TrackerInterfaceC.cpp

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// Copyright 2014 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// Internal Includes
#include <osvr/PluginKit/TrackerInterfaceC.h>
#include <osvr/Connection/TrackerServerInterface.h>
#include <osvr/Connection/DeviceToken.h>
#include <osvr/Connection/DeviceInitObject.h>
#include <osvr/Connection/DeviceInterfaceBase.h>
#include <osvr/PluginHost/PluginSpecificRegistrationContext.h>
#include "HandleNullContext.h"
#include <osvr/Util/PointerWrapper.h>
#include "UseSendGuard.h"

// Library/third-party includes
// - none

// Standard includes
// - none

struct OSVR_TrackerDeviceInterfaceObject
    : public osvr::connection::DeviceInterfaceBase {
    osvr::util::PointerWrapper<osvr::connection::TrackerServerInterface>
        tracker;
};

OSVR_ReturnCode
osvrDeviceTrackerConfigure(OSVR_INOUT_PTR OSVR_DeviceInitOptions opts,
                           OSVR_OUT_PTR OSVR_TrackerDeviceInterface *iface) {
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT("osvrDeviceTrackerConfigure", opts);
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT("osvrDeviceTrackerConfigure", iface);
    OSVR_TrackerDeviceInterface ifaceObj =
        opts->makeInterfaceObject<OSVR_TrackerDeviceInterfaceObject>();
    *iface = ifaceObj;
    opts->setTracker(ifaceObj->tracker);
    return OSVR_RETURN_SUCCESS;
}

template <typename StateType>
static inline OSVR_ReturnCode
osvrTrackerSend(const char method[], OSVR_DeviceToken,
                OSVR_TrackerDeviceInterface iface, StateType const *val,
                OSVR_ChannelCount sensor, OSVR_TimeValue const *timestamp) {
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, iface);
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, timestamp);
    return useSendGuardVoid(
        iface, [&]() { iface->tracker->sendReport(*val, sensor, *timestamp); });
}

template <typename StateType>
static inline OSVR_ReturnCode
osvrTrackerSendVel(const char method[], OSVR_DeviceToken,
                   OSVR_TrackerDeviceInterface iface, StateType const *val,
                   OSVR_ChannelCount sensor, OSVR_TimeValue const *timestamp) {
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, iface);
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, timestamp);
    return useSendGuardVoid(iface, [&]() {
        iface->tracker->sendVelReport(*val, sensor, *timestamp);
    });
}

template <typename StateType>
static inline OSVR_ReturnCode
osvrTrackerSendAccel(const char method[], OSVR_DeviceToken,
                     OSVR_TrackerDeviceInterface iface, StateType const *val,
                     OSVR_ChannelCount sensor,
                     OSVR_TimeValue const *timestamp) {
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, iface);
    OSVR_PLUGIN_HANDLE_NULL_CONTEXT(method, timestamp);

    return useSendGuardVoid(iface, [&]() {
        iface->tracker->sendAccelReport(*val, sensor, *timestamp);
    });
}

OSVR_ReturnCode
osvrDeviceTrackerSendPose(OSVR_IN_PTR OSVR_DeviceToken dev,
                          OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
                          OSVR_IN_PTR OSVR_PoseState const *val,
                          OSVR_IN OSVR_ChannelCount sensor) {
    OSVR_TimeValue now;
    osvrTimeValueGetNow(&now);

    return osvrDeviceTrackerSendPoseTimestamped(dev, iface, val, sensor, &now);
}

OSVR_ReturnCode osvrDeviceTrackerSendPoseTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_PoseState const *val, OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSend("osvrDeviceTrackerSendPoseTimestamped", dev, iface,
                           val, sensor, timestamp);
}

OSVR_ReturnCode
osvrDeviceTrackerSendPosition(OSVR_IN_PTR OSVR_DeviceToken dev,
                              OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
                              OSVR_IN_PTR OSVR_PositionState const *val,
                              OSVR_IN OSVR_ChannelCount sensor) {
    OSVR_TimeValue now;
    osvrTimeValueGetNow(&now);

    return osvrDeviceTrackerSendPositionTimestamped(dev, iface, val, sensor,
                                                    &now);
}

OSVR_ReturnCode osvrDeviceTrackerSendPositionTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_PositionState const *val, OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSend("osvrDeviceTrackerSendPoseTimestamped", dev, iface,
                           val, sensor, timestamp);
}

OSVR_ReturnCode
osvrDeviceTrackerSendOrientation(OSVR_IN_PTR OSVR_DeviceToken dev,
                                 OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
                                 OSVR_IN_PTR OSVR_OrientationState const *val,
                                 OSVR_IN OSVR_ChannelCount sensor) {
    OSVR_TimeValue now;
    osvrTimeValueGetNow(&now);

    return osvrDeviceTrackerSendOrientationTimestamped(dev, iface, val, sensor,
                                                       &now);
}

OSVR_ReturnCode osvrDeviceTrackerSendOrientationTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_OrientationState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSend("osvrDeviceTrackerSendPoseTimestamped", dev, iface,
                           val, sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendVelocityTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_VelocityState const *val, OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendVel("osvrDeviceTrackerSendVelocityTimestamped", dev,
                              iface, val, sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendLinearVelocityTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_LinearVelocityState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendVel("osvrDeviceTrackerSendLinearVelocityTimestamped",
                              dev, iface, val, sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendAngularVelocityTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_AngularVelocityState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendVel("osvrDeviceTrackerSendAngularVelocityTimestamped",
                              dev, iface, val, sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendAccelerationTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_AccelerationState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendAccel("osvrDeviceTrackerSendAccelerationTimestamped",
                                dev, iface, val, sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendLinearAccelerationTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_LinearAccelerationState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendAccel(
        "osvrDeviceTrackerSendLinearAccelerationTimestamped", dev, iface, val,
        sensor, timestamp);
}

OSVR_ReturnCode osvrDeviceTrackerSendAngularAccelerationTimestamped(
    OSVR_IN_PTR OSVR_DeviceToken dev,
    OSVR_IN_PTR OSVR_TrackerDeviceInterface iface,
    OSVR_IN_PTR OSVR_AngularAccelerationState const *val,
    OSVR_IN OSVR_ChannelCount sensor,
    OSVR_IN_PTR OSVR_TimeValue const *timestamp) {
    return osvrTrackerSendAccel(
        "osvrDeviceTrackerSendAngularAccelerationTimestamped", dev, iface, val,
        sensor, timestamp);
}