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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: OneViewAndTrackingImplementation.h,v $
Language: C++
Date: $Date: 2008-11-17 20:13:01 $
Version: $Revision: 1.10 $
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 __OneViewAndTrackingImplementation_h
#define __OneViewAndTrackingImplementation_h
#if defined(_MSC_VER)
//Warning about: identifier was truncated to '255' characters in the debug
//information (MVC6.0 Debug)
#pragma warning( disable : 4284 )
#endif
#include "OneViewAndTrackingGUI.h"
#include "igstkEllipsoidObject.h"
#include "igstkCylinderObject.h"
#include "igstkEllipsoidObjectRepresentation.h"
#include "igstkCylinderObjectRepresentation.h"
#include "igstkAuroraTracker.h"
#include "igstkSerialCommunication.h"
#include "igstkLogger.h"
#include "itkStdStreamLogOutput.h"
namespace igstk
{
class OneViewAndTrackingImplementation : public OneViewAndTrackingGUI
{
public:
typedef igstk::Object::LoggerType LoggerType;
typedef itk::StdStreamLogOutput LogOutputType;
typedef igstk::AuroraTracker TrackerType;
typedef igstk::AuroraTrackerTool TrackerToolType;
typedef igstk::SerialCommunication CommunicationType;
public:
OneViewAndTrackingImplementation()
{
m_Tracker = TrackerType::New();
m_TrackerTool = TrackerToolType::New();
m_Logger = LoggerType::New();
m_LogOutput = LogOutputType::New();
m_LogFile.open("logOneViewAndTracking.txt");
if( !m_LogFile.fail() )
{
m_LogOutput->SetStream( m_LogFile );
}
else
{
std::cerr << "Problem opening Log file, using cerr instead "
<< std::endl;
m_LogOutput->SetStream( std::cerr );
}
m_Logger->AddLogOutput( m_LogOutput );
// add stdout for debug purposes
LogOutputType::Pointer coutLogOutput = LogOutputType::New();
coutLogOutput->SetStream( std::cout );
m_Logger->AddLogOutput( coutLogOutput );
m_Logger->SetPriorityLevel( LoggerType::DEBUG );
m_Tracker->SetLogger( m_Logger );
m_Communication = CommunicationType::New();
m_Communication->SetLogger( m_Logger );
m_Communication->SetPortNumber( igstk::SerialCommunication::PortNumber0 );
m_Communication->SetParity( igstk::SerialCommunication::NoParity );
m_Communication->SetBaudRate( igstk::SerialCommunication::BaudRate115200 );
m_Communication->SetDataBits( igstk::SerialCommunication::DataBits8 );
m_Communication->SetStopBits( igstk::SerialCommunication::StopBits1 );
m_Communication->SetHardwareHandshake(
igstk::SerialCommunication::HandshakeOff );
m_Tracker->SetCommunication(m_Communication);
m_Communication->OpenCommunication();
const unsigned int toolPort = 0;
m_TrackerTool->RequestSetPortNumber( toolPort );
m_TrackerTool->RequestConfigure();
m_TrackerTool->RequestAttachToTracker( m_Tracker );
m_Tracker->RequestOpen();
m_Tracking = false;
}
~OneViewAndTrackingImplementation()
{
m_Tracker->RequestReset();
m_Tracker->RequestStopTracking();
m_Tracker->RequestClose();
}
void EnableTracking()
{
m_Tracking = true;
m_Tracker->RequestStartTracking();
}
void DisableTracking()
{
m_Tracker->RequestReset();
m_Tracker->RequestStopTracking();
m_Tracking = false;
}
void AddCylinder( igstk::CylinderObjectRepresentation
* cylinderRepresentation )
{
this->View3D->RequestAddObject( cylinderRepresentation->Copy() );
}
void AddEllipsoid( igstk::EllipsoidObjectRepresentation *
ellipsoidRepresentation )
{
this->View3D->RequestAddObject( ellipsoidRepresentation->Copy() );
}
void AttachObjectToTrack( igstk::SpatialObject * objectToTrack )
{
igstk::Transform transform;
transform.SetToIdentity( igstk::TimeStamp::GetLongestPossibleTime() );
objectToTrack->RequestSetTransformAndParent( transform, m_TrackerTool );
}
private:
LoggerType::Pointer m_Logger;
LogOutputType::Pointer m_LogOutput;
TrackerType::Pointer m_Tracker;
TrackerToolType::Pointer m_TrackerTool;
CommunicationType::Pointer m_Communication;
bool m_Tracking;
std::ofstream m_LogFile;
};
} // end namespace igstk
#endif
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