cxIgstkTool.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 CXIGSTKTOOL_H_
#define CXIGSTKTOOL_H_

#include "org_custusx_core_tracking_system_igstk_Export.h"

#include <QObject>
#include "cxToolUsingIGSTK.h"

#include <limits.h>
#include <boost/shared_ptr.hpp>
#include <igstkPolarisTrackerTool.h>
#include <igstkAuroraTrackerTool.h>
#include <igstkTransform.h>
#include <igstkLogger.h>
#include <itkStdStreamLogOutput.h>
#include "cxTransform3D.h"
#include "cxIgstkTracker.h"
#include "vtkForwardDeclarations.h"
#include "igstkNDITracker.h"

namespace cx
{
class IgstkTool;
typedef boost::shared_ptr<IgstkTool> IgstkToolPtr;
typedef boost::weak_ptr<IgstkTool> IgstkToolWeakPtr;

class org_custusx_core_tracking_system_igstk_EXPORT IgstkTool: public QObject
{
Q_OBJECT

public:
    static igstk::Transform toIgstkTransform(Transform3D transform);
    static Transform3D toTransform3D(igstk::Transform transform);

                IgstkTool(ToolFileParser::ToolInternalStructurePtr internalStructure);
        virtual ~IgstkTool();

                ToolFileParser::ToolInternalStructurePtr getInternalStructure();
        QString getUid();

        igstk::TrackerTool::Pointer getPointer() const; 
        TRACKING_SYSTEM getTrackerType();
//  Tool::Type getType() const;
        bool isReference() const
        {
                return mInternalStructure->mIsReference;
        }

        bool isValid() const; 
        bool isInitialized() const; 
        bool isTracked() const; 
        bool isVisible() const; 

        void setReference(IgstkToolPtr);
        void setTracker(TrackerPtr tracker);
    void setCalibrationTransform(Transform3D calibration);
        void updateCalibration(const Transform3D& sMt);

        void printInternalStructure();

signals:
        void attachedToTracker(bool);
        void tracked(bool);
        void toolVisible(bool);
        void toolTransformAndTimestamp(Transform3D matrix, double timestamp, ToolPositionMetadata metadata);

private:
        void toolTransformCallback(const itk::EventObject &event);
        igstk::TrackerTool::Pointer buildInternalTool();
        void determineToolsCalibration();
        void internalAttachedToTracker(bool value);
        void internalTracked(bool value);
        void internalVisible(bool value);
        void addLogging(); 
        igstk::NDITracker::TrackingSampleInfo getSampleInfo();
        bool validReferenceForResult(igstk::CoordinateSystemTransformToResult result);

        ToolFileParser::ToolInternalStructurePtr mInternalStructure; 
        igstk::TrackerTool::Pointer mTool; 
        IgstkToolWeakPtr mReferenceTool; 
        TrackerWeakPtr mTracker; 
        itk::ReceptorMemberCommand<IgstkTool>::Pointer mToolObserver; 
        igstk::Logger::Pointer mLogger; 
        itk::StdStreamLogOutput::Pointer mLogOutput; 

        double mLatestEmittedTimestamp;
        //internal states
        //TODO is volatile enough for thread safety?
        volatile bool mValid; 
        volatile bool mVisible; 
        volatile bool mAttachedToTracker; 
        volatile bool mTracked; 

        Transform3D igstk2Transform3D(const igstk::Transform &input) const;
        void processReceivedTransformResult(igstk::CoordinateSystemTransformToResult result);
};

}

#endif /* CXIGSTKTOOL_H_ */