vtkPlusClarius.h

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/*=Plus=header=begin======================================================
    Program: Plus
    Copyright (c) UBC Biomedical Signal and Image Computing Laboratory. All rights reserved.
=========================================================Plus=header=end*/

#ifndef _VTKPLUSCLARIUS_H
#define _VTKPLUSCLARIUS_H

// Local Includes
#include "vtkPlusConfig.h"
#include "vtkPlusDataCollectionExport.h"
#include "vtkPlusDevice.h"
#include "vtkPlusDataSource.h"
#include "vtkPlusUsDevice.h"

class vtkPlusDataCollectionExport vtkPlusClarius : public vtkPlusUsDevice
  /*vtkPlusCLARIUS is a subclass of vtkPlusDevice*/
{
public:
  vtkTypeMacro(vtkPlusClarius, vtkPlusDevice);
  static vtkPlusClarius* New();

  static vtkPlusClarius* GetInstance();

  void PrintSelf(ostream& os, vtkIndent indent) VTK_OVERRIDE;

  virtual PlusStatus Probe();

  virtual std::string GetSdkVersion();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus NotifyConfigured();

  PlusStatus RequestLastNSecondsRawData(double lastNSeconds);

  PlusStatus RequestRawData(long long startTimestampNanoSeconds, long long endTimestampNanoSeconds);

  bool IsTracker() const { return false; }

  vtkSetMacro(FrameHeight, unsigned int);
  vtkGetMacro(FrameHeight, unsigned int);

  vtkSetMacro(FrameWidth, unsigned int);
  vtkGetMacro(FrameWidth, unsigned int);

  vtkSetMacro(IpAddress, std::string);
  vtkGetMacro(IpAddress, std::string);

  vtkSetMacro(TcpPort, unsigned int);
  vtkGetMacro(TcpPort, unsigned int);

  vtkSetMacro(ImuEnabled, bool);
  vtkGetMacro(ImuEnabled, bool);

  vtkSetMacro(WriteImagesToDisk, bool);
  vtkGetMacro(WriteImagesToDisk, bool);

  vtkSetMacro(ImuOutputFileName, std::string);
  vtkGetMacro(ImuOutputFileName, std::string);

  vtkGetMacro(CompressRawData, bool);
  vtkSetMacro(CompressRawData, bool);
  vtkBooleanMacro(CompressRawData, bool);

  vtkSetStdStringMacro(RawDataOutputFilename);
  vtkGetStdStringMacro(RawDataOutputFilename);

  vtkSetVector2Macro(AhrsAlgorithmGain, double);
  vtkGetVector2Macro(AhrsAlgorithmGain, double);
  vtkSetVector2Macro(FilteredTiltSensorAhrsAlgorithmGain, double);
  vtkGetVector2Macro(FilteredTiltSensorAhrsAlgorithmGain, double);

  enum AHRS_METHOD
  {
    AHRS_MADGWICK,
    AHRS_MAHONY
  };

protected:
  vtkPlusClarius();
  ~vtkPlusClarius();

  virtual PlusStatus InternalConnect();
  virtual PlusStatus InternalDisconnect();

protected:
  unsigned int TcpPort;
  std::string IpAddress;

  std::string ImuOutputFileName;
  int FrameWidth;
  int FrameHeight;
  bool ImuEnabled;
  bool WriteImagesToDisk;
  bool CompressRawData;

  std::string RawDataOutputFilename;

  static vtkPlusClarius* Instance;

  double AhrsAlgorithmGain[2];
  double FilteredTiltSensorAhrsAlgorithmGain[2];

  int TiltSensorWestAxisIndex;
  int FilteredTiltSensorWestAxisIndex;

  class vtkInternal;
  vtkInternal* Internal;
};

#endif //_VTKPLUSCLARIUS_H