/usr/include/IGSTK/igstkVideoImager.h is in libigstk4-dev 4.4.0-6.
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Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkVideoImager.h,v $
Language: C++
Date: $Date: 2009-06-18 18:40:55 $
Version: $Revision: 1.1 $
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 __igstkVideoImager_h
#define __igstkVideoImager_h
#include <vector>
#include <map>
#include "itkMutexLock.h"
#include "itkConditionVariable.h"
#include "itkMultiThreader.h"
#include "igstkObject.h"
#include "igstkStateMachine.h"
#include "igstkTransform.h"
#include "igstkFrame.h"
#include "igstkPulseGenerator.h"
#include "igstkVideoImagerTool.h"
#include "igstkCoordinateSystemInterfaceMacros.h"
namespace igstk
{
igstkEventMacro( VideoImagerEvent, StringEvent);
igstkEventMacro( VideoImagerErrorEvent, IGSTKErrorWithStringEvent);
igstkEventMacro( VideoImagerOpenEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerOpenErrorEvent, VideoImagerErrorEvent);
igstkEventMacro( VideoImagerCloseEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerCloseErrorEvent, VideoImagerErrorEvent);
igstkEventMacro( VideoImagerInitializeEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerInitializeErrorEvent, VideoImagerErrorEvent);
igstkEventMacro( VideoImagerStartImagingEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerStartImagingErrorEvent, VideoImagerErrorEvent);
igstkEventMacro( VideoImagerStopImagingEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerStopImagingErrorEvent, VideoImagerErrorEvent);
igstkEventMacro( VideoImagerUpdateStatusEvent, VideoImagerEvent);
igstkEventMacro( VideoImagerUpdateStatusErrorEvent, VideoImagerErrorEvent);
/** \class VideoImager
* \brief Abstract superclass for concrete IGSTK VideoImager classes.
*
* This class presents a generic interface for grabbing videostream
* from video-devices such Ultrasound, Endoscope, Bronchoscope, etc.
* The various derived subclasses of this class provide back-ends that
* communicate with several standard imaging systems.
*
* The state machine of this class implements the basic
* state transitions of an video-imager. Inputs to the state
* machine are translated into method calls that can be
* overridden by device-specific derive classes that do
* the appropriate processing for a particular device.
*
* The following diagram illustrates the state machine of
* the video-imager class
*
* \image html igstkVideoImager.png "VideoImager State Machine Diagram"
* \image latex igstkVideoImager.eps "VideoImager State Machine Diagram"
*
* \ingroup VideoImager
*/
class VideoImager : public Object
{
public:
/** Macro with standard traits declarations. */
igstkStandardAbstractClassTraitsMacro( VideoImager, Object )
public:
igstkFriendClassMacro( VideoImagerTool );
/** typedefs from VideoImagerTool class */
typedef VideoImagerTool VideoImagerToolType;
/** The "RequestOpen" method attempts to open communication with the
* imaging device. It generates a VideoImagerOpenEvent if successful,
* or a VideoImagerOpenErrorEvent if not successful. */
void RequestOpen( void );
/** The "RequestClose" method closes communication with the device.
* It generates a VideoImagerCloseEvent if successful,
* or a VideoImagerCloseErrorEvent if not successful. */
void RequestClose( void );
/** The "RequestReset" method should be used to bring the VideoImager
to some defined default state. */
void RequestReset( void );
/** The "RequestStartImaging" method readies the VideoImager for imaging the
tools connected to the VideoImager. */
void RequestStartImaging( void );
/** The "RequestStopImaging" stops VideoImager from imaging the tools. */
void RequestStopImaging( void );
/** The "RequestSetFrequency" method defines the frequency at which a frame
* will be queried from the VideoImager device. Note that
* VideoImager devices have their own internal frequency rate, and if you set
* here a frequency that is higher than what the VideoImager device is capable
* to follow, then you will start receiving similar frames. */
void RequestSetFrequency( double frequencyInHz );
protected:
VideoImager(void);
virtual ~VideoImager(void);
/** SetThreadingEnabled(bool) : set m_ThreadingEnabled value */
igstkSetMacro( ThreadingEnabled, bool );
/** GetThreadingEnabled(bool) : get m_ThreadingEnabled value */
igstkGetMacro( ThreadingEnabled, bool );
/** typedef for times used by the VideoImager */
typedef Transform::TimePeriodType TimePeriodType;
/** Get the validity time. */
igstkGetMacro( ValidityTime, TimePeriodType );
typedef enum
{
FAILURE=0,
SUCCESS
} ResultType;
/** typedefs from Transform class */
typedef Transform TransformType;
/** typedefs from Frame class */
typedef Frame FrameType;
/** The "InternalOpen" method opens communication with an imaging device.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalOpen( void ) = 0;
/** The "InternalClose" method closes communication with an imaging device.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalClose( void ) = 0;
/** The "InternalReset" method resets VideoImager to a known configuration.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalReset( void ) = 0;
/** The "InternalStartImaging" method starts imaging.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalStartImaging( void ) = 0;
/** The "InternalStopImaging" method stops imaging.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalStopImaging( void ) = 0;
/** The "InternalUpdateStatus" method updates VideoImager status.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalUpdateStatus( void ) = 0;
/** The "InternalThreadedUpdateStatus" method updates VideoImager status.
