cxIgstkTracker.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 CXIGSTKTRACKER_H_
#define CXIGSTKTRACKER_H_

#include "org_custusx_core_tracking_system_igstk_Export.h"

#include <QObject>

#include <map>
#include <boost/shared_ptr.hpp>
#include <igstkLogger.h>
#include <igstkTracker.h>
#include <igstkPolarisTracker.h>
#include <igstkAuroraTracker.h>
#include <itkStdStreamLogOutput.h>
#ifdef WIN32
#include "igstkSerialCommunicationForWindows.h"
#else
#include "igstkSerialCommunicationForPosix.h"
#endif
#include "cxTracker.h"
#include "cxTool.h"
#include "cxDefinitions.h"
#include "cxForwardDeclarations.h"
#include "cxToolFileParser.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 IgstkTracker: public Tracker
{
Q_OBJECT
public:

#ifdef WIN32

        typedef igstk::SerialCommunicationForWindows CommunicationType;
#else

        typedef igstk::SerialCommunicationForPosix CommunicationType;
#endif
        typedef igstk::Tracker TrackerType;
        typedef igstk::PolarisTracker PolarisTrackerType;
        typedef igstk::AuroraTracker AuroraTrackerType;

        /*only used for documentation purposes
        enum TRACKING_SYSTEM
        {
                tsNONE,             ///< Not specified
                tsPOLARIS,          ///< NDIs Polaris tracker
                tsPOLARIS_SPECTRA,  ///< NDIs Polaris Spectra tracker
                tsPOLARIS_VICRA,    ///< NDIs Polaris Vicra tracker
                tsPOLARIS_CLASSIC,  ///< NDIs Polaris Classic tracker
                tsAURORA,           ///< NDIs Aurora tracker
                tsMICRON,           ///< Claron Technologys Micron tracker
                tsCOUNT
        };*/

        /*only used for documentation purposes
         TRACKER_INVALID_REQUEST,                    ///< internal state machine didn't accept the request
         TRACKER_OPEN,                               ///< hardware accepted the tracker as open
         TRACKER_INITIALIZED,                        ///< hardware accepted the tracker as initialized
         TRACKER_TRACKING,                           ///< tracker is tracking
         TRACKER_UPDATE_STATUS,                      ///< tracker got an update event
         TRACKER_TOOL_TRANSFORM_UPDATED,             ///< a tool attached to the tracker got a new transform
         TRACKER_COMMUNICATION_COMPLETE,             ///< communication port completed a task successfully
         TRACKER_COMMUNICATION_INPUT_OUTPUT_ERROR,   ///< communication port failed at completing a task
         TRACKER_COMMUNICATION_INPUT_OUTPUT_TIMEOUT, ///< communication port timed out
         TRACKER_COMMUNICATION_OPEN_PORT_ERROR       ///< communication port tried to open or close
         */

    IgstkTracker(ToolFileParser::TrackerInternalStructure internalStructure);
        ~IgstkTracker();

        TRACKING_SYSTEM getType() const; 
        QString getName() const; 
        QString getUid() const; 
        TrackerType* getPointer() const; 
        void open(); 
        void close(); 
        void attachTools(std::map<QString, IgstkToolPtr> tools); 
        void detachTools(std::map<QString, IgstkToolPtr> tools); 
        void startTracking(); 
        void stopTracking(); 

        bool isValid() const; 
        bool isOpen() const;
        bool isInitialized() const;
        bool isTracking() const;

signals:
        void initialized(bool);
        void open(bool);
        void tracking(bool);
        void error();

protected:
        typedef itk::ReceptorMemberCommand<IgstkTracker> ObserverType;

        void trackerTransformCallback(const itk::EventObject &eventVar); 
        void addLogging(); 

        void internalOpen(bool value);
        void internalInitialized(bool value);
        void internalTracking(bool value);
        void internalError(bool value);

        void shutdown(); 

    ToolFileParser::TrackerInternalStructure mInternalStructure; 
        bool mValid; 
        QString mUid; 
        QString mName; 
        TrackerType* mTracker; 

        PolarisTrackerType::Pointer mTempPolarisTracker; 
        AuroraTrackerType::Pointer mTempAuroraTracker; 

        CommunicationType::Pointer mCommunication; 
        ObserverType::Pointer mTrackerObserver; 
        igstk::Logger::Pointer mTrackerLogger; 
        itk::StdStreamLogOutput::Pointer mTrackerLogOutput; 

        bool mOpen; 
        bool mInitialized; 
        bool mTracking; 

private:
        IgstkTracker() {} 
};
typedef boost::shared_ptr<IgstkTracker> TrackerPtr;
typedef boost::weak_ptr<IgstkTracker> TrackerWeakPtr;

} //namespace cx

#endif /* CXIGSTKTRACKER_H_ */