mitkOpenIGTLinkTrackingDevice.h

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/*============================================================================
 
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 mitkOpenIGTLinkTrackingDevice_h
#define mitkOpenIGTLinkTrackingDevice_h
 
#include <mitkIGTConfig.h>
#include <mitkTrackingDevice.h>
#include <mitkOpenIGTLinkTrackingTool.h>
#include <mitkIGTLClient.h>
#include <mitkIGTLDeviceSource.h>
#include <mitkIGTLMessageToNavigationDataFilter.h>
#include <igtlQuaternionTrackingDataMessage.h>
#include <igtlTrackingDataMessage.h>
#include <igtlTransformMessage.h>
#include "mitkIGTLTrackingDataDeviceSource.h"
 
namespace mitk
{
  class MITKIGT_EXPORT OpenIGTLinkTrackingDevice : public TrackingDevice
  {
  public:
    mitkClassMacro(OpenIGTLinkTrackingDevice, TrackingDevice);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);
 
    void SetPortNumber(int portNumber);
 
    void SetHostname(std::string hostname);
 
    int GetPortNumber();
 
    std::string GetHostname();
 
    bool StartTracking() override;
 
    bool StopTracking() override;
 
    bool OpenConnection() override;
 
    bool CloseConnection() override;
 
    unsigned int GetToolCount() const override;
 
    TrackingTool* GetTool(unsigned int toolNumber)  const override;
 
    bool DiscoverTools(int WaitingTime = 10000);
 
    mitk::TrackingTool* AddTool(const char* toolName, const char* fileName);
 
    bool AutoDetectToolsAvailable() override;
 
    mitk::NavigationToolStorage::Pointer AutoDetectTools() override;
 
    bool IsDeviceInstalled() override;
 
    itkSetMacro(UpdateRate, int);               
    itkGetConstMacro(UpdateRate, int);          
 
  protected:
    OpenIGTLinkTrackingDevice();
    ~OpenIGTLinkTrackingDevice() override;
 
    bool InternalAddTool(OpenIGTLinkTrackingTool::Pointer tool);
 
    void UpdateTools();
    unsigned long m_MessageReceivedObserverTag;
 
    mitk::IGTLMessage::Pointer ReceiveMessage(int waitingTime);
 
    std::vector<OpenIGTLinkTrackingTool::Pointer> GetAllTools();
 
    //OpenIGTLink connection class
    mitk::IGTLClient::Pointer m_OpenIGTLinkClient;
 
    //OpenIGTLink pipeline
    mitk::IGTLTrackingDataDeviceSource::Pointer m_IGTLDeviceSource;
    mitk::IGTLMessageToNavigationDataFilter::Pointer m_IGTLMsgToNavDataFilter;
 
    std::vector<OpenIGTLinkTrackingTool::Pointer> m_AllTools; 
 
    int m_UpdateRate; 
 
  private:
    enum TrackingMessageType
    {
      TDATA, TRANSFORM, QTDATA, UNKNOWN
    };
 
    mitk::OpenIGTLinkTrackingDevice::TrackingMessageType GetMessageTypeFromString(const char* messageTypeString);
 
    mitk::NavigationToolStorage::Pointer DiscoverToolsAndConvertToNavigationTools(mitk::OpenIGTLinkTrackingDevice::TrackingMessageType type, int NumberOfMessagesToWait = 50);
 
    void AddNewToolForName(std::string name, int i);
 
    mitk::NavigationTool::Pointer ConstructDefaultOpenIGTLinkTool(std::string name, std::string identifier);
  };
}//mitk
#endif