperCommand.h"
#include "SGTypes/SGCoreTypes.h"

#include "SGSenseGlove.generated.h"

class FSGSenseGloveImpl;
class USGBuzzCommand;
class USGForceFeedbackCommand;

UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGSenseGlove final : public USGHapticGlove
{
    GENERATED_BODY()

public:
    static USGSenseGlove* NewSenseGlove(UObject* Outer, const FSGSenseGloveImpl& SenseGloveImpl);

    static USGSenseGlove* NewSenseGlove(UObject* Outer, TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);

public:
    static USGSenseGlove* NewSenseGlove(UObject* Outer);

    static USGSenseGlove* NewSenseGlove(UObject* Outer, const USGSenseGloveInfo& Model);

public:
    static ANSICHAR GetHapticsByte();

    static ANSICHAR GetThumperByte();

public:
    static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
                                                 const USGSenseGloveSensorData* SensorData,
                                                 const USGSenseGloveInfo* GloveModel);

    static USGSenseGlovePose* CalculateGlovePose(UObject* Outer,
                                                 const TArray<TArray<FVector>>& GloveAngles,
                                                 const USGSenseGloveInfo* GloveModel);

    static USGHandPose* CalculateHandPose(UObject* Outer,
                                          const USGSenseGlovePose* GlovePose,
                                          const USGBasicHandModel* HandModel,
                                          const USGSenseGloveHandProfile* Profile);

public:
    static USGDevice* Parse(UObject* Outer, const FString& ConstantsString);

    static TArray<USGSenseGlove*> GetSenseGloves(UObject* Outer);

    static bool GetSenseGlove(UObject* Outer, USGSenseGlove*& OutGlove);

    static bool GetSenseGlove(UObject* Outer, bool bRightHanded, USGSenseGlove*& OutGlove);

public:
    static TArray<FVector> GetCalibrationValues(const USGSenseGlovePose* GlovePose);

    static void CalibrateInterpolation(UObject* Outer,
                                       const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
                                       bool bRightHanded, USGSenseGloveHandProfile*& OutProfile);

public:
    static void CalculateGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                       ESGPositionalTrackingHardware TrackingHardware,
                                       bool bRightHanded, ESGFinger MountedOn,
                                       FVector& OutGlovePosition, FQuat& OutGloveRotation);

    static void CalculateGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                       ESGPositionalTrackingHardware TrackingHardware,
                                       bool bRightHanded, ESGFinger MountedOn,
                                       FVector& OutGlovePosition, FRotator& OutGloveRotation);

    static void CalculateWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                       ESGPositionalTrackingHardware TrackingHardware,
                                       bool bRightHanded, ESGFinger MountedOn,
                                       const FVector& GloveWristPositionOffset,
                                       const FQuat& GloveWristRotationOffset,
                                       FVector& OutWristPosition, FQuat& OutWristRotation);

    static void CalculateWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                       ESGPositionalTrackingHardware TrackingHardware,
                                       bool bRightHanded, ESGFinger MountedOn,
                                       const FVector& GloveWristPositionOffset,
                                       const FRotator& GloveWristRotationOffset,
                                       FVector& OutWristPosition, FRotator& OutWristRotation);

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

protected:
    USGSenseGlove();

    explicit USGSenseGlove(const USGSenseGloveInfo& Model);

public:
    /**
     * The cast from underlying parent type constructor.
     */
    explicit USGSenseGlove(const FSGDeviceImpl& SGDeviceImpl);

    /**
     * The cast from underlying parent type constructor.
     */
    explicit USGSenseGlove(const FSGHapticGloveImpl& HapticGloveImpl);

    /**
     * The cast from underlying type constructor.
     */
    explicit USGSenseGlove(const FSGSenseGloveImpl& SenseGloveImpl);

protected:
    /**
     * The cast from underlying parent pointer type constructor.
     */
    explicit USGSenseGlove(TSharedRef<FSGDeviceImpl> SGDeviceImpl);

    /**
     * The cast from underlying parent pointer type constructor.
     */
    explicit USGSenseGlove(TSharedRef<FSGHapticGloveImpl> HapticGloveImpl);

