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#ifndef FTNOIR_TRACKER_HAT_H
#define FTNOIR_TRACKER_HAT_H
#include "facetracknoir/global-settings.h"
#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ftnoir_tracker_hat_settings.h"
#include "ftnoir_arduino_type.h"
#include <QtSerialPort/QSerialPort>
#include <QThread>
#include <QTimer>
#include <QSettings>
#include <QMutex>
#include <QMutexLocker>
#include <cmath>
class FTNoIR_Tracker : public ITracker, QThread
{
public:
FTNoIR_Tracker();
virtual ~FTNoIR_Tracker() virt_override;
virtual void StartTracker( QFrame* frame ) virt_override;
virtual bool GiveHeadPoseData(double *data) virt_override;
void applysettings(const TrackerSettings& settings);
void notifyCenter();
void center();
void reset();
void sendcmd(QString* cmd);
void get_info(QString* info , int* tps );
protected:
void run(); // qthread override run method
private:
TArduinoData ArduinoData, HAT ; // Trame from Arduino
QByteArray datagram;
QSerialPort* SerialPort;
volatile bool stop;
QMutex lock;
QString sSerialPortName; // Port serial name
bool bEnableRoll;
bool bEnablePitch;
bool bEnableYaw;
bool bEnableX;
bool bEnableY;
bool bEnableZ;
bool bInvertRoll;
bool bInvertPitch;
bool bInvertYaw;
bool bInvertX;
bool bInvertY;
bool bInvertZ;
int iRollAxis;
int iPitchAxis;
int iYawAxis;
int iXAxis;
int iYAxis;
int iZAxis;
};
class FTNoIR_TrackerDll : public Metadata
{
public:
FTNoIR_TrackerDll();
~FTNoIR_TrackerDll();
void getFullName(QString *strToBeFilled);
void getShortName(QString *strToBeFilled);
void getDescription(QString *strToBeFilled);
void getIcon(QIcon *icon);
private:
QString trackerFullName; // Trackers' name and description
QString trackerShortName;
QString trackerDescription;
};
#endif // FTNOIR_TRACKER_HAT_H
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