vtkPlusBrachyTracker.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 __vtkPlusBrachyTracker_h
#define __vtkPlusBrachyTracker_h

#include "vtkPlusDataCollectionExport.h"

#include "PlusBrachyStepper.h"
#include "PlusConfigure.h"
#include "vtkPlusDevice.h"

class vtkPlusDataCollectionExport vtkPlusBrachyTracker : public vtkPlusDevice
{
public:

  enum BRACHY_STEPPER_TOOL
  {
    PROBEHOME_TO_PROBE_TRANSFORM = 0,
    TEMPLATEHOME_TO_TEMPLATE_TRANSFORM,
    RAW_ENCODER_VALUES,
    NUMBER_OF_BRACHY_TOOLS
  };

  enum ENCODER_MATRIX_ROW
  {
    ROW_PROBE_POSITION = 0,
    ROW_PROBE_ROTATION = 1,
    ROW_TEMPLATE_POSITION = 2
  };

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

  PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  virtual PlusStatus NotifyConfigured();

  PlusStatus Probe();

  PlusStatus ResetStepper();

  PlusStatus InitializeStepper(std::string& calibMsg);

  virtual PlusStatus GetTrackedFrame(double timestamp, igsioTrackedFrame* aTrackedFrame);

  PlusStatus GetStepperEncoderValues(BufferItemUidType uid, double& probePosition, double& probeRotation, double& templatePosition, ToolStatus& status);

  PlusStatus GetLatestStepperEncoderValues(double& probePosition, double& probeRotation, double& templatePosition, ToolStatus& status);

  PlusStatus GetStepperEncoderValues(double timestamp, double& probePosition, double& probeRotation, double& templatePosition, ToolStatus& status);

  PlusStatus GetProbeHomeToProbeTransform(BufferItemUidType uid, vtkMatrix4x4* probeHomeToProbeMatrix, ToolStatus& status);

  PlusStatus GetProbeHomeToProbeTransform(double timestamp, vtkMatrix4x4* probeHomeToProbeMatrix, ToolStatus& status);

  PlusStatus GetTemplateHomeToTemplateTransform(BufferItemUidType uid, vtkMatrix4x4* templateHomeToTemplateMatrix, ToolStatus& status);

  PlusStatus GetTemplateHomeToTemplateTransform(double timestamp, vtkMatrix4x4* templateHomeToTemplateMatrix, ToolStatus& status);

  PlusStatus GetRawEncoderValuesTransform(BufferItemUidType uid, vtkMatrix4x4* rawEncoderValuesTransform, ToolStatus& status);

  PlusStatus GetRawEncoderValuesTransform(double timestamp, vtkMatrix4x4* rawEncoderValuesTransform, ToolStatus& status);

  virtual bool IsTracker() const { return true; }

  vtkGetStringMacro(ModelVersion);

  vtkGetStringMacro(ModelNumber);

  vtkGetStringMacro(ModelSerialNumber);

  vtkSetMacro(SerialPort, unsigned long);

  vtkGetMacro(SerialPort, unsigned long);

  vtkSetMacro(BaudRate, unsigned long);

  vtkGetMacro(BaudRate, unsigned long);

  vtkGetStringMacro(CalibrationAlgorithmVersion);

  vtkSetStringMacro(CalibrationAlgorithmVersion);

  vtkGetStringMacro(CalibrationDate);

  vtkSetStringMacro(CalibrationDate);

  vtkSetVector3Macro(ProbeTranslationAxisOrientation, double);

  vtkGetVector3Macro(ProbeTranslationAxisOrientation, double);

  vtkSetVector3Macro(ProbeRotationAxisOrientation, double);

  vtkGetVector3Macro(ProbeRotationAxisOrientation, double);

  vtkSetVector3Macro(TemplateTranslationAxisOrientation, double);

  vtkGetVector3Macro(TemplateTranslationAxisOrientation, double);

  vtkSetMacro(ProbeRotationEncoderScale, double);

  vtkGetMacro(ProbeRotationEncoderScale, double);

  vtkSetMacro(CompensationEnabled, bool);

  vtkGetMacro(CompensationEnabled, bool);

  vtkBooleanMacro(CompensationEnabled, bool);

  PlusBrachyStepper::BRACHY_STEPPER_TYPE GetBrachyStepperType() { return this->BrachyStepperType; }

  PlusStatus InternalUpdate();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

protected:
  vtkPlusBrachyTracker();
  ~vtkPlusBrachyTracker();

  std::string GetBrachyToolSourceId(BRACHY_STEPPER_TOOL tool);

  vtkSetStringMacro(ModelVersion);

  vtkSetStringMacro(ModelNumber);

  vtkSetStringMacro(ModelSerialNumber);

  PlusStatus InternalStartRecording();

  PlusStatus InternalStopRecording();

  PlusStatus InitBrachyTracker();

  PlusBrachyStepper* Device;

  PlusBrachyStepper::BRACHY_STEPPER_TYPE BrachyStepperType;

  char* ModelVersion;
  char* ModelNumber;
  char* ModelSerialNumber;

  unsigned long SerialPort;
  unsigned long BaudRate;

  //========== Stepper calibration ==================

  bool CompensationEnabled;

  char* CalibrationAlgorithmVersion;

  char* CalibrationDate;

  double ProbeTranslationAxisOrientation[3];

  double ProbeRotationAxisOrientation[3];

  double TemplateTranslationAxisOrientation[3];

  double ProbeRotationEncoderScale;

private:
  vtkPlusBrachyTracker(const vtkPlusBrachyTracker&);
  void operator=(const vtkPlusBrachyTracker&);
};

#endif