This method is called in a separate thread.
This method is to be implemented by a descendant class
and responsible for device-specific processing */
virtual ResultType InternalThreadedUpdateStatus( void ) = 0;
/** Print the object information in a stream. */
virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const;
/** Verify if a VideoImager tool information is correct before attaching
* it to the VideoImager. This method is used to verify the information
* supplied by the user about the VideoImager tool. The information depends
* on the VideoImager type.
*/
virtual ResultType
VerifyVideoImagerToolInformation( const VideoImagerToolType * ) = 0;
/** The "ValidateSpecifiedFrequency" method checks if the specified frequency
* is valid for the imaging device that is being used. This method is to be
* overridden in the derived imaging-device specific classes to take
* into account the maximum frequency possible in the imaging device
*/
virtual ResultType ValidateSpecifiedFrequency( double frequencyInHz );
/** This method will remove entries of the VideoImager tool from internal
* data containers */
virtual ResultType RemoveVideoImagerToolFromInternalDataContainers(
const VideoImagerToolType * videoImagerTool ) = 0;
/** Add VideoImager tool entry to internal containers */
virtual ResultType AddVideoImagerToolToInternalDataContainers(
const VideoImagerToolType * videoImagerTool ) = 0;
/** typedefs from VideoImagerTool class */
typedef std::map< std::string, VideoImagerToolType *>
VideoImagerToolsContainerType;
/** Access method for the VideoImager tool container. This method
* is useful in the derived classes to access the unique identifiers
* of the VideoImager tools */
const VideoImagerToolsContainerType & GetVideoImagerToolContainer() const;
/** Report to VideoImager tool that it is not available for imaging */
void ReportImagingToolNotAvailable(
VideoImagerToolType * VideoImagerTool ) const;
/** Report to VideoImager tool that it is streaming */
void ReportImagingToolStreaming(
VideoImagerToolType * videoImagerTool ) const;
void SetVideoImagerToolFrame( VideoImagerToolType * videoImagerTool,
FrameType* frame );
FrameType* GetVideoImagerToolFrame( VideoImagerToolType * videoImagerTool);
/** Turn on/off update flag of the VideoImager tool */
void SetVideoImagerToolUpdate( VideoImagerToolType * videoImagerTool,
bool flag ) const;
/** Always called when exiting imaging state. This methold will be
* overriden in derived classes. */
void ExitImagingStateProcessing( void );
/** Exit imaging without terminating imaging thread */
void ExitImagingWithoutTerminatingImagingThread();
/** Exit imaging after terminating imaging thread */
void ExitImagingTerminatingImagingThread();
private:
VideoImager(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
/** Pulse generator for driving the rate of VideoImager updates. */
PulseGenerator::Pointer m_PulseGenerator;
/** Pulse observer for receiving the events from the pulse generator. */
typedef itk::SimpleMemberCommand< Self > ObserverType;
ObserverType::Pointer m_PulseObserver;
/** An associative container of VideoImagerTool Pointer with
* VideoImagerTool identifier used as a Key*/
VideoImagerToolsContainerType m_VideoImagerTools;
/** typedefs from VideoImagerTool class */
typedef VideoImagerToolType::Pointer VideoImagerToolPointer;
/** Validity time, and its default value [milliseconds] */
TimePeriodType m_ValidityTime;
/** Multi-threading enabled flag : The descendant class will use
multi-threading, if this flag is set as true */
bool m_ThreadingEnabled;
/** Boolean value to indicate that the imaging thread
* has started */
bool m_ImagingThreadStarted;
/** itk::MultiThreader object pointer */
itk::MultiThreader::Pointer m_Threader;
/** Imaging ThreadID */
int m_ThreadID;
/** itk::ConditionVariable object pointer to signal for the next
* frame */
itk::ConditionVariable::Pointer m_ConditionNextFrameReceived;
/** itk::SimpleMutexLock object to be used for
m_ConditionNextFrameReceived */
itk::SimpleMutexLock m_LockForConditionNextFrameReceived;
/** List of States */
igstkDeclareStateMacro( Idle );
igstkDeclareStateMacro( AttemptingToEstablishCommunication );
igstkDeclareStateMacro( AttemptingToCloseCommunication );
igstkDeclareStateMacro( CommunicationEstablished );
igstkDeclareStateMacro( AttemptingToAttachVideoImagerTool );
igstkDeclareStateMacro( VideoImagerToolAttached );
igstkDeclareStateMacro( AttemptingToImaging );
igstkDeclareStateMacro( Imaging );
igstkDeclareStateMacro( AttemptingToUpdate );
igstkDeclareStateMacro( AttemptingToStopImaging );
/** List of Inputs */
igstkDeclareInputMacro( EstablishCommunication );
igstkDeclareInputMacro( StartImaging );
igstkDeclareInputMacro( AttachVideoImagerTool );
