/* Copyright (c) 2014-2015, Stanislaw Halik * 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 #include "compat/timer.hpp" #include "api/plugin-support.hpp" #include "mappings.hpp" #include "compat/euler.hpp" #include "selected-libraries.hpp" #include "spline/spline.hpp" #include "main-settings.hpp" #include "options/options.hpp" #include "tracklogger.hpp" #include #include #include #include #include "export.hpp" namespace gui_tracker_impl { using Pose = Mat; struct bits { enum flags { f_center = 1 << 0, f_enabled = 1 << 1, f_zero = 1 << 2, f_tcomp_disabled = 1 << 3, f_should_quit = 1 << 4, }; std::atomic b; void set(flags flag_, bool val_); void negate(flags flag_); bool get(flags flag); bits(); }; class OTR_LOGIC_EXPORT Tracker : private QThread, private bits { Q_OBJECT private: using rmat = euler::rmat; using euler_t = euler::euler_t; QMutex mtx; main_settings s; Mappings& m; Timer t; Pose output_pose, raw_6dof, last_mapped, last_raw; Pose newpose; SelectedLibraries 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 camera; rmat rotation; state() : rot_center(rmat::eye()) {} }; state real_rotation, scaled_rotation; euler_t t_center; long 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; rmat camera_offset(double c); 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: Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger& logger); ~Tracker(); void raw_and_mapped_pose(double* mapped, double* raw) const; void start() { QThread::start(); } void center() { set(f_center, true); } void set_toggle(bool value) { set(f_enabled, value); } void set_zero(bool value) { set(f_zero, value); } void set_tcomp_disabled(bool x) { set(f_tcomp_disabled, x); } void zero() { negate(f_zero); } void toggle_enabled() { negate(f_enabled); } }; } // ns impl using gui_tracker_impl::Tracker;