1 files changed, 142 insertions, 0 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
new file mode 100644
index 00000000..a539525d
--- /dev/null
+++ b/logic/pipeline.hpp
@@ -0,0 +1,142 @@
+#pragma once
+
+#include <vector>
+
+#include "compat/timer.hpp"
+#include "api/plugin-support.hpp"
+#include "mappings.hpp"
+#include "compat/euler.hpp"
+#include "compat/enum-operators.hpp"
+#include "runtime-libraries.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 <QQuaternion>
+
+#include "export.hpp"
+
+namespace pipeline_impl {
+
+using namespace euler;
+using namespace time_units;
+
+using vec6_bool = Mat<bool, 6, 1>;
+using vec3_bool = Mat<bool, 6, 1>;
+
+class reltrans
+{
+    Pose_ interp_pos;
+    Timer interp_timer;
+
+    // this implements smooth transition into reltrans mode
+    // once not aiming anymore. see `apply_pipeline()'.
+    Timer interp_phase_timer;
+    unsigned RC_stage = 0;
+
+    bool moving_to_reltans = false;
+    bool in_zone = false;
+
+public:
+    reltrans();
+
+    void on_center();
+
+    Pose_ rotate(const rmat& rmat, const Pose_& in, vec3_bool disable) const;
+    Pose_ apply_neck(const rmat& R, int nz, bool disable_tz) const;
+    Pose apply_pipeline(reltrans_state state, const Pose& value,
+                        const vec6_bool& disable, bool neck_enable, int neck_z);
+};
+
+enum bit_flags : unsigned {
+    f_none           = 0,
+    f_center         = 1 << 0,
+    f_held_center    = 1 << 1,
+    f_enabled_h      = 1 << 2,
+    f_enabled_p      = 1 << 3,
+    f_zero           = 1 << 4,
+};
+
+struct OTR_LOGIC_EXPORT bits
+{
+    bit_flags flags{0};
+    QMutex lock;
+
+    void set(bit_flags flag, bool val);
+    void negate(bit_flags flag);
+    bool get(bit_flags flag);
+    bits();
+};
+
+DEFINE_ENUM_OPERATORS(bit_flags);
+
+class OTR_LOGIC_EXPORT pipeline : private QThread
+{
+    Q_OBJECT
+
+    mutable QMutex mtx;
+    main_settings s;
+    const Mappings& m;
+
+    Timer t;
+    Pose output_pose, raw_6dof, last_value;
+
+    Pose newpose;
+    runtime_libraries const& libs;
+    // The owner of the reference is the main window.
+    // This design might be useful if we decide later on to swap out
+    // the logger while the tracker is running.
+    TrackLogger& logger;
+
+    reltrans rel;
+
+    struct {
+		Pose P;
+		QQuaternion QC = QQuaternion(1,0,0,0);
+		QQuaternion QR = QQuaternion(1,0,0,0);
+    } center;
+
+    time_units::ms backlog_time {};
+
+    bool tracking_started = false;
+
+    static double map(double pos, const Map& axis);
+    void logic();
+    void run() override;
+    bool maybe_enable_center_on_tracking_started();
+    void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic);
+    Pose apply_center(const centering_state mode, Pose value) const;
+    std::tuple<Pose, Pose, vec6_bool> get_selected_axis_values(const Pose& newpose) const;
+    Pose maybe_apply_filter(const Pose& value) const;
+    Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp);
+    Pose apply_zero_pos(Pose value) const;
+
+    void set_center(bool x);
+
+    bits b;
+
+public:
+    pipeline(const Mappings& m, const runtime_libraries& libs, TrackLogger& logger);
+    ~pipeline() override;
+
+    void raw_and_mapped_pose(double* mapped, double* raw) const;
+    void start() { QThread::start(QThread::HighPriority); }
+
+    void toggle_zero();
+    void toggle_enabled();
+
+    void set_held_center(bool value);
+    void set_enabled(bool value);
+    void set_zero(bool value);
+};
+
+} // ns pipeline_impl
+
+using pipeline = pipeline_impl::pipeline;