Varjo_plugin.h

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// Copyright 2019 Varjo Technologies Oy. All rights reserved.

#ifndef VARJO_PLUGIN_H
#define VARJO_PLUGIN_H

#include "Varjo_export.h"
#include "Varjo_types.h"
#include "Varjo_version.h"

#if defined __cplusplus
extern "C" {
#endif  // __cplusplus

#if defined(_WIN32)
#define VARJO_FNTABLE_CALLTYPE __cdecl
#else
#define VARJO_FNTABLE_CALLTYPE
#endif

// ----------------------------------------------------------------------------
// API types

typedef uint64_t varjo_PluginType;
static const varjo_PluginType varjo_PluginType_HMD_Tracker = 0x01;  
// static const varjo_PluginType varjo_PluginType_InputDevice = 0x02;

// ----------------------------------------------------------------------------
// Plugin API

VARJO_API varjo_PluginType varjo_GetPluginType();

VARJO_API uint64_t varjo_GetPluginAPIVersion();

VARJO_API const char* varjo_GetPluginName();

typedef int64_t varjo_PluginStatus;
static const varjo_PluginStatus varjo_PluginStatus_OK = 0;  

VARJO_API const char* varjo_GetPluginStatusDescription(varjo_PluginStatus pluginStatus);

typedef struct varjo_ConfigurationKeyIterator_t* varjo_ConfigurationKeyIterator;

typedef struct varjo_PluginUtilitySession_t* varjo_PluginUtilitySession;

typedef struct varjo_Matrix3x3 {
    double value[9];
} varjo_Matrix3x3;

typedef struct varjo_Matrix4x4 {
    double value[16];
} varjo_Matrix4x4;

typedef uint64_t varjo_IMUCapability;
static const varjo_IMUCapability varjo_IMUCapability_Acceleration = 0x01;     
static const varjo_IMUCapability varjo_IMUCapability_AngularVelocity = 0x02;  
static const varjo_IMUCapability varjo_IMUCapability_Attitude = 0x04;         

typedef uint64_t varjo_IMUDataOffscale;
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AccelerationX = 0x001;     
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AccelerationY = 0x002;     
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AccelerationZ = 0x004;     
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AngularVelocityX = 0x008;  
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AngularVelocityY = 0x010;  
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AngularVelocityZ = 0x020;  
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AttitudeX = 0x040;         
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AttitudeY = 0x080;         
static const varjo_IMUDataOffscale varjo_IMUDataOffscale_AttitudeZ = 0x100;         

typedef uint64_t varjo_IMUDataInvalid;
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AccelerationX = 0x001;     
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AccelerationY = 0x002;     
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AccelerationZ = 0x004;     
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AngularVelocityX = 0x008;  
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AngularVelocityY = 0x010;  
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AngularVelocityZ = 0x020;  
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AttitudeX = 0x040;         
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AttitudeY = 0x080;         
static const varjo_IMUDataInvalid varjo_IMUDataInvalid_AttitudeZ = 0x100;         


typedef int64_t varjo_IMUComponent;
static const varjo_IMUComponent varjo_IMUComponent_Accelerometer = 1;  
static const varjo_IMUComponent varjo_IMUComponent_Gyro = 2;           
static const varjo_IMUComponent varjo_IMUComponent_Magnetometer = 3;   

typedef struct varjo_IMUComponentCalibrationInfo {
    varjo_Matrix3x3 scale;  
    varjo_Vector3D bias;    
} varjo_IMUDeviceCalibrationInfo;

typedef struct varjo_ImuSample {
    varjo_Nanoseconds timeStamp;          
    varjo_Vector3D acceleration;          
    varjo_Vector3D angularVelocity;       
    varjo_Vector3D attitude;              
    varjo_IMUDataOffscale offscaleFlags;  
    varjo_IMUDataInvalid validityFlags;   
} varjo_ImuSample;

typedef int64_t varjo_PluginSystemState;
static const varjo_PluginSystemState varjo_PluginSystemState_OK = 0;       
static const varjo_PluginSystemState varjo_PluginSystemState_Warning = 1;  
static const varjo_PluginSystemState varjo_PluginSystemState_CriticalError = 2;  

typedef struct varjo_PluginUtilityAPI {
    typedef const char*(VARJO_FNTABLE_CALLTYPE* GetProductId_t)(  //
        varjo_PluginUtilitySession session);

    GetProductId_t GetProductId;

    typedef varjo_IMUCapability(VARJO_FNTABLE_CALLTYPE* GetIMUCapabilities_t)(  //
        varjo_PluginUtilitySession session);

    GetIMUCapabilities_t GetIMUCapabilities;

    typedef varjo_Matrix4x4(VARJO_FNTABLE_CALLTYPE* GetIMUToHMDTransform_t)(  //
        varjo_PluginUtilitySession session);

