mitkMicroBirdTrackingDevice.h

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

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

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

#ifndef MITKMIRCOBIRDTRACKINGDEVICE_H_HEADER_INCLUDED
#define MITKMIRCOBIRDTRACKINGDEVICE_H_HEADER_INCLUDED

#include "mitkTrackingDevice.h"

#include <MitkIGTExports.h>
#include <itkMultiThreader.h>

#include <list>

#include "mitkTrackingTypes.h"
#include "mitkMicroBirdTool.h"

#include "PCIBird3.h"

namespace mitk {
  class MITKIGT_EXPORT MicroBirdTrackingDevice : public TrackingDevice
  {
  public:
    mitkClassMacro(MicroBirdTrackingDevice, TrackingDevice);
    itkFactorylessNewMacro(Self)
    itkCloneMacro(Self)

    
    itkSetMacro(Type,TrackingDeviceType);

    virtual bool OpenConnection();

    virtual bool CloseConnection();

    virtual bool StartTracking();

    virtual bool StopTracking();

    virtual TrackingTool* GetTool(unsigned int toolNumber);

    virtual unsigned int GetToolCount() const;

    itkGetStringMacro(ErrorMessage);

  protected:
    void HandleError(int errorCode);
    bool CompareError(int errorCode, int errorConstant);

    typedef InternalTrackingTool ToolType;
    typedef std::vector<ToolType::Pointer> ToolContainerType;
    MicroBirdTrackingDevice();
    virtual ~MicroBirdTrackingDevice();

    ToolType* GetMicroBirdTool(unsigned int toolNumber);

    virtual void InvalidateAll();         
    bool SwitchTransmitter(bool switchOn);

    virtual void TrackTools();

    static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data);  

    itkSetStringMacro(ErrorMessage);

    itk::FastMutexLock::Pointer m_ToolsMutex;
    ToolContainerType m_Tools;

    std::string m_ErrorMessage;

    itk::MultiThreader::Pointer m_MultiThreader;
    int m_ThreadID;

    //DOUBLE_POSITION_MATRIX_TIME_Q_RECORD record, *pRecord;  ///< One tracking data record (matrix orientation format)
    DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD record, *pRecord; 
    SYSTEM_CONFIGURATION    m_SystemConfig;         
    SENSOR_CONFIGURATION    *m_SensorConfig;        
    TRANSMITTER_CONFIGURATION  *m_TransmitterConfig; 
    BOOL m_metric;            
    double m_measurementRate; 
    double m_pl;              
    bool m_agcModeBoth;       
    AGC_MODE_TYPE m_agc;
  };
} // namespace mitk
#endif /* MITKMIRCOBIRDTRACKINGDEVICE_H_HEADER_INCLUDED*/