cxIgstkToolManager.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 CXIGSTKTOOLMANAGER_H_
#define CXIGSTKTOOLMANAGER_H_

#include "org_custusx_core_tracking_system_igstk_Export.h"

#include <map>
#include <vector>
#include <QThread>
#include <QTimer>
#include <QMutex>
#include "cxIgstkTracker.h"
#include "cxToolUsingIGSTK.h"
#include "cxIgstkTool.h"

namespace cx
{
void sampleInfo2xml(const igstk::NDITracker::TrackingSampleInfo& info, QDomElement &node);


class org_custusx_core_tracking_system_igstk_EXPORT IgstkToolManager: public QObject
{
Q_OBJECT

public:
    IgstkToolManager(ToolFileParser::TrackerInternalStructure trackerStructure,
                                                                                std::vector<ToolFileParser::ToolInternalStructurePtr> toolStructures,
                                                                                ToolFileParser::ToolInternalStructurePtr referenceToolStructure);
        virtual ~IgstkToolManager();

        std::map<QString, IgstkToolPtr> getTools(); 
        IgstkToolPtr getRefereceTool(); 

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

public slots:
        void initializeSlot(bool on); 
        void trackSlot(bool on); 

private slots:
        void trackerTrackingSlot(bool);
        void checkTimeoutsAndRequestTransformSlot();
        void deviceInitializedSlot(bool);
        void attachToolsWhenTrackerIsInitializedSlot(bool);

private:
    void createTracker(ToolFileParser::TrackerInternalStructure trackerStructure);
                void createTools(std::vector<ToolFileParser::ToolInternalStructurePtr> toolStructures,
                                                                                ToolFileParser::ToolInternalStructurePtr referenceToolStructure);
                IgstkToolPtr addIgstkTools(ToolFileParser::ToolInternalStructurePtr toolStructure);
        void setReferenceAndTrackerOnTools();

        void printStatus(); 

        TrackerPtr mTracker;
        QMutex mToolMutex; 
        std::map<QString, IgstkToolPtr> mTools;
        size_t mInitAnsweres; 
        QMutex mReferenceMutex; 
        IgstkToolPtr mReferenceTool;

        QTimer* mTimer; 

        bool mInternalInitialized;

};
typedef boost::shared_ptr<IgstkToolManager> IgstkToolManagerPtr;

}

#endif /* CXIGSTKTOOLMANAGER_H_ */