    /**
     * The cast from underlying pointer type constructor.
     */
    explicit USGSenseGlove(TSharedRef<FSGSenseGloveImpl> SenseGloveImpl);

public:
    /**
     * The destructor.
     */
    virtual ~USGSenseGlove() override;

public:
    /**
     * The cast to underlying type method.
     */
    TSharedRef<FSGSenseGloveImpl> ToSenseGloveImpl() const;

protected:
    /**
     * Allows the child classes to synchronize the parent's underlying object at any time.
     */
    virtual void SyncImplObject() const override;

    /**
     * Allows the child classes to synchronize the parent's uproperties at any time.
     */
    virtual void SyncUProperties() override;

public:
    USGSenseGloveInfo* GetGloveModel(UObject* Outer) const;

    virtual bool IsRight() const override;

public:
    virtual ESGDeviceType GetDeviceType() const override;

    virtual FString GetDeviceId() const override;

    virtual FString GetHardwareVersion() const override;

    virtual int32 GetFirmwareVersion() const override;

    virtual int32 GetSubFirmwareVersion() const override;

public:
    bool GetSensorData(UObject* Outer, USGSenseGloveSensorData*& OutSensorData) const;

    virtual bool GetImuRotation(FQuat& OutImu) override;

    virtual bool GetImuRotation(FRotator& OutImu) override;

    bool GetGlovePose(UObject* Outer, USGSenseGlovePose*& OutGlovePose);

    bool GetGlovePose(UObject* Outer, const USGSenseGloveSensorData* SensorData, USGSenseGlovePose*& OutGlovePose);

    /// HACK
    /// 'FSGSenseGloveImpl::GetHandPose' hides overloaded virtual functions [-Werror,-Woverloaded-virtual]
    /// tell the compiler we want both the GetHandPose from FSGHapticGloveImpl and FSGSenseGloveImpl
    using USGHapticGlove::GetHandPose;

    bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandModel, const USGSenseGloveHandProfile* Profile,
                     USGHandPose*& OutHandPose);

    virtual bool GetHandPose(UObject* Outer, const USGBasicHandModel* HandGeometry, const USGHandProfile* HandProfile,
                             USGHandPose*& OutHandPose) override;

    virtual bool GetHandPose(UObject* Outer, const USGHandProfile* HandProfile, USGHandPose*& OutHandPose) override;

public:
    virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand) override;

    virtual void SendHaptics(const USGBuzzCommand* BuzzCommand) override;

    virtual void SendHaptics(const USGForceFeedbackCommand* ForceFeedbackCommand,
                             const USGBuzzCommand* BuzzCommand,
                             const USGThumperCommand* ThumperCommand) override;

public:
    virtual bool GetCalibrationValues(TArray<FVector>& OutValues) override;

    virtual void ResetCalibrationRange() override;

    virtual void ApplyCalibration(UObject* Outer, USGHandProfile*& OutProfile) const override;

    void ApplyCalibration(UObject* Outer, USGSenseGloveHandProfile*& OutProfile) const;

public:
    virtual void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutGlovePosition, FQuat& OutGloveRotation) const override;

    virtual void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutGlovePosition, FRotator& OutGloveRotation) const override;

    void GetGloveLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                          ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
                          FVector& OutGlovePosition, FQuat& OutGloveRotation) const;

    void GetGloveLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                          ESGPositionalTrackingHardware TrackingHardware, ESGFinger MountedOn,
                          FVector& OutGlovePosition, FRotator& OutGloveRotation) const;

    virtual void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutWristPosition, FQuat& OutWristRotation) const override;

    virtual void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                                  ESGPositionalTrackingHardware TrackingHardware,
                                  FVector& OutWristPosition, FRotator& OutWristRotation) const override;

    void GetWristLocation(const FVector& ReferencePosition, const FQuat& ReferenceRotation,
                          ESGPositionalTrackingHardware TrackingHardware,
                          const FVector& GloveWristPositionOffset,
                          const FQuat& GloveWristRotationOffset,
                          FVector& OutWristPosition, FQuat& OutWristRotation) const;

    void GetWristLocation(const FVector& ReferencePosition, const FRotator& ReferenceRotation,
                          ESGPositionalTrackingHardware TrackingHardware,
                          const FVector& GloveWristPositionOffset,
                          const FRotator& GloveWristRotationOffset,
                          FVector& OutWristPosition, FRotator& OutWristRotation) const;

public:
    virtual FString ToString() const override;
};