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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkTrackerToolObserverToOpenIGTLinkRelay.cxx,v $
Language: C++
Date: $Date: 2011-01-18 21:40:17 $
Version: $Revision: 1.7 $
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.
=========================================================================*/
// Disabling warning C4355: 'this' : used in base member initializer list
#if defined(_MSC_VER)
#pragma warning ( disable : 4355 )
#endif
#include "igstkTrackerToolObserverToOpenIGTLinkRelay.h"
#include "igstkCoordinateSystemTransformToResult.h"
#include "igstkEvents.h"
#include "igstkTrackerTool.h"
#include "vtkMatrix4x4.h"
namespace igstk
{
/** Constructor */
TrackerToolObserverToOpenIGTLinkRelay::
TrackerToolObserverToOpenIGTLinkRelay():m_StateMachine(this)
{
this->m_Observer = ObserverType::New();
this->m_Observer->SetCallbackFunction( this,
&Self::ResendTransformThroughOpenIGTLink );
this->m_Matrix = vtkMatrix4x4::New();
this->m_Socket = igtl::ClientSocket::New();
this->m_TransformMessage = igtl::TransformMessage::New();
this->m_TransformMessage->SetDeviceName("Tracker");
}
TrackerToolObserverToOpenIGTLinkRelay::~TrackerToolObserverToOpenIGTLinkRelay()
{
this->m_Observer = NULL; // FIXME also disconnect as an observer
this->m_Matrix->Delete();
this->m_Matrix = NULL;
this->m_Socket->CloseSocket();
}
void
TrackerToolObserverToOpenIGTLinkRelay::RequestSetPort( int port )
{
this->m_Port = port;
}
void
TrackerToolObserverToOpenIGTLinkRelay::RequestSetHostName(const char * hostname)
{
this->m_HostName = hostname;
}
void
TrackerToolObserverToOpenIGTLinkRelay::RequestSetDeviceName(const char *
devicename)
{
this->m_TransformMessage->SetDeviceName(devicename);
}
void
TrackerToolObserverToOpenIGTLinkRelay::RequestSetTrackerTool(
const TrackerTool * trackerTool )
{
this->m_TrackerTool = trackerTool;
this->m_TrackerTool->AddObserver( CoordinateSystemTransformToEvent(),
this->m_Observer );
}
void
TrackerToolObserverToOpenIGTLinkRelay::RequestStart()
{
char * hostname = const_cast< char * >( this->m_HostName.c_str() );
this->m_Tag = 17;
int r = this->m_Socket->ConnectToServer(hostname, this->m_Port);
if (r != 0)
{
std::cerr << "Cannot connect to the server." << std::endl;
exit(0);
}
}
void
TrackerToolObserverToOpenIGTLinkRelay::ResendTransformThroughOpenIGTLink(
itk::Object * itkNotUsed(caller), const itk::EventObject & event )
{
const CoordinateSystemTransformToEvent * transformEvent =
dynamic_cast< const CoordinateSystemTransformToEvent * >( &event );
if( transformEvent )
{
igstk::CoordinateSystemTransformToResult transformCarrier =
transformEvent->Get();
igstk::Transform transform = transformCarrier.GetTransform();
transform.ExportTransform( *(this->m_Matrix) );
igtl::Matrix4x4 matrix;
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
matrix[i][j] = (float) this->m_Matrix->GetElement(i, j);
this->m_TransformMessage->SetMatrix(matrix);
this->m_TransformMessage->Pack();
this->m_Socket->Send(this->m_TransformMessage->GetPackPointer(),
this->m_TransformMessage->GetPackSize());
}
}
/** Print Self function */
void TrackerToolObserverToOpenIGTLinkRelay::PrintSelf(
std::ostream& os, itk::Indent indent ) const
{
Superclass::PrintSelf(os, indent);
os << indent << "Port: " << this->m_Port << std::endl;
os << indent << "Hostname: " << this->m_HostName << std::endl;
os << indent << "Tag: " << this->m_Tag << std::endl;
}
}
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