vtkPlusUSDigitalEncodersTracker.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 _vtkUSDigitalA2EncodersTracker_h_
#define _vtkUSDigitalA2EncodersTracker_h_

#include "vtkPlusDataCollectionExport.h"
#include "vtkPlusDevice.h"
#include "vtkIGSIOTransformRepository.h"

#include <map>

class vtkPlusDataCollectionExport vtkPlusUSDigitalEncodersTracker : public vtkPlusDevice
{
public:
  static const long INVALID_SEI_ADDRESS = -1;

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

  static const char* USDIGITALENCODER_COMMAND_SET_ORIGIN;
  static const char* USDIGITALENCODER_COMMAND_SET_ALL_ORIGIN;
  static const char* USDIGITALENCODER_COMMAND_GET_POSITION;

  bool IsTracker() const override
  {
    return true;
  }

  PlusStatus InternalConnect();

  virtual PlusStatus InternalDisconnect();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  PlusStatus Probe();

  PlusStatus InternalUpdate();

  virtual PlusStatus IsStepperAlive();

  PlusStatus SetUSDigitalA2EncodersStrobeMode();

  PlusStatus SetUSDigitalA2EncodersSleep();

  PlusStatus SetUSDigitalA2EncodersWakeup();

  PlusStatus SetUSDigitalA2EncoderOriginWithID(long id);

  PlusStatus SetAllUSDigitalA2EncoderOrigin();

  PlusStatus SetUSDigitalA2EncoderModeWithID(long id, long mode);

  PlusStatus GetUSDigitalA2EncoderModeWithID(long id, long* mode);

  PlusStatus SetUSDigitalA2EncoderResoultionWithID(long id, long res);

  PlusStatus GetUSDigitalA2EncoderResoultionWithID(long id, long* res);

  PlusStatus SetUSDigitalA2EncoderPositionWithID(long id, long pos);

  PlusStatus GetUSDigitalA2EncoderPositionWithID(long id, long* pos);

protected:
  vtkPlusUSDigitalEncodersTracker();
  ~vtkPlusUSDigitalEncodersTracker();

  PlusStatus InternalStartRecording();

  PlusStatus InternalStopRecording();

  class vtkPlusUSDigitalEncoderInfo;

protected:
  vtkSmartPointer<vtkIGSIOTransformRepository> TransformRepository
    = vtkSmartPointer<vtkIGSIOTransformRepository>::New();

  typedef std::map<long, vtkPlusUSDigitalEncoderInfo*> EncoderInfoMapType;
  EncoderInfoMapType EncoderMap;
  typedef std::list<vtkPlusUSDigitalEncoderInfo> EncoderListType;
  EncoderListType EncoderList;
  typedef std::map<long, long> IDtoAddressType;
  IDtoAddressType IdAddress;
  bool coreXY = false;


public:
  vtkPlusUSDigitalEncodersTracker(const vtkPlusUSDigitalEncodersTracker&) = delete;
  void operator=(const vtkPlusUSDigitalEncodersTracker&) = delete;
};

#endif