Interface for all Tracking Devices. More...

#include <mitkTrackingDevice.h>

Inheritance diagram for mitk::TrackingDevice:

Public Types
enum	TrackingDeviceState { Setup, Ready, Tracking }
typedef TrackingDevice	Self
typedef itk::Object	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
Public Member Functions
virtual const char *	GetClassName () const
virtual bool	OpenConnection ()=0
	Opens a connection to the device.
virtual bool	CloseConnection ()=0
	Closes the connection to the device.
virtual bool	StartTracking ()=0
	start retrieving tracking data from the device.
virtual bool	StopTracking ()
	stop retrieving tracking data from the device. stop retrieving tracking data from the device. This may only be called after StartTracking was called (e.g. the object is in Tracking mode). This will change the object state from Tracking to Ready.
virtual TrackingTool *	GetTool (unsigned int toolNumber) const =0
	Return tool with index toolNumber.
virtual mitk::TrackingTool *	GetToolByName (std::string name) const
	Returns the tool with the given tool name.
virtual unsigned int	GetToolCount () const =0
	Returns number of tracking tools.
virtual const char *	GetErrorMessage () const
	return current error message
TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking)
virtual TrackingDeviceType	GetType () const
	return device type identifier
virtual void	SetType (TrackingDeviceType _arg)
	set device type
Protected Member Functions
virtual void	SetErrorMessage (const char *_arg)
	set error message
void	SetState (TrackingDeviceState state)
	change object state
	TrackingDevice ()
virtual	~TrackingDevice ()
Protected Attributes
TrackingDeviceType	m_Type
	current device type
TrackingDeviceState	m_State
	current object state (Setup, Ready or Tracking)
bool	m_StopTracking
	signal stop to tracking thread
itk::FastMutexLock::Pointer	m_StopTrackingMutex
	mutex to control access to m_StopTracking
itk::FastMutexLock::Pointer	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking()
itk::FastMutexLock::Pointer	m_StateMutex
	mutex to control access to m_State
std::string	m_ErrorMessage
	current error message

Detailed Description

Interface for all Tracking Devices.

Documentation Defines the methods that are common for all tracking devices.

Definition at line 39 of file mitkTrackingDevice.h.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> mitk::TrackingDevice::ConstPointer

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

Definition at line 42 of file mitkTrackingDevice.h.

typedef itk::SmartPointer<Self> mitk::TrackingDevice::Pointer

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

Definition at line 42 of file mitkTrackingDevice.h.

typedef TrackingDevice mitk::TrackingDevice::Self

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

Definition at line 42 of file mitkTrackingDevice.h.

typedef itk::Object mitk::TrackingDevice::Superclass

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

Definition at line 42 of file mitkTrackingDevice.h.

Member Enumeration Documentation

enum mitk::TrackingDevice::TrackingDeviceState

Enumerator:

Setup
Ready
Tracking

Definition at line 44 of file mitkTrackingDevice.h.

{Setup, Ready, Tracking};

Constructor & Destructor Documentation

mitk::TrackingDevice::TrackingDevice ( ) [protected]

Definition at line 26 of file mitkTrackingDevice.cpp.

References m_StateMutex, m_StopTrackingMutex, and m_TrackingFinishedMutex.

                                   :
  m_Type(TrackingSystemNotSpecified),
  m_State(mitk::TrackingDevice::Setup),
  m_StopTracking(false), m_ErrorMessage("")

{
  m_StopTrackingMutex = itk::FastMutexLock::New();
  m_StateMutex = itk::FastMutexLock::New();
  m_TrackingFinishedMutex = itk::FastMutexLock::New();
  m_TrackingFinishedMutex->Lock();  // execution rights are owned by the application thread at the beginning
}

mitk::TrackingDevice::~TrackingDevice ( ) [protected, virtual]

Definition at line 39 of file mitkTrackingDevice.cpp.

{
  m_TrackingFinishedMutex = NULL;
  m_StopTrackingMutex = NULL;
}

Member Function Documentation

virtual bool mitk::TrackingDevice::CloseConnection ( ) [pure virtual]

Closes the connection to the device.

