NimbleScaffold.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H
17 #define SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H
18 
19 #include <memory>
20 
24 
25 namespace SurgSim
26 {
27 namespace Devices
28 {
29 
30 class NimbleDevice;
31 class NimbleThread;
32 
37 {
38 public:
41 
45  static std::shared_ptr<NimbleScaffold> getOrCreateSharedInstance();
46 
47 protected:
48  bool doInitialize() override;
49  bool doStartUp() override;
50  bool doUpdate(double dt) override;
51  void doBeforeStop() override;
52 
53 private:
55  struct StateData;
56 
57  friend class NimbleDevice;
58  friend class NimbleThread;
59 
62 
67  bool registerDevice(NimbleDevice* device);
68 
72  bool unregisterDevice(const NimbleDevice* device);
73 
75  void updateDeviceData();
76 
78  void resetDeviceData();
79 
82 
84  std::shared_ptr<SurgSim::Framework::Logger> m_logger;
86  std::unique_ptr<StateData> m_state;
87 
94 
96  static std::array<std::pair<std::string, int>, 15> m_jointPoseNames;
97 };
98 
99 }; // namespace Devices
100 }; // namespace SurgSim
101 
102 #endif // SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H
SurgSim::Devices::NimbleScaffold::unregisterDevice
bool unregisterDevice(const NimbleDevice *device)
Unregisters the specified device object.
Definition: NimbleScaffold.cpp:337
SurgSim::Devices::NimbleScaffold::getOrCreateSharedInstance
static std::shared_ptr< NimbleScaffold > getOrCreateSharedInstance()
Gets or creates the scaffold shared by all NimbleDevice instances.
Definition: NimbleScaffold.cpp:482
SurgSim::Devices::NimbleScaffold::doBeforeStop
void doBeforeStop() override
Prepares the thread for its execution to be stopped.
Definition: NimbleScaffold.cpp:427
SurgSim::Devices::NimbleScaffold::NimbleScaffold
NimbleScaffold()
Constructor.
Definition: NimbleScaffold.cpp:279
SurgSim::Devices::NimbleScaffold::resetDeviceData
void resetDeviceData()
Reset the device data.
Definition: NimbleScaffold.cpp:460
SurgSim::Devices::NimbleScaffold::NimbleThread
friend class NimbleThread
Definition: NimbleScaffold.h:58
SurgSim::Devices::NimbleScaffold::doUpdate
bool doUpdate(double dt) override
Implementation of actual work function for this thread, this has a default implementation to handle d...
Definition: NimbleScaffold.cpp:389
SurgSim::Devices::NimbleScaffold::m_logger
std::shared_ptr< SurgSim::Framework::Logger > m_logger
Logger used by the scaffold and all devices.
Definition: NimbleScaffold.h:84
SurgSim::Devices::NimbleDevice
A class implementing the communication with the Nimble server.
Definition: NimbleDevice.h:58
SurgSim::Devices::NimbleScaffold::doInitialize
bool doInitialize() override
Definition: NimbleScaffold.cpp:367
SurgSim::Devices::NimbleScaffold::doStartUp
bool doStartUp() override
Definition: NimbleScaffold.cpp:384
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Devices::NimbleScaffold::buildDeviceInputData
static SurgSim::DataStructures::DataGroup buildDeviceInputData()
Builds the data layout for the application input (i.e. device output).
Definition: NimbleScaffold.cpp:471
SurgSim::Devices::NimbleScaffold
A class that manages Nimble devices.
Definition: NimbleScaffold.h:37
SurgSim::DataStructures::DataGroup
A collection of NamedData objects.
Definition: DataGroup.h:69
SurgSim::Devices::NimbleScaffold::m_jointPoseNames
static std::array< std::pair< std::string, int >, 15 > m_jointPoseNames
The data group name for the joint poses, and the corresponding indices within the state data.
Definition: NimbleScaffold.h:96
SurgSim::Devices::NimbleScaffold::m_serverIpAddress
std::string m_serverIpAddress
The IP address of the Nimble hand tracking server.
Definition: NimbleScaffold.h:89
SurgSim::Devices::NimbleScaffold::StateData
Definition: NimbleScaffold.cpp:254
Logger.h
SurgSim::Framework::BasicThread
Basic thread implementation, tries to maintain a constant rate, supplies startup an initialization,...
Definition: BasicThread.h:49
SurgSim::Devices::NimbleScaffold::~NimbleScaffold
~NimbleScaffold()
Destructor.
Definition: NimbleScaffold.cpp:288
SurgSim::Devices::NimbleScaffold::m_state
std::unique_ptr< StateData > m_state
Internal scaffold state.
Definition: NimbleScaffold.h:86
BasicThread.h
DataGroup.h
SurgSim::Devices::NimbleScaffold::registerDevice
bool registerDevice(NimbleDevice *device)
Registers the specified device object.
Definition: NimbleScaffold.cpp:302
string
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
SurgSim::Devices::NimbleScaffold::updateDeviceData
void updateDeviceData()
Update the devices based on the data read from the Nimble server.
Definition: NimbleScaffold.cpp:442
SurgSim::Devices::NimbleScaffold::m_serverSocketOpen
bool m_serverSocketOpen
Flag to indicate that the socket is opened successfully.
Definition: NimbleScaffold.h:93
SurgSim::Devices::NimbleScaffold::m_serverPort
std::string m_serverPort
The port where the server is communicating.
Definition: NimbleScaffold.h:91