CareTaker.hpp

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#pragma once
 
#include <cstddef>
#include <thread>
#include <mutex>
#include <atomic>
#include <memory>
#include <map>
#include <set>
#include <chrono>
#include <functional>
 
#include "HermesCallbackTypes.hpp"
 
#include "grpc++/grpc++.h"
#include "protodefinitions/Devices.pb.h"
#include "protodefinitions/Hermes.pb.h"
#include "protodefinitions/Pipeline.pb.h"
#include "protodefinitions/Landscape.pb.h"
#include "protodefinitions/Session.pb.h"
#include "protodefinitions/ParameterSet.pb.h"
#include "protodefinitions/Hermes.grpc.pb.h"
 
namespace zmq
{
    class context_t;
    class socket_t;
};
 
namespace HermesSDK
{
    class CareTaker
    {
        std::atomic<bool>   m_isRunning;
 
        void DeviceDataSubscriberThreadFunction();
        void DeviceLandscapeSubscriberThreadFunction();
        void HeartbeatThreadFunction();
 
        bool Login();
        bool Logout();
        uint32_t Heartbeat();
 
        bool                        initHapticsSocket();
 
        static std::vector<uint8_t> Decompress(const std::vector<uint8_t>& in);
        static size_t LzfDecompress( const std::vector<uint8_t> &in, std::vector<uint8_t> &out );
 
        std::shared_ptr<grpc::Channel>  m_Channel;
        std::unique_ptr<Hermes::Protocol::Hermes::Stub> m_Stub;
 
        const std::string   m_clientName;
        const std::string   m_clientDescription;
 
        Hermes::Protocol::Session   m_Session;
        Hermes::Protocol::Pipeline  m_Pipeline;
        Hermes::Protocol::ServiceRoute m_Coordinator;
 
        std::unique_ptr<std::thread>    m_deviceDataThread;
        std::unique_ptr<std::thread>    m_deviceLandscapeThread;
        std::unique_ptr<std::thread>    m_heartbeatThread;
 
        deviceDataCallback &m_dataCallback;
        deviceLandscapeCallback &m_landscapeCallback;
        filterSetupCallback &m_filterPipelineCallback;
        errorMessageCallback &m_errorCallback;
 
        public:
 
        CareTaker( const std::string &clientName,
            const std::string &clientInfo,
            filterSetupCallback &_onFilterSetup,
            deviceDataCallback &_onDeviceData,
            deviceLandscapeCallback &_onDeviceLandscape,
            errorMessageCallback &onError);
        ~CareTaker();
 
        void Connect(const Hermes::Protocol::ServiceRoute& _coordinatorRoute);
        void Stop();
 
        bool                        Rumble(uint32_t deviceId, float unitStrength, uint16_t durationInMilliseconds );
        bool                        SendHapticData(uint32_t _dongleId, Hermes::Protocol::HandType _handType, const std::array<float, 5>& _powers);
        bool                        GetFilterInventory( Hermes::Protocol::FilterInventory &inventory ) const;
        Hermes::Protocol::Pipeline *GetActivePipeline();
        bool                        SetPipeline( Hermes::Protocol::Pipeline *pipeline );
        bool                        IsRunning();
    };
}