diff --git a/CMake/BuildConfigurations/All.cmake b/CMake/BuildConfigurations/All.cmake index 4149d2e22c..421a0d2158 100644 --- a/CMake/BuildConfigurations/All.cmake +++ b/CMake/BuildConfigurations/All.cmake @@ -1,65 +1,66 @@ set(MITK_CONFIG_PACKAGES ) set(_apple_package_excludes) if(APPLE) set(_apple_package_excludes SOFA ) endif() set(_python_excludes ) if(NOT (CMAKE_SIZEOF_VOID_P EQUAL 8) ) set(_python_excludes Python Numpy ) endif() set(_package_excludes ${_apple_package_excludes} ${_python_excludes} OpenCL SYSTEM_Boost Boost_LIBRARIES SYSTEM_PYTHON SOFA_PLUGINS SOFA_PLUGINS_DIR SUPERBUILD BiophotonicsHardware_SpectroCam + POLHEMUS_TRACKER KWSTYLE MICROBIRD_TRACKER MICROBIRD_TRACKER_INCLUDE_DIR MICROBIRD_TRACKER_LIB MICRON_TRACKER OPTITRACK_TRACKER SPACENAVIGATOR TOF_KINECT TOF_KINECTV2 TOF_MESASR4000 TOF_PMDCAMBOARD TOF_PMDCAMCUBE TOF_PMDO3 US_TELEMED_SDK videoInput WIIMOTE ) get_cmake_property(_cache_vars CACHE_VARIABLES) foreach(_cache_var ${_cache_vars}) string(REGEX REPLACE "MITK_USE_(.+)" "\\1" _package "${_cache_var}") if(_package AND NOT _package STREQUAL _cache_var) list(FIND _package_excludes ${_package} _index) if(_index EQUAL -1) list(APPEND MITK_CONFIG_PACKAGES ${_package}) endif() endif() endforeach() set(MITK_BUILD_ALL_APPS ON CACHE BOOL "Build all MITK applications" FORCE) set(MITK_BUILD_ALL_PLUGINS ON CACHE BOOL "Build all MITK plugins" FORCE) set(MITK_BUILD_EXAMPLES ON CACHE BOOL "Build the MITK examples" FORCE) set(BLUEBERRY_BUILD_ALL_PLUGINS ON CACHE BOOL "Build all BlueBerry plugins" FORCE) set(BUILD_DiffusionMiniApps ON CACHE BOOL "Build MITK Diffusion MiniApps" FORCE) diff --git a/Modules/IGT/Algorithms/mitkPivotCalibration.cpp b/Modules/IGT/Algorithms/mitkPivotCalibration.cpp index bb1094b217..d1b519d480 100644 --- a/Modules/IGT/Algorithms/mitkPivotCalibration.cpp +++ b/Modules/IGT/Algorithms/mitkPivotCalibration.cpp @@ -1,114 +1,114 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkPivotCalibration.h" #include "vnl/algo/vnl_svd.h" #include "vnl/vnl_matrix.h" #include "vnl/vnl_vector.h" #include mitk::PivotCalibration::PivotCalibration() : m_NavigationDatas(std::vector()), m_ResultPivotRotation(mitk::Quaternion(0, 0, 0, 1)) { } mitk::PivotCalibration::~PivotCalibration() { } void mitk::PivotCalibration::AddNavigationData(mitk::NavigationData::Pointer data) { m_NavigationDatas.push_back(data); } bool mitk::PivotCalibration::ComputePivotResult() { return ComputePivotPoint(); } bool mitk::PivotCalibration::ComputePivotPoint() { double defaultThreshold = 1e-1; std::vector _CheckedTransforms; for (size_t i = 0; i < m_NavigationDatas.size(); ++i) { if (!m_NavigationDatas.at(i)->IsDataValid()) { MITK_WARN << "Skipping invalid transform " << i << "."; continue; } _CheckedTransforms.push_back(m_NavigationDatas.at(i)); } if (_CheckedTransforms.empty()) { MITK_WARN << "Checked Transforms are empty"; return false; } unsigned int rows = 3 * _CheckedTransforms.size(); unsigned int columns = 6; vnl_matrix< double > A(rows, columns), minusI(3, 3, 0), R(3, 3); vnl_vector< double > b(rows), x(columns), t(3); minusI(0, 0) = -1; minusI(1, 1) = -1; minusI(2, 2) = -1; //do the computation and set the internal variables unsigned int currentRow = 0; for (size_t i = 0; i < _CheckedTransforms.size(); ++i) { - t = _CheckedTransforms.at(i)->GetPosition().Get_vnl_vector();// t = the current position of the tracked sensor + t = _CheckedTransforms.at(i)->GetPosition().GetVnlVector();// t = the current position of the tracked sensor t *= -1; b.update(t, currentRow); //b = combines the position for each collected transform in one column vector R = _CheckedTransforms.at(i)->GetOrientation().rotation_matrix_transpose().transpose(); // R = the current rotation of the tracked sensor, *rotation_matrix_transpose().transpose() is used to obtain original matrix A.update(R, currentRow, 0); //A = the matrix which stores the rotations for each collected transform and -I A.update(minusI, currentRow, 3); currentRow += 3; } vnl_svd svdA(A); //The singular value decomposition of matrix A svdA.zero_out_absolute(defaultThreshold); //there is a solution only if rank(A)=6 (columns are linearly //independent) if (svdA.rank() < 6) { MITK_WARN << "svdA.rank() < 6"; return false; } else { x = svdA.solve(b); //x = the resulting pivot point m_ResultRMSError = (A * x - b).rms(); //the root mean sqaure error of the computation //sets the Pivot Point m_ResultPivotPoint[0] = x[0]; m_ResultPivotPoint[1] = x[1]; m_ResultPivotPoint[2] = x[2]; } return true; } diff --git a/Modules/IGT/Common/mitkTrackingTypes.h b/Modules/IGT/Common/mitkTrackingTypes.h index 7cf0a0250b..dbb7c5db5e 100644 --- a/Modules/IGT/Common/mitkTrackingTypes.h +++ b/Modules/IGT/Common/mitkTrackingTypes.h @@ -1,93 +1,94 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKTRACKINGTYPES_H_HEADER_INCLUDED_ #define MITKTRACKINGTYPES_H_HEADER_INCLUDED_ #include #include #include namespace mitk { typedef std::string TrackingDeviceType; /** * /brief This structure defines key variables of a device model and type. + * Line is (usually) identical with the TrackingDeviceName and can be used to compare TrackingDevices (string). * It is specifically used to find out which models belong to which vendor, and what volume * to use for a specific Model. Leaving VolumeModelLocation set to null will instruct the Generator * to generate a field to the best of his ability. HardwareCode stands for a hexadecimal string, * that represents the tracking volume. "X" stands for "hardwarecode is not known" or "tracking device has * no hardware code". For NDI devices it is used in the SetVolume() Method in mitkNDITrackingDevice.cpp. * The Pyramid Volume has the hardwarecode "4", but it is not supported yet. */ struct TrackingDeviceData { TrackingDeviceType Line; std::string Model; std::string VolumeModelLocation; std::string HardwareCode; }; /**Documentation * \brief Error codes of NDI tracking devices */ enum OperationMode { ToolTracking6D, ToolTracking5D, MarkerTracking3D, HybridTracking }; /**Documentation * \brief activation rate of IR illuminator for NDI Polaris tracking device */ enum IlluminationActivationRate { Hz20 = 20, Hz30 = 30, Hz60 = 60 }; /**Documentation * \brief Data transfer mode for NDI tracking devices */ enum DataTransferMode { TX = 0, BX = 1 }; /**Documentation * \brief Query mode for NDI tracking devices */ enum PHSRQueryType { ALL = 0x00, FREED = 0x01, OCCUPIED = 0x02, INITIALIZED = 0x03, ENABLED = 0x04 }; typedef itk::Point MarkerPointType; typedef std::vector MarkerPointContainerType; /** definition of colors for IGT */ static mitk::Color IGTColor_WARNING = mitk::ColorProperty::New(1.0f, 0.0f, 0.0f)->GetColor(); static mitk::Color IGTColor_VALID = mitk::ColorProperty::New(0.0f, 1.0f, 0.0f)->GetColor(); } // namespace mitk #endif /* MITKTRACKINGTYPES_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGT/DataManagement/mitkNavigationToolStorage.cpp b/Modules/IGT/DataManagement/mitkNavigationToolStorage.cpp index cf4b2eccf9..d9094697b6 100644 --- a/Modules/IGT/DataManagement/mitkNavigationToolStorage.cpp +++ b/Modules/IGT/DataManagement/mitkNavigationToolStorage.cpp @@ -1,219 +1,230 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkNavigationToolStorage.h" //Microservices #include #include #include const std::string mitk::NavigationToolStorage::US_INTERFACE_NAME = "org.mitk.services.NavigationToolStorage"; // Name of the interface const std::string mitk::NavigationToolStorage::US_PROPKEY_SOURCE_ID = US_INTERFACE_NAME + ".sourceID"; const std::string mitk::NavigationToolStorage::US_PROPKEY_STORAGE_NAME = US_INTERFACE_NAME + ".name"; mitk::NavigationToolStorage::NavigationToolStorage() : m_ToolCollection(std::vector()), - m_DataStorage(NULL), - m_storageLocked(false) - { + m_DataStorage(NULL), + m_storageLocked(false) +{ this->SetName("ToolStorage (no name given)"); - } +} -mitk::NavigationToolStorage::NavigationToolStorage(mitk::DataStorage::Pointer ds) : m_storageLocked(false) - { +mitk::NavigationToolStorage::NavigationToolStorage(mitk::DataStorage::Pointer ds) + : m_storageLocked(false) +{ m_ToolCollection = std::vector(); this->m_DataStorage = ds; - } + this->SetName("Tool Storage (no name given)"); +} void mitk::NavigationToolStorage::SetName(std::string n) - { +{ m_Name = n; - m_props[ US_PROPKEY_STORAGE_NAME ] = m_Name; - } + m_props[US_PROPKEY_STORAGE_NAME] = m_Name; +} - void mitk::NavigationToolStorage::UpdateMicroservice() - { - if (m_ServiceRegistration) {m_ServiceRegistration.SetProperties(m_props);} - } +std::string mitk::NavigationToolStorage::GetName() const +{ + return m_Name; +} +void mitk::NavigationToolStorage::UpdateMicroservice() +{ + if (m_ServiceRegistration) { m_ServiceRegistration.SetProperties(m_props); } +} mitk::NavigationToolStorage::~NavigationToolStorage() - { +{ if (m_DataStorage.IsNotNull()) //remove all nodes from the data storage - { - for(std::vector::iterator it = m_ToolCollection.begin(); it != m_ToolCollection.end(); it++) - m_DataStorage->Remove((*it)->GetDataNode()); - } + { + for (std::vector::iterator it = m_ToolCollection.begin(); it != m_ToolCollection.end(); it++) + m_DataStorage->Remove((*it)->GetDataNode()); } - +} void mitk::NavigationToolStorage::RegisterAsMicroservice(std::string sourceID){ - - if ( sourceID.empty() ) mitkThrow() << "Empty or null string passed to NavigationToolStorage::registerAsMicroservice()."; + if (sourceID.empty()) mitkThrow() << "Empty or null string passed to NavigationToolStorage::registerAsMicroservice()."; // Get Context us::ModuleContext* context = us::GetModuleContext(); // Define ServiceProps - m_props[ US_PROPKEY_SOURCE_ID ] = sourceID; + m_props[US_PROPKEY_SOURCE_ID] = sourceID; m_ServiceRegistration = context->RegisterService(this, m_props); + //Tell all widgets, that there is a new toolStorage registered, e.g. the old one might have changed. + UpdateMicroservice(); } - void mitk::NavigationToolStorage::UnRegisterMicroservice(){ - if ( ! m_ServiceRegistration ) + if (!m_ServiceRegistration) { MITK_WARN("NavigationToolStorage") - << "Cannot unregister microservice as it wasn't registered before."; + << "Cannot unregister microservice as it wasn't registered before."; return; } m_ServiceRegistration.Unregister(); m_ServiceRegistration = 0; } - bool mitk::NavigationToolStorage::DeleteTool(int number) +{ + if (m_storageLocked) { - if (m_storageLocked) - { - MITK_WARN << "Storage is locked, cannot modify it!"; - return false; - } - - else if ((unsigned int)number > m_ToolCollection.size()) - { - MITK_WARN << "Tool no " << number << "doesn't exist, can't delete it!"; - return false; - } - std::vector::iterator it = m_ToolCollection.begin() + number; - if(m_DataStorage.IsNotNull()) - m_DataStorage->Remove((*it)->GetDataNode()); - m_ToolCollection.erase(it); + MITK_WARN << "Storage is locked, cannot modify it!"; + return false; + } - return true; + else if ((unsigned int)number > m_ToolCollection.size()) + { + MITK_WARN << "Tool no " << number << "doesn't exist, can't delete it!"; + return false; } + std::vector::iterator it = m_ToolCollection.begin() + number; + if (m_DataStorage.IsNotNull()) + m_DataStorage->Remove((*it)->GetDataNode()); + m_ToolCollection.erase(it); + + //This line is important so that other widgets can get a notice that the toolStorage has changed! + this->UpdateMicroservice(); + return true; +} bool mitk::NavigationToolStorage::DeleteAllTools() +{ + if (m_storageLocked) { - if (m_storageLocked) - { MITK_WARN << "Storage is locked, cannot modify it!"; return false; - } + } - while(m_ToolCollection.size() > 0) if (!DeleteTool(0)) return false; + while (m_ToolCollection.size() > 0) if (!DeleteTool(0)) return false; return true; - } +} bool mitk::NavigationToolStorage::AddTool(mitk::NavigationTool::Pointer tool) - { +{ if (m_storageLocked) - { + { MITK_WARN << "Storage is locked, cannot modify it!"; return false; - } + } else if (GetTool(tool->GetIdentifier()).IsNotNull()) - { + { MITK_WARN << "Tool ID already exists in storage, can't add!"; return false; - } + } else - { + { m_ToolCollection.push_back(tool); - if(m_DataStorage.IsNotNull()) - { + if (m_DataStorage.IsNotNull()) + { if (!m_DataStorage->Exists(tool->GetDataNode())) m_DataStorage->Add(tool->GetDataNode()); - } - return true; } + //This line is important so that other widgets can get a notice that the toolStorage has changed! + this->UpdateMicroservice(); + return true; } +} mitk::NavigationTool::Pointer mitk::NavigationToolStorage::GetTool(int number) - { +{ return m_ToolCollection.at(number); - } +} mitk::NavigationTool::Pointer mitk::NavigationToolStorage::GetTool(std::string identifier) - { - for (int i=0; iGetIdentifier())==identifier) return GetTool(i); +{ + for (int i = 0; i < GetToolCount(); i++) if ((GetTool(i)->GetIdentifier()) == identifier) return GetTool(i); return NULL; - } +} mitk::NavigationTool::Pointer mitk::NavigationToolStorage::GetToolByName(std::string name) - { - for (int i=0; iGetToolName())==name) return GetTool(i); +{ + for (int i = 0; i < GetToolCount(); i++) if ((GetTool(i)->GetToolName()) == name) return GetTool(i); return NULL; - } +} int mitk::NavigationToolStorage::GetToolCount() - { +{ return m_ToolCollection.size(); - } +} bool mitk::NavigationToolStorage::isEmpty() - { +{ return m_ToolCollection.empty(); - } +} void mitk::NavigationToolStorage::LockStorage() - { +{ m_storageLocked = true; - } +} void mitk::NavigationToolStorage::UnLockStorage() - { +{ m_storageLocked = false; - } +} bool mitk::NavigationToolStorage::isLocked() - { +{ return m_storageLocked; - } +} bool mitk::NavigationToolStorage::AssignToolNumber(std::string identifier1, int number2) - { +{ if (this->GetTool(identifier1).IsNull()) - { + { MITK_WARN << "Identifier does not exist, cannot assign new number"; return false; - } + } if ((number2 >= m_ToolCollection.size()) || (number2 < 0)) - { + { MITK_WARN << "Invalid number, cannot assign new number"; return false; - } + } mitk::NavigationTool::Pointer tool2 = m_ToolCollection.at(number2); int number1 = -1; - for(int i = 0; iGetIdentifier() == identifier1) {number1=i;} - } + for (int i = 0; i < m_ToolCollection.size(); i++) + { + if (m_ToolCollection.at(i)->GetIdentifier() == identifier1) { number1 = i; } + } m_ToolCollection[number2] = m_ToolCollection.at(number1); m_ToolCollection[number1] = tool2; MITK_DEBUG << "Swapped tool " << number2 << " with tool " << number1; + //This line is important so that other widgets can get a notice that the toolStorage has changed! + this->UpdateMicroservice(); + return true; -} +} \ No newline at end of file diff --git a/Modules/IGT/DataManagement/mitkNavigationToolStorage.h b/Modules/IGT/DataManagement/mitkNavigationToolStorage.h index 5d47531111..31f1e83222 100644 --- a/Modules/IGT/DataManagement/mitkNavigationToolStorage.h +++ b/Modules/IGT/DataManagement/mitkNavigationToolStorage.h @@ -1,186 +1,186 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef NAVIGATIONTOOLSTORAGE_H_INCLUDED #define NAVIGATIONTOOLSTORAGE_H_INCLUDED //itk headers #include //mitk headers #include #include #include "mitkNavigationTool.h" #include // Microservices #include #include #include namespace mitk { /**Documentation * \brief An object of this class represents a collection of navigation tools. * You may add/delete navigation tools or store/load the whole collection * to/from the harddisc by using the class NavigationToolStorageSerializer * and NavigationToolStorageDeserializer. * * \ingroup IGT */ class MITKIGT_EXPORT NavigationToolStorage : public itk::Object { public: mitkClassMacroItkParent(NavigationToolStorage,itk::Object); /** @brief Constructs a NavigationToolStorage without reference to a DataStorage. The Data Nodes of tools have to be added and removed to a data storage outside this class. * Normaly the other constructor should be used. */ itkFactorylessNewMacro(Self) itkCloneMacro(Self) /** @brief Constructs a NavigationToolStorage with reference to a DataStorage. The Data Nodes of tools are added and removed automatically to this data storage. */ mitkNewMacro1Param(Self,mitk::DataStorage::Pointer); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. * To unregister, call UnregisterMicroservice(). Make sure to pass the id of the Device that this tool is connected to. */ virtual void RegisterAsMicroservice(std::string sourceID); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. */ virtual void UnRegisterMicroservice(); /** *\brief Returns the id that this device is registered with. The id will only be valid, if the * NavigationDataSource has been registered using RegisterAsMicroservice(). */ std::string GetMicroserviceID(); /** *\brief These constants are used in conjunction with Microservices */ static const std::string US_INTERFACE_NAME; // Name of the interface static const std::string US_PROPKEY_SOURCE_ID; // ID of the device this ToolStorage is associated with static const std::string US_PROPKEY_STORAGE_NAME; // name of the storage /** * @brief Adds a tool to the storage. Be sure that the tool has a unique * identifier which is not already part of this storage. * @return Returns true if the tool was added to the storage, false if not * (false can be returned if the identifier already exists in this storage * for example). */ bool AddTool(mitk::NavigationTool::Pointer tool); /** * @return Returns the tracking tool at the position "number" * in the storage. Returns NULL if there is no * tracking tool at this position. */ mitk::NavigationTool::Pointer GetTool(int number); /** * @return Returns the