vtkPlusOpenIGTLinkDevice.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 __vtkPlusOpenIGTLinkDevice_h
#define __vtkPlusOpenIGTLinkDevice_h

#include "vtkPlusDataCollectionExport.h"
#include "PlusConfigure.h"
#include "vtkPlusDevice.h"

// IGTL includes
#include <igtlClientSocket.h>
#include <igtlMessageBase.h>

class vtkPlusIgtlMessageFactory;

class vtkPlusDataCollectionExport vtkPlusOpenIGTLinkDevice : public vtkPlusDevice
{
public:
  vtkTypeMacro(vtkPlusOpenIGTLinkDevice, vtkPlusDevice);
  virtual void PrintSelf(ostream& os, vtkIndent indent) VTK_OVERRIDE;

  virtual std::string GetSdkVersion();

  virtual PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  virtual PlusStatus Probe();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  bool SendMessage(igtl::MessageBase::Pointer packedMessage);

  vtkSetStdStringMacro(MessageType);
  vtkGetStdStringMacro(MessageType);

  vtkSetMacro(ImageMessageEmbeddedTransformName, igsioTransformName);
  vtkSetMacro(ImageMessageEmbeddedTransformName, std::string);

  vtkGetMacro(ImageMessageEmbeddedTransformName, igsioTransformName);

  vtkSetStdStringMacro(ServerAddress);
  vtkGetStdStringMacro(ServerAddress);

  vtkSetMacro(ServerPort, int);
  vtkGetMacro(ServerPort, int);

  vtkSetMacro(ReceiveTimeoutSec, double);
  vtkGetMacro(ReceiveTimeoutSec, double);

  vtkSetMacro(SendTimeoutSec, double);
  vtkGetMacro(SendTimeoutSec, double);

  vtkSetMacro(IgtlMessageCrcCheckEnabled, int);
  vtkGetMacro(IgtlMessageCrcCheckEnabled, int);

  vtkGetMacro(ReconnectOnReceiveTimeout, bool);

protected:
  vtkPlusOpenIGTLinkDevice();
  virtual ~vtkPlusOpenIGTLinkDevice();

  virtual PlusStatus ClientSocketReconnect();

  virtual PlusStatus SendRequestedMessageTypes();

  void OnReceiveTimeout();

  void ReceiveMessageHeaderWithErrorHandling(igtl::MessageHeader::Pointer& headerMsg);

  virtual PlusStatus ReceiveMessageHeader(igtl::MessageHeader::Pointer& headerMsg);

  vtkSetMacro(ReconnectOnReceiveTimeout, bool);

  vtkSetMacro(UseReceivedTimestamps, bool);

  std::string MessageType;

  igsioTransformName ImageMessageEmbeddedTransformName;

  std::string ServerAddress;

  int ServerPort;

  double ReceiveTimeoutSec;
  double SendTimeoutSec;

  int IgtlMessageCrcCheckEnabled;

  int NumberOfRetryAttempts;

  double DelayBetweenRetryAttemptsSec;

  /* IGTL message factory*/
  vtkSmartPointer<vtkPlusIgtlMessageFactory> MessageFactory;

  vtkSmartPointer<vtkIGSIORecursiveCriticalSection> SocketMutex;

  igtl::ClientSocket::Pointer ClientSocket;

  bool ReconnectOnReceiveTimeout;

  bool UseReceivedTimestamps;

private:
  vtkPlusOpenIGTLinkDevice(const vtkPlusOpenIGTLinkDevice&);   // Not implemented.
  void operator=(const vtkPlusOpenIGTLinkDevice&);   // Not implemented.
};

#endif