vtkPlusNDITracker.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*/

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#ifndef __vtkPlusNDITracker_h
#define __vtkPlusNDITracker_h

#include "vtkPlusDataCollectionExport.h"

#include "vtkPlusDevice.h"

class vtkSocketCommunicator;
struct ndicapi;

// the maximum size of an NDI reply (excluding new extended binary format)
#define VTK_NDI_REPLY_LEN 2048

class vtkPlusDataCollectionExport vtkPlusNDITracker : public vtkPlusDevice
{
  struct NdiToolDescriptor
  {
    int             WiredPortNumber;  // >= 0 for wired tools
    unsigned char*  VirtualSROM;      // nonzero for wireless tools
    bool            PortEnabled;      // true if the tool is successfully enabled in the tracker
    int             PortHandle;       // this number identifies the tool in the tracker
  };

  typedef std::map<std::string, NdiToolDescriptor> NdiToolDescriptorsType;
  typedef std::map<int, std::map<std::string, std::string>> VolumeInformation;

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

  enum LedState
  {
    TR_LED_OFF   = 0,
    TR_LED_ON    = 1,
    TR_LED_FLASH = 2
  };

  virtual bool IsTracker() const
  {
    return true;
  }

  virtual std::string GetSdkVersion();

  PlusStatus Probe();

  std::string Command(const char* format, ...);

  vtkSetMacro(SerialPort, int);
  vtkGetMacro(SerialPort, int);

  vtkSetMacro(BaudRate, int);
  vtkGetMacro(BaudRate, int);

  vtkSetMacro(MeasurementVolumeNumber, int);
  vtkGetMacro(MeasurementVolumeNumber, int);

  vtkSetMacro(TrackingFrequencyNumber, int);
  vtkGetMacro(TrackingFrequencyNumber, int);

  PlusStatus InternalUpdate();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  PlusStatus SetToolLED(const char* portName, int led, LedState state);

  vtkSetStdStringMacro(NetworkHostname);
  vtkGetStdStringMacro(NetworkHostname);

  vtkSetMacro(NetworkPort, int);
  vtkGetMacro(NetworkPort, int);

  vtkSetMacro(CheckDSR, bool);
  vtkGetMacro(CheckDSR, bool);

  vtkSetMacro(HardwareDataAveragingDepth, int);
  vtkGetMacro(HardwareDataAveragingDepth, int);

protected:
  vtkPlusNDITracker();
  ~vtkPlusNDITracker();

  PlusStatus InternalConnect();

  PlusStatus InternalConnectNetwork();
  PlusStatus InternalConnectSerial();

  PlusStatus InternalDisconnect();

  PlusStatus InternalStartRecording();

  PlusStatus InternalStopRecording();

  PlusStatus Beep(int n);

  PlusStatus ReadSromFromFile(NdiToolDescriptor& toolDescriptor, const char* filename);

  PlusStatus UpdatePortHandle(NdiToolDescriptor& toolDescriptor);

  PlusStatus SendSromToTracker(const NdiToolDescriptor& toolDescriptor);
  PlusStatus ClearVirtualSromInTracker(NdiToolDescriptor& toolDescriptor);

  PlusStatus EnableToolPorts();
  void DisableToolPorts();

  void LogVolumeList(int selectedVolume, vtkPlusLogger::LogLevelType logLevel);
  void LogVolumeListSFLIST(unsigned int numVolumes, int selectedVolume, vtkPlusLogger::LogLevelType logLevel);

  PlusStatus CloseDevice(ndicapi*& device);

  PlusStatus SelectMeasurementVolume();

  PlusStatus SelectMeasurementVolumeDeprecated();

  PlusStatus SelectTrackingFrequency();

  PlusStatus GetFirmwareRevision();

  PlusStatus SelectTrackingFrequencyDeprecated();

  PlusStatus SelectDataAveraging();

  static int ConvertBaudToNDIEnum(int baudRate);

  PlusStatus DoBXUpdate();

  PlusStatus DoBX2Update();

#if defined(HAVE_FUTURE)
  PlusStatus ProbeSerialInternal();
#endif

  vtkGetMacro(FirmwareMajorRevision, uint32_t);
  vtkGetMacro(FirmwareMinorRevision, uint32_t);

protected:
  unsigned long                      LastFrameNumber; // Index of the last frame number, used for providing a frame number when the tracker doesn't return any transform
  ndicapi*                           Device;
  std::string                        SerialDevice;
  int                                SerialPort;
  int                                BaudRate;
  int                                IsDeviceTracking;
  int                                MeasurementVolumeNumber;
  bool                               LeaveDeviceOpenAfterProbe;
  bool                               CheckDSR;
  NdiToolDescriptorsType             NdiToolDescriptors; // Maps Plus tool source IDs to NDI tool descriptors
  vtkIGSIORecursiveCriticalSection*  CommandMutex;
  char                               CommandReply[VTK_NDI_REPLY_LEN];
  uint32_t                           FirmwareMajorRevision;
  uint32_t                           FirmwareMinorRevision;
  int                                HardwareDataAveragingDepth;

  std::string                        NetworkHostname;
  int                                NetworkPort;
  int                                TrackingFrequencyNumber;

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

#endif