vtkPlusIntuitiveDaVinciTracker.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 __vtkPlusIntuitiveDaVinciTracker_h
#define __vtkPlusIntuitiveDaVinciTracker_h

// Local includes
#include "vtkPlusDataCollectionExport.h"
#include "vtkPlusDevice.h"

// VTK includes
#include <vtkObjectFactory.h>

// Intuitive includes
#include "IntuitiveDaVinci.h"
#include <isi_api.h>

class vtkMatrix4x4;
class IntuitiveDaVinci;
class vtkPlusIntuitiveDaVinciTracker;

namespace vtkPlusIntuitiveDaVinciTrackerUtilities
{
  void ISICALLBACK streamCB(void* userdata);
  void ISICALLBACK eventCB(ISI_MANIP_INDEX mid, ISI_EVENT_ID event_id, ISI_INT args[ISI_NUM_EVENT_ARGS],  void* userdata);
};

/* This class talks with the da Vinci Surgical System. */
class vtkPlusDataCollectionExport vtkPlusIntuitiveDaVinciTracker : public vtkPlusDevice
{
public:
  static vtkPlusIntuitiveDaVinciTracker* New();
  vtkTypeMacro(vtkPlusIntuitiveDaVinciTracker, vtkPlusDevice);
  virtual void PrintSelf(ostream& os, vtkIndent indent) VTK_OVERRIDE;

  virtual std::string GetSdkVersion();

  virtual bool IsTracker() const { return true; }

  virtual PlusStatus Probe();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* rootConfigElement);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* rootConfigElement);

  IntuitiveDaVinci* GetDaVinci() const;

  vtkSetStdStringMacro(IpAddr);
  vtkGetStdStringMacro(IpAddr);

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

  vtkSetStdStringMacro(Password);
  vtkGetStdStringMacro(Password);

protected:
  vtkPlusIntuitiveDaVinciTracker();
  ~vtkPlusIntuitiveDaVinciTracker();

  virtual PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  virtual PlusStatus InternalStartRecording();

  virtual PlusStatus InternalStopRecording();

protected:
  IntuitiveDaVinci*   DaVinci;

  double              LastFrameNumber;

  unsigned int        FrameNumber;

#ifdef USE_DAVINCI_TIMESTAMPS
  double              TrackerTimeToSystemTimeSec; // time_System = time_Tracker + TrackerTimeToSystemTimeSec
  bool                TrackerTimeToSystemTimeComputed; // the time offset is always computed when the first frame is received after start tracking
#endif

  std::string         IpAddr;
  unsigned int        Port;
  std::string         Password;

private:
  vtkPlusIntuitiveDaVinciTracker(const vtkPlusIntuitiveDaVinciTracker&);
  void operator=(const vtkPlusIntuitiveDaVinciTracker&);

  void StreamCallback(void);

  friend void vtkPlusIntuitiveDaVinciTrackerUtilities::streamCB(void* userData);
  friend void vtkPlusIntuitiveDaVinciTrackerUtilities::eventCB(ISI_MANIP_INDEX mid, ISI_EVENT_ID event_id, ISI_INT args[ISI_NUM_EVENT_ARGS],  void* userdata);

  ISI_MANIP_INDEX getManipIndexFromName(const std::string& toolName);
  void setVtkMatrixFromISITransform(vtkMatrix4x4& vtkMatrix, ISI_TRANSFORM* isiMatrix);

  static const int CONNECT_RETRY_DELAY_SEC = 1.0;
  static const int MAX_ATTEMPTS = 5;
};

#endif