cxOpenIGTLinkTool.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#ifndef CXOPENIGTLINKTOOL_H
#define CXOPENIGTLINKTOOL_H

#include "org_custusx_core_openigtlink3_Export.h"

#include "cxToolImpl.h"

#include <QTimer>
#include <boost/shared_ptr.hpp>

#include "igtlioBaseConverter.h"

#include "cxTransform3D.h"
#include "cxToolConfigurationParser.h"

class QStringList;

namespace cx
{
typedef std::vector<double> DoubleVector;
typedef boost::shared_ptr<DoubleVector> DoubleVectorPtr;
typedef std::vector<Transform3DPtr> Transform3DVector;
typedef boost::shared_ptr<Transform3DVector> Transform3DVectorPtr;
typedef boost::shared_ptr<class IgstkTool> IgstkToolPtr;
typedef boost::shared_ptr<class ProbeImpl> ProbeImplPtr;

class org_custusx_core_openigtlink3_EXPORT OpenIGTLinkTool: public ToolImpl
{
        friend class OpenIGTLinkTrackingSystemService;
        Q_OBJECT

public:
        OpenIGTLinkTool(ConfigurationFileParser::ToolStructure configFileToolStructure, ToolFileParser::ToolInternalStructurePtr toolFileToolStructure);
        virtual ~OpenIGTLinkTool();

        virtual bool getVisible() const;
        virtual bool isInitialized() const;
        virtual QString getUid() const;
        virtual QString getName() const;
        virtual ProbePtr getProbe() const;
        virtual double getTimestamp() const;
        virtual double getTooltipOffset() const; 
        virtual void setTooltipOffset(double val); 

        virtual bool isCalibrated() const; 
        virtual Transform3D getCalibration_sMt() const; 
        virtual void setCalibration_sMt(Transform3D sMt); 

        //virtual void set_prMt(const Transform3D& prMt, double timestamp);
        virtual void setVisible(bool vis);

        bool doIdCorrespondToTool(QString openIGTLinkId);
        bool isReference();
        bool applyReference();
protected:
        virtual ToolFileParser::ToolInternalStructurePtr getToolFileToolStructure() const;
private slots:
        void toolTransformAndTimestampSlot(Transform3D prMs, double timestampMS);
        void calculateTpsSlot();
        void toolVisibleSlot(bool);

private:
        ProbePtr mProbe;
        QTimer mTpsTimer;
        double mTimestamp;
        bool mVisible;
        qint64 mLastReceivedPositionTime;
        bool mPrintedWarningAboutTimeStampMismatch;

        //Store these structures directly for now
        ConfigurationFileParser::ToolStructure mConfigFileToolStructure;
        ToolFileParser::ToolInternalStructurePtr mToolFileToolStructure;

        void calculateVisible();
        void checkTimestampMismatch();
        void printWarningAboutTimestampMismatch(double diff);
};
typedef boost::shared_ptr<OpenIGTLinkTool> OpenIGTLinkToolPtr;

} //namespace cx
#endif /* CXOPENIGTLINKTOOL_H */