CatIPSI.h

// CatIPSI.h

#pragma once

#include "CatTrimesh.h"
#include "CatUtil.h"
#include <string>
#include <map>

namespace Catch {


    typedef void (*CatIPSIButtonStateChangeCallback)(int nextState);
    typedef std::map<std::string, int> strint_map;

    class CatIPSI 
    {
    public:
        #pragma region Public Methods

        CatIPSI(std::string IPAddr);

        ~CatIPSI();

        CAT_RESULT init(int maxNumObjects, double simTimeStep, double resolution);

        CAT_RESULT addTriMesh( CatTrimesh &tri);

        CAT_RESULT startSimulation();

        CAT_RESULT setButtonStateChangeCallback(CatIPSIButtonStateChangeCallback callback);

        CAT_RESULT pollBodyTransformation(std::string oid, double *object_location);

        CAT_RESULT pollDeviceTransformation(double *device_transformation);

        CAT_RESULT attachDevice(std::string oid);

        CAT_RESULT detachDevice();

        #pragma endregion
        
    private:
        #pragma region Private Variables

        unsigned int             _selectedBodyId;
        CatIPSIButtonStateChangeCallback _buttonStateChangeCallback;
        std::string  _ipAddress;
        strint_map   _jtk_ipsi_id_pair;
        int          _numButtons;
        int          _prevButtonState;
        bool         _deviceSensitivityConfigured;

        #pragma endregion

        #pragma region Private Methods

        void pollButton();

        #pragma endregion
    };
}