Plugin/Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGHapticGloveCalibrationSequenceImpl.h

/**
 * @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
 *
 *
 */


#pragma once

#include "Containers/UnrealString.h"
#include "Math/Vector.h"
#include "Templates/SharedPointer.h"
#include "Templates/UniquePtr.h"

#include "SGCoreImpl/SGHapticGloveCalibrationSequenceImpl.h"
#include "SGCoreImpl/SGPlatform.h"
#include "SGTypes/SGCoreTypes.h"

namespace SGCore
{
    namespace Calibration
    {
        class HapticGloveCalibrationSequence;
    }
}

class FSGCalibrationDataPointImpl;
class FSGHandPoseImpl;
class FSGHandProfileImpl;
class FSGHapticGloveImpl;
class FSGHapticGloveQuickCalibrationImpl;
class FSGSensorRangeImpl;

class SENSEGLOVECOREIMPL_API FSGHapticGloveCalibrationSequenceImpl
    : public TSharedFromThis<FSGHapticGloveCalibrationSequenceImpl>
{
public:
    typedef SGCore::Calibration::HapticGloveCalibrationSequence FHapticGloveCalibrationSequenceType;

public:
    static int32 GetMaxDataPoints();

public:
    static bool CompileProfile(const FSGSensorRangeImpl& SensorRange, ESGDeviceType ForDevice, bool bRightHanded,
                               FSGHandProfileImpl& OutProfile);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGHapticGloveCalibrationSequenceImpl();

    explicit FSGHapticGloveCalibrationSequenceImpl(TSharedRef<FSGHapticGloveImpl> LinkedGlove);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGHapticGloveCalibrationSequenceImpl(
        const FHapticGloveCalibrationSequenceType& HapticGloveCalibrationSequence);

    /**
     * The cast from underlying pointer type constructor.
     */
    explicit FSGHapticGloveCalibrationSequenceImpl(
        TSharedRef<FHapticGloveCalibrationSequenceType> HapticGloveCalibrationSequence);

public:
    /**
     * The copy constructor.
     */
    FSGHapticGloveCalibrationSequenceImpl(const FSGHapticGloveCalibrationSequenceImpl& Rhs);

    /**
     * The move constructor.
     */
    FSGHapticGloveCalibrationSequenceImpl(FSGHapticGloveCalibrationSequenceImpl&& Rhs) SG_NOEXCEPT;

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

public:
    /**
     * The copy assignment operator.
     */
    FSGHapticGloveCalibrationSequenceImpl& operator=(const FSGHapticGloveCalibrationSequenceImpl& Rhs);

    /**
     * The move assignment operator.
     */
    FSGHapticGloveCalibrationSequenceImpl& operator=(FSGHapticGloveCalibrationSequenceImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The cast to underlying type method.
     */
    const FHapticGloveCalibrationSequenceType& ToHapticGloveCalibrationSequence() const;

    /**
     * The cast to underlying pointer type method.
     */
    TSharedRef<FHapticGloveCalibrationSequenceType> ToHapticGloveCalibrationSequenceRef() const;

public:
    /**
     * The cast to base TSharedRef<FSGHapticGloveCalibrationSequenceImpl> type method.
     */
    TSharedRef<FSGHapticGloveCalibrationSequenceImpl> ToHapticGloveCalibrationSequenceImplRef();

    /**
     * The cast to derived TSharedRef<FSGHapticGloveCalibrationSequenceImpl> type method.
     */
    TSharedRef<FSGHapticGloveQuickCalibrationImpl> ToHapticGloveQuickCalibrationImplRef();

public:
    TSharedRef<FSGHapticGloveImpl> GetLinkedGlove() const;

    void SetLinkedGlove(const TSharedRef<FSGHapticGloveImpl> LinkedGlove);

    TArray<FSGCalibrationDataPointImpl> GetCalibrationPoints() const;

    float GetElapsedTime() const;

    bool IsManuallyCompleted() const;

    virtual int32 GetCurrentStage() const;

    SIZE_T GetCalibrationPointsCount() const;

    virtual bool AutoCompleted() const;

    virtual bool Completed() const;

public:
    virtual void Reset();

    virtual void AddDataPoint(const TArray<FVector>& CalibrationPoints);

    virtual void Update(float DeltaSeconds);

    virtual void ConfirmCurrentStep();

public:
    virtual bool CompileRange(FSGSensorRangeImpl& OutSensorRange) const;

    virtual bool CompileProfile(ESGDeviceType ForDevice, bool bRightHanded, FSGHandProfileImpl& OutProfile) const;

    bool GetHandPose(FSGHandPoseImpl& OutCurrentHandPose) const;

    virtual bool GetHandPose(bool bRightHanded, FSGHandPoseImpl& OutCurrentHandPose) const;

    virtual FString GetCurrentInstruction(const FString& NextStepKey = FString{""}) const;
};