/*==========================================================================
--------------------------------------------------
Program: ESQUI
Info and Bugs: {marf,jballesteros}@itccanarias.org
url: http://motivando.me 
--------------------------------------------------

Copyright (c) 2006-2007, Center for Technology in Medicine (CTM), 
University of Las Palmas de Gran Canaria (ULPGC), Canary Islands, Spain.
Copyright (c) 2007-2010, Institute of Technology at CanaryIslands (ITC),
Canary Islands, Spain.

This software is free software; you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License (LGPL) as published
by the Free Software Foundation, either version 3 of the License, or (at 
your option) any later version.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1) Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.
2) Redistributions in binary form must reproduce the above copyright 
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

You should have received a copy of the GNU Lesser General Public License 
along with this program.  If not, see <http://www.gnu.org/licenses/>.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE 
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
POSSIBILITY OF SUCH DAMAGE.
==========================================================================*/
#ifndef __vtkHaptics
#define __vtkHaptics

#include "vtkESQuiHapticsWin32Header.h"
#include "vtkObject.h"

class vtkTool;
class vtkScenarioObject;
class vtkScenarioObjectCollection;

//! Generic haptic class for interface implementation
/*!
 * This generic class serves as base for haptic devices interfaces. The
 * following interfaces has been implemented:\n
 *  - vtkIHP: Xitact IHP. Laparoscopic and arthroscopic techniques.
 *  - vtkVSP: Xitact VSP. Endovascular techniques.
 *  - vtkLSW: Immersion LSW. Laparoscopic techniques.
 */

class VTK_ESQUI_HAPTICS_EXPORT vtkHaptic: public vtkObject {

public:

  //! Type revision macro
  vtkTypeRevisionMacro(vtkHaptic,vtkObject);
  //! Return class name
  const char *GetClassName() {return "vtkHaptics";}
  //! Print tool info
  void PrintSelf(ostream& os, vtkIndent indent);

  //! Set up the haptic device
  /*!
   * Abstract method that must be defined in the implementation class
   */
  virtual int Init() = 0;

  //! Executes the control of the haptic device, reimplemented in all subclasses
  /*!
   * Abstract method that must be defined in the implementation class
   */
  virtual void Update() = 0;

  //! Liberates the haptic connection
  /*!
   * Abstract method that must be defined in the implementation class
   */
  virtual void Release() = 0;

  //! Set the haptic name
  /*!
   * \param name name of the haptic device
   * \sa GetName()
   */
  void SetName(const char * name);

  //! Return the haptic name
  /*!
   * \return haptic device name
   * \sa SetName(const char * name)
   */
  const char * GetName();

  //!Set the collection of tools of the haptic device
  /*!
   * \param collection collection of tools to be inserted to the haptic device
   * \sa GetTools()
   */
  void SetTools(vtkScenarioObjectCollection * collection);

  //!Get the collection of tools of the haptic device
  /*!
   * \sa SetTools(vtkScenarioObjectCollection * collection)
   */
  vtkScenarioObjectCollection * GetTools();

  //!Add tool to the haptic device
  /*!
   * The tool will be inserted at the end of the list
   * \param tool vtkScenarioObject tool to be inserted
   * \return position of the added tool.
   * \sa InsertTool(vtkScenarioObject * tool)
   */
  void AddTool(vtkTool * tool);

  //!Insert a tool in the specified position
  /*!
   * If the given position is not empty, the content is replaced by the new model
   * \param index index of the list where the tool will be added
   * \param tool vtkScenarioObject tool to be inserted
   * \sa InsertNextTool(vtkScenarioObject * tool)
   */
  void ReplaceTool(vtkIdType index, vtkTool * tool);

  //!Remove the tool at the specified id from the haptic
  /*!
   * It will only remove the tool from the collection, it does not free memory
   * \param index index of the tool to be removed
   */
  void RemoveTool(vtkIdType index);

  //!Return the tool at the specified position
  /*!
   * \param id index of the tool to be returned
   * \return vtkScenarioObject tool
   */
  vtkTool * GetTool(vtkIdType id);

  //!Return number of tools in the haptic device
  vtkIdType GetNumberOfTools();

protected:  

  vtkHaptic();
  ~vtkHaptic();

  //! Haptic device name
  const char * Name;

  //! Scenario tools
  vtkScenarioObjectCollection * Tools;

  //! Number of tools of the haptic device
  int  NumberOfTools;

private:

  vtkHaptic(const vtkHaptic &);
  void operator=(const vtkHaptic &);

};
#endif