cxOpenIGTLinkTrackingSystemService.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 CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_
#define CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_

#include "org_custusx_core_openigtlink3_Export.h"

#include <QThread>

#include "cxNetworkHandler.h"
#include "cxTrackingSystemService.h"

namespace cx
{
typedef boost::shared_ptr<class NetworkHandler> NetworkHandlerPtr;
typedef boost::shared_ptr<class OpenIGTLinkTool> OpenIGTLinkToolPtr;

class org_custusx_core_openigtlink3_EXPORT OpenIGTLinkTrackingSystemService : public TrackingSystemService
{
        Q_OBJECT
        Q_INTERFACES(cx::TrackingSystemService)

public:
        OpenIGTLinkTrackingSystemService(NetworkHandlerPtr networkHandler);
        virtual ~OpenIGTLinkTrackingSystemService();

        virtual QString getUid() const;
        virtual void setState(const Tool::State val); 
        virtual std::vector<ToolPtr> getTools();
        virtual TrackerConfigurationPtr getConfiguration();
        virtual ToolPtr getReference(); 

        virtual void resetTimeSynchronization();

protected:
        void internalSetState(Tool::State val);
        OpenIGTLinkToolPtr getTool(QString devicename);
        bool printTransformIdWarning(QString devicename);

        QStringList mTransformIdWarningPrinted;

protected slots:
        virtual void configure(); 
        virtual void deconfigure(); 
        virtual void receiveTransform(QString devicename, Transform3D transform, double timestampMS);

private slots:
        void serverIsConnected();
        void serverIsDisconnected();

        void receiveCalibration(QString devicename, Transform3D calibration);
        void receiveProbedefinition(QString devicename, ProbeDefinitionPtr definition);

private:

        std::map<QString, OpenIGTLinkToolPtr> mTools;
        ToolPtr mReference;
        NetworkHandlerPtr mNetworkHandler;

signals:
        void setInternalState(const Tool::State val);
};
typedef boost::shared_ptr<OpenIGTLinkTrackingSystemService> OpenIGTLinkTrackingSystemServicePtr;

} /* namespace cx */

#endif /* CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_ */