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/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
* 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 <vector>
#include "opentrack-compat/timer.hpp"
#include "plugin-support.hpp"
#include "mappings.hpp"
#include "simple-mat.hpp"
#include "selected-libraries.hpp"
#include "qfunctionconfigurator/functionconfig.h"
#include "main-settings.hpp"
#include "options.hpp"
#include <QMutex>
#include <QThread>
class Pose {
private:
static constexpr double pi = 3.141592653;
static constexpr double d2r = pi/180.0;
static constexpr double r2d = 180./pi;
double axes[6];
public:
Pose() : axes {0,0,0, 0,0,0} {}
inline operator double*() { return axes; }
inline operator const double*() const { return axes; }
inline double& operator()(int i) { return axes[i]; }
inline double operator()(int i) const { return axes[i]; }
};
class Tracker : private QThread {
Q_OBJECT
private:
QMutex mtx;
main_settings& s;
Mappings& m;
Timer t;
Pose output_pose, raw_6dof;
double newpose[6];
volatile bool centerp;
volatile bool enabledp;
volatile bool zero_;
volatile bool should_quit;
SelectedLibraries const& libs;
using rmat = dmat<3, 3>;
dmat<3, 3> r_b;
double t_b[3];
double map(double pos, Mapping& axis);
void logic();
void t_compensate(const dmat<3, 3>& rmat, const double* ypr, double* output, bool rz);
void run() override;
public:
Tracker(main_settings& s, Mappings& m, SelectedLibraries& libs);
~Tracker();
void get_raw_and_mapped_poses(double* mapped, double* raw) const;
void start() { QThread::start(); }
void toggle_enabled() { enabledp = !enabledp; }
void center() { centerp = !centerp; }
void zero() { zero_ = !zero_; }
};
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