tracking tool with the given identifier. * Returns NULL if there is no * tracking tool with this identifier in the storage. */ mitk::NavigationTool::Pointer GetTool(std::string identifier); /** * @return Returns the tracking tool with the given name. * Returns NULL if there is no * tracking tool with this name in the storage. */ mitk::NavigationTool::Pointer GetToolByName(std::string name); /** Assigns the given number to the tool with the given identifier. This means the tool is swapped with another tool in the internal tool vector. * @return Returns true if the assignment was successfull. Returns false if assignment is not possible, e.g. because the identifier does not exist or if the given number is not available. **/ bool AssignToolNumber(std::string identifier1, int number2); /** * @brief Deletes a tool from the collection. * Warning, this method operates on the data storage and is not thread save. Calling it from outside the main thread may cause crashes. */ bool DeleteTool(int number); /** * @brief Deletes all tools from the collection. * Warning, this method operates on the data storage and is not thread save. Calling it from outside the main thread may cause crashes. */ bool DeleteAllTools(); /** * @return Returns the number of tools stored in the storage. */ int GetToolCount(); /** * @return Returns true if the storage is empty, false if not. */ bool isEmpty(); /** * @return Returns the corresponding data storage if one is set to this NavigationToolStorage. * Returns NULL if none is set. */ itkGetMacro(DataStorage,mitk::DataStorage::Pointer); /** Sets the name of this storage. The name should be understandable for the user. * Something like "NDI Aurora Tool Storage". If a storage is loaded from the harddisk * the name might be the filename. */ void SetName(std::string); /** @return Returns the name of this storage. */ - itkGetConstMacro(Name,std::string); + std::string GetName() const; /** Locks the storage. A logged storage may not be modified. * If a method tries to modify the storage anyway a waring message is given. * The storage is unlocked by default. A Storage might be locked when a * tracking device is active and needs the storage to stay consistent. */ void LockStorage(); /** Unlocks the storage again. */ void UnLockStorage(); /** @return Returns true if the storage is locked at the moment, false if not. */ bool isLocked(); /** Sets the properties which causes the microservice to emit an update signal. */ void UpdateMicroservice(); protected: NavigationToolStorage(); NavigationToolStorage(mitk::DataStorage::Pointer); ~NavigationToolStorage(); std::vector m_ToolCollection; mitk::DataStorage::Pointer m_DataStorage; std::string m_Name; bool m_storageLocked; private: us::ServiceRegistration m_ServiceRegistration; us::ServiceProperties m_props; }; } // namespace mitk MITK_DECLARE_SERVICE_INTERFACE(mitk::NavigationToolStorage, "org.mitk.services.NavigationToolStorage") #endif //NAVIGATIONTOOLSTORAGE diff --git a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp index 38929bef77..94b9748e18 100644 --- a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp +++ b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp @@ -1,213 +1,216 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkTrackingDeviceSource.h" #include "mitkTrackingDevice.h" #include "mitkTrackingTool.h" #include "mitkIGTTimeStamp.h" #include "mitkIGTException.h" +#include "mitkIGTHardwareException.h" mitk::TrackingDeviceSource::TrackingDeviceSource() : mitk::NavigationDataSource(), m_TrackingDevice(NULL) { } mitk::TrackingDeviceSource::~TrackingDeviceSource() { if (m_TrackingDevice.IsNotNull()) { if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) { this->StopTracking(); } if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) { this->Disconnect(); } m_TrackingDevice = NULL; } } void mitk::TrackingDeviceSource::GenerateData() { if (m_IsFrozen) {return;} //no update at all if device is frozen else if (m_TrackingDevice.IsNull()) {return;} if (m_TrackingDevice->GetToolCount() < 1) return; if (this->GetNumberOfIndexedOutputs() != m_TrackingDevice->GetToolCount()) // mismatch between tools and outputs. What should we do? Were tools added to the tracking device after SetTrackingDevice() was called? { //check this: TODO: ////this might happen if a tool is plugged into an aurora during tracking. //this->CreateOutputs(); std::stringstream ss; ss << "mitk::TrackingDeviceSource: not enough outputs available for all tools. " << this->GetNumberOfOutputs() << " outputs available, but " << m_TrackingDevice->GetToolCount() << " tools available in the tracking device."; throw std::out_of_range(ss.str()); } /* update outputs with tracking data from tools */ unsigned int toolCount = m_TrackingDevice->GetToolCount(); for (unsigned int i = 0; i < toolCount; ++i) { mitk::NavigationData* nd = this->GetOutput(i); assert(nd); mitk::TrackingTool* t = m_TrackingDevice->GetTool(i); assert(t); if ((t->IsEnabled() == false) || (t->IsDataValid() == false)) { nd->SetDataValid(false); continue; } nd->SetDataValid(true); mitk::NavigationData::PositionType p; t->GetPosition(p); nd->SetPosition(p); mitk::NavigationData::OrientationType o; t->GetOrientation(o); nd->SetOrientation(o); nd->SetOrientationAccuracy(t->GetTrackingError()); nd->SetPositionAccuracy(t->GetTrackingError()); nd->SetIGTTimeStamp(t->GetIGTTimeStamp()); //for backward compatibility: check if the timestamp was set, if not create a default timestamp if (nd->GetIGTTimeStamp()==0) nd->SetIGTTimeStamp(mitk::IGTTimeStamp::GetInstance()->GetElapsed()); } } void mitk::TrackingDeviceSource::SetTrackingDevice( mitk::TrackingDevice* td ) { MITK_DEBUG << "Setting TrackingDevice to " << td; if (this->m_TrackingDevice.GetPointer() != td) { this->m_TrackingDevice = td; this->CreateOutputs(); std::stringstream name; // create a human readable name for the source name << td->GetData().Model << " Tracking Source"; this->SetName(name.str()); } } void mitk::TrackingDeviceSource::CreateOutputs(){ //if outputs are set then delete them if (this->GetNumberOfOutputs() > 0) { for (int numOP = this->GetNumberOfOutputs() -1; numOP >= 0; numOP--) this->RemoveOutput(numOP); this->Modified(); } //fill the outputs if a valid tracking device is set if (m_TrackingDevice.IsNull()) return; this->SetNumberOfIndexedOutputs(m_TrackingDevice->GetToolCount()); // create outputs for all tools unsigned int numberOfOutputs = this->GetNumberOfIndexedOutputs(); MITK_DEBUG << "Number of tools at start of method CreateOutputs(): " << m_TrackingDevice->GetToolCount(); MITK_DEBUG << "Number of outputs at start of method CreateOutputs(): " << numberOfOutputs; for (unsigned int idx = 0; idx < m_TrackingDevice->GetToolCount(); ++idx) { if (this->GetOutput(idx) == NULL) { DataObjectPointer newOutput = this->MakeOutput(idx); static_cast(newOutput.GetPointer())->SetName(m_TrackingDevice->GetTool(idx)->GetToolName()); // set NavigationData name to ToolName this->SetNthOutput(idx, newOutput); this->Modified(); } } } void mitk::TrackingDeviceSource::Connect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (this->IsConnected()) return; - try {m_TrackingDevice->OpenConnection();} + try + { + //Try to open the connection. If it didn't work (fals is returned from OpenConnection by the tracking device), throw an exception. + if (!m_TrackingDevice->OpenConnection()) + { + mitkThrowException(mitk::IGTHardwareException) << "Could not open connection."; + } + } catch (mitk::IGTException &e) { throw std::runtime_error(std::string("mitk::TrackingDeviceSource: Could not open connection to tracking device. Error: ") + e.GetDescription()); } - - /* NDI Aurora needs a connection to discover tools that are connected to it. - Therefore we need to create outputs for these tools now */ - //if (m_TrackingDevice->GetType() == mitk::NDIAurora) - //this->CreateOutputs(); } void mitk::TrackingDeviceSource::StartTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) return; if (m_TrackingDevice->StartTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not start tracking"); } void mitk::TrackingDeviceSource::Disconnect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->CloseConnection() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not close connection to tracking device"); } void mitk::TrackingDeviceSource::StopTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->StopTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not stop tracking"); } void mitk::TrackingDeviceSource::UpdateOutputInformation() { if(this->GetTrackingDevice()->GetToolCount() != this->GetNumberOfIndexedOutputs()) this->CreateOutputs(); this->Modified(); // make sure that we need to be updated Superclass::UpdateOutputInformation(); } //unsigned int mitk::TrackingDeviceSource::GetToolCount() //{ // if (m_TrackingDevice) // return m_TrackingDevice->GetToolCount(); // return 0; //} bool mitk::TrackingDeviceSource::IsConnected() { if (m_TrackingDevice.IsNull()) return false; return (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) || (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking); } bool mitk::TrackingDeviceSource::IsTracking() { if (m_TrackingDevice.IsNull()) return false; return m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking; } diff --git a/Modules/IGT/TrackingDevices/mitkNDIAuroraTypeInformation.cpp b/Modules/IGT/TrackingDevices/mitkNDIAuroraTypeInformation.cpp index 921083741c..f09315317c 100644 --- a/Modules/IGT/TrackingDevices/mitkNDIAuroraTypeInformation.cpp +++ b/Modules/IGT/TrackingDevices/mitkNDIAuroraTypeInformation.cpp @@ -1,149 +1,147 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkNDIAuroraTypeInformation.h" #include "mitkIGTHardwareException.h" #include "mitkNDITrackingDevice.h" namespace mitk { std::string NDIAuroraTypeInformation::GetTrackingDeviceName() { return "NDI Aurora"; } TrackingDeviceData NDIAuroraTypeInformation::GetDeviceDataAuroraCompact() { TrackingDeviceData data = { NDIAuroraTypeInformation::GetTrackingDeviceName(), "Aurora Compact", "NDIAuroraCompactFG_Dome.stl", "A" }; return data; } TrackingDeviceData NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarCube() { TrackingDeviceData data = { NDIAuroraTypeInformation::GetTrackingDeviceName(), "Aurora Planar (Cube)", "NDIAurora.stl", "9" }; return data; } TrackingDeviceData NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarDome() { TrackingDeviceData data = { NDIAuroraTypeInformation::GetTrackingDeviceName(), "Aurora Planar (Dome)", "NDIAuroraPlanarFG_Dome.stl", "A" }; return data; } TrackingDeviceData NDIAuroraTypeInformation::GetDeviceDataAuroraTabletop() { TrackingDeviceData data = { NDIAuroraTypeInformation::GetTrackingDeviceName(), "Aurora Tabletop", "NDIAuroraTabletopFG_Dome.stl", "A" }; return data; } NDIAuroraTypeInformation::NDIAuroraTypeInformation() { m_DeviceName = NDIAuroraTypeInformation::GetTrackingDeviceName(); m_TrackingDeviceData.push_back(GetDeviceDataAuroraCompact()); m_TrackingDeviceData.push_back(GetDeviceDataAuroraPlanarCube()); m_TrackingDeviceData.push_back(GetDeviceDataAuroraPlanarDome()); m_TrackingDeviceData.push_back(GetDeviceDataAuroraTabletop()); } NDIAuroraTypeInformation::~NDIAuroraTypeInformation() { } mitk::TrackingDeviceSource::Pointer NDIAuroraTypeInformation::CreateTrackingDeviceSource( mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools, std::string* errorMessage, std::vector* toolCorrespondencesInToolStorage) { MITK_DEBUG << "Creating Aurora tracking device."; mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::NDITrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); try { //connect to aurora to dectect tools automatically thisDevice->OpenConnection(); } catch (mitk::IGTHardwareException& e) { errorMessage->append("Hardware error on opening the connection ("); errorMessage->append(e.GetDescription()); errorMessage->append(")"); return NULL; } catch (mitk::IGTException& e) { errorMessage->append("Error on opening the connection ("); errorMessage->append(e.GetDescription()); errorMessage->append(")"); return NULL; } //now search for automatically detected tools in the tool storage and save them mitk::NavigationToolStorage::Pointer newToolStorageInRightOrder = mitk::NavigationToolStorage::New(); std::vector alreadyFoundTools = std::vector(); *toolCorrespondencesInToolStorage = std::vector(); for (unsigned int i = 0; i < thisDevice->GetToolCount(); i++) { bool toolFound = false; for (int j = 0; j < navigationTools->GetToolCount(); j++) { //check if the serial number is the same to identify the tool if ((dynamic_cast(thisDevice->GetTool(i)))->GetSerialNumber() == navigationTools->GetTool(j)->GetSerialNumber()) { //check if this tool was already added to make sure that every tool is only added once (in case of same serial numbers) bool toolAlreadyAdded = false; for (unsigned int k = 0; k < alreadyFoundTools.size(); k++) if (alreadyFoundTools.at(k) == j) toolAlreadyAdded = true; if (!toolAlreadyAdded) { //add tool in right order newToolStorageInRightOrder->AddTool(navigationTools->GetTool(j)); toolCorrespondencesInToolStorage->push_back(j); //adapt name of tool dynamic_cast(thisDevice->GetTool(i))->SetToolName(navigationTools->GetTool(j)->GetToolName()); //set tip of tool dynamic_cast(thisDevice->GetTool(i))->SetToolTip(navigationTools->GetTool(j)->GetToolTipPosition(), navigationTools->GetTool(j)->GetToolTipOrientation()); //rember that this tool was already found alreadyFoundTools.push_back(j); toolFound = true; break; } } } if (!toolFound) { errorMessage->append("Error: did not find every automatically detected tool in the loaded tool storage: aborting initialization."); return NULL; } } - //delete all tools from the tool storage - navigationTools->DeleteAllTools(); - - //and add only the detected tools in the right order + //And resort them (this was done in TrackingToolBoxWorker before). for (int i = 0; i < newToolStorageInRightOrder->GetToolCount(); i++) { - navigationTools->AddTool(newToolStorageInRightOrder->GetTool(i)); + navigationTools->AssignToolNumber(newToolStorageInRightOrder->GetTool(i)->GetIdentifier(), i); } + returnValue->SetTrackingDevice(thisDevice); MITK_DEBUG << "Number of tools of created tracking device: " << thisDevice->GetToolCount(); MITK_DEBUG << "Number of outputs of created source: " << returnValue->GetNumberOfOutputs(); return returnValue; } -} +} \ No newline at end of file diff --git a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp index 04a190ddaa..f274dbee55 100644 --- a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp +++ b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp @@ -1,1335 +1,1324 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkNDITrackingDevice.h" #include "mitkIGTTimeStamp.h" #include "mitkIGTHardwareException.h" #include #include #include #include #include #include // vtk #include typedef itk::MutexLockHolder MutexLockHolder; - const unsigned char CR = 0xD; // == '\r' - carriage return const unsigned char LF = 0xA; // == '\n' - line feed - mitk::NDITrackingDevice::NDITrackingDevice() : -TrackingDevice(),m_DeviceName(""), m_PortNumber(mitk::SerialCommunication::COM5), m_BaudRate(mitk::SerialCommunication::BaudRate9600), +TrackingDevice(), m_DeviceName(""), m_PortNumber(mitk::SerialCommunication::COM5), m_BaudRate(mitk::SerialCommunication::BaudRate9600), m_DataBits(mitk::SerialCommunication::DataBits8), m_Parity(mitk::SerialCommunication::None), m_StopBits(mitk::SerialCommunication::StopBits1), m_HardwareHandshake(mitk::SerialCommunication::HardwareHandshakeOff), m_IlluminationActivationRate(Hz20), m_DataTransferMode(TX), m_6DTools(), m_ToolsMutex(nullptr), m_SerialCommunication(nullptr), m_SerialCommunicationMutex(nullptr), m_DeviceProtocol(nullptr), m_MultiThreader(nullptr), m_ThreadID(0), m_OperationMode(ToolTracking6D), m_MarkerPointsMutex(nullptr), m_MarkerPoints() { m_Data = mitk::UnspecifiedTrackingTypeInformation::GetDeviceDataUnspecified(); m_6DTools.clear(); m_SerialCommunicationMutex = itk::FastMutexLock::New(); m_DeviceProtocol = NDIProtocol::New(); m_DeviceProtocol->SetTrackingDevice(this); m_DeviceProtocol->UseCRCOn(); m_MultiThreader = itk::MultiThreader::New(); m_ToolsMutex = itk::FastMutexLock::New(); m_MarkerPointsMutex = itk::FastMutexLock::New(); m_MarkerPoints.reserve(50); // a maximum of 50 marker positions can be reported by the tracking device } - bool mitk::NDITrackingDevice::UpdateTool(mitk::TrackingTool* tool) { if (this->GetState() != Setup) { mitk::NDIPassiveTool* ndiTool = dynamic_cast(tool); if (ndiTool == nullptr) return false; std::string portHandle = ndiTool->GetPortHandle(); //return false if the SROM Data has not been set if (ndiTool->GetSROMData() == nullptr) return false; NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->PVWR(&portHandle, ndiTool->GetSROMData(), ndiTool->GetSROMDataLength()); if (returnvalue != NDIOKAY) return false; returnvalue = m_DeviceProtocol->PINIT(&portHandle); if (returnvalue != NDIOKAY) return false; returnvalue = m_DeviceProtocol->PENA(&portHandle, ndiTool->GetTrackingPriority()); // Enable tool if (returnvalue != NDIOKAY) return false; return true; } else { return false; } } void mitk::NDITrackingDevice::SetRotationMode(RotationMode r) { m_RotationMode = r; } mitk::NDITrackingDevice::~NDITrackingDevice() { /* stop tracking and disconnect from tracking device */ if (GetState() == Tracking) { this->StopTracking(); } if (GetState() == Ready) { this->CloseConnection(); } /* cleanup tracking thread */ if ((m_ThreadID != 