igstkDeclareInputMacro( UpdateStatus );
igstkDeclareInputMacro( StopImaging );
igstkDeclareInputMacro( Reset );
igstkDeclareInputMacro( CloseCommunication );
igstkDeclareInputMacro( ValidFrequency );
igstkDeclareInputMacro( Success );
igstkDeclareInputMacro( Failure );
/** Attach a VideoImager tool to the VideoImager. This method
* should be called by the VideoImager tool. */
void RequestAttachTool( VideoImagerToolType * videoImagerTool );
/** Request to remove a VideoImager tool from this VideoImager */
ResultType RequestRemoveTool( VideoImagerToolType * videoImagerTool );
/** Thread function for imaging */
static ITK_THREAD_RETURN_TYPE ImagingThreadFunction(void* pInfoStruct);
/** The "UpdateStatus" method is used for updating the status of
tools when the VideoImager is in imaging state. It is a callback
method that gets invoked when a pulse event is observed */
void UpdateStatus( void );
/** The "AttemptToOpenProcessing" method attempts to open communication with a
imaging device. */
void AttemptToOpenProcessing( void );
/** The "AttemptToStartImagingProcessing" method attempts
* to start imaging. */
void AttemptToStartImagingProcessing( void );
/** The "AttemptToStopImagingProcessing" method attempts to stop imaging. */
void AttemptToStopImagingProcessing( void );
/** The "AttemptToAttachVideoImagerToolProcessing" method attempts
* to attach a VideoImager tool to the VideoImager . */
void AttemptToAttachVideoImagerToolProcessing( void );
/** The "AttemptToUpdateStatusProcessing" method attempts to update status
during imaging. */
void AttemptToUpdateStatusProcessing( void );
/** The "UpdateStatusFailureProcessing" method is called when an
attempt to update failes. */
void UpdateStatusSuccessProcessing( void );
/** The "UpdateStatusFailureProcessing" method is called when an
attempt to update failes. */
void UpdateStatusFailureProcessing( void );
/** The "CloseFromImagingStateProcessing" method closes VideoImager in
use, when the VideoImager is in imaging state. */
void CloseFromImagingStateProcessing( void );
/** The "CloseFromCommunicatingStateProcessing" method closes
VideoImager in use, when the VideoImager is in communicating state. */
void CloseFromCommunicatingStateProcessing( void );
/** The "ResetFromImagingStateProcessing" method resets VideoImager in
use, when the VideoImager is in imaging state. */
void ResetFromImagingStateProcessing( void );
/** The "ResetFromToolsActiveStateProcessing" method resets VideoImager
in use, when the VideoImager is in active tools state. */
void ResetFromToolsActiveStateProcessing( void);
/** The "ResetFromCommunicatingStateProcessing" method resets
VideoImager in use, when the VideoImager is in communicating state. */
void ResetFromCommunicatingStateProcessing( void );
/** Post-processing after communication setup has been successful. */
void CommunicationEstablishmentSuccessProcessing( void );
/** Post-processing after communication setup has failed. */
void CommunicationEstablishmentFailureProcessing( void );
/** Post-processing after tools setup has been successful. */
void ToolsActivationSuccessProcessing( void );
/** Post-processing after tools setup has failed. */
void ToolsActivationFailureProcessing( void );
/** Post-processing after start imaging has been successful. */
void StartImagingSuccessProcessing( void );
/** Post-processing after start imaging has failed. */
void StartImagingFailureProcessing( void );
/** Post-processing after attaching a VideoImager tool
has been successful. */
void AttachingVideoImagerToolSuccessProcessing( void );
/** Post-processing after an attempt to attach a VideoImager tool
* has failed. */
void AttachingVideoImagerToolFailureProcessing( void );
/** Post-processing after stop imaging has been successful. */
void StopImagingSuccessProcessing( void );
/** Post-processing after start imaging has failed. */
void StopImagingFailureProcessing( void );
/** Post-processing after close imaging has been successful. */
void CloseCommunicationSuccessProcessing( void );
/** Post-processing after close imaging has failed. */
void CloseCommunicationFailureProcessing( void );
/** Always called when entering imaging state. */
void EnterImagingStateProcessing( void );
/** Detach all VideoImager tools from the VideoImager */
void DetachAllVideoImagerToolsFromVideoImager();
/** Report invalid request */
void ReportInvalidRequestProcessing( void );
/** Actually set the frequency of update */
void SetFrequencyProcessing( void );
/** Define the coordinate system interface
*/
igstkCoordinateSystemClassInterfaceMacro();
VideoImagerToolType * m_VideoImagerToolToBeAttached;
double m_FrequencyToBeSet;
};
}
#endif //__igstk_VideoImager_h_
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