cxToolUsingIGSTK.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 CXTOOLUSINGIGSTK_H_
#define CXTOOLUSINGIGSTK_H_

#include "org_custusx_core_tracking_system_igstk_Export.h"

#include "cxToolImpl.h"

#include <limits.h>
#include <QTimer>
#include <boost/shared_ptr.hpp>
#include "cxTransform3D.h"
#include "cxDefinitions.h"
#include "vtkForwardDeclarations.h"

class QStringList;

namespace itk
{
class EventObject;
}

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_tracking_system_igstk_EXPORT ToolUsingIGSTK : public ToolImpl
{
        Q_OBJECT

public:

        /* //only used for documentation purposes
         TOOL_INVALID_REQUEST,             ///< internal state machine didn't accept the request
         TOOL_HW_CONFIGURED,               ///< hardware accepted tool as configured
         TOOL_ATTACHED_TO_TRACKER,         ///< tool accepted by hardware as attached
         TOOL_VISIBLE,                     ///< tool visible to hardware
         TOOL_TRACKED,                     ///< tool tracked by hardware
         TOOL_COORDINATESYSTEM_TRANSFORM,  ///< transform received
         TOOL_NDI_PORT_NUMBER,             ///< hardware responds to NDI port number
         TOOL_NDI_SROM_FILENAME,           ///< hardware responds to NDI SROM filename
         TOOL_NDI_PART_NUMBER,             ///< hardware responds to NDI part number
         TOOL_AURORA_CHANNEL_NUMBER        ///< hardware responds to Aurora channel number
         */

        ToolUsingIGSTK(IgstkToolPtr igstkTool);
        virtual ~ToolUsingIGSTK();

        virtual bool getVisible() const;
        virtual bool isInitialized() const;
        virtual QString getUid() const;
        virtual QString getName() const;
        virtual int getIndex() const { return 0; }
        virtual ProbePtr getProbe() const;
        virtual double getTimestamp() const { return mTimestamp; } //   TODO
        virtual double getTooltipOffset() const; 
        virtual void setTooltipOffset(double val); 

        virtual bool isCalibrated() const; 
        virtual Transform3D getCalibration_sMt() const; 
        virtual void setCalibration_sMt(Transform3D calibration); 
        QString getCalibrationFileName() const; 

        TRACKING_SYSTEM getTrackerType(); 

        bool isValid() const; 

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

    virtual void addXml(QDomNode& dataNode);
    virtual void parseXml(QDomNode& dataNode);

signals:
        void attachedToTracker(bool);

protected:
        virtual ToolFileParser::ToolInternalStructurePtr getToolFileToolStructure() const;
private slots:
        void toolTransformAndTimestampSlot(Transform3D matrix, double timestamp, ToolPositionMetadata metadata); 
        void calculateTpsSlot();
        void toolVisibleSlot(bool);

private:
        void printInternalStructure(); 

        IgstkToolPtr mTool;

        bool mValid; 
        bool mConfigured; 
        bool mTracked; 
        ProbePtr mProbe;
        QTimer mTpsTimer;
        double mTimestamp;
};
typedef boost::shared_ptr<ToolUsingIGSTK> ToolUsingIGSTKPtr;

} //namespace cx
#endif /* CXTOOLUSINGIGSTK_H_ */