0) && (m_MultiThreader.IsNotNull())) { m_MultiThreader->TerminateThread(m_ThreadID); } m_MultiThreader = nullptr; /* free serial communication interface */ if (m_SerialCommunication.IsNotNull()) { m_SerialCommunication->ClearReceiveBuffer(); m_SerialCommunication->ClearSendBuffer(); m_SerialCommunication->CloseConnection(); m_SerialCommunication = nullptr; } } - void mitk::NDITrackingDevice::SetPortNumber(const PortNumber _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting PortNumber to " << _arg); if (this->m_PortNumber != _arg) { this->m_PortNumber = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetDeviceName(std::string _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting eviceName to " << _arg); if (this->m_DeviceName != _arg) { this->m_DeviceName = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetBaudRate(const BaudRate _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting BaudRate to " << _arg); if (this->m_BaudRate != _arg) { this->m_BaudRate = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetDataBits(const DataBits _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting DataBits to " << _arg); if (this->m_DataBits != _arg) { this->m_DataBits = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetParity(const Parity _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting Parity to " << _arg); if (this->m_Parity != _arg) { this->m_Parity = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetStopBits(const StopBits _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting StopBits to " << _arg); if (this->m_StopBits != _arg) { this->m_StopBits = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetHardwareHandshake(const HardwareHandshake _arg) { if (this->GetState() != Setup) return; itkDebugMacro("setting HardwareHandshake to " << _arg); if (this->m_HardwareHandshake != _arg) { this->m_HardwareHandshake = _arg; this->Modified(); } } - void mitk::NDITrackingDevice::SetIlluminationActivationRate(const IlluminationActivationRate _arg) { if (this->GetState() == Tracking) return; itkDebugMacro("setting IlluminationActivationRate to " << _arg); if (this->m_IlluminationActivationRate != _arg) { this->m_IlluminationActivationRate = _arg; this->Modified(); if (this->GetState() == Ready) // if the connection to the tracking system is established, send the new rate to the tracking device too m_DeviceProtocol->IRATE(this->m_IlluminationActivationRate); } } - void mitk::NDITrackingDevice::SetDataTransferMode(const DataTransferMode _arg) { itkDebugMacro("setting DataTransferMode to " << _arg); if (this->m_DataTransferMode != _arg) { this->m_DataTransferMode = _arg; this->Modified(); } } - mitk::NDIErrorCode mitk::NDITrackingDevice::Send(const std::string* input, bool addCRC) { if (input == nullptr) return SERIALSENDERROR; std::string message; if (addCRC == true) message = *input + CalcCRC(input) + std::string(1, CR); else message = *input + std::string(1, CR); //unsigned int messageLength = message.length() + 1; // +1 for CR // Clear send buffer this->ClearSendBuffer(); // Send the date to the device MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex long returnvalue = m_SerialCommunication->Send(message); if (returnvalue == 0) return SERIALSENDERROR; else return NDIOKAY; } - mitk::NDIErrorCode mitk::NDITrackingDevice::Receive(std::string* answer, unsigned int numberOfBytes) { if (answer == nullptr) return SERIALRECEIVEERROR; MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex long returnvalue = m_SerialCommunication->Receive(*answer, numberOfBytes); // never read more bytes than the device has send, the function will block until enough bytes are send... if (returnvalue == 0) return SERIALRECEIVEERROR; else return NDIOKAY; } - mitk::NDIErrorCode mitk::NDITrackingDevice::ReceiveByte(char* answer) { if (answer == nullptr) return SERIALRECEIVEERROR; std::string m; MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex long returnvalue = m_SerialCommunication->Receive(m, 1); - if ((returnvalue == 0) ||(m.size() != 1)) + if ((returnvalue == 0) || (m.size() != 1)) return SERIALRECEIVEERROR; *answer = m.at(0); return NDIOKAY; } - mitk::NDIErrorCode mitk::NDITrackingDevice::ReceiveLine(std::string* answer) { if (answer == nullptr) return SERIALRECEIVEERROR; std::string m; MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex do { long returnvalue = m_SerialCommunication->Receive(m, 1); - if ((returnvalue == 0) ||(m.size() != 1)) + if ((returnvalue == 0) || (m.size() != 1)) return SERIALRECEIVEERROR; *answer += m; } while (m.at(0) != LF); return NDIOKAY; } - void mitk::NDITrackingDevice::ClearSendBuffer() { MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex m_SerialCommunication->ClearSendBuffer(); } - void mitk::NDITrackingDevice::ClearReceiveBuffer() { MutexLockHolder lock(*m_SerialCommunicationMutex); // lock and unlock the mutex m_SerialCommunication->ClearReceiveBuffer(); } - const std::string mitk::NDITrackingDevice::CalcCRC(const std::string* input) { - if (input == nullptr) return ""; /* the crc16 calculation code is taken from the NDI API guide example code section */ - static int oddparity[16] = {0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0}; + static int oddparity[16] = { 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0 }; unsigned int data; // copy of the input string's current character unsigned int crcValue = 0; // the crc value is stored here unsigned int* puCRC16 = &crcValue; // the algorithm uses a pointer to crcValue, so it's easier to provide that than to change the algorithm for (unsigned int i = 0; i < input->length(); i++) { data = (*input)[i]; - data = (data ^ (*(puCRC16) & 0xff)) & 0xff; + data = (data ^ (*(puCRC16)& 0xff)) & 0xff; *puCRC16 >>= 8; if (oddparity[data & 0x0f] ^ oddparity[data >> 4]) { *(puCRC16) ^= 0xc001; } data <<= 6; *puCRC16 ^= data; data <<= 1; *puCRC16 ^= data; } // crcValue contains now the CRC16 value. Convert it to a string and return it char returnvalue[13]; - sprintf(returnvalue,"%04X", crcValue); // 4 hexadecimal digit with uppercase format + sprintf(returnvalue, "%04X", crcValue); // 4 hexadecimal digit with uppercase format return std::string(returnvalue); } bool mitk::NDITrackingDevice::OpenConnection() { - //this->m_ModeMutex->Lock(); if (this->GetState() != Setup) - {mitkThrowException(mitk::IGTException) << "Can only try to open the connection if in setup mode";} + { + mitkThrowException(mitk::IGTException) << "Can only try to open the connection if in setup mode"; + } m_SerialCommunication = mitk::SerialCommunication::New(); /* init local com port to standard com settings for a NDI tracking device: 9600 baud, 8 data bits, no parity, 1 stop bit, no hardware handshake */ if (m_DeviceName.empty()) m_SerialCommunication->SetPortNumber(m_PortNumber); else m_SerialCommunication->SetDeviceName(m_DeviceName); m_SerialCommunication->SetBaudRate(mitk::SerialCommunication::BaudRate9600); m_SerialCommunication->SetDataBits(mitk::SerialCommunication::DataBits8); m_SerialCommunication->SetParity(mitk::SerialCommunication::None); m_SerialCommunication->SetStopBits(mitk::SerialCommunication::StopBits1); m_SerialCommunication->SetSendTimeout(5000); m_SerialCommunication->SetReceiveTimeout(5000); if (m_SerialCommunication->OpenConnection() == 0) // 0 == ERROR_VALUE { m_SerialCommunication->CloseConnection(); m_SerialCommunication = nullptr; mitkThrowException(mitk::IGTHardwareException) << "Can not open serial port"; } /* Reset Tracking device by sending a serial break for 500ms */ m_SerialCommunication->SendBreak(400); /* Read answer from tracking device (RESETBE6F) */ static const std::string reset("RESETBE6F\r"); std::string answer = ""; this->Receive(&answer, reset.length()); // read answer (should be RESETBE6F) this->ClearReceiveBuffer(); // flush the receive buffer of all remaining data (carriage return, strings other than reset if (reset.compare(answer) != 0) // check for RESETBE6F { if (m_SerialCommunication.IsNotNull()) { m_SerialCommunication->CloseConnection(); m_SerialCommunication = nullptr; } mitkThrowException(mitk::IGTHardwareException) << "Hardware Reset of tracking device did not work"; } /* Now the tracking device isSetData reset, start initialization */ NDIErrorCode returnvalue; /* set device com settings to new values and wait for the device to change them */ returnvalue = m_DeviceProtocol->COMM(m_BaudRate, m_DataBits, m_Parity, m_StopBits, m_HardwareHandshake); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not set comm settings in trackingdevice";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not set comm settings in trackingdevice"; + } //after changing COMM wait at least 100ms according to NDI Api documentation page 31 itksys::SystemTools::Delay(500); /* now change local com settings accordingly */ m_SerialCommunication->CloseConnection(); m_SerialCommunication->SetBaudRate(m_BaudRate); m_SerialCommunication->SetDataBits(m_DataBits); m_SerialCommunication->SetParity(m_Parity); m_SerialCommunication->SetStopBits(m_StopBits); m_SerialCommunication->SetHardwareHandshake(m_HardwareHandshake); m_SerialCommunication->SetSendTimeout(5000); m_SerialCommunication->SetReceiveTimeout(5000); m_SerialCommunication->OpenConnection(); - /* initialize the tracking device */ returnvalue = m_DeviceProtocol->INIT(); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not initialize the tracking device";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not initialize the tracking device"; + } if (this->GetType() == mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName()) // if the type of tracking device is not specified, try to query the connected device { mitk::TrackingDeviceType deviceType; returnvalue = m_DeviceProtocol->VER(deviceType); if ((returnvalue != NDIOKAY) || (deviceType == mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName())) - {mitkThrowException(mitk::IGTHardwareException) << "Could not determine tracking device type. Please set manually and try again.";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not determine tracking device type. Please set manually and try again."; + } this->SetType(deviceType); } /**** Optional Polaris specific code, Work in progress // start diagnostic mode returnvalue = m_DeviceProtocol->DSTART(); if (returnvalue != NDIOKAY) { this->SetErrorMessage("Could not start diagnostic mode"); return false; } else // we are in diagnostic mode { // initialize extensive IR checking returnvalue = m_DeviceProtocol->IRINIT(); if (returnvalue != NDIOKAY) { this->SetErrorMessage("Could not initialize intense infrared light checking"); return false; } bool intenseIR = false; returnvalue = m_DeviceProtocol->IRCHK(&intenseIR); if (returnvalue != NDIOKAY) { this->SetErrorMessage("Could not execute intense infrared light checking"); return false; } if (intenseIR == true) // do something - warn the user, raise exception, write to protocol or similar std::cout << "Warning: Intense infrared light detected. Accurate tracking will probably not be possible.\n"; // stop diagnictic mode returnvalue = m_DeviceProtocol->DSTOP(); if (returnvalue != NDIOKAY) { this->SetErrorMessage("Could not stop diagnostic mode"); return false; } } *** end of optional polaris code ***/ /** * now add tools to the tracking system **/ /* First, check if the tracking device has port handles that need to be freed and free them */ returnvalue = FreePortHandles(); // non-critical, therefore no error handling /** * POLARIS: initialize the tools that were added manually **/ { - MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex std::string portHandle; auto endIt = m_6DTools.end(); - for(auto it = m_6DTools.begin(); it != endIt; ++it) + for (auto it = m_6DTools.begin(); it != endIt; ++it) { /* get a port handle for the tool */ returnvalue = m_DeviceProtocol->PHRQ(&portHandle); if (returnvalue == NDIOKAY) { (*it)->SetPortHandle(portHandle.c_str()); /* now write the SROM file of the tool to the tracking system using PVWR */ - if (this->m_Data.Line == mitk::NDIPolarisTypeInformation::GetTrackingDeviceName()) + if (this->m_Data.Line == mitk::NDIPolarisTypeInformation::GetTrackingDeviceName()) { returnvalue = m_DeviceProtocol->PVWR(&portHandle, (*it)->GetSROMData(), (*it)->GetSROMDataLength()); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + (*it)->GetToolName() + std::string("' to tracking device")).c_str();} + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + (*it)->GetToolName() + std::string("' to tracking device")).c_str(); + } returnvalue = m_DeviceProtocol->PINIT(&portHandle); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize tool '") + (*it)->GetToolName()).c_str();} + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize tool '") + (*it)->GetToolName()).c_str(); + } if ((*it)->IsEnabled() == true) { returnvalue = m_DeviceProtocol->PENA(&portHandle, (*it)->GetTrackingPriority()); // Enable tool if (returnvalue != NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not enable port '") + portHandle + - std::string("' for tool '")+ (*it)->GetToolName() + std::string("'")).c_str(); + std::string("' for tool '") + (*it)->GetToolName() + std::string("'")).c_str(); } } } } } } // end of toolsmutexlockholder scope /* check for wired tools and add them too */ if (this->DiscoverWiredTools() == false) // query the tracking device for wired tools and add them to our tool list return false; // \TODO: could we continue anyways? - /*POLARIS: set the illuminator activation rate */ if (this->m_Data.Line == mitk::NDIPolarisTypeInformation::GetTrackingDeviceName()) { returnvalue = m_DeviceProtocol->IRATE(this->m_IlluminationActivationRate); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not set the illuminator activation rate";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not set the illuminator activation rate"; + } } /* finish - now all tools should be added, initialized and enabled, so that tracking can be started */ this->SetState(Ready); try { SetVolume(this->m_Data); } catch (mitk::IGTHardwareException e) { - MITK_WARN<PHSR(OCCUPIED, &portHandle); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected"; + } /* if there are port handles that need to be initialized, initialize them. Furthermore instantiate tools for each handle that has no tool yet. */ std::string ph; for (unsigned int i = 0; i < portHandle.size(); i += 2) { ph = portHandle.substr(i, 2); mitk::NDIPassiveTool* pt = this->GetInternalTool(ph); - if ( pt == nullptr) // if we don't have a tool, something is wrong. Tools should be discovered first by calling DiscoverWiredTools() + if (pt == nullptr) // if we don't have a tool, something is wrong. Tools should be discovered first by calling DiscoverWiredTools() continue; if (pt->GetSROMData() == nullptr) continue; returnvalue = m_DeviceProtocol->PVWR(&ph, pt->GetSROMData(), pt->GetSROMDataLength()); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + pt->GetToolName() + std::string("' to tracking device")).c_str();} + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + pt->GetToolName() + std::string("' to tracking device")).c_str(); + } returnvalue = m_DeviceProtocol->PINIT(&ph); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize tool '") + pt->GetToolName()).c_str();} + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize tool '") + pt->GetToolName()).c_str(); + } if (pt->IsEnabled() == true) { returnvalue = m_DeviceProtocol->PENA(&ph, pt->GetTrackingPriority()); // Enable tool if (returnvalue != NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not enable port '") + portHandle + - std::string("' for tool '")+ pt->GetToolName() + std::string("'")).c_str(); + std::string("' for tool '") + pt->GetToolName() + std::string("'")).c_str(); } } } return true; } - mitk::TrackingDeviceType mitk::NDITrackingDevice::TestConnection() { if (this->GetState() != Setup) { return mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(); } m_SerialCommunication = mitk::SerialCommunication::New(); //m_DeviceProtocol = mitk::NDIProtocol::New(); //m_DeviceProtocol->SetTrackingDevice(this); //m_DeviceProtocol->UseCRCOn(); /* init local com port to standard com settings for a NDI tracking device: 9600 baud, 8 data bits, no parity, 1 stop bit, no hardware handshake */ if (m_DeviceName.empty()) m_SerialCommunication->SetPortNumber(m_PortNumber); else m_SerialCommunication->SetDeviceName(m_DeviceName); m_SerialCommunication->SetBaudRate(mitk::SerialCommunication::BaudRate9600); m_SerialCommunication->SetDataBits(mitk::SerialCommunication::DataBits8); m_SerialCommunication->SetParity(mitk::SerialCommunication::None); m_SerialCommunication->SetStopBits(mitk::SerialCommunication::StopBits1); m_SerialCommunication->SetSendTimeout(5000); m_SerialCommunication->SetReceiveTimeout(5000); if (m_SerialCommunication->OpenConnection() == 0) // error { m_SerialCommunication = nullptr; return mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(); } /* Reset Tracking device by sending a serial break for 500ms */ m_SerialCommunication->SendBreak(400); /* Read answer from tracking device (RESETBE6F) */ static const std::string reset("RESETBE6F\r"); std::string answer = ""; this->Receive(&answer, reset.length()); // read answer (should be RESETBE6F) this->ClearReceiveBuffer(); // flush the receive buffer of all remaining data (carriage return, strings other than reset if (reset.compare(answer) != 0) // check for RESETBE6F { m_SerialCommunication->CloseConnection(); m_SerialCommunication = nullptr; mitkThrowException(mitk::IGTHardwareException) << "Hardware Reset