mitkPolhemusTrackingDevice.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 MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_
#define MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_


#include <vector>
#include <mitkIGTConfig.h>
#include <mitkTrackingDevice.h>
#include <mitkPolhemusTool.h>
#include <itkMultiThreader.h>

namespace mitk
{
  class MITKIGT_EXPORT PolhemusTrackingDevice : public TrackingDevice
  {
  public:

    mitkClassMacro(PolhemusTrackingDevice, TrackingDevice);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);

    virtual bool StartTracking() override;

    virtual bool StopTracking() override;

    virtual bool OpenConnection() override;

    virtual bool CloseConnection() override;

    virtual unsigned int GetToolCount() const override;

    TrackingTool* GetTool(unsigned int toolNumber)  const override;


    mitk::TrackingTool* AddTool(const char* toolName, int toolPort);



    bool IsDeviceInstalled();

    virtual bool AutoDetectToolsAvailable();

    virtual mitk::NavigationToolStorage::Pointer AutoDetectTools();

    void SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled);

    bool GetHemisphereTrackingEnabled(int _tool);

    void ToggleHemisphere(int _tool = -1);

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

    mitk::Vector3D GetHemisphere(int _tool);

    void AdjustHemisphere(int _tool);

  protected:
    PolhemusTrackingDevice();
    ~PolhemusTrackingDevice();

    bool InternalAddTool(PolhemusTool::Pointer tool);

    void TrackTools();

    std::vector<PolhemusTool::Pointer> GetAllTools();

    PolhemusInterface* GetDevice();

    static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data);

    std::vector<PolhemusTool::Pointer> m_AllTools; 
    PolhemusInterface::Pointer m_Device; 
    itk::MultiThreader::Pointer m_MultiThreader;
    int m_ThreadID;
    bool m_HemisphereTrackingEnabled;
  };
}//mitk
#endif /* MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_ */