OutputComponent.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_INPUT_OUTPUTCOMPONENT_H
#define SURGSIM_INPUT_OUTPUTCOMPONENT_H

#include <string>
#include <memory>

#include "SurgSim/DataStructures/DataGroup.h"
#include "SurgSim/Framework/LockedContainer.h"
#include "SurgSim/Framework/Representation.h"
#include "SurgSim/Input/OutputProducerInterface.h"


namespace SurgSim
{

namespace Input
{
class DeviceInterface;

SURGSIM_STATIC_REGISTRATION(OutputComponent);

class OutputComponent : public SurgSim::Framework::Representation, public OutputProducerInterface
{
public:
    explicit OutputComponent(const std::string& name);
    virtual ~OutputComponent();

    SURGSIM_CLASSNAME(SurgSim::Input::OutputComponent);

    void setDeviceName(const std::string& deviceName);

    std::string getDeviceName() const;

    virtual void setData(const SurgSim::DataStructures::DataGroup& dataGroup);

    virtual bool doInitialize();

    virtual bool doWakeUp();

    bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override;

    SurgSim::Math::RigidTransform3d getToDeviceTransform() const;

    void setToDeviceTransform(const SurgSim::Math::RigidTransform3d& val);

    SurgSim::Math::RigidTransform3d getToElementTransform() const;

    void setToElementTransform(const SurgSim::Math::RigidTransform3d& val);

private:
    std::string m_deviceName;

    SurgSim::Framework::LockedContainer<SurgSim::DataStructures::DataGroup> m_lastOutput;

    bool m_haveData;

    SurgSim::Math::RigidTransform3d m_toElementTransform;
};

}; // namespace Input
}; // namespace SurgSim


#endif