Plugin/Source/SenseGloveCore/Public/SGCore/SGHapticGloveCalibrationSequence.h

/**
 * @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 "Containers/Array.h"
#include "Containers/UnrealString.h"
#include "Templates/UniquePtr.h"
#include "UObject/Object.h"
#include "UObject/ObjectMacros.h"

#include "SGTypes/SGCoreTypes.h"

#include "SGHapticGloveCalibrationSequence.generated.h"

class FSGHapticGloveCalibrationSequenceImpl;
class FSGHapticGloveQuickCalibrationImpl;
class USGCalibrationDataPoint;
class USGHandPose;
class USGHandProfile;
class USGHapticGlove;
class USGSensorRange;

/**
 * A sequence which collects data points until specific criteria have been met. It must be 'fed' an Update command from your program in order to work.
 */
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGHapticGloveCalibrationSequence : public UObject
{
    GENERATED_BODY()

public:
    static USGHapticGloveCalibrationSequence* NewHapticGloveCalibrationSequence(
        UObject* Outer, const FSGHapticGloveCalibrationSequenceImpl& HapticGloveCalibrationSequence);

    static USGHapticGloveCalibrationSequence* NewHapticGloveCalibrationSequence(
        UObject* Outer, TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequence);

protected:
    /**
     *
     */
    static USGHapticGloveCalibrationSequence* NewHapticGloveCalibrationSequence(UObject* Outer);

public:
    /**
     * Create a new instance of a base HapitcGlove Calibration Sequence.
     */
    static USGHapticGloveCalibrationSequence* NewHapticGloveCalibrationSequence(
        UObject* Outer, const USGHapticGlove* LinkedGlove);

public:
    /**
     * The maximum buffer size for calibration points. Once calibrationPoints exceeds this value, the
     */
    static int32 GetMaxDataPoints();

public:
    /**
     * Converts a calibration range taken from a Calibration sequence, and converts it into a profile. Use this if you're not actually using the sequence.
     */
    static bool CompileProfile(UObject* Outer,
                               const USGSensorRange* SensorRange, ESGDeviceType ForDevice, bool bRightHanded,
                               USGHandProfile*& OutProfile);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

protected:
    /**
     *
     */
    USGHapticGloveCalibrationSequence();

public:
    /**
     * Create a new instance of a base HapitcGlove Calibration Sequence.
     */
    explicit USGHapticGloveCalibrationSequence(const USGHapticGlove* LinkedGlove);

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

    /**
     * The cast from underlying child type constructor.
     */
    explicit USGHapticGloveCalibrationSequence(
        const FSGHapticGloveQuickCalibrationImpl& HapticGloveQuickCalibrationImpl);

protected:
    /**
     * The cast from underlying pointer type constructor.
     */
    explicit USGHapticGloveCalibrationSequence(
        TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequenceImpl);

    /**
     * The cast from underlying child pointer type constructor.
     */
    explicit USGHapticGloveCalibrationSequence(
        TSharedRef<FSGHapticGloveQuickCalibrationImpl> HapticGloveQuickCalibrationImpl);

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

protected:
    /**
     * Allows the child classes to set the underlying object after construction.
     */
    void SetHapticGloveCalibrationSequenceImpl(
        const FSGHapticGloveCalibrationSequenceImpl& HapticGloveCalibrationSequenceImpl);

    /**
     * Allows the child classes to set the underlying object after construction.
     */
    void SetHapticGloveCalibrationSequenceImpl(
        const FSGHapticGloveQuickCalibrationImpl& HapticGloveQuickCalibrationImpl);

    /**
     * Allows the child classes to set the underlying object after construction.
     */
    void SetHapticGloveCalibrationSequenceImpl(
        TSharedRef<FSGHapticGloveCalibrationSequenceImpl> HapticGloveCalibrationSequenceImpl);

    /**
     * Allows the child classes to set the underlying object after construction.
     */
    void SetHapticGloveCalibrationSequenceImpl(
        TSharedRef<FSGHapticGloveQuickCalibrationImpl> HapticGloveQuickCalibrationImpl);

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

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

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

public:
    /**
     * Glove linked to this calibration sequence. Will attempt to grab data from this glove evey time Update() is called.
     */
    USGHapticGlove* GetLinkedGlove(UObject* Outer) const;

    /**
     *
     */
    void SetLinkedGlove(const USGHapticGlove* LinkedGlove);

    /**
     * Calibration points collected during this calibration process. One is added every time the "Update()" function is called.
     * Used to create a profile after the calibration finishes.
     */
    TArray<USGCalibrationDataPoint*> GetCalibrationPoints(UObject* Outer) const;

    /**
     * How much time has elapsed during this calibration sequence. Useful for logging or for automated functions.
     */
    float GetElapsedTime() const;

    /**
     * Used to determine if the user has manually ended the sequence, to prevent us from adding any more calibration points.
     */
    bool IsManuallyCompleted() const;

    /**
     * If a sequence consists of multiple stages, this integer will show you which one is currently active.
     */
    int32 GetCurrentStage() const;

    /**
     * Returns the amount of calibration points collected so far.
     */
    SIZE_T GetCalibrationPointsCount() const;

    /**
     * Whether or not this sequence was completed as per its own rules.
     */
    bool AutoCompleted() const;

    /**
     * Returns true if this sequence is marked as 'complete' and can begin compiling a profile.
     */
    bool Completed() const;

public:
    /**
     * Resets this calibration sequence's data, but not it's LinkedGlove.
     */
    void Reset();

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

    /**
     * Update this calibration sequence with new data. We use deltaSeconds to check for things like stability.
     */
    void Update(float DeltaSeconds);

    /**
     * Manual confirmation of whatever step we're supposed to making at the moment.
     */
    void ConfirmCurrentStep();

public:
    /**
     * Compile a min/max range from the data points collected by this sequence. Returns true if it's actually possible.
     */
    bool CompileRange(UObject* Outer, USGSensorRange*& OutSensorRange) const;

    /**
     * Compile a profile from the data points collected by this sequence. Returns true if it's actually possible.
     */
    bool CompileProfile(UObject* Outer, ESGDeviceType ForDevice, bool bRightHanded, USGHandProfile*& OutProfile) const;

    /**
     * Returns the current HandPose; either the one we should be making, or what it would look like at the moment.
     */
    bool GetHandPose(UObject* Outer, USGHandPose*& OutCurrentHandPose) const;

    /**
     * Returns the current HandPose; either the one we should be making, or what it would look like at the moment.
     */
    bool GetHandPose(UObject* Outer, bool bRightHanded, USGHandPose*& OutCurrentHandPose) const;

    /**
     * Retrieve instructions on what to do during the current step.
     */
    FString GetCurrentInstruction(const FString& NextStepKey = FString{""}) const;
};