of tracking device did not work"; } /* Now the tracking device is reset, start initialization */ NDIErrorCode returnvalue; /* initialize the tracking device */ //returnvalue = m_DeviceProtocol->INIT(); //if (returnvalue != NDIOKAY) //{ // this->SetErrorMessage("Could not initialize the tracking device"); // return mitk::TrackingSystemNotSpecified; //} - - mitk::TrackingDeviceType deviceType; - returnvalue = m_DeviceProtocol->VER(deviceType); - if ((returnvalue != NDIOKAY) || (deviceType == mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName())) - { - m_SerialCommunication = nullptr; - return mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(); - } + mitk::TrackingDeviceType deviceType; + returnvalue = m_DeviceProtocol->VER(deviceType); + if ((returnvalue != NDIOKAY) || (deviceType == mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName())) + { m_SerialCommunication = nullptr; - return deviceType; + return mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(); + } + m_SerialCommunication = nullptr; + return deviceType; } - bool mitk::NDITrackingDevice::CloseConnection() { if (this->GetState() != Setup) { //init before closing to force the field generator from aurora to switch itself off m_DeviceProtocol->INIT(); /* close the serial connection */ m_SerialCommunication->CloseConnection(); /* invalidate all tools */ this->InvalidateAll(); /* return to setup mode */ this->SetState(Setup); m_SerialCommunication = nullptr; } return true; } - ITK_THREAD_RETURN_TYPE mitk::NDITrackingDevice::ThreadStartTracking(void* pInfoStruct) { /* extract this pointer from Thread Info structure */ struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct; if (pInfo == nullptr) { return ITK_THREAD_RETURN_VALUE; } if (pInfo->UserData == nullptr) { return ITK_THREAD_RETURN_VALUE; } NDITrackingDevice *trackingDevice = (NDITrackingDevice*)pInfo->UserData; if (trackingDevice != nullptr) { if (trackingDevice->GetOperationMode() == ToolTracking6D) trackingDevice->TrackTools(); // call TrackTools() from the original object else if (trackingDevice->GetOperationMode() == MarkerTracking3D) trackingDevice->TrackMarkerPositions(); // call TrackMarkerPositions() from the original object else if (trackingDevice->GetOperationMode() == ToolTracking5D) trackingDevice->TrackMarkerPositions(); // call TrackMarkerPositions() from the original object else if (trackingDevice->GetOperationMode() == HybridTracking) { trackingDevice->TrackToolsAndMarkers(); } } trackingDevice->m_ThreadID = 0; // erase thread id, now that this thread will end. return ITK_THREAD_RETURN_VALUE; } - bool mitk::NDITrackingDevice::StartTracking() { if (this->GetState() != Ready) return false; this->SetState(Tracking); // go to mode Tracking this->m_StopTrackingMutex->Lock(); // update the local copy of m_StopTracking this->m_StopTracking = false; this->m_StopTrackingMutex->Unlock(); m_ThreadID = m_MultiThreader->SpawnThread(this->ThreadStartTracking, this); // start a new thread that executes the TrackTools() method mitk::IGTTimeStamp::GetInstance()->Start(this); return true; } - void mitk::NDITrackingDevice::TrackTools() { /* lock the TrackingFinishedMutex to signal that the execution rights are now transfered to the tracking thread */ MutexLockHolder trackingFinishedLockHolder(*m_TrackingFinishedMutex); // keep lock until end of scope if (this->GetState() != Tracking) return; NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->TSTART(); if (returnvalue != NDIOKAY) return; - - bool localStopTracking; // Because m_StopTracking is used by two threads, access has to be guarded by a mutex. To minimize thread locking, a local copy is used here this->m_StopTrackingMutex->Lock(); // update the local copy of m_StopTracking localStopTracking = this->m_StopTracking; this->m_StopTrackingMutex->Unlock(); while ((this->GetState() == Tracking) && (localStopTracking == false)) { if (this->m_DataTransferMode == TX) { returnvalue = this->m_DeviceProtocol->TX(); if (!((returnvalue == NDIOKAY) || (returnvalue == NDICRCERROR) || (returnvalue == NDICRCDOESNOTMATCH))) // right now, do not stop on crc errors break; } else { returnvalue = this->m_DeviceProtocol->BX(); if (returnvalue != NDIOKAY) break; } /* Update the local copy of m_StopTracking */ this->m_StopTrackingMutex->Lock(); localStopTracking = m_StopTracking; this->m_StopTrackingMutex->Unlock(); } /* StopTracking was called, thus the mode should be changed back to Ready now that the tracking loop has ended. */ returnvalue = m_DeviceProtocol->TSTOP(); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "An error occured while tracking tools.";} + { + mitkThrowException(mitk::IGTHardwareException) << "An error occured while tracking tools."; + } return; // returning from this function (and ThreadStartTracking()) this will end the thread and transfer control back to main thread by releasing trackingFinishedLockHolder } - void mitk::NDITrackingDevice::TrackMarkerPositions() { MutexLockHolder trackingFinishedLockHolder(*m_TrackingFinishedMutex); // keep lock until end of scope if (m_OperationMode == ToolTracking6D) return; if (this->GetState() != Tracking) return; NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->DSTART(); // Start Diagnostic Mode if (returnvalue != NDIOKAY) return; bool localStopTracking; // Because m_StopTracking is used by two threads, access has to be guarded by a mutex. To minimize thread locking, a local copy is used here this->m_StopTrackingMutex->Lock(); // update the local copy of m_StopTracking localStopTracking = this->m_StopTracking; this->m_StopTrackingMutex->Unlock(); while ((this->GetState() == Tracking) && (localStopTracking == false)) { m_MarkerPointsMutex->Lock(); // lock points data structure returnvalue = this->m_DeviceProtocol->POS3D(&m_MarkerPoints); // update points data structure with new position data from tracking device m_MarkerPointsMutex->Unlock(); if (!((returnvalue == NDIOKAY) || (returnvalue == NDICRCERROR) || (returnvalue == NDICRCDOESNOTMATCH))) // right now, do not stop on crc errors { std::cout << "Error in POS3D: could not read data. Possibly no markers present." << std::endl; } /* Update the local copy of m_StopTracking */ this->m_StopTrackingMutex->Lock(); localStopTracking = m_StopTracking; this->m_StopTrackingMutex->Unlock(); itksys::SystemTools::Delay(1); } /* StopTracking was called, thus the mode should be changed back to Ready now that the tracking loop has ended. */ returnvalue = m_DeviceProtocol->DSTOP(); if (returnvalue != NDIOKAY) return; // how can this thread tell the application, that an error has occured? this->SetState(Ready); return; // returning from this function (and ThreadStartTracking()) this will end the thread } - void mitk::NDITrackingDevice::TrackToolsAndMarkers() { - MutexLockHolder trackingFinishedLockHolder(*m_TrackingFinishedMutex); // keep lock until end of scope if (m_OperationMode != HybridTracking) return; NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->TSTART(); // Start Diagnostic Mode if (returnvalue != NDIOKAY) return; bool localStopTracking; // Because m_StopTracking is used by two threads, access has to be guarded by a mutex. To minimize thread locking, a local copy is used here this->m_StopTrackingMutex->Lock(); // update the local copy of m_StopTracking localStopTracking = this->m_StopTracking; this->m_StopTrackingMutex->Unlock(); while ((this->GetState() == Tracking) && (localStopTracking == false)) { m_MarkerPointsMutex->Lock(); // lock points data structure returnvalue = this->m_DeviceProtocol->TX(true, &m_MarkerPoints); // update points data structure with new position data from tracking device m_MarkerPointsMutex->Unlock(); if (!((returnvalue == NDIOKAY) || (returnvalue == NDICRCERROR) || (returnvalue == NDICRCDOESNOTMATCH))) // right now, do not stop on crc errors { std::cout << "Error in TX: could not read data. Possibly no markers present." << std::endl; } /* Update the local copy of m_StopTracking */ this->m_StopTrackingMutex->Lock(); localStopTracking = m_StopTracking; this->m_StopTrackingMutex->Unlock(); } /* StopTracking was called, thus the mode should be changed back to Ready now that the tracking loop has ended. */ returnvalue = m_DeviceProtocol->TSTOP(); if (returnvalue != NDIOKAY) return; // how can this thread tell the application, that an error has occurred? this->SetState(Ready); return; // returning from this function (and ThreadStartTracking()) this will end the thread } - mitk::TrackingTool* mitk::NDITrackingDevice::GetTool(unsigned int toolNumber) const { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex if (toolNumber < m_6DTools.size()) return m_6DTools.at(toolNumber); return nullptr; } - mitk::TrackingTool* mitk::NDITrackingDevice::GetToolByName(std::string name) const { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex auto end = m_6DTools.end(); for (auto iterator = m_6DTools.begin(); iterator != end; ++iterator) if (name.compare((*iterator)->GetToolName()) == 0) return *iterator; return nullptr; } - mitk::NDIPassiveTool* mitk::NDITrackingDevice::GetInternalTool(std::string portHandle) { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex auto end = m_6DTools.end(); for (auto iterator = m_6DTools.begin(); iterator != end; ++iterator) if (portHandle.compare((*iterator)->GetPortHandle()) == 0) return *iterator; return nullptr; } - unsigned int mitk::NDITrackingDevice::GetToolCount() const { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex return m_6DTools.size(); } - bool mitk::NDITrackingDevice::Beep(unsigned char count) { if (this->GetState() != Setup) { return (m_DeviceProtocol->BEEP(count) == NDIOKAY); } else { return false; } } -mitk::TrackingTool* mitk::NDITrackingDevice::AddTool( const char* toolName, const char* fileName, TrackingPriority p /*= NDIPassiveTool::Dynamic*/ ) +mitk::TrackingTool* mitk::NDITrackingDevice::AddTool(const char* toolName, const char* fileName, TrackingPriority p /*= NDIPassiveTool::Dynamic*/) { mitk::NDIPassiveTool::Pointer t = mitk::NDIPassiveTool::New(); if (t->LoadSROMFile(fileName) == false) return nullptr; t->SetToolName(toolName); t->SetTrackingPriority(p); if (this->InternalAddTool(t) == false) return nullptr; return t.GetPointer(); } - bool mitk::NDITrackingDevice::InternalAddTool(mitk::NDIPassiveTool* tool) { if (tool == nullptr) return false; NDIPassiveTool::Pointer p = tool; /* if the connection to the tracking device is already established, add the new tool to the device now */ if (this->GetState() == Ready) { /* get a port handle for the tool */ std::string newPortHandle; NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->PHRQ(&newPortHandle); if (returnvalue == NDIOKAY) { p->SetPortHandle(newPortHandle.c_str()); /* now write the SROM file of the tool to the tracking system using PVWR */ returnvalue = m_DeviceProtocol->PVWR(&newPortHandle, p->GetSROMData(), p->GetSROMDataLength()); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + p->GetToolName() + std::string("' to tracking device")).c_str();} + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not write SROM file for tool '") + p->GetToolName() + std::string("' to tracking device")).c_str(); + } /* initialize the port handle */ returnvalue = m_DeviceProtocol->PINIT(&newPortHandle); if (returnvalue != NDIOKAY) - { - mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize port '") + newPortHandle + - std::string("' for tool '")+ p->GetToolName() + std::string("'")).c_str(); - } + { + mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize port '") + newPortHandle + + std::string("' for tool '") + p->GetToolName() + std::string("'")).c_str(); + } /* enable the port handle */ if (p->IsEnabled() == true) { returnvalue = m_DeviceProtocol->PENA(&newPortHandle, p->GetTrackingPriority()); // Enable tool if (returnvalue != NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not enable port '") + newPortHandle + - std::string("' for tool '")+ p->GetToolName() + std::string("'")).c_str(); + std::string("' for tool '") + p->GetToolName() + std::string("'")).c_str(); } } } /* now that the tool is added to the device, add it to list too */ m_ToolsMutex->Lock(); this->m_6DTools.push_back(p); m_ToolsMutex->Unlock(); this->Modified(); return true; } else if (this->GetState() == Setup) { /* In Setup mode, we only add it to the list, so that OpenConnection() can add it later */ m_ToolsMutex->Lock(); this->m_6DTools.push_back(p); m_ToolsMutex->Unlock(); this->Modified(); return true; } else // in Tracking mode, no tools can be added return false; } - bool mitk::NDITrackingDevice::RemoveTool(mitk::TrackingTool* tool) { mitk::NDIPassiveTool* ndiTool = dynamic_cast(tool); if (ndiTool == nullptr) return false; std::string portHandle = ndiTool->GetPortHandle(); /* a valid portHandle has length 2. If a valid handle exists, the tool is already added to the tracking device, so we have to remove it there if the connection to the tracking device has already been established. */ if ((portHandle.length() == 2) && (this->GetState() == Ready)) // do not remove a tool in tracking mode { NDIErrorCode returnvalue; returnvalue = m_DeviceProtocol->PHF(&portHandle); if (returnvalue != NDIOKAY) return false; /* Now that the tool is removed from the tracking device, remove it from our tool list too */ MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex (scope is inside the if-block auto end = m_6DTools.end(); for (auto iterator = m_6DTools.begin(); iterator != end; ++iterator) { if (iterator->GetPointer() == ndiTool) { m_6DTools.erase(iterator); this->Modified(); return true; } } return false; } else if (this->GetState() == Setup) // in Setup Mode, we are not connected to the tracking device, so we can just remove the tool from the tool list { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex auto end = m_6DTools.end(); for (auto iterator = m_6DTools.begin(); iterator != end; ++iterator) { if ((*iterator).GetPointer() == ndiTool) { m_6DTools.erase(iterator); this->Modified(); return true; } } return false; } return false; } - void mitk::NDITrackingDevice::InvalidateAll() { MutexLockHolder toolsMutexLockHolder(*m_ToolsMutex); // lock and unlock the mutex auto end = m_6DTools.end(); for (auto iterator = m_6DTools.begin(); iterator != end; ++iterator) (*iterator)->SetDataValid(false); } - bool mitk::NDITrackingDevice::SetOperationMode(OperationMode mode) { if (GetState() == Tracking) return false; m_OperationMode = mode; return true; } - mitk::OperationMode mitk::NDITrackingDevice::GetOperationMode() { return m_OperationMode; } - bool mitk::NDITrackingDevice::GetMarkerPositions(MarkerPointContainerType* markerpositions) { m_MarkerPointsMutex->Lock(); *markerpositions = m_MarkerPoints; // copy the internal vector to the one provided m_MarkerPointsMutex->Unlock(); - return (markerpositions->size() != 0) ; + return (markerpositions->size() != 0); } - bool mitk::NDITrackingDevice::DiscoverWiredTools() { /* First, check for disconnected tools and remove them */ this->FreePortHandles(); /* check for new tools, add and initialize them */ NDIErrorCode returnvalue; std::string portHandle; returnvalue = m_DeviceProtocol->PHSR(OCCUPIED, &portHandle); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected"; + } /* if there are port handles that need to be initialized, initialize them. Furthermore instantiate tools for each handle that has no tool yet. */ std::string ph; /* we need to remember the ports which are occupied to be able to readout the serial numbers of the connected tools later */ std::vector occupiedPorts = std::vector(); int numberOfToolsAtStart = this->GetToolCount(); //also remember the number of tools at start to identify the automatically detected tools later for (unsigned int i = 0; i < portHandle.size(); i += 2) { ph = portHandle.substr(i, 2); if (this->GetInternalTool(ph) != nullptr) // if we already have a tool with this handle continue; // then skip the initialization //instantiate an object for each tool that is connected mitk::NDIPassiveTool::Pointer newTool = mitk::NDIPassiveTool::New(); newTool->SetPortHandle(ph.c_str()); newTool->SetTrackingPriority(mitk::NDIPassiveTool::Dynamic); //set a name for identification newTool->SetToolName((std::string("Port ") + ph).c_str()); returnvalue = m_DeviceProtocol->PINIT(&ph); if (returnvalue != NDIINITIALIZATIONFAILED) //if the initialization failed (AURORA) it can not be enabled. A srom file will have to be specified manually first. Still return true to be able to continue { if (returnvalue != NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize port '") + ph + - std::string("' for tool '")+ newTool->GetToolName() + std::string("'")).c_str(); + std::string("' for tool '") + newTool->GetToolName() + std::string("'")).c_str(); } /* enable the port handle */ returnvalue = m_DeviceProtocol->PENA(&ph, newTool->GetTrackingPriority()); // Enable tool if (returnvalue != NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not enable port '") + ph + - std::string("' for tool '")+ newTool->GetToolName() + std::string("'")).c_str(); + std::string("' for tool '") + newTool->GetToolName() + std::string("'")).c_str(); } } //we have to temporarily unlock m_ModeMutex here to avoid a deadlock with another lock inside InternalAddTool() if (this->InternalAddTool(newTool) == false) - {mitkThrowException(mitk::IGTException) << "Error while adding new tool";} + { + mitkThrowException(mitk::IGTException) << "Error while adding new tool"; + } else occupiedPorts.push_back(i); } - // after initialization readout serial