AKDevice.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_ARKIT_AK_DEVICE_H
#define META_OCEAN_DEVICES_ARKIT_AK_DEVICE_H
 
#include "ocean/devices/arkit/ARKit.h"
 
#include "ocean/base/Singleton.h"
 
#include "ocean/devices/Device.h"
#include "ocean/devices/Measurement.h"
 
#include "ocean/media/FrameMedium.h"
 
#include <ARKit/ARKit.h>
 
@interface AKTracker6DOFDelegate : NSObject<ARSessionDelegate>
@end
 
namespace Ocean
{
 
namespace Devices
{
 
namespace ARKit
{
 
/// Forward declaration.
class AKGeoAnchorsTracker6DOF;
 
/// Forward declaration.
class AKSceneTracker6DOF;
 
/// Forward declaration.
class AKWorldTracker6DOF;
 
/**
 * This class implements a device for the ARKit library.
 * @ingroup devicesarkit
 */
class OCEAN_DEVICES_ARKIT_EXPORT AKDevice : virtual public Device
{
    public:
 
        /**
         * Definition of individual capabilities.
         */
        enum TrackerCapabilities : uint32_t
        {
            /// An invalid capability.
            TC_INVALID = 0u,
            /// The tracker provides basic SLAM.
            TC_SLAM = 1u << 0u,
            /// The tracker provides Geo Anchors.
            TC_GEO_ANCHORS = 1u << 1u,
            /// The tracker provide plane detection.
            TC_PLANE_DETECTION = 1u << 2u,
            /// The tracker provide mesh reconstruction.
            TC_MESH_RECONSTRUCTION = 1u << 3u,
            /// The tracker provides depth information.
            TC_DEPTH = 1u << 4u,
            /// The tracker is able to track faces.
            TC_FACE = 1u << 5u
        };
 
        /**
         * Definition of a vector holding ARAnchors.
         */
        using ARAnchors = std::vector<ARAnchor*>;
 
        /**
         * Definition of an unordered map mapping devices to usage counters.
         */
        using DeviceMap = std::unordered_map<AKDevice*, unsigned int>;
 
    protected:
 
        /**
         * This class implements a wrapper around the actual ARSessionDelegate which may be used by several devices at the same time.
         */
        class OCEAN_DEVICES_ARKIT_EXPORT ARSessionManager : public Singleton<ARSessionManager>
        {
            friend class Singleton<ARSessionManager>;
 
            public:
 
                /**
                 * Starts the session for a given tracker.
                 * @param tracker The tracker for which the session will be started, must be valid
                 * @param frameMedium The frame medium the session will use, must be valid
                 * @return True, if succeeded
                 */
                bool start(AKDevice* tracker, const Media::FrameMediumRef& frameMedium);
 
                /**
                 * Pauses the session for a given tracker.
                 * @param tracker The tracker for which the session will be paused, must be valid
                 * @return True, if succeeded
                 */
                bool pause(AKDevice* tracker);
 
                /**
                 * Stops the session for a given tracker.
                 * @param tracker The tracker for which the session will be stopped, must be valid
                 * @return True, if succeeded
                 */
                bool stop(AKDevice* tracker);
                /**
                 * Registers a new geo anchor.
                 * @param objectId The id of the object associated with the geo anchor, must be valid
                 * @param latitude The latitude of the geo anchor, with range [-90, 90]
                 * @param longitude The longitude of the geo anchor, with range [-180, 180]
                 * @param altitude The altitude of the geo anchor, with range [-10,000, 30,000], or NumericD::minValue() if unknown
                 * @return True, if succeeded
                 */
                bool registerGeoAnchor(const Measurement::ObjectId& objectId, const double latitude, const double longitude, const double altitude);
 
                /**
                 * Unregisters a geo anchor.
                 * @param objectId The id of the object which is associated with the geo anchor to unregister, must be valid
                 * @return True, if succeeded
                 */
                bool unregisterGeoAnchor(const Measurement::ObjectId& objectId);
 
            protected:
 
                /**
                 * Creates a new manager.
                 */
                ARSessionManager();
 
            protected:
 
                /// The delegate of the ARKit Tracker.
                AKTracker6DOFDelegate* akTracker6DOFDelegate_ = nullptr;
        };
 
    public:
 
        /**
         * Returns the name of the owner library.
         * @see Device::library().
         */
        const std::string& library() const override;
 
        /**
         * Returns the capabilities of the tracker necessary for this device.
         * @return The tracker capabilities
         */
        inline TrackerCapabilities trackerCapabilities() const;
 
        /**
         * Event function for added anchors.
         * @param anchors The added anchors, at least one
         */
        virtual void onAddedAnchors(const ARAnchors& anchors);
 
        /**
         * Event function for updated anchors.
         * @param anchors The updated anchors, at least one
         */
        virtual void onUpdateAnchors(const ARAnchors& anchors);
 
        /**
         * Event function for removed anchors.
         * @param anchors The removed anchors, at least one
         */
        virtual void onRemovedAnchors(const ARAnchors& anchors);
 
        /**
         * Translates the value of an ARGeoTrackingState to a readable string.
         * @param state The state to translate
         * @return The readable string
         */
        API_AVAILABLE(ios(14.0))
        static std::string translateGeoTrackingState(const ARGeoTrackingState& state);
 
        /**
         * Translates the value of an ARGeoTrackingStateReason to a readable string.
         * @param stateReason The state reason to translate
         * @return The readable string
         */
        API_AVAILABLE(ios(14.0))
        static std::string translateGeoTrackingStateReason(const ARGeoTrackingStateReason& stateReason);
 
        /**
         * Translates the value of an ARGeoTrackingAccuracy to a readable string.
         * @param accuracy The accuracy to translate
         * @return The readable string
         */
        API_AVAILABLE(ios(14.0))
        static std::string translateGeoTrackingAccuracy(const ARGeoTrackingAccuracy& accuracy);
 
    protected:
 
        /**
         * Creates a new device by is name.
         * @param trackerCapabilities The capabilities of the tracker necessary for this device
         * @param name The name of the device
         * @param type Major and minor device type of the device
         */
        AKDevice(const TrackerCapabilities trackerCapabilities, const std::string& name, const DeviceType type);
 
    protected:
 
        /// The capabilities of the tracker for this device.
        TrackerCapabilities trackerCapabilities_ = TC_INVALID;
};
 
inline AKDevice::TrackerCapabilities AKDevice::trackerCapabilities() const
{
    return trackerCapabilities_;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ARKIT_AK_DEVICE_H