Plugin/Source/SenseGloveCore/Private/SGCore/SGHapticGloveCalibrationSequence.cpp

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2023 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/SGHapticGloveCalibrationSequence.h"

#include "Runtime/Launch/Resources/Version.h"

#include "SGCore/SGCalibrationDataPoint.h"
#include "SGCore/SGHandPose.h"
#include "SGCore/SGHandProfile.h"
#include "SGCore/SGHapticGlove.h"
#include "SGCore/SGSensorRange.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_ESGDeviceType.h"
#include "SGInterop/SGIC_FSGHandPoseImpl.h"
#include "SGInterop/SGIC_FSGHandProfileImpl.h"
#include "SGInterop/SGIC_FSGHapticGloveCalibrationSequenceImpl.h"
#include "SGInterop/SGIC_FSGHapticGloveQuickCalibrationImpl.h"
#include "SGInterop/SGIC_FSGSensorRangeImpl.h"
#include "SGInterop/SGIC_FString.h"
#include "SGInterop/SGIC_TArray_FSGCalibrationDataPointImpl.h"
#include "SGInterop/SGIC_TArray_FVector.h"
#include "SGInterop/SGIC_TSharedPtr_FSGHapticGloveImpl.h"
#include "SGInterop/SGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl.h"
#include "SGInterop/SGIC_TSharedPtr_FSGHapticGloveQuickCalibrationImpl.h"
#include "SGUtils/SGArrayUtils.h"

struct USGHapticGloveCalibrationSequence::FImpl
{
    /************************
     * Member variables
     ************************/

    TSharedPtr<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequenceImpl;

    /************************
     * Owner object
     ************************/

    USGHapticGloveCalibrationSequence* Owner;

    /************************
     * Constructor / Destructor
     ************************/

    explicit FImpl(USGHapticGloveCalibrationSequence* InOwner);
    ~FImpl();

    /************************
     * Default copy constructor & copy assignment operator
     ************************/

    FImpl(const FImpl& Rhs) = default;
    FImpl& operator=(const FImpl& Rhs) = default;
};

USGHapticGloveCalibrationSequence* USGHapticGloveCalibrationSequence::NewHapticGloveCalibrationSequence(UObject* Outer,
    const FSGHapticGloveCalibrationSequenceImpl& HapticGloveCalibrationSequence)
{
    USGHapticGloveCalibrationSequence* Instance = NewObject<USGHapticGloveCalibrationSequence>(Outer);
    Instance->SetHapticGloveCalibrationSequenceImpl(HapticGloveCalibrationSequence);
    return Instance;
}

USGHapticGloveCalibrationSequence* USGHapticGloveCalibrationSequence::NewHapticGloveCalibrationSequence(UObject* Outer,
    TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequence)
{
    USGHapticGloveCalibrationSequence* Instance = NewObject<USGHapticGloveCalibrationSequence>(Outer);
    Instance->SetHapticGloveCalibrationSequenceImpl(MoveTemp(HapticGloveCalibrationSequence));
    return Instance;
}

USGHapticGloveCalibrationSequence* USGHapticGloveCalibrationSequence::NewHapticGloveCalibrationSequence(UObject* Outer)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_MakeShared(&OutSharedPtrContainer);

    return NewHapticGloveCalibrationSequence(Outer, OutSharedPtrContainer.Ptr.ToSharedRef());
}

USGHapticGloveCalibrationSequence* USGHapticGloveCalibrationSequence::NewHapticGloveCalibrationSequence(UObject* Outer,
    const USGHapticGlove* LinkedGlove)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    FSGIC_TSharedPtr_FSGHapticGloveImpl LinkedGloveContainer{LinkedGlove->ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_LinkedGlove_MakeShared(
        &OutSharedPtrContainer, &LinkedGloveContainer);

    return NewHapticGloveCalibrationSequence(Outer, OutSharedPtrContainer.Ptr.ToSharedRef());
}

int32 USGHapticGloveCalibrationSequence::GetMaxDataPoints()
{
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetMaxDataPoints();
}

bool USGHapticGloveCalibrationSequence::CompileProfile(UObject* Outer,
                                                       const USGSensorRange* SensorRange, const ESGDeviceType ForDevice,
                                                       const bool bRightHanded, USGHandProfile*& OutProfile)
{
    FSGIC_FSGSensorRangeImpl SensorRangeContainer{SensorRange->ToSensorRangeImpl()};
    FSGIC_ESGDeviceType ForDeviceContainer{ForDevice};
    FSGIC_FSGHandProfileImpl OutProfileContainer;
    const bool bResult =
        SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_CompileProfile_SensorRange_ForDevice_bRightHanded_OutProfile(
            &SensorRangeContainer, &ForDeviceContainer, bRightHanded, &OutProfileContainer);

    if (bResult)
    {
        OutProfile = USGHandProfile::NewHandProfile(Outer, MoveTemp(OutProfileContainer.HandProfileImpl));
    }

    return bResult;
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence()
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_MakeShared(&OutSharedPtrContainer);

