Plugin/Source/SenseGloveCoreImpl/Public/SGCoreImpl/SGNova2GloveImpl.h

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2024 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 <memory>
#include <vector>

#include "Containers/UnrealString.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Runtime/Launch/Resources/Version.h"
#include "Templates/SharedPointer.h"
#include "Templates/UniquePtr.h"

#include "SGBuildHacks/SGPlatform.h"
#include "SGCoreImpl/SGHapticGloveImpl.h"

namespace SGCore
{
    namespace Nova
    {
        class Nova2Glove;
    }
}

class FSGBasicHandModelImpl;
class FSGHandInterpolatorImpl;
class FSGHandPoseImpl;
class FSGNova2GloveHandProfileImpl;
class FSGNova2GloveSensorDataImpl;
class FSGNovaGloveInfoImpl;
class FSGSensorNormalizationImpl;

class SENSEGLOVECOREIMPL_API FSGNova2GloveImpl final : public FSGHapticGloveImpl
{
#if ENGINE_MAJOR_VERSION >= 5
    friend class SharedPointerInternals::TIntrusiveReferenceController<FSGNova2GloveImpl, ESPMode::ThreadSafe>;
#else
    friend class SharedPointerInternals::TIntrusiveReferenceController<FSGNova2GloveImpl>;
#endif  /* ENGINE_MAJOR_VERSION >= 5 */

public:
    typedef SGCore::Nova::Nova2Glove FNova2GloveType;

    typedef std::vector<FNova2GloveType> FNova2GloveVectorType;

    typedef std::shared_ptr<FNova2GloveType> FNova2GlovePtrType;
    typedef std::vector<FNova2GlovePtrType> FNova2GlovePtrVectorType;

public:
    static TSharedRef<FSGDeviceImpl> Parse(const FString& ConstantsString);

    static TArray<FSGNova2GloveImpl> GetNova2Gloves();

    static bool GetNova2Glove(FSGNova2GloveImpl& OutGlove);

    static bool GetNova2Glove(bool bRightHanded, FSGNova2GloveImpl& OutGlove);

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

    static void CalculateWristLocation(
        const FVector& ReferencePosition, const FQuat& ReferenceRotation,
        ESGPositionalTrackingHardware TrackingHardware, bool bRightHanded, const FString& HardwareVersion,
        FVector& OutWristPosition, FQuat& OutWristRotation);

public:
    static ANSICHAR GetStreamByte();

    static const TArray<float>& GetNova2SensorRanges();

public:
    static TArray<float> ToNormalizedValues(const FSGNova2GloveSensorDataImpl& SensorData);

    static TArray<float> ToNormalizedValues(
        const FSGNova2GloveSensorDataImpl& SensorData, FSGSensorNormalizationImpl& OutSensorNormalizer);

public:
    static TArray<TArray<FVector>> CalculateHandAngles(
        const TArray<float>& NormalizedValues, const FSGHandInterpolatorImpl& Interpolator, bool bInfluenceIndex);

    static TArray<TArray<FVector>> ToNormalizedAngles(
        const TArray<float>& NormalizedData, const FSGNovaGloveInfoImpl& GloveInfo);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGNova2GloveImpl();

    explicit FSGNova2GloveImpl(const FSGNovaGloveInfoImpl& DeviceInfo);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGNova2GloveImpl(const FNova2GloveType Nova2Glove);

    /**
     * The cast from underlying pointer type constructor.
     */
    explicit FSGNova2GloveImpl(const FNova2GlovePtrType Nova2Glove);

public:
    /**
     * The copy constructor.
     */
    FSGNova2GloveImpl(const FSGNova2GloveImpl& Rhs);

    /**
     * The move constructor.
     */
    FSGNova2GloveImpl(FSGNova2GloveImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The destructor.
     */
    virtual ~FSGNova2GloveImpl() override;

public:
    /**
     * The copy assignment operator.
     */
    FSGNova2GloveImpl& operator=(const FSGNova2GloveImpl& Rhs);

    /**
     * The move assignment operator.
     */
    FSGNova2GloveImpl& operator=(FSGNova2GloveImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The cast to underlying type method.
     */
    const FNova2GloveType& ToNova2Glove() const;

    /**
     * The cast to underlying pointer type method.
     */
    FNova2GlovePtrType ToNova2GlovePtr() const;

    /**
     * The checked cast to underlying pointer type method.
     */
    FNova2GlovePtrType ToNova2GlovePtrChecked() const;

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:
    virtual bool HasBattery() const override;

    virtual bool IsCharging() override;

    virtual bool GetBatteryLevel(float& OutBatteryLevel) override;

public:
    virtual bool IsRight() const override;

    virtual bool GetImuRotation(FQuat& OutImu) override;

    virtual bool GetHandPose(const FSGBasicHandModelImpl& HandGeometry, FSGHandPoseImpl& OutHandPose) const override;

    virtual bool GetHandAngles(TArray<TArray<FVector>>& OutHandAngles) const override;

public:
    virtual ESGHapticGloveCalibrationState GetCalibrationState() const override;

    virtual void EndCalibration() override;

    virtual void ResetCalibration() override;

public:
    virtual void StopHaptics() override;

    virtual void StopVibrations() override;

    virtual bool SendHaptics() override;

public:
    virtual bool SupportsCustomWaveform(ESGHapticLocation AtLocation) const override;

    virtual bool SendCustomWaveform(FSGCustomWaveformImpl& OutWaveform, ESGHapticLocation Location) override;

public:
    virtual bool QueueForceFeedbackLevels(const TArray<float>& Levels01) override;

    virtual bool QueueForceFeedbackLevel(int32 Finger, float Level01) override;

    virtual bool QueueSqueezeLevel(float SqueezeLevel01);

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

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

public:
    FSGNovaGloveInfoImpl GetGloveInfo() const;

    bool DoesIndexInfluenceOthers() const;

    void SetIndexInfluencesOthers(bool bInfluenceOthers);

    bool SupportsOnBoardNormalization() const;

public:
    bool GetSensorData(FSGNova2GloveSensorDataImpl& OutSensorData) const;

    bool GetNormalizedInput(TArray<float>& OutNormalizedValues) const;

    virtual bool SendRawData();

    virtual bool SendNormalizedData();

public:
    virtual ESGNova2VibroMotor ToNovaMotor(ESGHapticLocation Location) const;

    virtual int32 ChannelIndex(ESGNova2VibroMotor Motor) const;

    virtual void ValidateWaveform(FSGCustomWaveformImpl& OutWaveform, ESGNova2VibroMotor Motor) const;

    virtual bool SendCustomWaveform_Nova2(FSGCustomWaveformImpl& OutWaveform, ESGNova2VibroMotor Motor,
                                          bool bValidateWaveform = true);

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