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

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2022 NovaGlove
 *
 * 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 "Math/Quat.h"
#include "Math/Vector.h"
#include "Runtime/Launch/Resources/Version.h"
#include "Templates/SharedPointer.h"
#include "Templates/UniquePtr.h"

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

namespace SGCore
{
    namespace Nova
    {
        class NovaGlove;
    }
}

class FSGBasicHandModelImpl;
class FSGBuzzCommandImpl;
class FSGForceFeedbackCommandImpl;
class FSGHandPoseImpl;
class FSGHandProfileImpl;
class FSGNovaGloveHandProfileImpl;
class FSGNovaGloveInfoImpl;
class FSGNovaGloveSensorDataImpl;
class FSGThumperCommandImpl;

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

public:
    typedef SGCore::Nova::NovaGlove FNovaGloveType;

    typedef std::vector<FNovaGloveType> FNovaGloveVectorType;

    typedef std::shared_ptr<FNovaGloveType> FNovaGlovePtrType;
    typedef std::vector<FNovaGlovePtrType> FNovaGlovePtrVectorType;

public:
    static ANSICHAR GetHapticsByte();

    static const FVector& GetMinCalibrationRange();

public:
    static FSGHandPoseImpl CalculateHandPose(const FSGBasicHandModelImpl& HandModel,
                                             const FSGNovaGloveSensorDataImpl& NovaData,
                                             const FSGNovaGloveHandProfileImpl& Profile);

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

    static TArray<FSGNovaGloveImpl> GetNovaGloves();

    static bool GetNovaGlove(FSGNovaGloveImpl& OutGlove);

    static bool GetNovaGlove(bool bRightHanded, FSGNovaGloveImpl& OutGlove);

public:
    static TArray<FVector> GetCalibrationValues(const FSGNovaGloveSensorDataImpl& SensorData);

    static void CalibrateInterpolation(const TArray<FVector>& MinValues, const TArray<FVector>& MaxValues,
                                       FSGNovaGloveHandProfileImpl& OutProfile);

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

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

public:
    static FString ToBytes(const FSGThumperCommandImpl& ThumperCommand);

    static FString ToBytes(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand);

    static FString ToBytes(const FSGBuzzCommandImpl& BuzzCommand);

private:
    struct FImpl;

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

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGNovaGloveImpl();

    explicit FSGNovaGloveImpl(const FSGNovaGloveInfoImpl& DeviceInfo);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGNovaGloveImpl(const FNovaGloveType NovaGlove);

    /**
     * The cast from underlying pointer type constructor.
     */
    explicit FSGNovaGloveImpl(const FNovaGlovePtrType NovaGlove);

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

    /**
     * The move constructor.
     */
    FSGNovaGloveImpl(FSGNovaGloveImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
        noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
        ;

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

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

    /**
     * The move assignment operator.
     */
    FSGNovaGloveImpl& operator=(FSGNovaGloveImpl&& Rhs)
#if ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 )
        noexcept
#endif  /* ENGINE_MAJOR_VERSION == 5 || ( ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION > 24 && SG_CPP17 ) */
        ;

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

    /**
     * The cast to underlying pointer type method.
     */
    FNovaGlovePtrType ToNovaGlovePtr() const;

    /**
     * The checked cast to underlying pointer type method.
     */
    FNovaGlovePtrType ToNovaGlovePtrChecked() 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:
    bool GetSensorData(FSGNovaGloveSensorDataImpl& OutSensorData);

    virtual bool GetImuRotation(FQuat& OutImu) override;

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

    bool GetHandPose(const FSGBasicHandModelImpl& HandModel, const FSGNovaGloveHandProfileImpl& Profile,
                     FSGHandPoseImpl& OutHandPose);

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

    virtual bool GetHandPose(const FSGHandProfileImpl& HandProfile, FSGHandPoseImpl& OutHandPose) override;

public:
    virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand,
                             const FSGBuzzCommandImpl& BuzzCommand,
                             const FSGThumperCommandImpl& ThumperCommand) override;

    virtual void SendHaptics(const FSGForceFeedbackCommandImpl& ForceFeedbackCommand) override;

    virtual void SendHaptics(const FSGBuzzCommandImpl& BuzzCommand) override;

    virtual void SendHaptics(const FSGThumperCommandImpl& ThumperCommand) override;

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

    virtual void ApplyCalibration(FSGHandProfileImpl& OutProfile) const override;

    void ApplyCalibration(FSGNovaGloveHandProfileImpl& OutProfile) const;

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:
    virtual FString ToString() const override;
};