cxOpenIGTLinkTrackingSystemService.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.

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

#ifndef CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_
#define CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_

#include <QThread>

#include "cxTrackingSystemService.h"
#include "org_custusx_core_openigtlink_Export.h"

namespace cx
{
class NetworkConnection;
typedef boost::shared_ptr<class OpenIGTLinkTool> OpenIGTLinkToolPtr;
typedef boost::shared_ptr<class NetworkConnectionHandle> NetworkConnectionHandlePtr;

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

public:
        OpenIGTLinkTrackingSystemService(NetworkConnectionHandlePtr connection);
    virtual ~OpenIGTLinkTrackingSystemService();

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

    virtual void setLoggingFolder(QString loggingFolder); 

signals:
    void connectToServer();
    void disconnectFromServer();

private slots:
    void configure(); 
    virtual void deconfigure(); 
    void initialize(); 
    void uninitialize(); 
    void startTracking(); 
    void stopTracking(); 

    void serverIsConfigured();
    void serverIsDeconfigured();
    void serverIsConnected();
    void serverIsDisconnected();

    void receiveTransform(QString devicename, Transform3D transform, double timestamp);
    void receiveCalibration(QString devicename, Transform3D calibration);
    void receiveProbedefinition(QString devicename, ProbeDefinitionPtr definition);

private:
    void internalSetState(Tool::State state);
    OpenIGTLinkToolPtr getTool(QString devicename);

    Tool::State mState;
    std::map<QString, OpenIGTLinkToolPtr> mTools;
    ToolPtr mReference;
        NetworkConnectionHandlePtr mConnection;

};
typedef boost::shared_ptr<OpenIGTLinkTrackingSystemService> OpenIGTLinkTrackingSystemServicePtr;

} /* namespace cx */

#endif /* CXOPENIGTLINKTRACKINGSYSTEMSERVICE_H_ */