    GetIMUToHMDTransform_t GetIMUToHMDTransform;

    typedef void(VARJO_FNTABLE_CALLTYPE* GetIMUComponentCalibration_t)(  //
        varjo_PluginUtilitySession session,                              //
        varjo_IMUComponent component,                                    //
        varjo_IMUComponentCalibrationInfo* calibrationInfo);

    GetIMUComponentCalibration_t GetIMUComponentCalibration;

    typedef int32_t(VARJO_FNTABLE_CALLTYPE* ReadIMUSamples_t)(  //
        varjo_PluginUtilitySession session,                     //
        varjo_ImuSample* samples, int32_t sampleCount);

    ReadIMUSamples_t ReadIMUSamples;

    typedef varjo_Bool(VARJO_FNTABLE_CALLTYPE* SyncConfiguration_t)(  //
        varjo_PluginUtilitySession session);

    SyncConfiguration_t SyncConfiguration;

    typedef const char*(VARJO_FNTABLE_CALLTYPE* EnumConfigurationKeys_t)(  //
        varjo_PluginUtilitySession session,                                //
        varjo_ConfigurationKeyIterator* handle);

    EnumConfigurationKeys_t EnumConfigurationKeys;

    typedef void(VARJO_FNTABLE_CALLTYPE* SetConfigurationString_t)(  //
        varjo_PluginUtilitySession session,                          //
        const char* key, const char* value);

    SetConfigurationString_t SetConfigurationString;

    typedef int32_t(VARJO_FNTABLE_CALLTYPE* GetConfigurationString_t)(  //
        varjo_PluginUtilitySession session,                             //
        const char* key, char* value, int32_t valueLength);

    GetConfigurationString_t GetConfigurationString;


    typedef varjo_Nanoseconds(VARJO_FNTABLE_CALLTYPE* GetCurrentSystemTime_t)(  //
        varjo_PluginUtilitySession session);

    GetCurrentSystemTime_t GetCurrentSystemTime;

    typedef void(VARJO_FNTABLE_CALLTYPE* WriteLogMessage_t)(  //
        varjo_PluginUtilitySession session,                   //
        const char* message);

    WriteLogMessage_t WriteLogMessage;

    typedef void(VARJO_FNTABLE_CALLTYPE* SetPluginSystemState_t)(  //
        varjo_PluginUtilitySession session,                        //
        varjo_PluginSystemState state,                             //
        const char* message);

    SetPluginSystemState_t SetPluginSystemState;

} varjo_PluginUtilityAPI;

typedef struct varjo_PluginContext_t* varjo_PluginContext;

VARJO_API varjo_PluginStatus varjo_PluginInit(        //
    const varjo_PluginUtilityAPI* pluginUtilityAPI,   //
    varjo_PluginUtilitySession pluginUtilitySession,  //
    varjo_PluginContext* context);

VARJO_API varjo_PluginStatus varjo_PluginShutdown(varjo_PluginContext* context);

// ----------------------------------------------------------------------------
// Tracker Plugin API types

typedef uint64_t varjo_PoseFlags;
static const varjo_PoseFlags varjo_PoseFlags_Ok = 0x1;                    
static const varjo_PoseFlags varjo_PoseFlags_TrackingLost = 0x2;          
static const varjo_PoseFlags varjo_PoseFlags_TrackingDisconnected = 0x4;  
static const varjo_PoseFlags varjo_PoseFlags_HasPosition = 0x08;          
static const varjo_PoseFlags varjo_PoseFlags_HasRotation = 0x10;          
static const varjo_PoseFlags varjo_PoseFlags_HasVelocity = 0x20;          
static const varjo_PoseFlags varjo_PoseFlags_HasAngularVelocity = 0x40;   
static const varjo_PoseFlags varjo_PoseFlags_HasAcceleration = 0x80;      
static const varjo_PoseFlags varjo_PoseFlags_HasConfidence = 0x100;       

typedef struct varjo_Quaternion {
    double w;  
    double x;  
    double y;  
    double z;  
} varjo_Quaternion;

typedef struct varjo_DevicePose {
    varjo_Nanoseconds timeStamp;     
    int64_t frameNo;                 
    varjo_Vector3D position;         
    varjo_Quaternion rotation;       
    varjo_Vector3D velocity;         
    varjo_Vector3D angularVelocity;  
    varjo_Vector3D acceleration;     
    varjo_PoseFlags poseFlags;       
    double confidence;               
} varjo_DevicePose;

// ----------------------------------------------------------------------------
// Tracker Plugin API

VARJO_API varjo_PluginStatus varjo_TrackerStart(varjo_PluginContext context);

VARJO_API varjo_PluginStatus varjo_TrackerStop(varjo_PluginContext context);

VARJO_API varjo_PluginStatus varjo_GetHMDPose(  //
    varjo_PluginContext context,                //
    varjo_Nanoseconds timeStamp,                //
    varjo_DevicePose* pose);

#if defined __cplusplus
}  // extern "C"
#endif  // __cplusplus

#endif  // VARJO_PLUGIN_H