TriaxialOutputHandler.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/SensorOutputHandler.h>
#include <agxSensor/TriaxialOutput.h>
#include <agxSensor/TriaxialSignalSystemNode.h>
 
#include <optional>
#include <utility>
 
namespace agxSensor
{
  using OptionalUniqueId = std::optional<size_t>;
  using OptionalTriaxialOutputMapping = std::optional<std::pair<size_t, TriaxialOutput*>>;
 
  AGX_DECLARE_POINTER_TYPES( TriaxialOutputHandler );
 
  class AGXSENSOR_EXPORT TriaxialOutputHandler : public SystemNode, public ISensorOutputHandler
  {
    public:
      TriaxialOutputHandler();
 
      bool add( size_t uniqueId, TriaxialOutput* output );
 
      OptionalUniqueId add( TriaxialOutput* output );
 
      template<typename T, TriaxialOutput::Field... field>
      bool add( size_t uniqueId );
 
      template<typename T, TriaxialOutput::Field... field>
      OptionalTriaxialOutputMapping add();
 
      TriaxialOutput* get( size_t uniqueId );
 
      ISensorOutput* getBase( size_t uniqueId ) override;
 
      ITriaxialSignalSystemNodeRefVector getOutputModifiers() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE( agxSensor::TriaxialOutputHandler );
 
      virtual void store( agxStream::OutputArchive& out ) const override;
      virtual void restore( agxStream::InputArchive& in ) override;
 
    protected:
      using OutputTable = agx::HashTable<size_t, TriaxialOutputRef>;
 
    protected:
      bool addModifierInternal( ITriaxialSignalSystemNode* node );
      bool removeModifierInternal( ITriaxialSignalSystemNode* node );
      bool containsModifierInternal( const ITriaxialSignalSystemNode* node ) const;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    protected:
      OutputTable m_outputs;
      TriaxialSignalSystemNodeRefVector m_outputModifiers;
      SystemNodeRef m_tailNode;
  };
 
  template<typename T, TriaxialOutput::Field... field>
  bool TriaxialOutputHandler::add( size_t uniqueId )
  {
    TriaxialOutputRef output = new TriaxialOutput();
    output->build<field...>();
    return add( uniqueId, output );
  }
 
  template<typename T, TriaxialOutput::Field... field>
  OptionalTriaxialOutputMapping TriaxialOutputHandler::add()
  {
    TriaxialOutputRef output = new TriaxialOutput();
    output->build<field...>();
 
    auto uniqueId = add( output );
    if ( uniqueId )
      return std::make_pair( *uniqueId, output );
    else
      return std::nullopt;
  }
}