TrakstarDevice.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, 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_DEVICES_TRAKSTAR_TRAKSTARDEVICE_H
#define SURGSIM_DEVICES_TRAKSTAR_TRAKSTARDEVICE_H

#include <memory>
#include <string>

#include "SurgSim/DataStructures/OptionalValue.h"
#include "SurgSim/Input/CommonDevice.h"

namespace SurgSim
{
namespace Devices
{
class TrakstarScaffold;

SURGSIM_STATIC_REGISTRATION(TrakstarDevice);

class TrakstarDevice : public SurgSim::Input::CommonDevice
{
public:
    explicit TrakstarDevice(const std::string& uniqueName);

    SURGSIM_CLASSNAME(SurgSim::Devices::TrakstarDevice);

    virtual ~TrakstarDevice();

    bool initialize() override;

    bool isInitialized() const override;

    unsigned short getSensorId() const;

    void setSensorId(unsigned short id);

    DataStructures::OptionalValue<double> getOptionalUpdateRate() const;

    void setOptionalUpdateRate(DataStructures::OptionalValue<double> rate);

    void setUpdateRate(double rate);

private:
    friend class TrakstarScaffold;

    bool finalize() override;

    std::shared_ptr<TrakstarScaffold> m_scaffold;

    unsigned short m_sensorId;

    DataStructures::OptionalValue<double> m_updateRate;
};

};  // namespace Devices
};  // namespace SurgSim

#endif  // SURGSIM_DEVICES_TRAKSTAR_TRAKSTARDEVICE_H