DtPositionResponder.h

Go to the documentation of this file.

/*********************************************************************
** Copyright (c) 2023 MAK Technologies, Inc.
** All rights reserved.
*********************************************************************/


#pragma once

#include <vrvCigi/vrvCigi.h>
#include <vrvCore/DtUniqueID.h>

#include <vrvUtil/DtVirtualBaseClass.h>
#include <vrvUtil/DtSignalConnectionManager.h>

#include <matrix/vlVector.h> // need this for struct

#include <map>

#include <vrvUtil/signalslib.h>

class CigiBasePositionReq;
class CigiPositionReqV3;
class CigiPositionReqV4;

namespace makVrv
{
   class DtCigiConnection;
   class DtCigiEntityVisualizer;
   class DtDe;
   class DtChannelConfiguration;

   class DT_DLL_VRVCIGI DtPositionResponder
   {
   public:
      friend class DtPositionResponderCreator;

      enum UpdateMode
      {
         OneShot = 0,
         Continuous
      };

      enum ObjectClass
      {
         Entity = 0,
         ArticulatedPart,
         View,
         ViewGroup,
         MotionTracker
      };

      enum CoordinateClass
      {
         Geodetic = 0,
         ParentEntity,
         Submodel
      };

      struct DtPositionRequestData
      {
         DtUniqueID objectId;
         DtUniqueID parentId;
         DtUniqueID articulatedModelID;
         int cigiArtPartId;
         int disArtPartId;
         UpdateMode updateMode;
         ObjectClass objectClass;
         CoordinateClass coordClass;
      };

      struct DtPositionResponseData
      {
         DtUniqueID objectId;
         int artPartId;
         ObjectClass objectClass;
         CoordinateClass coordClass;
         DtVector position;
         float yaw;
         float pitch;
         float roll;
      };

      virtual ~DtPositionResponder();

      vrvSignalsLib::signal<void ( DtPositionRequestData* )> signal_positionCheckRequest;

      virtual void processContinuousPositionRequests();

      virtual void generatePositionResponse( DtPositionResponseData& responseDate );
   protected:
      
      DtPositionResponder( DtCigiConnection& connection );

      void processPositionRequest( CigiBasePositionReq& positionReq );

      void processPosReqV3( CigiPositionReqV3& posReq );

      void processPosReqV4( CigiPositionReqV4& posReq );

      virtual void sendPositionRequest( DtPositionRequestData& positionReq );

   private:
      DtPositionResponder& operator=( const DtPositionResponder& orig );

      DtPositionResponder( const DtPositionResponder& orig );

   protected:
      typedef std::pair<DtUniqueID, int> PositionDataId;
      typedef std::map<PositionDataId, DtPositionRequestData> PositionRequestsMap;
      PositionRequestsMap myPositionRequests;
      DtCigiConnection& myConnection;

      DtSignalConnectionManager myConnections;
   };

   class DT_DLL_VRVCIGI DtPositionResponderCreator : public DtVirtualBaseClass
   {
   public:
      DtPositionResponderCreator();

      virtual ~DtPositionResponderCreator();

      static DtPositionResponderCreator& instance( DtDe& de );

      static DtPositionResponderCreator& instance( DtCigiConnection& con );

      virtual DtPositionResponderCreator* clone();

      static void copyInstance( DtCigiConnection& con, DtDe& de );

      virtual DtPositionResponder* create( DtCigiConnection& connection ) const;
   protected:
   };

}