mts3Dconnexion.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  $Id: mts3Dconnexion.h 3243 2011-12-10 02:43:59Z adeguet1 $

  Author(s):  Marcin Balicki, Anton Deguet
  Created on: 2008-04-12

  (C) Copyright 2008-2012 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _mts3Dconnexion_h
#define _mts3Dconnexion_h

#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstMultiTask/mtsVector.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <saw3Dconnexion/saw3DconnexionExport.h>  // always include last


class mts3DconnexionData;  // class containing OS specific data


class CISST_EXPORT mts3Dconnexion: public mtsTaskPeriodic
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);

    // platform "friendly" message handler for Cocoa events on Mac
    friend void mts3DconnexionInternalMessageHandler(mts3Dconnexion * instance, const vctDynamicVector<double> & axis, const vctDynamicVector<bool> & buttons);

 public:
    mts3Dconnexion(const std::string & taskName, double period) :
        mtsTaskPeriodic(taskName, period, false, 500) {}
    mts3Dconnexion(const mtsTaskPeriodicConstructorArg & arg) :
        mtsTaskPeriodic(arg) {}

    ~mts3Dconnexion(void) {}

    void Configure(const std::string & CMN_UNUSED(configurationName) = "");
    void Startup(void);
    void Run(void);
    void Cleanup(void);

    void ReBias(void) {
        CMN_LOG_CLASS_RUN_ERROR << "ReBias not implemented" << std::endl;
    }

 protected:
    void UpdateDataTable(void);

    mtsStateTable * DataTable;  // store data in separate state table
    mtsDoubleVec Axis;
    mtsBoolVec Buttons;
    mtsBoolVec Mask;
    mtsDouble Gain;
    prmPositionCartesianGet Position;
    mtsBool IsConnected;

    mts3DconnexionData * Data;
    std::string ConfigurationName;  // this is the name used to load the configuration settings from the 3dCon application
    vct3 Translation;
    vct3 Orientation;
};

CMN_DECLARE_SERVICES_INSTANTIATION(mts3Dconnexion);

#endif  // _mts3Dconnexion_h