cxIgstkTracker.h

Go to the documentation of this file.

/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, 
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, 
   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
=========================================================================*/

#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_ */