IGSTK

/build/buildd/igstk-4.2.0/Source/igstkNDITracker.h

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00001 /*=========================================================================
00002 
00003   Program:   Image Guided Surgery Software Toolkit
00004   Module:    $RCSfile: igstkNDITracker.h,v $
00005   Language:  C++
00006   Date:      $Date: 2008-11-17 20:12:25 $
00007   Version:   $Revision: 1.4 $
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 
00018 #ifndef __igstkNDITracker_h
00019 #define __igstkNDITracker_h
00020 
00021 #include "igstkSerialCommunication.h"
00022 #include "igstkNDICommandInterpreter.h"
00023 #include "igstkTrackerTool.h"
00024 #include "igstkTracker.h"
00025 
00026 namespace igstk
00027 {
00035 class NDITracker : public Tracker
00036 {
00037 public:
00038 
00040   igstkStandardAbstractClassTraitsMacro( NDITracker, Tracker )
00041 
00042 public:
00043 
00045   typedef igstk::SerialCommunication     CommunicationType;
00046 
00049   void SetCommunication( CommunicationType *communication );
00050 
00051 protected:
00052 
00053   NDITracker(void);
00054 
00055   virtual ~NDITracker(void);
00056 
00058   typedef igstk::NDICommandInterpreter   CommandInterpreterType;
00059 
00061   typedef Tracker::ResultType   ResultType;
00062 
00064   virtual ResultType InternalOpen( void );
00065 
00067   virtual ResultType InternalClose( void );
00068 
00070   virtual ResultType InternalStartTracking( void );
00071 
00073   virtual ResultType InternalStopTracking( void );
00074 
00076   virtual ResultType InternalUpdateStatus( void );
00077 
00080   virtual ResultType InternalThreadedUpdateStatus( void );
00081 
00083   virtual ResultType InternalReset( void );
00084 
00086   virtual ResultType 
00087   VerifyTrackerToolInformation( const TrackerToolType * ) = 0;
00088 
00091   virtual ResultType ValidateSpecifiedFrequency( double frequencyInHz );
00092 
00094   virtual ResultType RemoveTrackerToolFromInternalDataContainers(
00095                                      const TrackerToolType * trackerTool ); 
00096 
00098   virtual ResultType AddTrackerToolToInternalDataContainers( 
00099                                     const TrackerToolType * trackerTool );
00100 
00102   virtual void PrintSelf( std::ostream& os, ::itk::Indent indent ) const; 
00103 
00106   CommandInterpreterType::Pointer GetCommandInterpreter() const;
00107 
00109   ResultType CheckError( CommandInterpreterType * ) const;
00110 
00112   igstkSetMacro( PortHandleToBeAdded, int );
00113 
00114 private:
00115 
00116   NDITracker(const Self&);   //purposely not implemented
00117   void operator=(const Self&);   //purposely not implemented
00118 
00120   ::itk::MutexLock::Pointer  m_BufferLock;
00121 
00123   CommunicationType::Pointer       m_Communication;
00124 
00126   CommunicationType::BaudRateType  m_BaudRate;
00127 
00129   CommandInterpreterType::Pointer  m_CommandInterpreter;
00130 
00133   typedef std::string                           PortIdentifierType;
00134   typedef std::map< PortIdentifierType, int >   PortHandleContainerType;
00135   PortHandleContainerType                       m_PortHandleContainer;
00136 
00138   typedef std::map< std::string, int >   ToolAbsentStatusContainerType;
00139   ToolAbsentStatusContainerType          m_ToolAbsentStatusContainer; 
00140 
00142   typedef std::map< std::string, int >   ToolStatusContainerType;
00143   ToolStatusContainerType          m_ToolStatusContainer; 
00144 
00146   typedef std::vector < double >   InternalTransformType;
00147   typedef std::map< std::string , InternalTransformType > 
00148                                 TrackerToolTransformContainerType; 
00149 
00150   TrackerToolTransformContainerType     m_ToolTransformBuffer;
00151 
00153   int m_PortHandleToBeAdded;
00154 
00155 };
00156 
00157 }
00158 
00159 #endif //__igstk_NDITracker_h_