vr_driver.h

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#pragma once
 
#include "vr_kit.h"
#include <string>
#include <map>


 
#include "lib_begin.h"

namespace vr {
    
    class CGV_API vr_driver;

    class CGV_API vr_calibration_base
    {
    protected:
        void set_driver_calibration_matrix(vr_driver* driver, const float calibration_matrix[12]) const;
    public:
        vr_calibration_base();
    };


    class CGV_API vr_driver
    {
    private:
        unsigned driver_index;
    protected:
        void set_index(unsigned _idx);
        friend void CGV_API register_driver(vr_driver* vrd);
        void register_vr_kit(void* handle, vr_kit* kit);
        void replace_vr_kit(void* handle, vr_kit* kit);
    private:
        std::map<std::string, vr_trackable_state> tracking_reference_states;
        mutable std::map<std::string, vr_trackable_state> calibrated_tracking_reference_states;
    protected:
        friend class vr_kit;
        mutable vr_tracking_system_info tracking_system_info;
        vr_trackable_state& ref_tracking_reference_state(const std::string& serial_nummer);
        void clear_tracking_reference_states();
        void mark_tracking_references_as_untracked();
    private:
        float calibration_matrix[12];
        bool use_calibration_matrix;
    protected:
        void set_calibration_transformation(const float new_transformation_matrix[12]);
        friend class vr_calibration_base;
        vr_driver();
    public:
        virtual ~vr_driver();
        virtual std::string get_driver_name() const = 0;
        virtual bool is_installed() const = 0;
        virtual std::vector<void*> scan_vr_kits() = 0;
        virtual vr_kit* replace_by_index(int& index, vr_kit* new_kit_ptr) = 0;
        virtual bool replace_by_pointer(vr_kit* old_kit_ptr, vr_kit* new_kit_ptr) = 0;

        void put_x_direction(float* x_dir) const;
        virtual void put_up_direction(float* up_dir) const = 0;
        virtual float get_floor_level() const = 0;
        virtual float get_action_zone_height() const = 0;
        virtual void put_action_zone_bounary(std::vector<float>& boundary) const = 0;

        void put_calibration_transformation(float transformation_matrix[12]) const;
        void calibrate_pose(float(&pose)[12]) const;
        void enable_calibration_transformation();
        void disable_calibration_transformation();
        bool is_calibration_transformation_enabled() const;
 

        virtual const std::map<std::string, vr_trackable_state>& get_tracking_reference_states() const;
        virtual const vr_tracking_system_info& get_tracking_system_info() const;
    };

    extern CGV_API std::vector<vr_driver*>& get_vr_drivers();
    extern CGV_API void register_driver(vr_driver* vrd);
    template <typename T>
    struct driver_registry
    {
        driver_registry(const std::string& options)
        {
            register_driver(new T(options));
        }
    };



    extern CGV_API std::vector<void*> scan_vr_kits();
    extern CGV_API vr_kit* replace_by_index(int vr_kit_index, vr_kit* new_kit_ptr);
    extern CGV_API bool replace_by_pointer(vr_kit* old_kit_ptr, vr_kit* new_kit_ptr);

    extern CGV_API vr_kit* get_vr_kit(void* vr_kit_handle);
    extern CGV_API bool unregister_vr_kit(void* vr_kit_handle, vr_kit* vr_kit_ptr);
}
 
#include <cgv/config/lib_end.h>