PlusCmsBrachyStepper.h

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/*=Plus=header=begin======================================================
  Program: Plus
  Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
  See License.txt for details.
=========================================================Plus=header=end*/

#ifndef _CMSBRACHYSTEPPER_H_
#define _CMSBRACHYSTEPPER_H_

#include "PlusConfigure.h"
#include "vtkPlusDataCollectionExport.h"

#include "PlusBrachyStepper.h"
#include <vector>
#include <string>

class SerialLine;

class vtkPlusDataCollectionExport PlusCmsBrachyStepper : public PlusBrachyStepper
{
public:
  typedef const char* STEPPERCOMMAND;
  typedef const char* STEPPERRESPCODE;

  PlusCmsBrachyStepper(unsigned long COMPort=1, unsigned long BaudRate=19200);
  virtual ~PlusCmsBrachyStepper();

  virtual PlusStatus Connect(); 

  virtual PlusStatus Disconnect(); 

  virtual PlusStatus GetEncoderValues(double &PPosition, 
    double &GPosition, double &RPosition, unsigned long &PositionRequestNumber);

  virtual PlusStatus GetDeviceModelInfo( std::string& version, std::string& model, std::string& serial ); 

  virtual PlusStatus ResetStepper();

  virtual PlusStatus InitializeStepper(std::string &CalibMsg);

  virtual PlusStatus SetBaudRate(unsigned long BaudRate); 

  virtual PlusStatus SetCOMPort(unsigned long COMPort); 

  virtual PlusStatus IsStepperAlive();

public:

  PlusStatus GetStatusInfo(unsigned int &Status);

  PlusStatus GetProbeReferenceData(double &count, double &dist, double &scale);

  PlusStatus GetGridReferenceData(double &count, double &dist, double &scale);

  PlusStatus GetRotationReferenceData(double &count, double &dist, double &scale);

  PlusStatus GetCalibrationState(int &PState, int &GState, int &RState);

  PlusStatus GetRotateState(int &State);

  bool IsStepperCalibrated();

  PlusStatus GetMotorizationScaleFactor(int &scaleFactor); 

  bool IsStepperMotorized(); 

  PlusStatus MoveProbeToPosition(double PositionInMm, int &ReturnCode); 
 
protected:
  PlusStatus GetVersionInfo(int &iVerHi, int &iVerLo, int &iModelNum, int &iSerialNum); 

  PlusStatus TurnMotorOn(); 

  PlusStatus TurnMotorOff(); 

  PlusStatus StepperButtonEnable();

  PlusStatus StepperButtonDisable();

  PlusStatus StepperRotateCalibrationEnable();

  PlusStatus StepperRotateCalibrationDisable();

  void SetScalingParameters();

  void ClearBuffer(); 
  
protected:
  static unsigned int AsciiToBin(unsigned int i, unsigned int j);

  static void BinToAscii(unsigned int n, unsigned char *c1, unsigned char *c2);

  void SendStepperCommand(STEPPERCOMMAND command, STEPPERRESPCODE Response, std::vector<BYTE> &vRawMessage);

  void SendPositionRequestCommand(STEPPERCOMMAND command, std::vector<BYTE> &vRawMessage);

  void StepperInstruction(STEPPERCOMMAND command);

  void ReadStepperAnswer(std::vector<BYTE> &stepperAnswer);

  bool IsStepperACKRecieved(std::vector<BYTE> &ackMessage, STEPPERCOMMAND command);

  void GetStepperMessage(STEPPERCOMMAND command, const char* Response, std::vector<BYTE> &DecodedMessage);

  void GetPositionMessage(std::vector<BYTE> &StepperMessage, std::vector<BYTE> &DecodedMessage);

  void CreateAckMessage( BYTE opcode, std::string *sMessage);

  void SendAckMessage(std::vector<BYTE> StepperMessage);

  void DecodeStepperMessage(std::vector<BYTE> StepperMessage, std::vector<BYTE> &DecodedMessage);

  PlusStatus GetReferenceData(STEPPERCOMMAND command, STEPPERRESPCODE respcode, double &count, double &dist, double &scale);

private:
   
  SerialLine* m_StepperCOMPort;

  double m_ProbeScale;

  double m_GridScale;

  double m_RotationScale;

  bool m_IsCalibrated; 
  
  int m_RepeatedPositionErrorCount; 

  CRITICAL_SECTION m_CriticalSection; 

};

#endif