This may only be called if there is currently a connection to the device, but tracking is not running (e.g. object is in Ready state) Closes the connection with the device

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

virtual const char* mitk::TrackingDevice::GetClassName ( ) const [virtual]

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

virtual const char* mitk::TrackingDevice::GetErrorMessage ( ) const [virtual]

return current error message

Reimplemented in mitk::MicroBirdTrackingDevice.

mitk::TrackingDevice::TrackingDeviceState mitk::TrackingDevice::GetState ( ) const

return current object state (Setup, Ready or Tracking)

Definition at line 46 of file mitkTrackingDevice.cpp.

{
  MutexLockHolder lock(*m_StateMutex);
  return m_State;
}

virtual TrackingTool* mitk::TrackingDevice::GetTool ( unsigned int toolNumber ) const [pure virtual]

Return tool with index toolNumber.

tools are numbered from 0 to GetToolCount() - 1.

Implemented in mitk::ClaronTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

mitk::TrackingTool * mitk::TrackingDevice::GetToolByName ( std::string name ) const [virtual]

Returns the tool with the given tool name.

Note: subclasses can and should implement optimized versions of this method

Returns:: the given tool or NULL if no tool with that name exists

Reimplemented in mitk::NDITrackingDevice.

Definition at line 85 of file mitkTrackingDevice.cpp.

{
  unsigned int toolCount = this->GetToolCount();
  for (unsigned int i = 0; i < toolCount; ++i)
    if (name == this->GetTool(i)->GetToolName())
      return this->GetTool(i);
  return NULL;
}

virtual unsigned int mitk::TrackingDevice::GetToolCount ( ) const [pure virtual]

Returns number of tracking tools.

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

virtual TrackingDeviceType mitk::TrackingDevice::GetType ( ) const [virtual]

return device type identifier

virtual bool mitk::TrackingDevice::OpenConnection ( ) [pure virtual]

Opens a connection to the device.

This may only be called if there is currently no connection to the device. If OpenConnection() is successful, the object will change from Setup state to Ready state

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

virtual void mitk::TrackingDevice::SetErrorMessage ( const char * _arg ) [protected, virtual]

set error message

Reimplemented in mitk::MicroBirdTrackingDevice.

void mitk::TrackingDevice::SetState ( TrackingDeviceState state ) [protected]

change object state

Definition at line 53 of file mitkTrackingDevice.cpp.

Referenced by TrackingDeviceTestClass::StartTracking().

{
  itkDebugMacro("setting  m_State to " << state);

  MutexLockHolder lock(*m_StateMutex); // lock and unlock the mutex 
  if (m_State == state)
  { 
    return;
  }
  m_State = state;
  this->Modified();
}

virtual void mitk::TrackingDevice::SetType ( TrackingDeviceType _arg ) [virtual]

set device type

Reimplemented in mitk::MicroBirdTrackingDevice, and mitk::NDITrackingDevice.

virtual bool mitk::TrackingDevice::StartTracking ( ) [pure virtual]

start retrieving tracking data from the device.

This may only be called after the connection to the device has been established with a call to OpenConnection() (E.g. object is in Ready mode). This will change the object state from Ready to Tracking

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

bool mitk::TrackingDevice::StopTracking ( ) [virtual]

stop retrieving tracking data from the device. stop retrieving tracking data from the device. This may only be called after StartTracking was called (e.g. the object is in Tracking mode). This will change the object state from Tracking to Ready.

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, and mitk::VirtualTrackingDevice.

Definition at line 67 of file mitkTrackingDevice.cpp.

References mitk::TimeStamp::GetInstance(), and mitk::TimeStamp::Stop().

Referenced by mitk::MicroBirdTrackingDevice::StopTracking().

{
  if (this->GetState() == Tracking) // Only if the object is in the correct state
  {
    m_StopTrackingMutex->Lock();  // m_StopTracking is used by two threads, so we have to ensure correct thread handling
    m_StopTracking = true;
    m_StopTrackingMutex->Unlock();
    //we have to wait here that the other thread recognizes the STOP-command and executes it
    m_TrackingFinishedMutex->Lock();
    mitk::TimeStamp::GetInstance()->Stop(this); // notify realtime clock
    // StopTracking was called, thus the mode should be changed back
    //   to Ready now that the tracking loop has ended.
    this->SetState(Ready);
  }
  return true;
}