CSixenseDevices.h

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//==============================================================================
/*
    Software License Agreement (BSD License)
    Copyright (c) 2003-2016, CHAI3D.
    (www.chai3d.org)

    All rights reserved.

    Redistribution and use in source and binary forms, with or without
    modification, are permitted provided that the following conditions
    are met:

    * Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above
    copyright notice, this list of conditions and the following
    disclaimer in the documentation and/or other materials provided
    with the distribution.

    * Neither the name of CHAI3D nor the names of its contributors may
    be used to endorse or promote products derived from this software
    without specific prior written permission.

    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    POSSIBILITY OF SUCH DAMAGE. 

    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CSixenseDevicesH
#define CSixenseDevicesH
//------------------------------------------------------------------------------
#if defined(C_ENABLE_SIXENSE_DEVICE_SUPPORT)
//------------------------------------------------------------------------------
#include "devices/CGenericHapticDevice.h"
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//------------------------------------------------------------------------------
#ifndef DOXYGEN_SHOULD_SKIP_THIS
//------------------------------------------------------------------------------

#define SIXENSE_BUTTON_BUMPER   (0x01<<7)
#define SIXENSE_BUTTON_JOYSTICK (0x01<<8)
#define SIXENSE_BUTTON_1        (0x01<<5)
#define SIXENSE_BUTTON_2        (0x01<<6)
#define SIXENSE_BUTTON_3        (0x01<<3)
#define SIXENSE_BUTTON_4        (0x01<<4)
#define SIXENSE_BUTTON_START    (0x01<<0)
#define SIXENSE_SUCCESS         0
#define SIXENSE_FAILURE        -1
#define SIXENSE_MAX_CONTROLLERS 4

    typedef struct _sixenseControllerData 
    {
        float pos[3];
        float rot_mat[3][3];
        float joystick_x;
        float joystick_y;
        float trigger;
        unsigned int buttons;
        unsigned char sequence_number;
        float rot_quat[4];
        unsigned short firmware_revision;
        unsigned short hardware_revision;
        unsigned short packet_type;
        unsigned short magnetic_frequency;
        int enabled;
        int controller_index;
        unsigned char is_docked;
        unsigned char which_hand;
        unsigned char hemi_tracking_enabled;
    } sixenseControllerData;

    typedef struct _sixenseAllControllerData
    {
        sixenseControllerData controllers[4];
    } sixenseAllControllerData;

//------------------------------------------------------------------------------
#endif  // DOXYGEN_SHOULD_SKIP_THIS
//------------------------------------------------------------------------------


//------------------------------------------------------------------------------
class cSixenseDevice;
typedef std::shared_ptr<cSixenseDevice> cSixenseDevicePtr;
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================
class cSixenseDevice : public cGenericHapticDevice
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cSixenseDevice(unsigned int a_deviceNumber = 0);

    virtual ~cSixenseDevice();

    static cSixenseDevicePtr create(unsigned int a_deviceNumber = 0) { return (std::make_shared<cSixenseDevice>(a_deviceNumber)); }


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

 public:

    virtual bool open();

    virtual bool close();

    virtual bool calibrate(bool a_forceCalibration = false);

    virtual bool getPosition(cVector3d& a_position);

    virtual bool getRotation(cMatrix3d& a_rotation);

    virtual bool getGripperAngleRad(double& a_angle);

    virtual bool getUserSwitches(unsigned int& a_userSwitches); 


    //--------------------------------------------------------------------------
    // PUBLIC STATIC METHODS:
    //--------------------------------------------------------------------------

public: 

    static unsigned int getNumDevices();


    //--------------------------------------------------------------------------
    // PROTECTED METHODS - DEVICE LIBRARY INITIALIZATION:
    //--------------------------------------------------------------------------

protected:

    static bool openLibraries();

    static bool closeLibraries();


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS - DEVICE LIBRARIES:
    //--------------------------------------------------------------------------

protected:

    static bool s_allocationTable[C_MAX_DEVICES];

    static unsigned int s_libraryCounter;


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS - INTERNAL:
    //--------------------------------------------------------------------------
    
protected:

    static cPrecisionClock m_timeguard;

    static sixenseAllControllerData m_data;


    //--------------------------------------------------------------------------
    // PROTECTED METHODS - INTERNAL:
    //--------------------------------------------------------------------------

protected:

    bool updateData();
};

//------------------------------------------------------------------------------
} // namespace chai3ds
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif //_DISABLE_SIXENSE_DEVICE_SUPPORT
//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------