mitkNDIProtocol.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 MITKNDIPROTOCOL_H_HEADER_INCLUDED_
#define MITKNDIPROTOCOL_H_HEADER_INCLUDED_

#include <itkObject.h>
#include <itkObjectFactory.h>

#include <MitkIGTExports.h>
#include "mitkSerialCommunication.h"
#include "mitkNDIPassiveTool.h"

namespace mitk
{
  class NDITrackingDevice;

  enum NDIErrorCode
  {
    NDIOKAY = 0,
    NDIERROR = 1,
    SERIALINTERFACENOTSET,
    SERIALSENDERROR,
    SERIALRECEIVEERROR,
    SROMFILETOOLARGE,
    SROMFILETOOSMALL,
    NDICRCERROR,                          // reply has crc error, local computer detected the error
    NDIINVALIDCOMMAND,
    NDICOMMANDTOOLONG,
    NDICOMMANDTOOSHORT,
    NDICRCDOESNOTMATCH,                   // command had crc error, tracking device detected the error
    NDITIMEOUT,
    NDIUNABLETOSETNEWCOMMPARAMETERS,
    NDIINCORRECTNUMBEROFPARAMETERS,
    NDIINVALIDPORTHANDLE,
    NDIINVALIDTRACKINGPRIORITY,
    NDIINVALIDLED,
    NDIINVALIDLEDSTATE,
    NDICOMMANDINVALIDINCURRENTMODE,
    NDINOTOOLFORPORT,
    NDIPORTNOTINITIALIZED,
    NDISYSTEMNOTINITIALIZED,
    NDIUNABLETOSTOPTRACKING,
    NDIUNABLETOSTARTTRACKING,
    NDIINITIALIZATIONFAILED,
    NDIINVALIDVOLUMEPARAMETERS,
    NDICANTSTARTDIAGNOSTICMODE,
    NDICANTINITIRDIAGNOSTICS,
    NDIFAILURETOWRITESROM,
    NDIENABLEDTOOLSNOTSUPPORTED,
    NDICOMMANDPARAMETEROUTOFRANGE,
    NDINOMEMORYAVAILABLE,
    NDIPORTHANDLENOTALLOCATED,
    NDIPORTHASBECOMEUNOCCUPIED,
    NDIOUTOFHANDLES,
    NDIINCOMPATIBLEFIRMWAREVERSIONS,
    NDIINVALIDPORTDESCRIPTION,
    NDIINVALIDOPERATIONFORDEVICE,
    NDIWARNING,
    NDIUNKNOWNERROR,
    NDIUNEXPECTEDREPLY,
    UNKNOWNHANDLERETURNED,
    TRACKINGDEVICERESET,
    TRACKINGDEVICENOTSET
  };

  class MITKIGT_EXPORT NDIProtocol : public itk::Object
  {
  public:
    mitkClassMacroItkParent(NDIProtocol, itk::Object);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);
    itkSetObjectMacro(TrackingDevice, NDITrackingDevice);

    typedef mitk::SerialCommunication::PortNumber PortNumber; 
    typedef mitk::SerialCommunication::BaudRate BaudRate;     
    typedef mitk::SerialCommunication::DataBits DataBits;     
    typedef mitk::SerialCommunication::Parity Parity;         
    typedef mitk::SerialCommunication::StopBits StopBits;     
    typedef mitk::SerialCommunication::HardwareHandshake HardwareHandshake; 
    typedef mitk::NDIPassiveTool::TrackingPriority TrackingPriority; 

    NDIErrorCode APIREV(std::string* revision);
    NDIErrorCode PHINF(std::string portHandle, std::string* portInfo);
    NDIErrorCode PSOUT(std::string portHandle, std::string state); 
    NDIErrorCode COMM(mitk::SerialCommunication::BaudRate baudRate, mitk::SerialCommunication::DataBits dataBits, mitk::SerialCommunication::Parity parity, mitk::SerialCommunication::StopBits stopBits, mitk::SerialCommunication::HardwareHandshake hardwareHandshake); 
    NDIErrorCode INIT();    
    NDIErrorCode DSTART();  
    NDIErrorCode DSTOP();   
    NDIErrorCode IRINIT();  
    NDIErrorCode IRCHK(bool* IRdetected);         
    NDIErrorCode PHSR(PHSRQueryType queryType, std::string* portHandles);    
    NDIErrorCode PHF(std::string* portHandle);    
    NDIErrorCode PHRQ(std::string* portHandle);   
    NDIErrorCode PVWR(std::string* portHandle, const unsigned char* sromData, unsigned int sromDataLength);    
    NDIErrorCode PINIT(std::string* portHandle);  
    NDIErrorCode PENA(std::string* portHandle, TrackingPriority prio); 
    NDIErrorCode PDIS(std::string* portHandle);   
    NDIErrorCode IRATE(IlluminationActivationRate rate); 
    NDIErrorCode BEEP(unsigned char count);       
    NDIErrorCode SFLIST(std::string* info);       
    NDIErrorCode TSTART(bool resetFrameCounter = false);  
    NDIErrorCode TSTOP();                         
    NDIErrorCode TX(bool trackIndividualMarkers = false, MarkerPointContainerType* markerPositions = nullptr); 
    NDIErrorCode BX();                            
    NDIErrorCode POS3D(MarkerPointContainerType* markerPositions); 
    NDIErrorCode VER(mitk::TrackingDeviceType& t);                 
    NDIErrorCode VSEL(mitk::TrackingDeviceData deviceData);                
    NDIErrorCode TX1000(MarkerPointContainerType* markerPositions);    
    unsigned int ByteToNbBitsOn(char& c) const; 
    itkGetConstMacro(UseCRC, bool); 
    itkSetMacro(UseCRC, bool);      
    itkBooleanMacro(UseCRC);        
  protected:
    NDIProtocol();
    ~NDIProtocol() override;

    NDIErrorCode ParseOkayError();

    NDIErrorCode GenericCommand(const std::string command, const std::string* parameter = nullptr);

    NDIErrorCode GetErrorCode(const std::string* input);

    NDITrackingDevice* m_TrackingDevice;  
    bool m_UseCRC;  
  };
} // namespace mitk
#endif /* MITKNDIPROTOCOL_H_HEADER_INCLUDED_ */