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_HEADER_INCLUDED_
#define MITKOPENIGTLINKTRACKINGDEVICE_H_HEADER_INCLUDED_

#include <mitkIGTConfig.h>
#include <mitkTrackingDevice.h>
#include <mitkOpenIGTLinkTrackingTool.h>
#include <mitkIGTLClient.h>
#include <mitkIGTLDeviceSource.h>
#include <mitkIGTLMessageToNavigationDataFilter.h>
#include <itkMultiThreader.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 /* MITKOpenIGTLinkTRACKINGDEVICE_H_HEADER_INCLUDED_ */