niftkNDICAPITracker.h

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/*=============================================================================

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
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  See LICENSE.txt in the top level directory for details.

=============================================================================*/

/*=Plus=header=begin======================================================
The Plus license below is a BSD style license, with extensions
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For more information, please see:
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______________________________________________________________

How to cite Plus:

Andras Lasso, Tamas Heffter, Adam Rankin, Csaba Pinter, Tamas Ungi, and Gabor Fichtinger, "PLUS: Open-source toolkit for ultrasound-guided intervention systems", IEEE Trans Biomed Eng. 2014 Oct;61(10):2527-37. doi: 10.1109/TBME.2014.2322864

@ARTICLE{Lasso2014a,
  title = {PLUS: Open-source toolkit for ultrasound-guided intervention systems},
  author = {Andras Lasso and Tamas Heffter and Adam Rankin and Csaba Pinter and Tamas Ungi and Gabor Fichtinger},
  journal = {IEEE Transactions on Biomedical Engineering},
  year = {2014},
  month = {Oct},
  number = {10},
  pages = {2527-2537},
  doi = {10.1109/TBME.2014.2322864},
  pmid = {24833412},
  url = {http://perk.cs.queensu.ca/contents/plus-open-source-toolkit-ultrasound-guided-intervention-systems}
}
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#ifndef niftkNDICAPITracker_h
#define niftkNDICAPITracker_h

#include "niftkNDICAPIExports.h"
#include <cstring>
#include <string>
#include <map>
#include <vector>

struct ndicapi;

namespace niftk {

// the number of tools the polaris can handle
#define VTK_NDI_REPLY_LEN 2048

class NIFTKNDICAPI_EXPORT NDICAPITracker
{
public:

  NDICAPITracker();
  ~NDICAPITracker();

  enum PlusStatus
  {
    PLUS_FAIL=0,
    PLUS_SUCCESS=1
  };

  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();

  char *Command(const char *command);

  char* GetVersion() const { return this->Version; }

  void SetSerialPort(int i) { this->SerialPort = i; }
  int GetSerialPort() const { return this->SerialPort; }

  void SetBaudRate(int i) { this->BaudRate = i; }
  int GetBaudRate() const { return this->BaudRate; }

  void SetMeasurementVolumeNumber(int i) { this->MeasurementVolumeNumber = i; }
  int GetMeasurementVolumeNumber() const { return this->MeasurementVolumeNumber; }

  PlusStatus InternalUpdate();
  std::map<std::string, std::vector<double> > GetTrackerMatrices();

  // NifTK commented out: virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);
  // (because PLUS reads config from an .xml file).

  // NifTK commented out: virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);
  // (because PLUS reads config from an .xml file).

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

// NifTK commented out: protected:
public:

  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
  };

  void SetVersion (const char* v)
  {
    if (this->Version && v && (!strcmp(this->Version,v))) { return; }
    if (this->Version) { delete [] this->Version; }
    if (v)
    {
      this->Version = new char[strlen(v)+1];
      strcpy(this->Version, v);
    }
    else
    {
      this->Version = nullptr;
    }
  }

  PlusStatus InternalConnect();

  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();

  // NifTK commented out: void LogVolumeList(const char* ndiVolumeListCommandReply, int selectedVolume, vtkPlusLogger::LogLevelType logLevel);
  // (just so I can use std::cerr/std::cout logging, which is basic... )
  void LogVolumeList(const char* ndiVolumeListCommandReply, int selectedVolume);

  unsigned long LastFrameNumber;

  ndicapi *Device;
  char *Version;
  char *SerialDevice;

  int SerialPort; 
  int BaudRate;
  int IsDeviceTracking;

  int MeasurementVolumeNumber;

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

  NdiToolDescriptorsType NdiToolDescriptors;

  char CommandReply[VTK_NDI_REPLY_LEN];

private:

  NDICAPITracker(const NDICAPITracker&); /* Purposefully not implemented. */
  void operator=(const NDICAPITracker&); /* Purposefully not implemented. */

  std::map<std::string, std::vector<double> > m_TrackerMatrices;
};

} // end namespace

#endif