numbers of automatically detected tools for (unsigned int i = 0; i < occupiedPorts.size(); i++) - { + { ph = portHandle.substr(occupiedPorts.at(i), 2); std::string portInfo; NDIErrorCode returnvaluePort = m_DeviceProtocol->PHINF(ph, &portInfo); - if ((returnvaluePort==NDIOKAY) && (portInfo.size()>31)) dynamic_cast(this->GetTool(i+numberOfToolsAtStart))->SetSerialNumber(portInfo.substr(23,8)); + if ((returnvaluePort == NDIOKAY) && (portInfo.size()>31)) dynamic_cast(this->GetTool(i + numberOfToolsAtStart))->SetSerialNumber(portInfo.substr(23, 8)); itksys::SystemTools::Delay(10); - } + } return true; } - mitk::NDIErrorCode mitk::NDITrackingDevice::FreePortHandles() { /* first search for port handles that need to be freed: e.g. because of a reset of the tracking system */ NDIErrorCode returnvalue = NDIOKAY; std::string portHandle; returnvalue = m_DeviceProtocol->PHSR(FREED, &portHandle); if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that need to be freed";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that need to be freed"; + } /* if there are port handles that need to be freed, free them */ if (portHandle.empty() == true) return returnvalue; std::string ph; for (unsigned int i = 0; i < portHandle.size(); i += 2) { ph = portHandle.substr(i, 2); mitk::NDIPassiveTool* t = this->GetInternalTool(ph); if (t != nullptr) // if we have a tool for the port handle that needs to be freed { if (this->RemoveTool(t) == false) // remove it (this will free the port too) returnvalue = NDIERROR; } else // we don't have a tool, the port handle exists only in the tracking device { returnvalue = m_DeviceProtocol->PHF(&ph); // free it there // What to do if port handle could not be freed? This seems to be a non critical error if (returnvalue != NDIOKAY) - {mitkThrowException(mitk::IGTHardwareException) << "Could not free all port handles";} + { + mitkThrowException(mitk::IGTHardwareException) << "Could not free all port handles"; + } } } return returnvalue; } - int mitk::NDITrackingDevice::GetMajorFirmwareRevisionNumber() { std::string revision; - if (m_DeviceProtocol->APIREV(&revision) != mitk::NDIOKAY || revision.empty() || (revision.size() != 9) ) + if (m_DeviceProtocol->APIREV(&revision) != mitk::NDIOKAY || revision.empty() || (revision.size() != 9)) { MITK_ERROR << "Could not receive firmware revision number!"; return 0; } - const std::string majrevno = revision.substr(2,3); //cut out "004" from "D.004.001" + const std::string majrevno = revision.substr(2, 3); //cut out "004" from "D.004.001" return std::atoi(majrevno.c_str()); } const char* mitk::NDITrackingDevice::GetFirmwareRevisionNumber() { static std::string revision; - if (m_DeviceProtocol->APIREV(&revision) != mitk::NDIOKAY || revision.empty() || (revision.size() != 9) ) + if (m_DeviceProtocol->APIREV(&revision) != mitk::NDIOKAY || revision.empty() || (revision.size() != 9)) { MITK_ERROR << "Could not receive firmware revision number!"; revision = ""; return revision.c_str(); } return revision.c_str(); } bool mitk::NDITrackingDevice::AutoDetectToolsAvailable() { if (this->GetType() == mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) { return true; } else { return false; } } +bool mitk::NDITrackingDevice::AddSingleToolIsAvailable() +{ + //For Aurora, only AutoDetecion or loading of toolStorage should be used. It is not possible to add a single tool. + if (this->GetType() == mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) { return false; } + //For Polaris, a single tool can be added, there is no autoDetection. + else { return true; } +} + mitk::NavigationToolStorage::Pointer mitk::NDITrackingDevice::AutoDetectTools() { mitk::NavigationToolStorage::Pointer autoDetectedStorage = mitk::NavigationToolStorage::New(); if (this->GetType() == mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) { try { this->OpenConnection(); this->StartTracking(); } catch (mitk::Exception& e) { MITK_WARN << "Warning, can not auto-detect tools! (" << e.GetDescription() << ")"; return autoDetectedStorage; } for (unsigned int i = 0; i < this->GetToolCount(); i++) { //create a navigation tool with sphere as surface std::stringstream toolname; toolname << "AutoDetectedTool" << i; mitk::NavigationTool::Pointer newTool = mitk::NavigationTool::New(); newTool->SetSerialNumber(dynamic_cast(this->GetTool(i))->GetSerialNumber()); newTool->SetIdentifier(toolname.str()); newTool->SetTrackingDeviceType(mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()); mitk::DataNode::Pointer newNode = mitk::DataNode::New(); mitk::Surface::Pointer mySphere = mitk::Surface::New(); vtkSphereSource *vtkData = vtkSphereSource::New(); vtkData->SetRadius(3.0f); vtkData->SetCenter(0.0, 0.0, 0.0); vtkData->Update(); mySphere->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); newNode->SetData(mySphere); newNode->SetName(toolname.str()); newTool->SetDataNode(newNode); autoDetectedStorage->AddTool(newTool); } this->StopTracking(); this->CloseConnection(); } return autoDetectedStorage; } bool mitk::NDITrackingDevice::GetSupportedVolumes(unsigned int* numberOfVolumes, mitk::NDITrackingDevice::NDITrackingVolumeContainerType* volumes, mitk::NDITrackingDevice::TrackingVolumeDimensionType* volumesDimensions) { if (numberOfVolumes == nullptr || volumes == nullptr || volumesDimensions == nullptr) return false; static std::string info; if (m_DeviceProtocol->SFLIST(&info) != mitk::NDIOKAY || info.empty()) { MITK_ERROR << "Could not receive tracking volume information of tracking system!"; return false; } /*info contains the following: (+n times:) */ - (*numberOfVolumes) = (unsigned int) std::atoi(info.substr(0,1).c_str()); + (*numberOfVolumes) = (unsigned int)std::atoi(info.substr(0, 1).c_str()); - for (unsigned int i=0; i<(*numberOfVolumes); i++) + for (unsigned int i = 0; i < (*numberOfVolumes); i++) { //e.g. for cube: "9-025000+025000-025000+025000-055000-005000+000000+000000+000000+00000011" //for dome: "A+005000+048000+005000+066000+000000+000000+000000+000000+000000+00000011" std::string::size_type offset, end; - offset = (i*73)+1; - end = 73+(i*73); + offset = (i * 73) + 1; + end = 73 + (i * 73); std::string currentVolume = info.substr(offset, end);//i=0: from 1 to 73 characters; i=1: from 75 to 148 char; // if i>0 then we have a return statement infront - if (i>0) + if (i > 0) currentVolume = currentVolume.substr(1, currentVolume.size()); if (currentVolume.compare(0, 1, NDIPolarisTypeInformation::GetDeviceDataPolarisOldModel().HardwareCode) == 0) volumes->push_back(NDIPolarisTypeInformation::GetDeviceDataPolarisOldModel().Model); if (currentVolume.compare(0, 3, NDIPolarisTypeInformation::GetDeviceDataPolarisSpectra().HardwareCode) == 0) volumes->push_back(NDIPolarisTypeInformation::GetDeviceDataPolarisSpectra().Model); if (currentVolume.compare(1, 3, NDIPolarisTypeInformation::GetDeviceDataSpectraExtendedPyramid().HardwareCode) == 0) { - currentVolume = currentVolume.substr(1,currentVolume.size()); + currentVolume = currentVolume.substr(1, currentVolume.size()); volumes->push_back(NDIPolarisTypeInformation::GetDeviceDataSpectraExtendedPyramid().Model); } if (currentVolume.compare(0, 1, NDIPolarisTypeInformation::GetDeviceDataPolarisVicra().HardwareCode) == 0) volumes->push_back(NDIPolarisTypeInformation::GetDeviceDataPolarisVicra().Model); else if (currentVolume.compare(0, 1, mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarCube().HardwareCode) == 0) volumes->push_back(mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarCube().Model);//alias cube else if (currentVolume.compare(0, 1, mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarDome().HardwareCode) == 0) volumes->push_back(mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarDome().Model); //fill volumesDimensions for (unsigned int index = 0; index < 10; index++) { std::string::size_type offD, endD; - offD = 1+(index*7); //7 digits per dimension and the first is the type of volume - endD = offD+7; + offD = 1 + (index * 7); //7 digits per dimension and the first is the type of volume + endD = offD + 7; int dimension = std::atoi(currentVolume.substr(offD, endD).c_str()); dimension /= 100; //given in mm. 7 digits are xxxx.xx according to NDI //strange, the last two digits (11) also for the metal flag get read also... volumesDimensions->push_back(dimension); } } return true; } bool mitk::NDITrackingDevice::SetVolume(mitk::TrackingDeviceData volume) { if (m_DeviceProtocol->VSEL(volume) != mitk::NDIOKAY) { mitkThrowException(mitk::IGTHardwareException) << "Could not set volume!"; } return true; -} - +} \ No newline at end of file diff --git a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.h b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.h index 5c2a47cc90..08d16689f3 100644 --- a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.h +++ b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.h @@ -1,331 +1,334 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKNDITRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 #define MITKNDITRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 #include "mitkTrackingDevice.h" #include #include #include "itkFastMutexLock.h" #include #include "mitkNDIProtocol.h" #include "mitkNDIPassiveTool.h" #include "mitkSerialCommunication.h" namespace mitk { class NDIProtocol; /** Documentation * \brief superclass for specific NDI tracking Devices that use serial communication. * * implements the TrackingDevice interface for NDI tracking devices (POLARIS, AURORA) * * \ingroup IGT */ class MITKIGT_EXPORT NDITrackingDevice : public TrackingDevice { friend class NDIProtocol; public: typedef std::vector Tool6DContainerType; ///< List of 6D tools of the correct type for this tracking device typedef mitk::TrackingDeviceType NDITrackingDeviceType; ///< This enumeration includes the two types of NDI tracking devices (Polaris, Aurora). typedef mitk::SerialCommunication::PortNumber PortNumber; ///< Port number of the serial connection typedef mitk::SerialCommunication::BaudRate BaudRate; ///< Baud rate of the serial connection typedef mitk::SerialCommunication::DataBits DataBits; ///< Number of data bits used in the serial connection typedef mitk::SerialCommunication::Parity Parity; ///< Parity mode used in the serial connection typedef mitk::SerialCommunication::StopBits StopBits; ///< Number of stop bits used in the serial connection typedef mitk::SerialCommunication::HardwareHandshake HardwareHandshake; ///< Hardware handshake mode of the serial connection typedef mitk::NDIPassiveTool::TrackingPriority TrackingPriority; ///< Tracking priority used for tracking a tool mitkClassMacro(NDITrackingDevice, TrackingDevice); itkFactorylessNewMacro(Self) itkCloneMacro(Self) /** * \brief Set the type of the NDI Tracking Device because it can not jet handle this itself */ //itkSetMacro(Type, TrackingDeviceType); /** * \brief initialize the connection to the tracking device * * OpenConnection() establishes the connection to the tracking device by: * - initializing the serial port with the given parameters (port number, baud rate, ...) * - connection to the tracking device * - initializing the device * - initializing all manually added passive tools (user supplied srom file) * - initializing active tools that are connected to the tracking device * @throw mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device. * @throw mitk::IGTException Throws a normal IGT exception if an error occures which is not related to the hardware. */ virtual bool OpenConnection() override; /** * \brief Closes the connection * * CloseConnection() resets the tracking device, invalidates all tools and then closes the serial port. */ virtual bool CloseConnection() override; /** @throw mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device. */ bool InitializeWiredTools(); /** Sets the rotation mode of this class. See documentation of enum RotationMode for details * on the different modes. */ virtual void SetRotationMode(RotationMode r) override; /** * \brief TestConnection() tries to connect to a NDI tracking device on the current port/device and returns which device it has found * * TestConnection() tries to connect to a NDI tracking device on the current port/device. * \return It returns the type of the device that answers at the port/device. Throws an exception if no device is available on that port. * @throw mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device. */ virtual mitk::TrackingDeviceType TestConnection(); /** * \brief retrieves all wired tools from the tracking device * * This method queries the tracking device for all wired tools, initializes them and creates TrackingTool representation objects * for them * \return True if the method was executed successful. * @throw mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device. * @throw mitk::IGTException Throws a normal IGT exception if an error occures which is not related to the hardware. */ bool DiscoverWiredTools(); /** * \brief Start the tracking. * * A new thread is created, which continuously reads the position and orientation information of each tool and stores them inside the tools. * Depending on the current operation mode (see SetOperationMode()), either the 6D tools (ToolTracking6D), 5D tools (ToolTracking5D), * 3D marker positions (MarkerTracking3D) or both 6D tools and 3D markers (HybridTracking) are updated. * Call StopTracking() to stop the tracking thread. */ virtual bool StartTracking() override; /** * \brief return the tool with index toolNumber */ virtual TrackingTool* GetTool(unsigned int toolNumber) const override; virtual mitk::TrackingTool* GetToolByName(std::string name) const override; /** * \brief return current number of tools */ virtual unsigned int GetToolCount() const override; /** * \brief Create a passive 6D tool with toolName and fileName and add it to the list of tools * * This method will create a new NDIPassiveTool object, load the SROM file fileName, * set the tool name toolName and the tracking priority p and then add * it to the list of tools. It returns a pointer of type mitk::TrackingTool to the tool * that can be used to read tracking data from it. * This is the only way to add tools to NDITrackingDevice. * @throw mitk::IGTHardwareException Throws an exception if there are errors while adding the tool. * * \warning adding tools is not possible in tracking mode, only in setup and ready. */ mitk::TrackingTool* AddTool(const char* toolName, const char* fileName, TrackingPriority p = NDIPassiveTool::Dynamic); /** * \brief Remove a passive 6D tool from the list of tracked tools. * * \warning removing tools is not possible in tracking mode, only in setup and ready modes. */ virtual bool RemoveTool(TrackingTool* tool); /** * \brief reloads the srom file and reinitializes the tool */ virtual bool UpdateTool(mitk::TrackingTool* tool); virtual void SetPortNumber(const PortNumber _arg); ///< set port number for serial communication itkGetConstMacro(PortNumber, PortNumber); ///< returns the port number for serial communication virtual void SetDeviceName(std::string _arg); ///< set device name (e.g. COM1, /dev/ttyUSB0). If this is set, PortNumber will be ignored itkGetStringMacro(DeviceName); ///< returns the device name for serial communication virtual void SetBaudRate(const BaudRate _arg); ///< set baud rate for serial communication itkGetConstMacro(BaudRate, BaudRate); ///< returns the baud rate for serial communication virtual void SetDataBits(const DataBits _arg); ///< set number of data bits itkGetConstMacro(DataBits, DataBits); ///< returns the data bits for serial communication virtual void SetParity(const Parity _arg); ///< set parity mode itkGetConstMacro(Parity, Parity); ///< returns the parity mode virtual void SetStopBits(const StopBits _arg); ///< set number of stop bits itkGetConstMacro(StopBits, StopBits); ///< returns the number of stop bits virtual void SetHardwareHandshake(const HardwareHandshake _arg); ///< set use hardware handshake for serial communication itkGetConstMacro(HardwareHandshake, HardwareHandshake); ///< returns the hardware handshake setting virtual void SetIlluminationActivationRate(const IlluminationActivationRate _arg); ///< set activation rate of IR illumator for polaris itkGetConstMacro(IlluminationActivationRate, IlluminationActivationRate); ///< returns the activation rate of IR illumator for polaris virtual void SetDataTransferMode(const DataTransferMode _arg); ///< set data transfer mode to text (TX) or binary (BX). \warning: only TX is supportet at the moment itkGetConstMacro(DataTransferMode, DataTransferMode); ///< returns the data transfer mode virtual bool Beep(unsigned char count); ///< Beep the tracking device 1 to 9 times NDIErrorCode GetErrorCode(const std::string* input); ///< returns the error code for a string that contains an error code in hexadecimal format virtual bool SetOperationMode(OperationMode mode); ///< set operation mode to 6D tool tracking, 3D marker tracking or 6D&3D hybrid tracking (see OperationMode) virtual OperationMode GetOperationMode(); ///< get current operation mode /** * \brief Get 3D marker positions (operation mode must be set to MarkerTracking3D or HybridTracking) */ virtual bool GetMarkerPositions(MarkerPointContainerType* markerpositions); /** * \brief Get major revision number from tracking device * should not be called directly after starting to track **/ virtual int GetMajorFirmwareRevisionNumber(); /** * \brief Get revision number from tracking device as string * should not be called directly after starting to track **/ virtual const char* GetFirmwareRevisionNumber(); /** @return Returns true if this device can autodetects its tools. */ virtual bool AutoDetectToolsAvailable(); + /** @return Returns true if it is possible to add a single tool. True for Polaris, false for Aurora.