cxPlusProtocol.h

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

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

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#ifndef CXPLUSPROTOCOL_H
#define CXPLUSPROTOCOL_H

#include "org_custusx_core_openigtlink_Export.h"

#include "cxOpenIGTLinkProtocol.h"

namespace cx {

class org_custusx_core_openigtlink_EXPORT PlusProtocol : public OpenIGTLinkProtocol
{
public:
    PlusProtocol();

    virtual QString getName() const;

    virtual void translate(const igtl::TransformMessage::Pointer body);
    virtual void translate(const igtl::ImageMessage::Pointer body);
    virtual void translate(const igtl::StringMessage::Pointer body);

private:
    double getCurrentTimestamp() const;
    double getSyncedTimestampForTransformsAndImages(double current_original_timestamp);
    void registerTransformDeviceName(QString deviceName);
    bool isCalibration(QString deviceName) const;
    QString findDeviceForCalibration(QString calibrationDeviceName) const;
    QString extractDeviceNameFromCalibrationDeviceName(QString calibrationDeviceName) const;
    QString findRegisteredTransformDeviceNameThatContains(QString deviceName) const;

    Transform3D igtltool_M_custustool; //custus defines its tool coordinate system differently than igtl
    QStringList mKnownTransformDeviceNames;
    QString mCalibrationKeyword;
    QString mProbeToTrackerName; //name of the device that contains the transform between probe and tracker

    double mLastKnownOriginalTimestamp;
    double mLastKnownLocalTimestamp;
};

}
#endif // CXPLUSPROTOCOL_H