mtsOpenIGTLink.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Ali Uneri
  Created on: 2009-08-10

  (C) Copyright 2009-2012 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _mtsOpenIGTLink_h
#define _mtsOpenIGTLink_h

#include <cisstOSAbstraction/osaSocket.h>
#include <cisstOSAbstraction/osaSocketServer.h>
#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <sawOpenIGTLink/sawOpenIGTLinkExport.h>  // always include last


class sawOpenIGTLinkData;  // class containing igtl type data


class CISST_EXPORT mtsOpenIGTLink: public mtsTaskPeriodic
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);

 public:
    mtsOpenIGTLink(const std::string & taskName, const double period) :
        mtsTaskPeriodic(taskName, period, false, 500) {}
    mtsOpenIGTLink(const mtsTaskPeriodicConstructorArg & arg) :
        mtsTaskPeriodic(arg) {}

    ~mtsOpenIGTLink(void) {}

    void Configure(const std::string & hostAndPort);
    void Startup(void);
    void Run(void);
    void Cleanup(void);

 protected:
    void Initialize(void);

    bool SendFrame(const prmPositionCartesianGet & frameCISST);

    bool ReceiveHeader(std::string & messageType);

    bool ReceiveFrame(prmPositionCartesianGet & frameCISST);

    void SkipMessage(void);

    enum ConnectionTypes { SERVER, CLIENT };
    int ConnectionType;

    std::string Host;
    unsigned int Port;
    bool IsConnected;

    osaSocketServer * SocketServer;
    osaSocket * Socket;
    std::vector<osaSocket *> Sockets;

    std::string MessageType;
    sawOpenIGTLinkData * IGTLData;
    prmPositionCartesianGet FrameSend;
    prmPositionCartesianGet FrameRecv;
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsOpenIGTLink);

#endif  // _mtsOpenIGTLink_h