1 files changed, 118 insertions, 0 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
new file mode 100644
index 00000000..58900d34
--- /dev/null
+++ b/logic/pipeline.hpp
@@ -0,0 +1,118 @@
+/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
+
+ * Permission to use, copy, modify, and/or distribute this
+ * software for any purpose with or without fee is hereby granted,
+ * provided that the above copyright notice and this permission
+ * notice appear in all copies.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "compat/timer.hpp"
+#include "api/plugin-support.hpp"
+#include "mappings.hpp"
+#include "compat/euler.hpp"
+#include "runtime-libraries.hpp"
+#include "extensions.hpp"
+
+#include "spline/spline.hpp"
+#include "main-settings.hpp"
+#include "options/options.hpp"
+#include "tracklogger.hpp"
+
+#include <QMutex>
+#include <QThread>
+
+#include <atomic>
+#include <cmath>
+
+#include "export.hpp"
+
+namespace gui_tracker_impl {
+
+struct OTR_LOGIC_EXPORT bits
+{
+    enum flags : unsigned {
+        f_center         = 1 << 0,
+        f_enabled_h      = 1 << 1,
+        f_enabled_p      = 1 << 2,
+        f_zero           = 1 << 3,
+    };
+
+    std::atomic<unsigned> b;
+
+    void set(flags flag_, bool val_);
+    void negate(flags flag_);
+    bool get(flags flag);
+    bits();
+};
+
+class OTR_LOGIC_EXPORT pipeline : private QThread, private bits
+{
+    Q_OBJECT
+private:
+    using rmat = euler::rmat;
+    using euler_t = euler::euler_t;
+
+    QMutex mtx;
+    main_settings s;
+    Mappings& m;
+    event_handler& ev;
+
+    Timer t;
+    Pose output_pose, raw_6dof, last_mapped, last_raw;
+
+    Pose newpose;
+    runtime_libraries const& libs;
+    // The owner of the reference is the main window.
+    // This design might be usefull if we decide later on to swap out
+    // the logger while the tracker is running.
+    TrackLogger& logger;
+
+    struct state
+    {
+        rmat rot_center;
+        rmat rotation;
+
+        state() : rot_center(rmat::eye())
+        {}
+    };
+
+    state real_rotation, scaled_rotation;
+    euler_t t_center;
+
+    time_units::ns backlog_time;
+
+    bool tracking_started;
+
+    double map(double pos, Map& axis);
+    void logic();
+    void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output,
+                      bool disable_tx, bool disable_ty, bool disable_tz);
+    void run() override;
+
+    static constexpr double r2d = 180. / M_PI;
+    static constexpr double d2r = M_PI / 180.;
+
+    // note: float exponent base is 2
+    static constexpr double c_mult = 16;
+    static constexpr double c_div = 1./c_mult;
+public:
+    pipeline(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger);
+    ~pipeline();
+
+    void raw_and_mapped_pose(double* mapped, double* raw) const;
+    void start() { QThread::start(QThread::HighPriority); }
+
+    void center();
+    void set_toggle(bool value);
+    void set_zero(bool value);
+    void zero();
+    void toggle_enabled();
+};
+
+} // ns impl
+
+using gui_tracker_impl::pipeline;