*/ + virtual bool AddSingleToolIsAvailable(); + /** Autodetects tools from this device and returns them as a navigation tool storage. * @return Returns the detected tools. Returns an empty storage if no tools are present * or if detection is not possible */ virtual mitk::NavigationToolStorage::Pointer AutoDetectTools(); protected: typedef std::vector NDITrackingVolumeContainerType; ///< vector of tracking volumes typedef std::vector TrackingVolumeDimensionType; ///< List of the supported tracking volume dimensions. /** * \brief Get number of supported tracking volumes, a vector containing the supported volumes and * a vector containing the signed dimensions in mm. For each volume 10 boundaries are stored in the order of * the supported volumes (see AURORA API GUIDE: SFLIST p.54). **/ virtual bool GetSupportedVolumes(unsigned int* numberOfVolumes, NDITrackingVolumeContainerType* volumes, TrackingVolumeDimensionType* volumesDimensions); /** * \brief Sets the desired tracking volume. Returns true if the volume type could be set. It is set in the OpenConnection() Method and sets the tracking volume out of m_Data. * @throw mitk::IGTHardwareException Throws an IGT hardware exception if the volume could not be set. **/ virtual bool SetVolume(mitk::TrackingDeviceData volume); /** * \brief Add a passive 6D tool to the list of tracked tools. This method is used by AddTool * @throw mitk::IGTHardwareException Throws an exception if there are errors while adding the tool. * \warning adding tools is not possible in tracking mode, only in setup and ready. */ virtual bool InternalAddTool(NDIPassiveTool* tool); /* Methods for NDIProtocol friend class */ virtual void InvalidateAll(); ///< invalidate all tools NDIPassiveTool* GetInternalTool(std::string portHandle); ///< returns the tool object that has been assigned the port handle or NULL if no tool can be found /** * \brief free all port handles that need to be freed * * This method retrieves a list of all port handles that need to be freed (e.g. tool got disconnected) * and frees the handles at the tracking device and it removes the tools from the internal tool list * \warning This method can remove TrackingTools from the tool list! After calling this method, GetTool(i) could return * a different tool, because tool indices could have changed. * @throw mitk::IGTHardwareException Throws an exception if there are errors while communicating with the device. * \return returns NDIOKAY if everything was sucessfull, returns an error code otherwise */ NDIErrorCode FreePortHandles(); NDIErrorCode Send(const std::string* message, bool addCRC = true); ///< Send message to tracking device NDIErrorCode Receive(std::string* answer, unsigned int numberOfBytes); ///< receive numberOfBytes bytes from tracking device NDIErrorCode ReceiveByte(char* answer); ///< lightweight receive function, that reads just one byte NDIErrorCode ReceiveLine(std::string* answer); ///< receive characters until the first LF (The LF is included in the answer string) void ClearSendBuffer(); ///< empty send buffer of serial communication interface void ClearReceiveBuffer(); ///< empty receive buffer of serial communication interface const std::string CalcCRC(const std::string* input); ///< returns the CRC16 for input as a std::string public: /** * \brief TrackTools() continuously polls serial interface for new 6d tool positions until StopTracking is called. * * Continuously tracks the 6D position of all tools until StopTracking() is called. * This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). * It should not be called directly. * @throw mitk::IGTHardwareException Throws an exception if there are errors while tracking the tools. */ virtual void TrackTools(); /** * \brief continuously polls serial interface for new 3D marker positions until StopTracking is called. * * Continuously tracks the 3D position of all markers until StopTracking() is called. * This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). * It should not be called directly. */ virtual void TrackMarkerPositions(); /** * \brief continuously polls serial interface for new 3D marker positions and 6D tool positions until StopTracking is called. * * Continuously tracks the 3D position of all markers and the 6D position of all tools until StopTracking() is called. * This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). * It should not be called directly. */ virtual void TrackToolsAndMarkers(); /** * \brief static start method for the tracking thread. */ static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data); protected: NDITrackingDevice(); ///< Constructor virtual ~NDITrackingDevice(); ///< Destructor std::string m_DeviceName;///< Device Name PortNumber m_PortNumber; ///< COM Port Number BaudRate m_BaudRate; ///< COM Port Baud Rate DataBits m_DataBits; ///< Number of Data Bits per token Parity m_Parity; ///< Parity mode for communication StopBits m_StopBits; ///< number of stop bits per token HardwareHandshake m_HardwareHandshake; ///< use hardware handshake for serial port connection ///< which tracking volume is currently used (if device supports multiple volumes) (\warning This parameter is not used yet) IlluminationActivationRate m_IlluminationActivationRate; ///< update rate of IR illuminator for Polaris DataTransferMode m_DataTransferMode; ///< use TX (text) or BX (binary) (\warning currently, only TX mode is supported) Tool6DContainerType m_6DTools; ///< list of 6D tools itk::FastMutexLock::Pointer m_ToolsMutex; ///< mutex for coordinated access of tool container mitk::SerialCommunication::Pointer m_SerialCommunication; ///< serial communication interface itk::FastMutexLock::Pointer m_SerialCommunicationMutex; ///< mutex for coordinated access of serial communication interface NDIProtocol::Pointer m_DeviceProtocol; ///< create and parse NDI protocol strings itk::MultiThreader::Pointer m_MultiThreader; ///< creates tracking thread that continuously polls serial interface for new tracking data int m_ThreadID; ///< ID of tracking thread OperationMode m_OperationMode; ///< tracking mode (6D tool tracking, 3D marker tracking,...) itk::FastMutexLock::Pointer m_MarkerPointsMutex; ///< mutex for marker point data container MarkerPointContainerType m_MarkerPoints; ///< container for markers (3D point tracking mode) }; } // namespace mitk #endif /* MITKNDITRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 */ diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp index 7e4af215c8..8649c42477 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp +++ b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp @@ -1,207 +1,469 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include #define _USE_MATH_DEFINES #include #include BYTE MotionBuf[0x1FA400]; mitk::PolhemusInterface::PolhemusInterface() : m_continousTracking(false) { - m_pdiDev = new CPDIdev(); - + m_pdiDev = new CPDIdev(); + m_numberOfTools = 0; } mitk::PolhemusInterface::~PolhemusInterface() { - delete m_pdiDev; + delete m_pdiDev; } bool mitk::PolhemusInterface::InitializeDevice() { m_pdiDev->ResetTracker(); m_pdiDev->ResetSAlignment(-1); m_pdiDev->Trace(TRUE, 7); m_continousTracking = false; return true; } bool mitk::PolhemusInterface::SetupDevice() { m_pdiDev->SetPnoBuffer(MotionBuf, 0x1FA400); m_pdiDev->SetMetric(true); //use cm instead of inches m_pdiDev->StartPipeExport(); CPDImdat pdiMDat; pdiMDat.Empty(); pdiMDat.Append(PDI_MODATA_FRAMECOUNT); pdiMDat.Append(PDI_MODATA_POS); pdiMDat.Append(PDI_MODATA_ORI); m_pdiDev->SetSDataList(-1, pdiMDat); CPDIbiterr cBE; m_pdiDev->GetBITErrs(cBE); - if (!(cBE.IsClear())) {m_pdiDev->ClearBITErrs();} - - if (this->m_HemisphereTrackingEnabled) { m_pdiDev->SetSHemiTrack(-1); } - else { m_pdiDev->SetSHemisphere(-1, { (float)2.54,0,0 }); } + if (!(cBE.IsClear())) { m_pdiDev->ClearBITErrs(); } return true; } bool mitk::PolhemusInterface::StartTracking() { - LPCTSTR szWindowClass = _T("PDIconsoleWinClass"); - HINSTANCE hInst = GetModuleHandle(0); - HWND hwnd = CreateWindowEx( - WS_EX_NOACTIVATE,//WS_EX_STATICEDGE, // - szWindowClass, - _T("MyWindowName"), - WS_POPUP, - 0, 0, 1, 1, - HWND_MESSAGE, - 0, - hInst, - 0); - m_continousTracking = true; - return m_pdiDev->StartContPno(hwnd); + return m_pdiDev->StartContPno(0); } bool mitk::PolhemusInterface::StopTracking() { m_continousTracking = false; + m_pdiDev->StopContPno(); return true; } +bool mitk::PolhemusInterface::OpenConnection() +{ + bool returnValue; + //Initialize, and if it is not successful, return false. + if (!InitializeDevice()) + { + returnValue = false; + } + //Connect + else if (m_pdiDev->CnxReady()) + { + returnValue = true; + } + //If it is not successful, search for connections. + else + { + CPDIser pdiSer; + m_pdiDev->SetSerialIF(&pdiSer); + + ePiCommType eType = m_pdiDev->DiscoverCnx(); + switch (eType) + { + case PI_CNX_USB: + MITK_INFO << "USB Connection: " << m_pdiDev->GetLastResultStr(); + break; + case PI_CNX_SERIAL: + MITK_INFO << "Serial Connection: " << m_pdiDev->GetLastResultStr(); + break; + default: + MITK_INFO << "DiscoverCnx result: " << m_pdiDev->GetLastResultStr(); + break; + } + + //Setup device + if (!SetupDevice()) + { + returnValue = false; + } + else + { + returnValue = m_pdiDev->CnxReady(); + } + } + return returnValue; +} + bool mitk::PolhemusInterface::Connect() { - if (!InitializeDevice()) { return false; } + bool returnValue = OpenConnection(); - if (m_pdiDev->CnxReady()) { return true; } - CPDIser pdiSer; - m_pdiDev->SetSerialIF(&pdiSer); + if (!returnValue) + { + return returnValue; + } + + m_numberOfTools = this->GetNumberOfTools(); + + //Get the tracking data to find out which tools are available. + std::vector _trackingData = GetFrame(); + + //if we have more/less tools than before, reset all data. + //check with toolStorage changes is nto enough, 'cause a sensor could just have been unplugged. + if (m_ToolPorts.size() != _trackingData.size()) + { + m_ToolPorts.clear(); + m_Hemispheres.clear(); + m_HemisphereTracking.clear(); + } - ePiCommType eType = m_pdiDev->DiscoverCnx(); - switch (eType) + //if we have the same number of tools as before, check if they are still the same. + if (m_ToolPorts.size() == _trackingData.size()) { - case PI_CNX_USB: - MITK_INFO << "USB Connection: " << m_pdiDev->GetLastResultStr(); - break; - case PI_CNX_SERIAL: - MITK_INFO << "Serial Connection: " << m_pdiDev->GetLastResultStr(); - break; - default: - MITK_INFO << "DiscoverCnx result: " << m_pdiDev->GetLastResultStr(); - break; + for (int i = 0; i < _trackingData.size(); ++i) + { + //if they are not the same, clear hemispheres and toolNames and break. + if (m_ToolPorts[i] != _trackingData.at(i).id) + { + m_ToolPorts.clear(); + m_Hemispheres.clear(); + m_HemisphereTracking.clear(); + break; + } + } } - if (!SetupDevice()) { return false; } + //if we don't have old tool names or if the old ones don't match any more, assign them again. + if (m_ToolPorts.size() == 0) + { + for (int i = 0; i < _trackingData.size(); ++i) + { + m_ToolPorts.push_back(_trackingData.at(i).id); + } + //and reset the hemisphere parameters + m_Hemispheres.clear(); + m_HemisphereTracking.clear(); + mitk::Vector3D temp; + mitk::FillVector3D(temp, 1, 0, 0); + m_Hemispheres.assign(m_numberOfTools, temp); + m_HemisphereTracking.assign(m_numberOfTools, false); + } - return m_pdiDev->CnxReady(); + return returnValue; } bool mitk::PolhemusInterface::Disconnect() { + bool returnValue = true; + //If Tracking is running, stop tracking first if (m_continousTracking) { - m_continousTracking = false; - if (!m_pdiDev->Disconnect()) return false; + this->StopTracking(); } - return true; + + returnValue = m_pdiDev->Disconnect(); + MITK_INFO << "Disconnect: " << m_pdiDev->GetLastResultStr(); + return returnValue; +} + +std::vector mitk::PolhemusInterface::AutoDetectTools() +{ + OpenConnection(); + std::vector frame = GetSingleFrame(); + m_pdiDev->Disconnect(); + return frame; +} + +unsigned int mitk::PolhemusInterface::GetNumberOfTools() +{ + std::vector _trackingData = GetFrame(); + return _trackingData.size(); +} + +std::vector mitk::PolhemusInterface::GetFrame() +{ + if (m_continousTracking) + return this->GetLastFrame(); + else + return this->GetSingleFrame(); } std::vector mitk::PolhemusInterface::GetLastFrame() { PBYTE pBuf; DWORD dwSize; //read one frame - if (!m_pdiDev->LastPnoPtr(pBuf, dwSize)) {MITK_WARN << m_pdiDev->GetLastResultStr();} + if (!m_pdiDev->LastPnoPtr(pBuf, dwSize)) { MITK_WARN << m_pdiDev->GetLastResultStr(); } std::vector returnValue = ParsePolhemusRawData(pBuf, dwSize); - if (returnValue.empty()) { MITK_WARN << "Cannot parse data / no tools present"; } + if (returnValue.empty()) + { + MITK_WARN << "Cannot parse data / no tools present"; + } return returnValue; } -unsigned int mitk::PolhemusInterface::GetNumberOfTools() -{ - if (m_continousTracking) return GetLastFrame().size(); - else return GetSingleFrame().size(); -} - std::vector mitk::PolhemusInterface::GetSingleFrame() { if (m_continousTracking) { - MITK_WARN << "Cannot get tool count when continously tracking"; + MITK_WARN << "Cannot get a single frame when continuous tracking is on!"; return std::vector(); } PBYTE pBuf; DWORD dwSize; //read one frame if (!m_pdiDev->ReadSinglePnoBuf(pBuf, dwSize)) { MITK_WARN << m_pdiDev->GetLastResultStr(); return std::vector(); } return ParsePolhemusRawData(pBuf, dwSize); } std::vector mitk::PolhemusInterface::ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize) { std::vector returnValue; DWORD i = 0; - while (i eulerQuat(rollAngle, elevationAngle, azimuthAngle); currentTrackingData.rot = eulerQuat; returnValue.push_back(currentTrackingData); i += shSize; } return returnValue; } + +void mitk::PolhemusInterface::SetHemisphereTrackingEnabled(bool _HeisphereTrackingEnabeled, int _tool) +{ + //only if connection is ready! + if (!this->m_pdiDev->CnxReady()) + return; + + if (m_Hemispheres.empty()) + { + MITK_ERROR << "No Hemispheres. This should never happen when connected. Check your code!"; + } + + //HemisphereTracking is switched on by SetSHemiTrack(-1). "-1" means for all sensors. + //To switch heisphere tracking of, you need to set a hemisphere vector e.g. by calling SetSHemisphere(-1, { (float)1,0,0 }) + if (_HeisphereTrackingEnabeled) + { + m_pdiDev->SetSHemiTrack(_tool); + if (_tool != -1) + { + m_HemisphereTracking.at(GetToolIndex(_tool)) = true; + } + else + { + m_HemisphereTracking.assign(m_numberOfTools, true); + } + } + + //switch HemiTracking OFF + else + { + //Get Tool Position. ToDo, this should not be the tool tip but the sensor position. Any chance, to get that from Polhemus interface?! + std::vector _position = GetFrame(); + + for (int index : GetToolIterator(_tool)) + { + //Scalar product between mitk::point and mitk::vector + double _scalarProduct = _position.at(index).pos.GetVectorFromOrigin() * m_Hemispheres.at(index); + //if scalar product is negative, then the tool is in the opposite sphere then when we started to track. + //Hence, we have to set the inverted hemisphere. + //For default (1|0|0) this means, if x is negative, we have to set (-1|0|0). But we want to keep it generic if user sets different hemisphere... + if (_scalarProduct < 0) + { + m_Hemispheres.at(index) = -1. * m_Hemispheres.at(index); + } + else if (_scalarProduct == 0) + MITK_ERROR << "Something went wrong. Hemisphere or Position should not be zero."; + + SetHemisphere(m_ToolPorts[index], m_Hemispheres.at(index)); + } + } +} + +void mitk::PolhemusInterface::ToggleHemisphere(int _tool) +{ + //only if connection is ready! + if (!this->m_pdiDev->CnxReady()) + return; + + //toggle. + for (int index : GetToolIterator(_tool)) + { + if (m_HemisphereTracking.at(index)) + { + SetHemisphereTrackingEnabled(false, m_ToolPorts[index]); + this->SetHemisphere(m_ToolPorts[index], -1.*m_Hemispheres.at(index)); + SetHemisphereTrackingEnabled(true, m_ToolPorts[index]); + } + else + { + this->SetHemisphere(m_ToolPorts[index], -1.