vtkPlusAtracsysTracker.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 __vtkPlusAtracsysTracker_h
#define __vtkPlusAtracsysTracker_h

#include "vtkPlusDataCollectionExport.h"
#include "vtkPlusDevice.h"

#include <string>

class vtkPlusDataCollectionExport vtkPlusAtracsysTracker : public vtkPlusDevice
{
public:
  static vtkPlusAtracsysTracker* New();
  vtkTypeMacro(vtkPlusAtracsysTracker, vtkPlusDevice);
  void PrintSelf(ostream& os, vtkIndent indent);

  /* Get SDK version */
  std::string GetSdkVersion();

  std::string GetCalibrationDate();

  /* Get device type */
  std::string GetDeviceType();

  PlusStatus GetCamerasCalibration(
    std::array<float, 10>& leftIntrinsic, std::array<float, 10>& rightIntrinsic,
    std::array<float, 3>& rightPosition, std::array<float, 3>& rightOrientation);

  PlusStatus GetLoadedGeometries(std::map<int, std::vector<std::array<float, 3>>>& geometries);

  /* Device is a hardware tracker. */
  virtual bool IsTracker() const { return true; }
  virtual bool IsVirtual() const;

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  PlusStatus Probe();

  PlusStatus InternalUpdate();

  PlusStatus PauseVirtualDevice();
  PlusStatus UnpauseVirtualDevice();

public:
  // Commands
  static const char* ATRACSYS_COMMAND_SET_FLAG;
  static const char* ATRACSYS_COMMAND_LED_ENABLED;
  static const char* ATRACSYS_COMMAND_LASER_ENABLED;
  static const char* ATRACSYS_COMMAND_VIDEO_ENABLED;
  static const char* ATRACSYS_COMMAND_SET_LED_RGBF; // F = LED flash frequency
  static const char* ATRACSYS_COMMAND_ENABLE_TOOL;
  static const char* ATRACSYS_COMMAND_ADD_TOOL;

  const std::map<std::string, std::string>& GetDeviceOptions() const;
  PlusStatus GetOptionValue(const std::string& optionName, std::string& optionValue);

  // Command methods
  // LED
  PlusStatus SetLedEnabled(bool enabled);
  PlusStatus SetUserLEDState(int red, int green, int blue, int frequency, bool enabled = true);
  // Tools
  PlusStatus SetToolEnabled(std::string toolId, bool enabled);
  PlusStatus AddToolGeometry(std::string toolId, std::string geomString);
  // Other
  PlusStatus SetLaserEnabled(bool enabled);
  PlusStatus SetVideoEnabled(bool enabled);

protected:
  vtkPlusAtracsysTracker();
  ~vtkPlusAtracsysTracker();

  // helper to translate option names from Plus nomenclature to Atracsys' one
  bool TranslateOptionName(const std::string& optionName, std::string& translatedOptionName);

private: // Functions
  vtkPlusAtracsysTracker(const vtkPlusAtracsysTracker&);

  PlusStatus InternalStartRecording();

  PlusStatus InternalStopRecording();
  std::vector<std::string> DisabledToolIds;

  class vtkInternal;
  vtkInternal* Internal;
};

#endif