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cxIgstkToolManager.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
6 
7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
9 
10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
12 
13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
15  and/or other materials provided with the distribution.
16 
17 3. Neither the name of the copyright holder nor the names of its contributors
18  may be used to endorse or promote products derived from this software
19  without specific prior written permission.
20 
21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
25 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
26 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
27 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
29 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
32 
33 #ifndef CXIGSTKTOOLMANAGER_H_
34 #define CXIGSTKTOOLMANAGER_H_
35 
36 #include "org_custusx_core_tracking_system_igstk_Export.h"
37 
38 #include <map>
39 #include <vector>
40 #include <QThread>
41 #include <QTimer>
42 #include <QMutex>
43 #include "cxIgstkTracker.h"
44 #include "cxToolUsingIGSTK.h"
45 #include "cxIgstkTool.h"
46 
47 namespace cx
48 {
56 void sampleInfo2xml(const igstk::NDITracker::TrackingSampleInfo& info, QDomElement &node);
57 
58 
69 class org_custusx_core_tracking_system_igstk_EXPORT IgstkToolManager: public QObject
70 {
71 Q_OBJECT
72 
73 public:
75  std::vector<ToolFileParser::ToolInternalStructure> toolStructures,
76  ToolFileParser::ToolInternalStructure referenceToolStructure);
77  virtual ~IgstkToolManager();
78 
79  std::map<QString, IgstkToolPtr> getTools();
80  IgstkToolPtr getRefereceTool();
81 
82 signals:
83  void initialized(bool on);
84  void tracking(bool on);
85  void error();
86 
87 public slots:
88  void initializeSlot(bool on);
89  void trackSlot(bool on);
90 
91 private slots:
92  void trackerTrackingSlot(bool);
93  void checkTimeoutsAndRequestTransformSlot();
94  void deviceInitializedSlot(bool);
95  void attachToolsWhenTrackerIsInitializedSlot(bool);
96 
97 private:
98  void createTracker(ToolFileParser::TrackerInternalStructure trackerStructure);
99  void createTools(std::vector<ToolFileParser::ToolInternalStructure> toolStructures,
100  ToolFileParser::ToolInternalStructure referenceToolStructure);
101  IgstkToolPtr addIgstkTools(ToolFileParser::ToolInternalStructure& toolStructure);
102  void setReferenceAndTrackerOnTools();
103 
104  void printStatus();
105 
106  TrackerPtr mTracker;
107  QMutex mToolMutex;
108  std::map<QString, IgstkToolPtr> mTools;
109  int mInitAnsweres;
110  QMutex mReferenceMutex;
111  IgstkToolPtr mReferenceTool;
112 
113  QTimer* mTimer;
114 
115  bool mInternalInitialized;
116 
117 };
118 typedef boost::shared_ptr<IgstkToolManager> IgstkToolManagerPtr;
119 
123 }
124 
125 #endif /* CXIGSTKTOOLMANAGER_H_ */
boost::shared_ptr< IgstkToolManager > IgstkToolManagerPtr
boost::shared_ptr< class IgstkTool > IgstkToolPtr
void sampleInfo2xml(const igstk::NDITracker::TrackingSampleInfo &info, QDomElement &node)
Manager for IGSTK interface.The manager exists inside IgstkTrackerThread .
boost::shared_ptr< IgstkTracker > TrackerPtr