    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence(const USGHapticGlove* LinkedGlove)
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    FSGIC_TSharedPtr_FSGHapticGloveImpl LinkedGloveContainer{LinkedGlove->ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_LinkedGlove_MakeShared(
        &OutSharedPtrContainer, &LinkedGloveContainer);

    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence(
    const FSGHapticGloveCalibrationSequenceImpl& HapticGloveCalibrationSequenceImpl)
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    FSGIC_FSGHapticGloveCalibrationSequenceImpl RhsContainer{HapticGloveCalibrationSequenceImpl};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_copy_MakeShared(
        &OutSharedPtrContainer, &RhsContainer);

    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence(
    const FSGHapticGloveQuickCalibrationImpl& HapticGloveQuickCalibrationImpl)
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    FSGIC_TSharedPtr_FSGHapticGloveQuickCalibrationImpl OutSharedPtrContainer;
    FSGIC_FSGHapticGloveQuickCalibrationImpl RhsContainer{HapticGloveQuickCalibrationImpl};
    SGCoreImpl_FSGHapticGloveQuickCalibrationImpl_ctor_copy_MakeShared(
        &OutSharedPtrContainer, &RhsContainer);

    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence(
    TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequenceImpl)
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(HapticGloveCalibrationSequenceImpl);
}

USGHapticGloveCalibrationSequence::USGHapticGloveCalibrationSequence(
    TSharedRef<FSGHapticGloveQuickCalibrationImpl> HapticGloveQuickCalibrationImpl)
    : Pimpl(TUniquePtr<FImpl, FImplDeleter>(new FImpl{this}, PimplDeleter))
{
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(HapticGloveQuickCalibrationImpl);
}

USGHapticGloveCalibrationSequence::~USGHapticGloveCalibrationSequence() = default;

void USGHapticGloveCalibrationSequence::SetHapticGloveCalibrationSequenceImpl(
    const FSGHapticGloveCalibrationSequenceImpl& HapticGloveCalibrationSequenceImpl)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl OutSharedPtrContainer;
    FSGIC_FSGHapticGloveCalibrationSequenceImpl RhsContainer{HapticGloveCalibrationSequenceImpl};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ctor_copy_MakeShared(&OutSharedPtrContainer, &RhsContainer);
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

void USGHapticGloveCalibrationSequence::SetHapticGloveCalibrationSequenceImpl(
    const FSGHapticGloveQuickCalibrationImpl& HapticGloveQuickCalibrationImpl)
{
    FSGIC_TSharedPtr_FSGHapticGloveQuickCalibrationImpl OutSharedPtrContainer;
    FSGIC_FSGHapticGloveQuickCalibrationImpl RhsContainer{HapticGloveQuickCalibrationImpl};
    SGCoreImpl_FSGHapticGloveQuickCalibrationImpl_ctor_copy_MakeShared(&OutSharedPtrContainer, &RhsContainer);
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(OutSharedPtrContainer.Ptr);
}

void USGHapticGloveCalibrationSequence::SetHapticGloveCalibrationSequenceImpl(
    TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequenceImpl)
{
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(HapticGloveCalibrationSequenceImpl);
}

void USGHapticGloveCalibrationSequence::SetHapticGloveCalibrationSequenceImpl(
    TSharedRef<FSGHapticGloveQuickCalibrationImpl> HapticGloveQuickCalibrationImpl)
{
    Pimpl->HapticGloveCalibrationSequenceImpl = MoveTemp(HapticGloveQuickCalibrationImpl);
}

TSharedRef<FSGHapticGloveCalibrationSequenceImpl>
USGHapticGloveCalibrationSequence::ToHapticGloveCalibrationSequenceImpl() const
{
    return Pimpl->HapticGloveCalibrationSequenceImpl.ToSharedRef();
}

USGHapticGlove* USGHapticGloveCalibrationSequence::GetLinkedGlove(UObject* Outer) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_TSharedPtr_FSGHapticGloveImpl OutGloveContainer;
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetLinkedGlove(&InstanceContainer, &OutGloveContainer);
    return USGHapticGlove::NewHapticGlove(Outer, OutGloveContainer.Ptr.ToSharedRef());
}

void USGHapticGloveCalibrationSequence::SetLinkedGlove(const USGHapticGlove* LinkedGlove)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_TSharedPtr_FSGHapticGloveImpl LinkedGloveContainer{LinkedGlove->ToHapticGloveImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_SetLinkedGlove(&InstanceContainer, &LinkedGloveContainer);
}

TArray<USGCalibrationDataPoint*> USGHapticGloveCalibrationSequence::GetCalibrationPoints(UObject* Outer) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_TArray_FSGCalibrationDataPointImpl OutPoints;
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetCalibrationPoints(&InstanceContainer, &OutPoints);

