File misc.hpp

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#pragma once

#include "illixr/relative_clock.hpp"
#include "illixr/switchboard.hpp"

#include 
#include 

#ifdef USING_OPENXR
#    ifdef ENABLE_MONADO
#        include "xrt/xrt_defines.h"
#        define THREE_VECTOR_TYPE xrt_vec3
#        define QUATERNION_TYPE   xrt_quat
#        define POSE_BASE_TYPE    xrt_space_relation
#        define HAND_JOINT_SET    xrt_hand_joint_set
#        define HAND_JOINT_TYPE   xrt_hand_joint_value
#        define POSE_DATA_TYPE    xrt_pose
#    else
#        include 
#        define THREE_VECTOR_TYPE XrVector3f
#        define QUATERNION_TYPE   XrQuaternionf
#        define POSE_BASE_TYPE    ILLIXR::data_format::pose::xrt_space_relation
#        define HAND_JOINT_SET    ILLIXR::data_format::pose::hand_joint_poses
#        define HAND_JOINT_TYPE   ILLIXR::data_format::pose::hand_joint_pose
#        define POSE_DATA_TYPE    XrPosef
#    endif
#    include 
#    include 
#endif

namespace boost::serialization {
template<class Archive>
[[maybe_unused]] void serialize(Archive& ar, ILLIXR::time_point& tp, const unsigned int version) {
    (void) version;
    if constexpr (Archive::is_saving::value) {
        // Save: convert time_point to int64_t nanoseconds since epoch
        int64_t ns_since_epoch = std::chrono::duration_cast<std::chrono::nanoseconds>(tp.time_since_epoch()).count();
        ar & ns_since_epoch;
    } else {
        // Load: convert int64_t nanoseconds back to time_point
        int64_t ns_since_epoch;
        ar & ns_since_epoch;
        tp = ILLIXR::time_point(std::chrono::nanoseconds(ns_since_epoch));
    }
}
} // namespace boost::serialization

BOOST_CLASS_EXPORT_KEY(ILLIXR::switchboard::event)