vtkPlusBkProFocusOemVideoSource.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*/

// GRAB_FRAME API was partly contributed by by Xin Kang at SZI, Children's National Medical Center

#ifndef __vtkPlusBkProFocusOemVideoSource_h
#define __vtkPlusBkProFocusOemVideoSource_h

#include "vtkPlusDataCollectionExport.h"
#include "vtkPlusUsDevice.h"

class vtkPlusDataCollectionExport vtkPlusBkProFocusOemVideoSource : public vtkPlusUsDevice
{
public:

  static vtkPlusBkProFocusOemVideoSource* New();
  vtkTypeMacro(vtkPlusBkProFocusOemVideoSource, vtkPlusDevice);
  virtual void PrintSelf(ostream& os, vtkIndent indent) VTK_OVERRIDE;

  virtual bool IsTracker() const { return false; }

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);
  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus NotifyConfigured();

  vtkSetMacro(ScannerAddress, std::string);

  vtkGetMacro(ScannerAddress, std::string);

  vtkSetMacro(OemPort, unsigned short);

  vtkSetMacro(ContinuousStreamingEnabled, bool);

  vtkGetMacro(ContinuousStreamingEnabled, bool);

  vtkBooleanMacro(ContinuousStreamingEnabled, bool);

  vtkSetMacro(ColorEnabled, bool);

  vtkGetMacro(ColorEnabled, bool);

  vtkBooleanMacro(ColorEnabled, bool);

  vtkSetMacro(OfflineTesting, bool);

  vtkGetMacro(OfflineTesting, bool);

  vtkBooleanMacro(OfflineTesting, bool);

  vtkSetStringMacro(OfflineTestingFilePath);

  vtkGetStringMacro(OfflineTestingFilePath);

protected:

  static const char* KEY_DEPTH;
  static const char* KEY_GAIN;

  // Size of the ultrasound image. Only used if ContinuousStreamingEnabled is true.
  std::array<unsigned int, 2> UltrasoundWindowSize;

  //Parameter values recaived from the BK scanner.
  double StartLineX_m, StartLineY_m, StartLineAngle_rad, StartDepth_m, StopLineX_m, StopLineY_m, StopLineAngle_rad, StopDepth_m;
  int pixelLeft_pix, pixelTop_pix, pixelRight_pix, pixelBottom_pix;
  int grabFramePixelLeft_pix, grabFramePixelTop_pix, grabFramePixelRight_pix, grabFramePixelBottom_pix;
  double tissueLeft_m, tissueTop_m, tissueRight_m, tissueBottom_m;
  int gain_percent;

  //Probe type of the connected probes
  IGTLIO_PROBE_TYPE probeTypePortA, probeTypePortB, probeTypePortC, probeTypePortM;

  //The current probe port
  std::string probePort;

  vtkPlusBkProFocusOemVideoSource();
  ~vtkPlusBkProFocusOemVideoSource();

  virtual PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  PlusStatus StartContinuousDataStreaming();

  PlusStatus StopContinuousDataStreaming();

  virtual PlusStatus InternalStartRecording();

  virtual PlusStatus InternalStopRecording();

  PlusStatus InternalUpdate();

  PlusStatus ProcessMessagesAndReadNextImage();

  PlusStatus ReadNextMessage();

  std::vector<char> removeSpecialCharacters(std::vector<char> inMessage);

  int addAdditionalBinaryDataToImageUntilEOTReached(char& character, std::vector<char>& rawMessage);

  PlusStatus SendQuery(std::string query);

  std::string AddSpecialCharacters(std::string query);

  PlusStatus RequestParametersFromScanner();

  PlusStatus QueryImageSize();
  PlusStatus QueryGeometryScanarea();
  PlusStatus QueryGeometryPixel();
  PlusStatus QueryGeometryUsGrabFrame();
  PlusStatus QueryGeometryTissue();
  PlusStatus QueryGain();
  PlusStatus QueryTransducerList();
  PlusStatus QueryTransducer();

  PlusStatus SubscribeToParameterChanges();
  PlusStatus ConfigEventsOn();
  //  PlusStatus CommandPowerDopplerOn();

  void ParseImageSize(std::istringstream& replyStream);
  void ParseGeometryScanarea(std::istringstream& replyStream);
  void ParseGeometryPixel(std::istringstream& replyStream);
  void ParseGeometryUsGrabFrame(std::istringstream& replyStream);
  void ParseGeometryTissue(std::istringstream& replyStream);
  void ParseGain(std::istringstream& replyStream);
  void ParseTransducerList(std::istringstream& replyStream);
  void ParseTransducerData(std::istringstream& replyStream);

  PlusStatus DecodePngImage(unsigned char* pngBuffer, unsigned int pngBufferSize, vtkImageData* decodedImage);

  // Calculate values for the OpenIGTLinkIO standard.

  virtual std::vector<double> CalculateOrigin() override;

  virtual std::vector<double> CalculateAngles() override;

  virtual std::vector<double> CalculateBoundingBox() override;

  virtual std::vector<double> CalculateDepths() override;

  virtual double CalculateLinearWidth() override;

  //Utility functions

  bool IsSectorProbe();

  double CalculateWidthInRadians();

  double CalculateDepthMm();

  int CalculateGain();

  double GetStartDepth();

  double GetStopDepth();

  double GetStartLineX();

  double GetStartLineY();

  double GetStopLineX();

  double GetStopLineY();

  double GetStartLineAngle();

  double GetStopLineAngle();

  double GetSpacingX();

  double GetSpacingY();

  virtual IGTLIO_PROBE_TYPE GetProbeType() override;

  PlusStatus AddParametersToFrameFields();

  std::string ReadBufferIntoString();

  std::string RemoveQuotationMarks(std::string inString);

  void SetProbeTypeForPort(std::string port, std::string probeTypeString);

  //Values read from the xml config file
  std::string ScannerAddress;

  unsigned short OemPort;

  bool ContinuousStreamingEnabled;

  bool ColorEnabled;

  bool OfflineTesting;

  char* OfflineTestingFilePath;

  // For internal storage of additional variables (to minimize the number of included headers)
  class vtkInternal;
  vtkInternal* Internal;

  igsioFieldMapType FrameFields;

private:
  vtkPlusBkProFocusOemVideoSource(const vtkPlusBkProFocusOemVideoSource&);  // Not implemented.
  void operator=(const vtkPlusBkProFocusOemVideoSource&);  // Not implemented.

  //Special characters used in BK communication protocol
  enum
  {
    SOH = 1,  
    EOT = 4,  
    ESC = 27, 
  };
};

#endif