    TArray<USGCalibrationDataPoint*> Points{
        FSGArrayUtils::FromImplType<FSGCalibrationDataPointImpl, USGCalibrationDataPoint,
                                    &USGCalibrationDataPoint::NewCalibrationDataPoint>(
            Outer, MoveTemp(OutPoints.Array))
    };

    return MoveTemp(Points);
}

float USGHapticGloveCalibrationSequence::GetElapsedTime() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetElapsedTime(&InstanceContainer);
}

bool USGHapticGloveCalibrationSequence::IsManuallyCompleted() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_IsManuallyCompleted(&InstanceContainer);
}

int32 USGHapticGloveCalibrationSequence::GetCurrentStage() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetCurrentStage(&InstanceContainer);
}

SIZE_T USGHapticGloveCalibrationSequence::GetCalibrationPointsCount() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetCalibrationPointsCount(&InstanceContainer);
}

bool USGHapticGloveCalibrationSequence::AutoCompleted() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_AutoCompleted(&InstanceContainer);
}

bool USGHapticGloveCalibrationSequence::Completed() const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    return SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_Completed(&InstanceContainer);
}

void USGHapticGloveCalibrationSequence::Reset()
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_Reset(&InstanceContainer);
}

void USGHapticGloveCalibrationSequence::AddDataPoint(const TArray<FVector>& CalibrationPoints)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_TArray_FVector CalibrationPointsContainer{CalibrationPoints};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_AddDataPoint(&InstanceContainer, &CalibrationPointsContainer);
}

void USGHapticGloveCalibrationSequence::Update(const float DeltaSeconds)
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_Update(&InstanceContainer, DeltaSeconds);
}

void USGHapticGloveCalibrationSequence::ConfirmCurrentStep()
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_ConfirmCurrentStep(&InstanceContainer);
}

bool USGHapticGloveCalibrationSequence::CompileRange(UObject* Outer, USGSensorRange*& OutSensorRange) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_FSGSensorRangeImpl OutSensorRangeContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_CompileRange(
        &InstanceContainer, &OutSensorRangeContainer);

    if (bResult)
    {
        OutSensorRange = USGSensorRange::NewSensorRange(Outer, MoveTemp(OutSensorRangeContainer.SensorRangeImpl));
    }

    return bResult;
}

bool USGHapticGloveCalibrationSequence::CompileProfile(UObject* Outer,
                                                       const ESGDeviceType ForDevice, const bool bRightHanded,
                                                       USGHandProfile*& OutProfile) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_ESGDeviceType ForDeviceContainer{ForDevice};
    FSGIC_FSGHandProfileImpl OutProfileContainer;
    const bool bResult =
        SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_CompileProfile_ForDevice_bRightHanded_OutProfile(
            &InstanceContainer, &ForDeviceContainer, bRightHanded, &OutProfileContainer);

    if (bResult)
    {
        OutProfile = USGHandProfile::NewHandProfile(Outer, MoveTemp(OutProfileContainer.HandProfileImpl));
    }

    return bResult;
}

bool USGHapticGloveCalibrationSequence::GetHandPose(UObject* Outer, USGHandPose*& OutCurrentHandPose) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_FSGHandPoseImpl OutCurrentHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetHandPose_OutCurrentHandPose(
        &InstanceContainer, &OutCurrentHandPoseContainer);

    if (bResult)
    {
        OutCurrentHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutCurrentHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

bool USGHapticGloveCalibrationSequence::GetHandPose(UObject* Outer,
                                                    const bool bRightHanded, USGHandPose*& OutCurrentHandPose) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_FSGHandPoseImpl OutCurrentHandPoseContainer;
    const bool bResult = SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetHandPose_bRightHanded_OutCurrentHandPose(
        &InstanceContainer, bRightHanded, &OutCurrentHandPoseContainer);

    if (bResult)
    {
        OutCurrentHandPose = USGHandPose::NewHandPose(Outer, MoveTemp(OutCurrentHandPoseContainer.HandPoseImpl));
    }

    return bResult;
}

FString USGHapticGloveCalibrationSequence::GetCurrentInstruction(const FString& NextStepKey) const
{
    FSGIC_TSharedPtr_FSGHapticGloveCalibrationSequenceImpl InstanceContainer{ToHapticGloveCalibrationSequenceImpl()};
    FSGIC_FString OutInstructionContainer;
    FSGIC_FString NextStepKeyContainer{NextStepKey};
    SGCoreImpl_FSGHapticGloveCalibrationSequenceImpl_GetCurrentInstruction(
        &InstanceContainer, &OutInstructionContainer, &NextStepKeyContainer);

    return MoveTemp(OutInstructionContainer.String);
}

USGHapticGloveCalibrationSequence::FImpl::FImpl(USGHapticGloveCalibrationSequence* InOwner)
    : Owner(InOwner)
{
}

USGHapticGloveCalibrationSequence::FImpl::~FImpl() = default;

void USGHapticGloveCalibrationSequence::FImplDeleter::operator()(const FImpl* P) const
{
    delete P;
}