00001 /*========================================================================= 00002 00003 Program: Image Guided Surgery Software Toolkit 00004 Module: $RCSfile: igstkAscensionTracker.h,v $ 00005 Language: C++ 00006 Date: $Date: 2009-02-02 17:32:02 $ 00007 Version: $Revision: 1.2 $ 00008 00009 Copyright (c) ISC Insight Software Consortium. All rights reserved. 00010 See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details. 00011 00012 This software is distributed WITHOUT ANY WARRANTY; without even 00013 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 00014 PURPOSE. See the above copyright notices for more information. 00015 00016 =========================================================================*/ 00017 #ifndef __igstkAscensionTracker_h 00018 #define __igstkAscensionTracker_h 00019 00020 #include "igstkSerialCommunication.h" 00021 #include "igstkAscensionTrackerTool.h" 00022 #include "igstkAscensionCommandInterpreter.h" 00023 #include "igstkTracker.h" 00024 00025 namespace igstk 00026 { 00038 class AscensionTracker : public Tracker 00039 { 00040 public: 00041 00043 igstkStandardClassTraitsMacro( AscensionTracker, Tracker ) 00044 00045 public: 00046 00048 typedef igstk::AscensionCommandInterpreter CommandInterpreterType; 00049 00051 typedef igstk::SerialCommunication CommunicationType; 00052 00055 void SetCommunication( CommunicationType *communication ); 00056 00058 igstkGetMacro( NumberOfTools, unsigned int ); 00059 00060 protected: 00061 00062 AscensionTracker(void); 00063 00064 virtual ~AscensionTracker(void); 00065 00067 typedef Tracker::ResultType ResultType; 00068 00070 virtual ResultType InternalOpen( void ); 00071 00073 virtual ResultType InternalClose( void ); 00074 00076 virtual ResultType InternalActivateTools( void ); 00077 00079 virtual ResultType InternalDeactivateTools( void ); 00080 00082 virtual ResultType InternalStartTracking( void ); 00083 00085 virtual ResultType InternalStopTracking( void ); 00086 00088 virtual ResultType InternalUpdateStatus( void ); 00089 00092 virtual ResultType InternalThreadedUpdateStatus( void ); 00093 00095 virtual ResultType VerifyTrackerToolInformation( 00096 const TrackerToolType * trackerTool ); 00097 00099 virtual ResultType AddTrackerToolToInternalDataContainers( const 00100 TrackerToolType * trackerTool ); 00101 00103 virtual ResultType RemoveTrackerToolFromInternalDataContainers( 00104 const TrackerToolType * trackerTool ); 00105 00107 virtual ResultType InternalReset( void ); 00108 00110 virtual void PrintSelf( std::ostream& os, ::itk::Indent indent ) const; 00111 00112 private: 00113 00114 AscensionTracker(const Self&); //purposely not implemented 00115 void operator=(const Self&); //purposely not implemented 00116 00118 typedef igstk::AscensionTrackerTool AscensionTrackerToolType; 00119 typedef AscensionTrackerToolType::Pointer AscensionTrackerToolPointer; 00120 typedef AscensionTrackerToolType::ConstPointer 00121 AscensionTrackerToolConstPointer; 00122 00125 void EnableToolPorts( void ); 00126 00128 void DisableToolPorts( void ); 00129 00131 unsigned int m_NumberOfTools; 00132 00134 CommunicationType::Pointer m_Communication; 00135 00137 CommandInterpreterType::Pointer m_CommandInterpreter; 00138 00140 itk::MutexLock::Pointer m_BufferLock; 00141 00143 //TransformType m_TransformBuffer[NumberOfPorts]; 00144 00146 typedef std::map< std::string, std::vector < double > > 00147 TrackerToolTransformContainerType; 00148 00149 TrackerToolTransformContainerType m_ToolTransformBuffer; 00150 00152 typedef std::map< unsigned int, std::string> ErrorCodeContainerType; 00153 static ErrorCodeContainerType m_ErrorCodeContainer; 00154 00156 static bool m_ErrorCodeListCreated; 00157 00159 std::map< std::string, int > m_ToolStatusContainer; 00160 00161 }; 00162 00163 } 00164 00165 #endif //__igstk_AscensionTracker_h_