mitkMicroBirdTrackingDevice.h

Go to the documentation of this file.

/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
#ifndef mitkMicroBirdTrackingDevice_h
#define mitkMicroBirdTrackingDevice_h
 
#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 TrackingTool 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