igstkTrackerTool.h

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

  Program:   Image Guided Surgery Software Toolkit
  Module:    $RCSfile: igstkTrackerTool.h,v $
  Language:  C++
  Date:      $Date: 2008-11-17 20:12:26 $
  Version:   $Revision: 1.32 $

  Copyright (c) ISC  Insight Software Consortium.  All rights reserved.
  See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notices for more information.

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

#ifndef __igstkTrackerTool_h
#define __igstkTrackerTool_h

#include "igstkObject.h"
#include "igstkTransform.h"
#include "igstkMacros.h"
#include "igstkStateMachine.h"
#include "igstkCoordinateSystemInterfaceMacros.h"


namespace igstk
{

igstkEventMacro( TrackerToolEvent, StringEvent);
igstkEventMacro( TrackerToolErrorEvent, IGSTKErrorWithStringEvent);
igstkEventMacro( TrackerToolConfigurationEvent,TrackerToolEvent);
igstkEventMacro( TrackerToolConfigurationErrorEvent,TrackerToolErrorEvent);

igstkEventMacro( InvalidRequestToAttachTrackerToolErrorEvent,
               TrackerToolErrorEvent);

igstkEventMacro( InvalidRequestToDetachTrackerToolErrorEvent,
               TrackerToolErrorEvent);

igstkEventMacro( TrackerToolAttachmentToTrackerEvent,TrackerToolEvent);
igstkEventMacro( TrackerToolAttachmentToTrackerErrorEvent,
                                                       TrackerToolErrorEvent);
igstkEventMacro( TrackerToolDetachmentFromTrackerEvent,TrackerToolEvent);
igstkEventMacro( TrackerToolDetachmentFromTrackerErrorEvent,
                                                       TrackerToolErrorEvent);
igstkEventMacro( TrackerToolMadeTransitionToTrackedStateEvent,
                                                            TrackerToolEvent);
igstkEventMacro( TrackerToolNotAvailableToBeTrackedEvent,TrackerToolEvent);
igstkEventMacro( ToolTrackingStartedEvent,TrackerToolEvent);
igstkEventMacro( ToolTrackingStoppedEvent,TrackerToolEvent);

class Tracker;

class TrackerTool : public Object
{
public:

  igstkStandardAbstractClassTraitsMacro( TrackerTool, Object )

public:

  igstkFriendClassMacro( Tracker );

  typedef Tracker           TrackerType;
  typedef Transform         TransformType;

  igstkGetMacro( CalibrationTransform, TransformType );

  void SetCalibrationTransform( const TransformType & );

  igstkGetMacro( Updated, bool );
 
  virtual void RequestConfigure( void );

  virtual void RequestDetachFromTracker( );

  const std::string GetTrackerToolIdentifier( ) const;

  virtual void RequestAttachToTracker( TrackerType * );

protected:

  TrackerTool(void);

  virtual ~TrackerTool(void);

  virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const; 

  void SetTrackerToolIdentifier( const std::string identifier );

private:

  TrackerTool(const Self&);       //purposely not implemented
  void operator=(const Self&);    //purposely not implemented

  virtual void RequestReportTrackingStarted( );

  virtual void RequestReportTrackingStopped( );

  virtual void RequestReportTrackingToolNotAvailable( );

  virtual void RequestReportTrackingToolVisible( );

  void RequestReportSuccessfulTrackerToolAttachment();

  void RequestReportFailedTrackerToolAttachment();

  igstkGetMacro( RawTransform, TransformType );

  void SetRawTransform( const TransformType & );

  void SetCalibratedTransform( const TransformType & );

  igstkSetMacro( Updated, bool );

  virtual bool CheckIfTrackerToolIsConfigured( ) const = 0;

  igstkDeclareInputMacro( ConfigureTool );
  igstkDeclareInputMacro( ToolConfigurationSuccess );
  igstkDeclareInputMacro( ToolConfigurationFailure );
  igstkDeclareInputMacro( AttachToolToTracker );
  igstkDeclareInputMacro( TrackingStarted );
  igstkDeclareInputMacro( TrackingStopped );
  igstkDeclareInputMacro( TrackerToolNotAvailable );
  igstkDeclareInputMacro( TrackerToolVisible );
  igstkDeclareInputMacro( DetachTrackerToolFromTracker ); 
  igstkDeclareInputMacro( AttachmentToTrackerSuccess );
  igstkDeclareInputMacro( AttachmentToTrackerFailure );
  igstkDeclareInputMacro( DetachmentFromTrackerSuccess );
  igstkDeclareInputMacro( DetachmentFromTrackerFailure );
 
  igstkDeclareStateMacro( Idle );
  igstkDeclareStateMacro( AttemptingToConfigureTrackerTool );
  igstkDeclareStateMacro( Configured );
  igstkDeclareStateMacro( AttemptingToAttachTrackerToolToTracker );
  igstkDeclareStateMacro( Attached );
  igstkDeclareStateMacro( AttemptingToDetachTrackerToolFromTracker );
  igstkDeclareStateMacro( NotAvailable );
  igstkDeclareStateMacro( Tracked );

  void AttemptToConfigureProcessing( void );

  void AttemptToAttachTrackerToolToTrackerProcessing( void );

  void TrackerToolConfigurationSuccessProcessing( void );

  void TrackerToolConfigurationFailureProcessing( void );

  void TrackerToolAttachmentToTrackerSuccessProcessing( void );

  void TrackerToolAttachmentToTrackerFailureProcessing( void );

  void AttemptToDetachTrackerToolFromTrackerProcessing( void );

  void TrackerToolDetachmentFromTrackerSuccessProcessing( void );

  void TrackerToolDetachmentFromTrackerFailureProcessing( void );

  void ReportTrackerToolVisibleStateProcessing( void );

  void ReportTrackerToolNotAvailableProcessing( void );

  void ReportTrackingStartedProcessing( void );

  void ReportTrackingStoppedProcessing( void );

  void ReportInvalidRequestProcessing( void );

  void ReportInvalidRequestToAttachTrackerToolProcessing( void );

  void ReportInvalidRequestToDetachTrackerToolProcessing( void );

  void NoProcessing( void );

  TransformType                 m_CalibrationTransform; 

  TransformType                 m_CalibratedTransform; 

  TransformType                 m_RawTransform; 

  bool               m_Updated;

  std::string        m_TrackerToolIdentifier;

  Tracker        * m_TrackerToAttachTo;

  igstkCoordinateSystemClassInterfaceMacro();

  CoordinateSystem::Pointer   m_CalibrationCoordinateSystem;
};

std::ostream& operator<<(std::ostream& os, const TrackerTool& o);

}

#endif //__igstk_TrackerTool_h_