vtkPlusChRoboticsTracker.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 __vtkPlusChRoboticsTracker_h
#define __vtkPlusChRoboticsTracker_h

#include "vtkPlusDataCollectionExport.h"

#include "ChrDataItem.h"
#include "vtkPlusDevice.h"

class SerialLine;
class ChrSerialPacket;

class vtkPlusDataCollectionExport vtkPlusChRoboticsTracker : public vtkPlusDevice
{
public:

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

  PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  PlusStatus Probe();

  PlusStatus InternalUpdate();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config); 

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);  

  virtual bool IsTracker() const { return true; }

  vtkSetMacro(SerialPort, unsigned long);
  vtkSetMacro(BaudRate, unsigned long);
  vtkSetMacro(FirmwareDirectory, std::string);

protected:

  vtkPlusChRoboticsTracker();
  ~vtkPlusChRoboticsTracker();

  PlusStatus InternalStartRecording();

  PlusStatus InternalStopRecording();

  PlusStatus FindFirmwareDefinition(const std::string& id, vtkXMLDataElement* foundDefinition);

  void GetFileNamesFromDirectory(std::vector<std::string> &fileNames, const std::string &dir);

  PlusStatus LoadFirmwareDescriptionForConnectedDevice();

  PlusStatus UpdateDataItemDescriptors();

  void UpdateDataItemValues(ChrSerialPacket& packet);

  PlusStatus FindDataItemDescriptor(const std::string itemName, ChrDataItem &foundItem);

  PlusStatus SendCommand( ChrSerialPacket& requestPacket, ChrSerialPacket& replyPacket );
  
  PlusStatus SendPacket( ChrSerialPacket& packet );
  PlusStatus ReceivePacket( ChrSerialPacket& packet );

  PlusStatus ProcessPacket( ChrSerialPacket& packet );

private:  // Functions.

  vtkPlusChRoboticsTracker( const vtkPlusChRoboticsTracker& );
  void operator=( const vtkPlusChRoboticsTracker& );  


private:  // Variables.

  SerialLine* Serial;

  unsigned long SerialPort; 

  unsigned long BaudRate; 

  std::string FirmwareDirectory;

  vtkPlusDataSource* OrientationSensorTool;

  vtkXMLDataElement* FirmwareDefinition;
  std::string FirmwareVersionId;

  ChrDataItem EulerRoll;
  ChrDataItem EulerPitch;
  ChrDataItem EulerYaw;

};

#endif