/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift.h"
#include "facetracknoir/global-settings.h"
#include "OVR.h"
#include <cstdio>

using namespace OVR;

Rift_Tracker::Rift_Tracker()
{
    bEnableRoll = true;
    bEnablePitch = true;
    bEnableYaw = true;
#if 0
    bEnableX = true;
    bEnableY = true;
    bEnableZ = true;
#endif
    should_quit = false;
	pManager = NULL;
	pHMD = NULL;
	pSensor = NULL;
	pSFusion = NULL;
    old_yaw = 0;
}

Rift_Tracker::~Rift_Tracker()
{
    if (pSensor)
        pSensor->Release();
    if (pSFusion)
        delete pSFusion;
    if (pHMD)
        pHMD->Release();
    if (pManager)
        pManager->Release();
    System::Destroy();
}



void Rift_Tracker::StartTracker(QFrame*)
{
    loadSettings();
    //
    // Startup the Oculus SDK device handling, use the first Rift sensor we find.
    //
    System::Init(Log::ConfigureDefaultLog(LogMask_All));
    pManager = DeviceManager::Create();
    if (pManager != NULL)
    {
        DeviceEnumerator<HMDDevice> enumerator = pManager->EnumerateDevices<HMDDevice>();
        if (enumerator.IsAvailable())
        {
            pHMD = enumerator.CreateDevice();

            if (pHMD != NULL)
            {
                pSensor = pHMD->GetSensor();
            }else{
                QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
            }
        
            if (pSensor){
				pSFusion = new OVR::SensorFusion();
                pSFusion->Reset();
                pSFusion->AttachToSensor(pSensor);
            }else{
                QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to create Rift sensor",QMessageBox::Ok,QMessageBox::NoButton);
            }

        }else{
            QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
        }
    }else{
		QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to start Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
	}
}


bool Rift_Tracker::GiveHeadPoseData(double *data)
{
    if (pSFusion != NULL) {
        Quatf hmdOrient = pSFusion->GetOrientation();
        double newHeadPose[6];
        
        float yaw = 0.0f;
        float pitch = 0.0f;
        float roll = 0.0f;
        hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
        newHeadPose[Pitch] = pitch;
        newHeadPose[Roll] = roll;
        newHeadPose[Yaw] = yaw;
        if (useYawSpring)
        {
            newHeadPose[Yaw] = old_yaw*persistence + (yaw-old_yaw);
            if(newHeadPose[Yaw]>deadzone)newHeadPose[Yaw]-= constant_drift;
            if(newHeadPose[Yaw]<-deadzone)newHeadPose[Yaw]+= constant_drift;
            old_yaw=yaw;
        }
#if 0
        newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
        newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
        newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f;
        
        if (bEnableX) {
            data[TX] = newHeadPose[TX];
        }
        if (bEnableY) {
            data[TY] = newHeadPose[TY];
        }
        if (bEnableY) {
            data[TZ] = newHeadPose[TZ];
        }
#endif
        if (bEnableYaw) {
            data[Yaw] = newHeadPose[Yaw] * 57.295781f;
        }
        if (bEnablePitch) {
            data[Pitch] = newHeadPose[Pitch] * 57.295781f;
        }
        if (bEnableRoll) {
            data[Roll] = newHeadPose[Roll] * 57.295781f;
        }
    }
    return pHMD != NULL;
}


//
// Load the current Settings from the currently 'active' INI-file.
//
void Rift_Tracker::loadSettings() {

    qDebug() << "FTNoIR_Tracker::loadSettings says: Starting ";
    QSettings settings("opentrack");    // Registry settings (in HK_USER)

    QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
    QSettings iniFile( currentFile, QSettings::IniFormat );     // Application settings (in INI-file)

    qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile;

    iniFile.beginGroup ( "Rift" );
    bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
    bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
    bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
#if 0
    bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
    bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
    bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
#endif
    useYawSpring = iniFile.value("yaw-spring", false).toBool();
    constant_drift = iniFile.value("constant-drift", 0.000005).toDouble();
    persistence = iniFile.value("persistence", 0.99999).toDouble();
    deadzone = iniFile.value("deadzone", 0.02).toDouble();
    iniFile.endGroup ();
}


////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker object.

// Export both decorated and undecorated names.
//   GetTracker     - Undecorated name, which can be easily used with GetProcAddress
//                Win32 API function.
//   _GetTracker@0  - Common name decoration for __stdcall functions in C language.
//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
    return new Rift_Tracker;
}