/*==========================================================================
--------------------------------------------------
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 _vtkVSP_h
#define _vtkVSP_h

#include "vtkESQuiHapticsWin32Header.h"
#include "vtkHaptic.h"

#include "XiCathInterface.h"

//!vtkVSP class wraps the access to the IHP haptic device.
/*!
 * This interface enables the interaction with the Xitact VSP haptic device.\n
 * In a cyclic process the haptic is synchronously checked for changes.
 * Device physical attributes are saved and then sent to the simulation
 * process.\n
 * Access method to device initialization has also been implemented.
 */

class VTK_ESQUI_HAPTICS_EXPORT vtkVSP:public vtkHaptic
{

public:

  //! Type revision macro
  vtkTypeRevisionMacro(vtkVSP, vtkObject);
  //! Create new vtkVSP object
  static vtkVSP *New();
  const char *GetClassName() { return "vtkVSP"; }
  //!Print class values
  void PrintSelf(ostream& os, vtkIndent indent);

  //! Initialize the VSP system
  virtual int Init();

  //!Update the device
  virtual void Update();

  //! Liberates the VSP system
  virtual void Release();

  //! Update the state of the VSP system
  void UpdateDevice();

  //! Return the position of the left joystick
  float *GetLeftJoystickState();

  //! Return the position of the left joystick
  void GetLeftJoystickState(float data[2]);

  //! Return the position of the left joystick
  void GetLeftJoystickState(float *data1,float *data2);

  //! Return the position of the right joystick
  float *GetRightJoystickState();

  //! Return the position of the left joystick
  void GetRightJoystickState(float data[2]);

  //! Return the position of the left joystick
  void GetRightJoystickState(float *data1,float *data2);

  //! Return the Y position of the left joystick
  float GetLeftJoystickYPosition();

  //! Return the X position of the left joystick
  float GetLeftJoystickXPosition();

  //! Return the Y position of the right joystick
  float GetRightJoystickYPosition();

  //! Return the X position of the right joystick
  float GetRightJoystickXPosition();

  //! Return the state of the buttons of the control panel
  int GetButtonsState();

  //! Return Zoom button state
  int GetZoomState();

  //! Return Visualization Mode
  int GetVisualizationMode();

  //! Get Sid button state
  int GetSidState();

  //! Get Table button state
  int GetTableState();

  //! Return Left Pedal Button State
  int GetLeftPedalState();

  //! Return Center Pedal Button State
  int GetCenterPedalState();

  //! Return Right Pedal Button State
  int GetRightPedalState();

  //!Return the depth of the catheter specified by the id parameter
  float GetCatheterDepth(int id)
  {
    switch(id)
    {
      case 0:
        return this->GetCatheter0Depth();
      case 1:
        return this->GetCatheter1Depth();
      case 2:
        return this->GetCatheter2Depth();
      default:
        return 0;
    }
  }

  //!Return the state of the catheter specified by the id parameter
  int GetCatheterState(int id)
  {
    switch(id)
    {
      case 0:
        return this->GetCatheter0State();
      case 1:
        return this->GetCatheter1State();
      case 2:
        return this->GetCatheter2State();
      default:
        return 0;
    }
  }

  //!Return the roll of the catheter specified by the id parameter
  float GetCatheterRoll(int id)
  {
    switch(id)
    {
      case 0:
        return this->GetCatheter0Roll();
      case 1:
        return this->GetCatheter1Roll();
      case 2:
        return this->GetCatheter2Roll();
      default:
        return 0;
    }

  }

  //! Return the state flag of the 8F catheter
  int GetCatheter0State();
  //! Return the depth of the 8F catheter
  float GetCatheter0Depth();
  //! Return the roll value of the 8F catheter
  float GetCatheter0Roll();

  //! Return the state flag of the 5F catheter
  int GetCatheter1State();
  //! Return the depth of the 5F catheter
  float GetCatheter1Depth();
  //! Return the roll value of the 5F catheter
  float GetCatheter1Roll();

  //! Return the state flag of the 2.5F catheter
  int GetCatheter2State();
  //! Return the depth of the 2.5F catheter
  float GetCatheter2Depth();
  //! Return the roll value of the 2.5F catheter
  float GetCatheter2Roll();

  //!Return Stent Deployment
  float GetStentDeployment();

  //!Return Contrast Flow
  float GetContrastFlow();

  //!Return Inflation Pressure
  float GetInflationPressure();

private:
  XiControlPanelState DevicePanel;
  XiCathState Catheter0;// *Catheter2, *Catheter1;
  XiCathState Catheter1;
  XiCathState Catheter2;

protected:
  vtkVSP();
  ~vtkVSP();

};

#endif