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

  Program:   Image Guided Surgery Software Toolkit
  Module:    igstkAscension3DGTracker.h
  Language:  C++
  Date:      $Date$
  Version:   $Revision$

  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 __igstkAscension3DGTracker_h
#define __igstkAscension3DGTracker_h

#include "igstkAscension3DGTrackerTool.h"
#include "igstkTracker.h"

namespace igstk
{
struct Ascension3DGEventErrorType {
  EventHelperType::StringType ErrorString;

  int AscensionErrorCode;
};

struct Ascension3DGToolEventStruct {
  enum ToolEvents{
  TOOL_DISCONNECTED,  
  TOOL_CONNECTED,  
  TOOL_SATURATED,  
  TOOL_OUT_OF_SATURATION,  
  TOOL_OUT_OF_MOTION_BOX,  
  TOOL_IN_MOTION_BOX,  
  TRANSMITTER_DETACHED,  
  TRANSMITTER_ATTACHED,  
  };

  Ascension3DGToolEventStruct(){};

  EventHelperType::StringType ToolIdentifier;

  int toolID;

  ToolEvents EventType;
};

  igstkLoadedEventMacro( Ascension3DGErrorEvent, IGSTKErrorEvent, 
    Ascension3DGEventErrorType);
  igstkLoadedEventMacro( Ascension3DGToolEvent, IGSTKEvent,
    Ascension3DGToolEventStruct);

class Ascension3DGTracker : public Tracker
{
public:

  igstkStandardClassTraitsMacro( Ascension3DGTracker, Tracker )

  
  igstkGetMacro( NumberOfTools, unsigned int )

  
  void RequestSensorAttached(int sensorID);

  void RequestTransmitterAttached();

  void RequestSensorSaturated(int sensorID);

  void RequestSensorInMotionBox(int sensorID);

protected:
  Ascension3DGTracker(void);
  virtual ~Ascension3DGTracker(void);

  typedef Tracker::ResultType   ResultType;

  virtual ResultType InternalOpen( void );

  virtual ResultType InternalClose( void );

  virtual ResultType InternalStartTracking( void );

  virtual ResultType InternalStopTracking( void );

  virtual ResultType InternalUpdateStatus( void );

  virtual ResultType InternalThreadedUpdateStatus( void );

  virtual ResultType VerifyTrackerToolInformation( 
    const TrackerToolType * trackerTool );

  virtual ResultType ValidateSpecifiedFrequency( double frequencyInHz );

  virtual ResultType AddTrackerToolToInternalDataContainers( const
    TrackerToolType * trackerTool );

  virtual ResultType RemoveTrackerToolFromInternalDataContainers( 
    const TrackerToolType * trackerTool );

  virtual ResultType InternalReset( void );

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

private:

  Ascension3DGTracker(const Self&);   //purposely not implemented
  void operator=(const Self&);        //purposely not implemented

  typedef igstk::Ascension3DGTrackerTool       Ascension3DGTrackerToolType;
  typedef Ascension3DGTrackerToolType::Pointer Ascension3DGTrackerToolPointer;
  typedef Ascension3DGTrackerToolType::ConstPointer
                                          Ascension3DGTrackerToolConstPointer;  

  void EnableToolPorts( void );

  void DisableToolPorts( void );

  int CheckAPIReturnStatus(int status);

  unsigned int                                     m_NumberOfTools;

  enum {TRANSMITTER_OFF = -1};

  itk::MutexLock::Pointer                          m_BufferLock;
  
  typedef std::map< std::string, std::vector < double > >
      TrackerToolTransformContainerType;
  TrackerToolTransformContainerType                m_ToolTransformBuffer;
  
  typedef std::map< unsigned int, std::string>  ErrorCodeContainerType;
  static ErrorCodeContainerType                    m_ErrorCodeContainer;

  enum ToolAvailabilityStatus {TOOL_UNAVAILABLE, TOOL_AVAILABLE};
  std::map< std::string, ToolAvailabilityStatus >  m_ToolStatusContainer;

  static unsigned short ConvertToolNameToSensorID(const std::string &name);
  static std::string ConvertSensorIDToToolName(unsigned short id);

  //The tool status from the last update. It would be better if this were in the
  //Ascension3DGTrackerTool class, but that does not seem workable. The Tracker
  //baseclass keeps its container of tracker tools private. It only has a const
  //getter. From within Ascension3DGTracker, we cannot directly modify 
  //TrackerTools or call non-const TrackerTools member methods. Our only access
  //to the tools is through the public and protected methods the Tracker base
  //provides.
  std::vector<bool>   m_SensorSaturated;
  std::vector<bool>   m_SensorAttached;
  std::vector<bool>   m_SensorInMotionBox;
  bool                m_TransmitterAttached;

  void InvokeSensorToolEvent(std::string sensorName, int sensorID,
    Ascension3DGToolEventStruct::ToolEvents eventType);

  void NoProcessing(){};

  void ReportSensorSaturationProcessing();
  void ReportSensorAttachedProcessing();
  void ReportTransmitterAttachedProcessing();
  void ReportSensorInMotionBoxProcessing();

  //used to keep the sensor id as we go through the state machine
  int                 m_sensorID;

  //states
  igstkDeclareStateMacro(Idle);
  igstkDeclareStateMacro(Initialized);
  igstkDeclareStateMacro(AttemptingToGetSaturation);
  igstkDeclareStateMacro(AttemptingToGetSensorAttached);
  igstkDeclareStateMacro(AttemptingToGetTransmitterAttached);
  igstkDeclareStateMacro(AttemptingToGetSensorInMotionBox);

  //inputs
  igstkDeclareInputMacro(Initialize);
  igstkDeclareInputMacro(GetSensorSaturation);
  igstkDeclareInputMacro(GetSensorAttached);
  igstkDeclareInputMacro(GetTransmitterAttached);
  igstkDeclareInputMacro(GetSensorInMotionBox);
};

}

#endif //__igstk_Ascension3DGTracker_h_

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