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#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 "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 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;
event_handler& ev;
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 {
rmat inv_R = rmat::eye();
Pose_ T;
} 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 Pose& value, bool own_center_logic);
Pose apply_center(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, event_handler& ev, 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;
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