imstkVRPNDeviceManager.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkDeviceManager.h"
#include "imstkDeviceClient.h"

#include <map>

//VRPN
#include <vrpn_Connection.h>
#include <vrpn_MainloopContainer.h>

#include "quat.h"

namespace imstk
{
class VRPNDeviceClient;

using VRPNDeviceType = int;
const VRPNDeviceType VRPNAnalog  = 0x1;
const VRPNDeviceType VRPNButton  = 0x2;
const VRPNDeviceType VRPNTracker = 0x4;
const VRPNDeviceType VRPNForce   = 0x8;

class VRPNDeviceManager : public DeviceManager
{
public:

    VRPNDeviceManager(const std::string& machine = "localhost", int port = vrpn_DEFAULT_LISTEN_PORT_NO);

    ~VRPNDeviceManager() override = default;

    IMSTK_TYPE_NAME(VRPNDeviceManager)

    void addDeviceClient(std::shared_ptr<VRPNDeviceClient> client);

    std::shared_ptr<DeviceClient> makeDeviceClient(const std::string& deviceName, VRPNDeviceType deviceType);
    std::shared_ptr<DeviceClient> makeDeviceClient(const std::string deviceName) override;

protected:
    bool initModule() override;

    void updateModule() override;

    void uninitModule() override;

private:

    const std::string m_machine = "localhost";                                       
    const int m_port = vrpn_DEFAULT_LISTEN_PORT_NO;                                  

    struct Client
    {
        std::shared_ptr<VRPNDeviceClient> client;
        VRPNDeviceType type;
    };

    std::map<VRPNDeviceType, std::vector<std::shared_ptr<VRPNDeviceClient>>> m_deviceMap; 
    std::unique_ptr<vrpn_MainloopContainer> m_deviceConnections;                          
};
} // imstk