cxIgstkTool.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.

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, 
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=========================================================================*/

#ifndef CXIGSTKTOOL_H_
#define CXIGSTKTOOL_H_

#include "org_custusx_core_tracking_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"

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

class org_custusx_core_tracking_EXPORT IgstkTool: public QObject
{
Q_OBJECT

public:
        struct InternalStructure
        {
                Transform3D getCalibrationAsSSC() const;
                void setCalibration(const Transform3D& cal);
                void saveCalibrationToFile();
                bool verify();

                bool mIsReference;
                bool mIsPointer;
                bool mIsProbe;
//    Tool::Type   mType;                  ///< the tools type
                QString mName; 
                QString mUid; 
                std::vector<QString> mClinicalApplications; 
                TRACKING_SYSTEM mTrackerType; 
                QString mSROMFilename; 
                unsigned int mPortNumber; 
                unsigned int mChannelNumber; 
                std::map<int, Vector3D> mReferencePoints; 
                bool mWireless; 
                bool m5DOF; 
                igstk::Transform mCalibration; 
                QString mCalibrationFilename; 
                QString mGraphicsFileName; 
                QString mPictureFileName; 
                QString mTransformSaveFileName; 
                QString mLoggingFolderName; 
                QString mInstrumentId; 
                QString mInstrumentScannerId; 
                InternalStructure() :
                                                mIsReference(false), mIsPointer(false), mIsProbe(false),
                                                //mType(Tool::TOOL_NONE),
                                                mName(""), mUid(""),
                                                mTrackerType(tsNONE), mSROMFilename(""),
                                                mPortNumber(UINT_MAX), mChannelNumber(UINT_MAX),
                                                mReferencePoints(), mWireless(true),
                                                m5DOF(true), mCalibrationFilename(""),
                                                mGraphicsFileName(""), mPictureFileName(""),
                                                mTransformSaveFileName(""),
                                                mLoggingFolderName(""), mInstrumentId(""),
                                                mInstrumentScannerId("")
                {}      
        };

public:
        IgstkTool(InternalStructure internalStructure);
        virtual ~IgstkTool();

        InternalStructure 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(igstk::Transform calibration);
        void updateCalibration(const Transform3D& sMt);

        void printInternalStructure();

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

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(); 

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

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

};

}

#endif /* CXIGSTKTOOL_H_ */