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#ifndef _LSPOSER_H
#define _LSPOSER_H
#include "survive_types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum PoserType_t {
POSERDATA_NONE = 0,
POSERDATA_IMU,
POSERDATA_LIGHT, // Single lighting event.
POSERDATA_FULL_SCENE, // Full, statified X, Y sweep data for both lighthouses.
POSERDATA_DISASSOCIATE, // If you get this, it doesn't contain data. It just tells you to please disassociate from
// the current SurviveObject and delete your poserdata.
POSERDATA_SYNC, // Sync pulse.
} PoserType;
typedef void (*poser_pose_func)(SurviveObject *so, uint32_t lighthouse, SurvivePose *pose, void *user);
typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *lighthouse_pose,
SurvivePose *object_pose, void *user);
typedef struct
{
PoserType pt;
poser_pose_func poseproc;
poser_lighthouse_pose_func lighthouseposeproc;
void *userdata;
} PoserData;
/**
* Meant to be used by individual posers to report back their findings on the pose of an object back to the invoker of
* the call.
*
* @param poser_data the data pointer passed into the poser function invocation
* @param so The survive object which we are giving a solution for.
* @param lighthouse @deprecated The lighthouse which observed that position. Make it -1 if it was a combination of
* lighthouses. Will be removed in the future.
* @param pose The actual object pose. This is in world space, not in LH space. It must represent a transformation from
* object space of the SO to global space.
*/
void PoserData_poser_pose_func(PoserData *poser_data, SurviveObject *so, SurvivePose *pose);
/**
* Meant to be used by individual posers to report back their findings on the pose of a lighthouse.
*
* Note that you are free to assume the position of the lighthouse and solve for the object or vice versa. Most solvers
* assume that the object is at 0,0,0 but this isn't a hard requirement.
*
* @param poser_data the data pointer passed into the poser function invocation
* @param so The survive object which gave us the info for the solution
* @param lighthouse The lighthouse which to solve for
* @param objUp2world For use when solving for both ligthhouse positions. For the first invocation of this function,
* pass in a zero-inited SurvivePose. This function will set that to a relative transform to normalize the space.
* pass the same pose in again for the second lighthouse to get accurate results.
* @param lighthouse_pose This is the assumed or derived position of the given lighthouse.
* @param object_pose This is the assumed or derived position of the tracked object.
*/
void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse,
/* OUTPARAM */ SurvivePose *objUp2world, SurvivePose *lighthouse_pose,
SurvivePose *object_pose);
typedef struct PoserDataIMU {
PoserData hdr;
uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present.
FLT accel[3];
FLT gyro[3];
FLT mag[3];
uint32_t timecode; //In object-local ticks.
} PoserDataIMU;
typedef struct PoserDataLight {
PoserData hdr;
int sensor_id;
int acode; //OOTX Code associated with this sweep. bit 1 indicates vertical(1) or horizontal(0) sweep
int lh; //Lighthouse making this sweep
uint32_t timecode; //In object-local ticks.
FLT length; //In seconds
FLT angle; //In radians from center of lighthouse.
} PoserDataLight;
typedef struct
{
PoserData hdr;
//If "lengths[...]" < 0, means not a valid piece of sweep information.
FLT lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
FLT angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; //2 Axes (Angles in LH space)
PoserDataIMU lastimu;
} PoserDataFullScene;
//When you write your posers, use the following definition, and register with REGISTER_LINKTIME.
typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
#ifdef __cplusplus
};
#endif
#endif
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