cxIgstkToolManager.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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modification, are permitted provided that the following conditions are met:

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   this list of conditions and the following disclaimer.

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   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 
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=========================================================================*/

#ifndef CXIGSTKTOOLMANAGER_H_
#define CXIGSTKTOOLMANAGER_H_

#include "org_custusx_core_tracking_Export.h"

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

namespace cx
{
class org_custusx_core_tracking_EXPORT IgstkToolManager: public QObject
{
Q_OBJECT

public:
        IgstkToolManager(IgstkTracker::InternalStructure trackerStructure,
                                        std::vector<IgstkTool::InternalStructure> toolStructures,
                                        IgstkTool::InternalStructure 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(IgstkTracker::InternalStructure trackerStructure);
        void createTools(std::vector<IgstkTool::InternalStructure> toolStructures,
                                        IgstkTool::InternalStructure referenceToolStructure);
        IgstkToolPtr addIgstkTools(IgstkTool::InternalStructure& toolStructure);
        void setReferenceAndTrackerOnTools();

        void printStatus(); 

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

        QTimer* mTimer; 
        igstk::PulseGenerator::Pointer mPulseGenerator;

        bool mInternalInitialized;

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

}

#endif /* CXIGSTKTOOLMANAGER_H_ */