mitkPolhemusInterface.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 MITKPolhemusINTERFACE_H_HEADER_INCLUDED_
#define MITKPolhemusINTERFACE_H_HEADER_INCLUDED_

#include <vector>
#include <string>

#include <MitkIGTExports.h>
#include "mitkCommon.h"

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

#include <windows.h>
#include <tchar.h>
#include <string>

#include <mitkNavigationData.h>

class CPDIdev;

namespace mitk
{
  class MITKIGT_EXPORT PolhemusInterface : public itk::Object
  {
  public:

    mitkClassMacroItkParent(PolhemusInterface, itk::Object);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);

    struct trackingData
    {
      mitk::Point3D pos;
      mitk::Quaternion rot;
      BYTE id;
      int distortionLevel;
    };

    bool StartTracking();

    bool StopTracking();

    bool Connect();

    bool Disconnect();

    unsigned int GetNumberOfTools();

    void SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled, int _tool = -1);

    void ToggleHemisphere(int _tool = -1);

    void PrintStatus();

    void SetHemisphere(int _tool, mitk::Vector3D _hemisphere);

    mitk::Vector3D GetHemisphere(int _tool);

    std::vector<int> GetToolPorts();

    bool GetHemisphereTrackingEnabled(int _tool);

    void AdjustHemisphere(int _tool);

    std::vector<trackingData> GetSingleFrame();

    std::vector<trackingData> AutoDetectTools();

    std::vector<trackingData> GetLastFrame();

  protected:
    PolhemusInterface();
    ~PolhemusInterface();

    CPDIdev* m_pdiDev;

    std::vector<mitk::PolhemusInterface::trackingData> ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize);

    bool InitializeDevice();

    bool SetupDevice();

    //returns the index in the arrays of tool _tool. Eg. sensor 3 (_tool = 3) is the second tool --> index 1 in m_Hemispheres etc.
    int GetToolIndex(int _tool);

    std::vector<trackingData> GetFrame();

  private:
    //returns vector with tool index as only element if tool != -1, else returns vector from 0 to numberOfTools
    std::vector<int> GetToolIterator(int _tool);

    //helper method to open connection
    bool OpenConnection();


  private:
    //Stores the hemispheres for all sensors. Default is (1|0|0).
    std::vector<mitk::Vector3D> m_Hemispheres;

    //Stores, if hemisphereTracking is on for this Sensor.
    std::vector<bool> m_HemisphereTracking;

    //This vector stores the order of tools, which are available.
    //E.g. only Sensor 1 and 3 are attached, then this vector maps the first tool (0) to Polhemus identifier 1 and the second tool (1) to Polhemus 3.
    std::vector<int> m_ToolPorts;

    unsigned int m_numberOfTools;

    bool m_continousTracking;
  };
}//mitk
#endif