*m_Hemispheres.at(index)); + } + } +} + +void mitk::PolhemusInterface::AdjustHemisphere(int _tool) +{ + //only if connection is ready! + if (!this->m_pdiDev->CnxReady()) + return; + + mitk::Vector3D _hemisphere; + mitk::FillVector3D(_hemisphere, 1, 0, 0); + + for (int index : GetToolIterator(_tool)) + { + if (m_HemisphereTracking.at(index)) + { + SetHemisphereTrackingEnabled(false, m_ToolPorts[index]); + this->SetHemisphere(m_ToolPorts[index], _hemisphere); + SetHemisphereTrackingEnabled(true, m_ToolPorts[index]); + } + else + { + this->SetHemisphere(m_ToolPorts[index], _hemisphere); + } + } +} + +void mitk::PolhemusInterface::SetHemisphere(int _tool, mitk::Vector3D _hemisphere) +{ + //only if connection is ready! + if (!this->m_pdiDev->CnxReady()) + return; + + m_pdiDev->SetSHemisphere(_tool, { (float)_hemisphere[0], (float)_hemisphere[1], (float)_hemisphere[2] }); + + for (int index : GetToolIterator(_tool)) + { + if (_hemisphere.GetNorm() != 0) + { + m_HemisphereTracking.at(index) = false; + m_Hemispheres.at(index) = _hemisphere; + } + else + { + m_HemisphereTracking.at(index) = true; + //don't set the Hemisphere to (0|0|0), as we want to remember the old one. + } + } +} + +mitk::Vector3D mitk::PolhemusInterface::GetHemisphere(int _tool) +{ + if (_tool == -1) + { + MITK_WARN << "Can't return hemisphere for all tools. Returning Hemisphere of first tool " << m_ToolPorts[0]; + return m_Hemispheres.at(0); + } + return m_Hemispheres.at(GetToolIndex(_tool)); +} + +bool mitk::PolhemusInterface::GetHemisphereTrackingEnabled(int _tool) +{ + //if tool is -1, this means "All Tools". We return true if HemiTracking is enabled for all tools, and false if it is off for at least one tool. + if (_tool == -1) + { + bool _returnValue = true; + for (bool currentValue : m_HemisphereTracking) + _returnValue = _returnValue && currentValue; + return _returnValue; + } + else + return m_HemisphereTracking.at(GetToolIndex(_tool)); +} + +std::vector mitk::PolhemusInterface::GetToolPorts() +{ + return m_ToolPorts; +} + +int mitk::PolhemusInterface::GetToolIndex(int _tool) +{ + if (_tool == -1) + return -1; + else + return std::find(m_ToolPorts.begin(), m_ToolPorts.end(), _tool) - m_ToolPorts.begin(); +} + +std::vector mitk::PolhemusInterface::GetToolIterator(int _tool) +{ + std::vector _iterator; + if (_tool == -1) + { + for (int i = 0; i < m_numberOfTools; ++i) + _iterator.push_back(i); + } + else + { + _iterator.push_back(GetToolIndex(_tool)); + } + return _iterator; +} + +void mitk::PolhemusInterface::PrintStatus() +{ + MITK_INFO << "Polhemus status: " << this->m_pdiDev->CnxReady(); +} \ No newline at end of file diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h index 28eea88760..4123d66038 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h +++ b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h @@ -1,117 +1,174 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKPolhemusINTERFACE_H_HEADER_INCLUDED_ #define MITKPolhemusINTERFACE_H_HEADER_INCLUDED_ - #include #include #include #include "mitkCommon.h" #include #include #include #include #include #include class CPDIdev; namespace mitk { - /** Documentation: * \brief An object of this class represents the interface to Polhemus trackers. + * All variables with the name "tool" start with index 1, which is the station number of Polhemus. + * Make sure to call functions in this class with parameter "1" if you want to loop over all tools. + * If you need to access an array (e.g. m_Hemisphere), you need to use "_tool -1" and adapt your index for loops... * \ingroup IGT */ class MITKIGT_EXPORT PolhemusInterface : public itk::Object { public: - mitkClassMacroItkParent(PolhemusInterface,itk::Object); + mitkClassMacroItkParent(PolhemusInterface, itk::Object); itkFactorylessNewMacro(Self); itkCloneMacro(Self); struct trackingData { mitk::Point3D pos; mitk::Quaternion rot; BYTE id; }; /** * \brief Opens the connection to the device and makes it ready to track tools. * \return Returns true if there is a connection to the device and the device is ready to track tools, false if not. */ bool StartTracking(); /** * \brief Clears all resources. After this method have been called the system isn't ready to track any longer. * \return Returns true if the operation was succesful, false if not. */ bool StopTracking(); bool Connect(); bool Disconnect(); + /** @return Returns the number of tools. Returns 0 if no information is avialable.*/ + unsigned int GetNumberOfTools(); + + /** Enables/disables hemisphere tracking for all stations/tools. */ + void SetHemisphereTrackingEnabled(bool _HeisphereTrackingEnabeled, int _tool = -1); + + /** Toggles the current hemisphere. Parameter _tool describes, for which tool the hemisphere should change. Default -1 toggles all tools. + Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0! + */ + void ToggleHemisphere(int _tool = -1); + + /** Convenient method to print the status of the tracking device (true/false) if connection is established. For debugging...*/ + void PrintStatus(); + + /** Sets the Hemisphere of tool _tool to the vector _hemisphere. "-1" sets all tools. + Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0! + */ + void SetHemisphere(int _tool, mitk::Vector3D _hemisphere); + + /** Get the Hemisphere for _tool as mitk vector. -1 ("all tools") returns hemisphere of first tool. + Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0! + */ + mitk::Vector3D GetHemisphere(int _tool); + + /** Get the ports on which tools are connected. Returns empty vector if device is not connected! + */ + std::vector GetToolPorts(); + + /** Is Hemisphere Tracking Enabled for this tool? + * if tool is -1, this means "All Tools". We return true if HemiTracking is enabled for all tools, and false if it is off for at least one tool.*/ + bool GetHemisphereTrackingEnabled(int _tool); + + /** Adjust the Hemisphere for this tool. User needs to make sure, that the tool is located in hemisphere (1|0|0) when calling this function. + In contrast to SetHemisphere(1,0,0), this method restores the original HemisphereTracking settings at the end. */ + void AdjustHemisphere(int _tool); + /** @return Returns a single frame. Only works if the tracking device is not in continous tracking mode. Returns an empty vector in case of an error.*/ std::vector GetSingleFrame(); + /** @return Returns a single frame with all tools, which could be auto detected.*/ + std::vector AutoDetectTools(); + /** @return Returns the last frame when the tracking device is in continous tracking mode. Returns an empty vector in case of an error.*/ std::vector GetLastFrame(); - /** @return Returns the number of tools. Returns 0 if no information is avialable.*/ - unsigned int GetNumberOfTools(); - - /** Enables/disables hemisphere tracking for all sensors. */ - itkSetMacro(HemisphereTrackingEnabled, bool); - protected: /** * \brief standard constructor */ PolhemusInterface(); /** * \brief standard destructor */ ~PolhemusInterface(); - /** Polhemus liberty/patriot tracker object*/ + /** Polhemus liberty/patriot tracker object*/ CPDIdev* m_pdiDev; - - /** Parses polhemus raw data to a collection of tracking data of single tools. */ - std::vector ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize); - - unsigned int m_numberOfTools; - bool m_continousTracking; + /** Parses polhemus raw data to a collection of tracking data of single tools. */ + std::vector ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize); bool InitializeDevice(); bool SetupDevice(); - bool m_HemisphereTrackingEnabled; + //returns the index in the arrays of tool _tool. Eg. sensor 3 (_tool = 3) is the second tool --> index 1 in m_Hemispheres etc. + int GetToolIndex(int _tool); + + /** @brief Convenient method to get a frame from the tracking device. + * @return Returns a single OR the last frame depending on m_continuousTracking. + * @warning Don't use this function if you use different threads. You need to make sure, that you are still in the right mode! */ + std::vector GetFrame(); + private: + //returns vector with tool index as only element if tool != -1, else returns vector from 0 to numberOfTools + std::vector GetToolIterator(int _tool); + //helper method to open connection + bool OpenConnection(); + + + private: + //Stores the hemispheres for all sensors. Default is (1|0|0). + std::vector m_Hemispheres; + + //Stores, if hemisphereTracking is on for this Sensor. + std::vector m_HemisphereTracking; + + //This vector stores the order of tools, which are available. + //E.g. only Sensor 1 and 3 are attached, then this vector maps the first tool (0) to Polhemus identifier 1 and the second tool (1) to Polhemus 3. + std::vector m_ToolPorts; + + unsigned int m_numberOfTools; + + bool m_continousTracking; }; }//mitk #endif diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusTool.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusTool.cpp index dfa34e5769..5131f608ae 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusTool.cpp +++ b/Modules/IGT/TrackingDevices/mitkPolhemusTool.cpp @@ -1,25 +1,35 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkPolhemusTool.h" mitk::PolhemusTool::PolhemusTool() :InternalTrackingTool() { } mitk::PolhemusTool::~PolhemusTool(void) { } + +void mitk::PolhemusTool::SetToolPort(int _ToolPort) +{ + this->m_ToolPort = _ToolPort; +} + +int mitk::PolhemusTool::GetToolPort() +{ + return this->m_ToolPort; +} diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusTool.h b/Modules/IGT/TrackingDevices/mitkPolhemusTool.h index 0d16bebb10..1f23d2ece5 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusTool.h +++ b/Modules/IGT/TrackingDevices/mitkPolhemusTool.h @@ -1,46 +1,60 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKPolhemusTOOL_H_HEADER_INCLUDED_ #define MITKPolhemusTOOL_H_HEADER_INCLUDED_ #include #include #include namespace mitk { class PolhemusTrackingDevice; /** Documentation: * \brief An object of this class represents a tool of a Polhemus tracking device. * A tool has to be added to a tracking device which will then * continuously update the tool coordinates. * \ingroup IGT */ class MITKIGT_EXPORT PolhemusTool : public InternalTrackingTool { public: friend class PolhemusTrackingDevice; mitkClassMacro(PolhemusTool, InternalTrackingTool); + /** + * \brief Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.) + */ + virtual void SetToolPort(int _ToolPort); + + /** + * \brief Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.) + */ + virtual int GetToolPort(); + protected: itkFactorylessNewMacro(Self) itkCloneMacro(Self) PolhemusTool(); virtual ~PolhemusTool(); + + //This is the port, on which the tool is connected. It is identical with the "ToolIdentifier" set on NavigationDataTools. + //If tool is connected on port "SENS 2", the m_ToolPort is 2 etc. + int m_ToolPort; }; }//mitk #endif // MITKPolhemusTOOL_H_HEADER_INCLUDED_ diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusTrackerTypeInformation.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusTrackerTypeInformation.cpp index a4e7bed526..4efd7f2596 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusTrackerTypeInformation.cpp +++ b/Modules/IGT/TrackingDevices/mitkPolhemusTrackerTypeInformation.cpp @@ -1,70 +1,70 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkPolhemusTrackerTypeInformation.h" #include "mitkPolhemusTrackingDevice.h" namespace mitk { std::string PolhemusTrackerTypeInformation::GetTrackingDeviceName() { return "Polhemus tracker"; } TrackingDeviceData PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty() { TrackingDeviceData data = { PolhemusTrackerTypeInformation::GetTrackingDeviceName(), "Polhemus Liberty Tracker", "cube", "X" }; return data; } PolhemusTrackerTypeInformation::PolhemusTrackerTypeInformation() { m_DeviceName = PolhemusTrackerTypeInformation::GetTrackingDeviceName(); m_TrackingDeviceData.push_back(GetDeviceDataPolhemusTrackerLiberty()); } PolhemusTrackerTypeInformation::~PolhemusTrackerTypeInformation() { } mitk::TrackingDeviceSource::Pointer PolhemusTrackerTypeInformation::CreateTrackingDeviceSource( mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools, std::string* errorMessage, std::vector* toolCorrespondencesInToolStorage) { mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::PolhemusTrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); *toolCorrespondencesInToolStorage = std::vector(); //add the tools to the tracking device for (int i = 0; i < navigationTools->GetToolCount(); i++) { mitk::NavigationTool::Pointer thisNavigationTool = navigationTools->GetTool(i); toolCorrespondencesInToolStorage->push_back(i); - bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str()); + bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str(), std::stoi(thisNavigationTool->GetIdentifier())); if (!toolAddSuccess) { //todo error handling errorMessage->append("Can't add tool, is the toolfile valid?"); return NULL; } thisDevice->GetTool(i)->SetToolTip(thisNavigationTool->GetToolTipPosition(), thisNavigationTool->GetToolTipOrientation()); } returnValue->SetTrackingDevice(thisDevice); return returnValue; } } diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.cpp index 98bd67f4f7..95ceb41457 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.cpp +++ b/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.cpp @@ -1,250 +1,332 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkPolhemusTrackingDevice.h" #include "mitkPolhemusTool.h" #include "mitkIGTConfig.h" #include "mitkIGTTimeStamp.h" #include "mitkIGTHardwareException.h" #include #include #include #include "mitkPolhemusTrackerTypeInformation.h" #include typedef itk::MutexLockHolder MutexLockHolder; - -mitk::PolhemusTrackingDevice::PolhemusTrackingDevice(): mitk::TrackingDevice() +mitk::PolhemusTrackingDevice::PolhemusTrackingDevice() : mitk::TrackingDevice() { //set the type of this tracking device this->m_Data = mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty(); this->m_MultiThreader = itk::MultiThreader::New(); m_ThreadID = 0; m_Device = mitk::PolhemusInterface::New(); } mitk::PolhemusTrackingDevice::~PolhemusTrackingDevice() { } bool mitk::PolhemusTrackingDevice::IsDeviceInstalled() { return true; } -mitk::TrackingTool* mitk::PolhemusTrackingDevice::AddTool( const char* toolName) +mitk::TrackingTool* mitk::PolhemusTrackingDevice::AddTool(const char* toolName, int toolPort) { + //Only add tool if port isn't already used. + for (auto _tool : m_AllTools) + { + if (_tool->GetToolPort() == toolPort) + { + MITK_DEBUG << "There is already a tool connected to this port. Returning existing tool"; + return _tool; + } + } + mitk::PolhemusTool::Pointer t = mitk::PolhemusTool::New(); t->SetToolName(toolName); + t->SetToolPort(toolPort); if (this->InternalAddTool(t) == false) return nullptr; return t.GetPointer(); } bool mitk::PolhemusTrackingDevice::InternalAddTool(PolhemusTool::Pointer tool) { m_AllTools.push_back(tool); return true; } bool mitk::PolhemusTrackingDevice::StartTracking() { bool success = m_Device->StartTracking(); if (success) { mitk::IGTTimeStamp::GetInstance()->Start(this); this->SetState(Tracking); + this->m_StopTrackingMutex->Lock(); + this->m_StopTracking = false; + this->m_StopTrackingMutex->Unlock(); m_ThreadID = m_MultiThreader->SpawnThread(this->ThreadStartTracking, this); // start a new thread that executes the TrackTools() method return true; } else { this->SetState(Ready); mitkThrowException(mitk::IGTHardwareException) << "Error while trying to start the device!"; } return success; } bool mitk::PolhemusTrackingDevice::StopTracking() { + m_Device->StopTracking(); return Superclass::StopTracking(); } - unsigned int mitk::PolhemusTrackingDevice::GetToolCount() const { return (unsigned int)this->m_AllTools.size(); } - mitk::TrackingTool* mitk::PolhemusTrackingDevice::GetTool(unsigned int toolNumber) const { - if ( toolNumber >= this->GetToolCount()) + if (toolNumber >= this->GetToolCount()) return nullptr; else return this->m_AllTools[toolNumber]; } - bool mitk::PolhemusTrackingDevice::OpenConnection() { //reset everything - if (m_Device.IsNull()) {m_Device = mitk::PolhemusInterface::New();} - m_Device->SetHemisphereTrackingEnabled(m_HemisphereTrackingEnabled); - m_Device->Connect(); + if (m_Device.IsNull()) { m_Device = mitk::PolhemusInterface::New(); } + if (!m_Device->Connect()) //Connect the device, if it fails, throw an error. + { + MITK_ERROR << "Cannot connect Polhemus device!"; + CloseConnection(); + return false; + } + + //Ready must be set here, 'cause if tools don't match we need to be able to disconnect. this->SetState(Ready); + + //check if connected ports of Polhemus matches the tools in the toolStorage. + std::vector toolPorts = m_Device->GetToolPorts(); + + //first, check size. + if (this->GetToolCount() != toolPorts.size()) + { + MITK_ERROR << "Cannot connect device, number of tools in toolstorage doesn't match the number of tools connected to Polhemus device!"; + CloseConnection(); + return false; + } + + //second, check if toolStorage identifier is included in this port. + for (auto _tool : m_AllTools) + { + if (std::find(toolPorts.begin(), toolPorts.end(), _tool->GetToolPort()) == toolPorts.end()) + { + MITK_ERROR << "Cannot connect device, tool " << _tool->GetToolPort() << " is not connected to its port."; + CloseConnection(); + return false; + } + else + { + //erase this port to avoid that two tools want to connect to the same port. + toolPorts.erase(std::find(toolPorts.begin(), toolPorts.end(), _tool->GetToolPort())); + } + } + + m_Device->SetHemisphereTrackingEnabled(m_HemisphereTrackingEnabled); + return true; } bool mitk::PolhemusTrackingDevice::CloseConnection() { bool returnValue = true; if (this->GetState() == Setup) return true; returnValue = m_Device->Disconnect(); this->SetState(Setup); return returnValue; } - mitk::PolhemusInterface* mitk::PolhemusTrackingDevice::GetDevice() { return m_Device; } - std::vector mitk::PolhemusTrackingDevice::GetAllTools() { return this->m_AllTools; } - void mitk::PolhemusTrackingDevice::TrackTools() { try { /* lock the TrackingFinishedMutex to signal that the execution rights are now transfered to the tracking thread */ MutexLockHolder trackingFinishedLockHolder(*m_TrackingFinishedMutex); // keep lock until end of scope bool localStopTracking; // Because m_StopTracking is used by two threads, access has to be guarded by a mutex. To minimize thread locking, a local copy is used here this->m_StopTrackingMutex->Lock(); // update the local copy of m_StopTracking localStopTracking = this->m_StopTracking; this->m_StopTrackingMutex->Unlock(); Sleep(100);//Wait a bit until the tracker is ready... while ((this->GetState() == Tracking) && (localStopTracking == false)) { std::vector lastData = this->GetDevice()->GetLastFrame(); if (lastData.size() != m_AllTools.size()) { MITK_WARN << "Tool count is corrupt. Aborting!"; } else { std::vector allTools = this->GetAllTools(); for (int i = 0; i < allTools.size(); i++) { mitk::PolhemusTool::Pointer currentTool = allTools.at(i); currentTool->SetDataValid(true); currentTool->SetPosition(lastData.at(i).pos); currentTool->SetOrientation(lastData.at(i).rot); currentTool->SetIGTTimeStamp(mitk::IGTTimeStamp::GetInstance()->GetElapsed()); } } /* Update the local copy of m_StopTracking */ this->m_StopTrackingMutex->Lock(); localStopTracking = m_StopTracking; this->m_StopTrackingMutex->Unlock(); } } - catch(...) + catch (...) { this->StopTracking(); mitkThrowException(mitk::IGTHardwareException) << "Error while trying to track tools. Thread stopped."; } } ITK_THREAD_RETURN_TYPE mitk::PolhemusTrackingDevice::ThreadStartTracking(void* pInfoStruct) { /* extract this pointer from Thread Info structure */ struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct; if (pInfo == nullptr) { return ITK_THREAD_RETURN_VALUE; } if (pInfo->UserData == nullptr) { return ITK_THREAD_RETURN_VALUE; } PolhemusTrackingDevice *trackingDevice = (PolhemusTrackingDevice*)pInfo->UserData; if (trackingDevice != nullptr) trackingDevice->TrackTools(); return ITK_THREAD_RETURN_VALUE; } bool mitk::PolhemusTrackingDevice::AutoDetectToolsAvailable() { return true; } mitk::NavigationToolStorage::Pointer mitk::PolhemusTrackingDevice::AutoDetectTools() { - this->OpenConnection(); - std::vector singeFrameData = this->m_Device->GetSingleFrame(); + std::vector singeFrameData = this->m_Device->AutoDetectTools(); MITK_INFO << "Found " << singeFrameData.size() << " tools."; - this->CloseConnection(); mitk::NavigationToolStorage::Pointer returnValue = mitk::NavigationToolStorage::New(); for each (mitk::PolhemusInterface::trackingData t in singeFrameData) { - mitk::DataNode::Pointer newNode = mitk::DataNode::New(); std::stringstream name; name << "Sensor-" << ((int)t.id); newNode->SetName(name.str()); mitk::Surface::Pointer myCone = mitk::Surface::New(); vtkConeSource *vtkData = vtkConeSource::New(); vtkData->SetAngle(5.0); vtkData->SetResolution(50); vtkData->SetHeight(6.0f); vtkData->SetRadius(2.0f); vtkData->SetCenter(0.0, 0.0, 0.0); vtkData->Update(); myCone->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); newNode->SetData(myCone); mitk::NavigationTool::Pointer newTool = mitk::NavigationTool::New(); newTool->SetDataNode(newNode); + //The identifier defines, which plug is used (e.g. "Sens 2" --> 2). std::stringstream identifier; - identifier << "AutoDetectedTool-" << ((int)t.id); + identifier << ((int)t.id); newTool->SetIdentifier(identifier.str()); newTool->SetTrackingDeviceType(mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty().Line); returnValue->AddTool(newTool); } return returnValue; +} + +void mitk::PolhemusTrackingDevice::SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled) +{ + //We need to remember if HemisphereTracking is switch on for this reason: + /* m_Device->SetHemi works only if the device is connected. However, GUI can also change if it is not connected. + In this case, we remember it in the m_HemisphereTrackingEnabled variable. And when connecting, we know, which + status is wanted from the user by GUI. + */ + m_HemisphereTrackingEnabled = _HemisphereTrackingEnabled; + this->m_Device->SetHemisphereTrackingEnabled(_HemisphereTrackingEnabled); +} + +void mitk::PolhemusTrackingDevice::ToggleHemisphere(int _tool) +{ + this->m_Device->ToggleHemisphere(_tool); +} + +void mitk::PolhemusTrackingDevice::SetHemisphere(int _tool, mitk::Vector3D _hemisphere) +{ + //If you set a hemisphere vector which is unequal (0|0|0), this means, that there is no hemisphere tracking any more + //disable the option, so that it can be reactivated... Also if it is just a single tool. + if (_hemisphere.GetNorm() != 0) + m_HemisphereTrackingEnabled = false; + + this->m_Device->SetHemisphere(_tool, _hemisphere); +} +mitk::Vector3D mitk::PolhemusTrackingDevice::GetHemisphere(int _tool) +{ + return this->m_Device->GetHemisphere(_tool); +} + +bool mitk::PolhemusTrackingDevice::GetHemisphereTrackingEnabled(int _tool) +{ + return this->m_Device->GetHemisphereTrackingEnabled(_tool); } + +void mitk::PolhemusTrackingDevice::AdjustHemisphere(int _tool) +{ + return this->m_Device->AdjustHemisphere(_tool); +} \ No newline at end of file diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.h b/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.h index 0d02827f2f..1d50ec8f75 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.h +++ b/Modules/IGT/TrackingDevices/mitkPolhemusTrackingDevice.h @@ -1,145 +1,165 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_ #define MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_ #include #include #include #include #include namespace mitk { /** Documentation: * \brief An object of this class represents Polhemus tracking device. You can add tools to this * device, then open the connection and start tracking. The tracking device will then * continuously update the tool coordinates. + * The tools which are used by Polhemus need to be connected to the correct port. + * The port of the tool is stored as m_ToolPort in PolhemusTool AND as identifier in the NavigationTool (ToolStorage). * \ingroup IGT */ class MITKIGT_EXPORT PolhemusTrackingDevice : public TrackingDevice { public: mitkClassMacro(PolhemusTrackingDevice, TrackingDevice); itkFactorylessNewMacro(Self) itkCloneMacro(Self) /** * \brief Starts the tracking. * \return Returns true if the tracking is started. Throws an exception if an error occures. * @throw mitk::IGTHardwareException Throws an exception if there is an error during start tracking. */ virtual bool StartTracking() override; /** * \brief Stops the tracking. * \return Returns true if the tracking is stopped. */ virtual bool StopTracking() override; /** * \brief Opens the connection to the device. This have to be done before the tracking is started. * @throw mitk::IGTHardwareException Throws an exception if there is an error during open connection. */ virtual bool OpenConnection() override; /** * \brief Closes the connection and clears all resources. */ virtual bool CloseConnection() override; /** * \return Returns the number of tools which have been added to the device. */ virtual unsigned int GetToolCount() const override; /** * \param toolNumber The number of the tool which should be given back. * \return Returns the tool which the number "toolNumber". Returns NULL, if there is * no tool with this number. */ TrackingTool* GetTool(unsigned int toolNumber) const override; /** * \brief Create a new Polhemus tool with toolName and add it to the list of tools * * This method will create a new PolhemusTool object, * set the tool name toolName and then add it to the list of tools. * It returns a pointer of type mitk::TrackingTool to the tool * that can be used to read tracking data from it. * This is the only way to add tools to PolhemusTrackingDevice. * * \warning adding tools is not possible in tracking mode, only in setup and ready. */ - mitk::TrackingTool* AddTool(const char* toolName); + mitk::TrackingTool* AddTool(const char* toolName, int toolPort); + + bool IsDeviceInstalled(); /** @return Returns true if this device can autodetects its tools. */ virtual bool AutoDetectToolsAvailable(); /** Autodetects tools from this device and returns them as a navigation tool storage. * @return Returns the detected tools. Returns an empty storage if no tools are present * or if detection is not possible */ virtual mitk::NavigationToolStorage::Pointer AutoDetectTools(); /** Enables/disables hemisphere tracking for all sensors. */ - itkSetMacro(HemisphereTrackingEnabled, bool); + void SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled); + + /** Is Hemisphere Tracking Enabled for this tool? */ + bool GetHemisphereTrackingEnabled(int _tool); + + /** Toggles the current hemisphere. Parameter _tool describes, for which tool the hemisphere should change. Default -1 toggles all tools.*/ + void ToggleHemisphere(int _tool = -1); + + /** Sets the Hemisphere of tool _tool to the vector _hemisphere */ + void SetHemisphere(int _tool, mitk::Vector3D _hemisphere); + + /** Get the Hemisphere for _tool as mitk vector */ + mitk::Vector3D GetHemisphere(int _tool); + + /** Adjust the Hemisphere for this tool. User needs to make sure, that the tool is located in hemisphere (1|0|0) when calling this function. + In contrast to SetHemisphere(1,0,0), this method restores the original HemisphereTracking settings at the end. */ + void AdjustHemisphere(int _tool); protected: PolhemusTrackingDevice(); ~PolhemusTrackingDevice(); /** * \brief Adds a tool to the tracking device. * * \param tool The tool which will be added. * \return Returns true if the tool has been added, false otherwise. */ bool InternalAddTool(PolhemusTool::Pointer tool); /** * \brief This method tracks tools as long as the variable m_Mode is set to "Tracking". * Tracking tools means grabbing frames from the camera an updating the tools. * @throw mitk::IGTHardwareException Throws an exception if there is an error during tracking of tools. */ void TrackTools(); /** * \return Returns all tools of the tracking device. */ std::vector GetAllTools(); /** * \return Gives back the device which is represented by an object of the class PolhemusInterface. */ PolhemusInterface* GetDevice(); static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data); std::vector m_AllTools; ///< vector holding all tools PolhemusInterface::Pointer m_Device; ///< represents the interface to the tracking hardware itk::MultiThreader::Pointer m_MultiThreader; int m_ThreadID; bool m_HemisphereTrackingEnabled; }; }//mitk #endif /* MITKPolhemusTRACKINGDEVICE_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGT/TrackingDevices/mitkTrackingDevice.cpp b/Modules/IGT/TrackingDevices/mitkTrackingDevice.cpp index dbb8bafa2d..cbbd654b9f 100644 --- a/Modules/IGT/TrackingDevices/mitkTrackingDevice.cpp +++ b/Modules/IGT/TrackingDevices/mitkTrackingDevice.cpp @@ -1,148 +1,157 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkTrackingDevice.h" #include "mitkIGTTimeStamp.h" #include "mitkTrackingTool.h" #include #include #include #include "mitkUnspecifiedTrackingTypeInformation.h" #include "mitkTrackingDeviceTypeCollection.h" typedef itk::MutexLockHolder MutexLockHolder; mitk::TrackingDevice::TrackingDevice() : m_Data(mitk::UnspecifiedTrackingTypeInformation::GetDeviceDataUnspecified()), m_State(mitk::TrackingDevice::Setup), m_StopTracking(false), m_RotationMode(mitk::TrackingDevice::RotationStandard) { m_StopTrackingMutex = itk::FastMutexLock::New(); m_StateMutex = itk::FastMutexLock::New(); m_TrackingFinishedMutex = itk::FastMutexLock::New(); } mitk::TrackingDevice::~TrackingDevice() { } bool mitk::TrackingDevice::IsDeviceInstalled() { return true; //this is the default for all tracking device //If a device needs installation please reimplement //this method in the subclass. } bool mitk::TrackingDevice::AutoDetectToolsAvailable() { return false; } +bool mitk::TrackingDevice::AddSingleToolIsAvailable() +{ + return true; +} + mitk::NavigationToolStorage::Pointer mitk::TrackingDevice::AutoDetectTools() { return mitk::NavigationToolStorage::New(); } mitk::TrackingDevice::TrackingDeviceState mitk::TrackingDevice::GetState() const { MutexLockHolder lock(*m_StateMutex); return m_State; } void mitk::TrackingDevice::SetState( TrackingDeviceState state ) { itkDebugMacro("setting m_State to " << state); MutexLockHolder lock(*m_StateMutex); // lock and unlock the mutex if (m_State == state) { return; } m_State = state; this->Modified(); } void mitk::TrackingDevice::SetRotationMode(RotationMode r) { MITK_WARN << "Rotation mode switching is not implemented for this device. Leaving it at mitk::TrackingDevice::RotationStandard"; } mitk::TrackingDeviceType mitk::TrackingDevice::GetType() const{ return m_Data.Line; } void mitk::TrackingDevice::SetType(mitk::TrackingDeviceType deviceType){ us::ModuleContext* context = us::GetModuleContext(); std::vector > refs = context->GetServiceReferences(); if (refs.empty()) { MITK_ERROR << "No tracking device service found!"; } mitk::TrackingDeviceTypeCollection* deviceTypeCollection = context->GetService(refs.front()); m_Data = deviceTypeCollection->GetFirstCompatibleDeviceDataForLine(deviceType); } mitk::TrackingDeviceData mitk::TrackingDevice::GetData() const{ return m_Data; } void mitk::TrackingDevice::SetData(mitk::TrackingDeviceData data){ m_Data = data; } bool mitk::TrackingDevice::StopTracking() { if (this->GetState() == Tracking) // Only if the object is in the correct state { m_StopTrackingMutex->Lock(); // m_StopTracking is used by two threads, so we have to ensure correct thread handling m_StopTracking = true; m_StopTrackingMutex->Unlock(); //we have to wait here that the other thread recognizes the STOP-command and executes it m_TrackingFinishedMutex->Lock(); mitk::IGTTimeStamp::GetInstance()->Stop(this); // notify realtime clock // StopTracking was called, thus the mode should be changed back // to Ready now that the tracking loop has ended. this->SetState(Ready); m_TrackingFinishedMutex->Unlock(); } return true; } mitk::TrackingTool* mitk::TrackingDevice::GetToolByName( std::string name ) const { unsigned int toolCount = this->GetToolCount(); for (unsigned int i = 0; i < toolCount; ++i) if (name == this->GetTool(i)->GetToolName()) return this->GetTool(i); return nullptr; } +std::string mitk::TrackingDevice::GetTrackingDeviceName() +{ + return this->GetData().Line; +} diff --git a/Modules/IGT/TrackingDevices/mitkTrackingDevice.h b/Modules/IGT/TrackingDevices/mitkTrackingDevice.h index e58e014bc0..e337336376 100644 --- a/Modules/IGT/TrackingDevices/mitkTrackingDevice.h +++ b/Modules/IGT/TrackingDevices/mitkTrackingDevice.h @@ -1,199 +1,209 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef MITKTRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 #define MITKTRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 #include #include "itkObject.h" #include "mitkCommon.h" #include "mitkTrackingTypes.h" #include "itkFastMutexLock.h" #include "mitkNavigationToolStorage.h" namespace mitk { class TrackingTool; // interface for a tool that can be tracked by the TrackingDevice /**Documentation * \brief Interface for all Tracking Devices * * Defines the methods that are common for all tracking devices. * * \ingroup IGT */ class MITKIGT_EXPORT TrackingDevice : public itk::Object { public: mitkClassMacroItkParent(TrackingDevice, itk::Object); /** Defines the rotation modes of this tracking device which results in different representations * of quaternions. * * - Standard: normal representation, rawdata from the device is not changed (DEFAULT) * * - Transposed: the rotation is stored transposed, which is (by mistake!) expected by some older MITK classes due * to an ambigious method naming in VNL. * * CAUTION: The rotation mode can only be changed for backward compatibility of old WRONG code. * PLEASE DO NOT CHANGE THE ROTATION MODE UNLESS YOU ARE KNOWING EXACTLY WHAT YOU ARE DOING! * * use SetRotationMode to change the mode. */ enum RotationMode {RotationStandard, RotationTransposed}; enum TrackingDeviceState {Setup, Ready, Tracking}; ///< Type for state variable. The trackingdevice is always in one of these states /** * \brief Opens a connection to the device * * This may only be called if there is currently no connection to the device. * If OpenConnection() is successful, the object will change from Setup state to Ready state */ virtual bool OpenConnection() = 0; /** * \brief Closes the connection to the device * * This may only be called if there is currently a connection to the device, but tracking is * not running (e.g. object is in Ready state) */ virtual bool CloseConnection() = 0; ///< Closes the connection with the device /** * \brief start retrieving tracking data from the device. * * This may only be called after the connection to the device has been established * with a call to OpenConnection() (E.g. object is in Ready mode). This will change the * object state from Ready to Tracking */ virtual bool StartTracking() = 0; /** * \brief stop retrieving tracking data from the device. * stop retrieving tracking data from the device. * This may only be called after StartTracking was called * (e.g. the object is in Tracking mode). * This will change the object state from Tracking to Ready. */ virtual bool StopTracking(); /** * \brief Return tool with index toolNumber * * tools are numbered from 0 to GetToolCount() - 1. */ virtual TrackingTool* GetTool(unsigned int toolNumber) const = 0; /** * \brief Returns the tool with the given tool name * * Note: subclasses can and should implement optimized versions of this method * \return the given tool or NULL if no tool with that name exists */ virtual mitk::TrackingTool* GetToolByName(std::string name) const; /** * \brief Returns number of tracking tools */ virtual unsigned int GetToolCount() const = 0; /** Sets the rotation mode of this class. See documentation of enum RotationMode for details * on the different modes. This method has to be implemented in a deriving class to become * functional / if different rotation modes should be supported. * CAUTION: The rotation mode can only be changed for backward compatibility of old WRONG code. * PLEASE DO NOT CHANGE THE ROTATION MODE UNLESS YOU ARE KNOWING EXACTLY WHAT YOU ARE DOING! */ virtual void SetRotationMode(RotationMode r); /** @return Returns the rotation mode of this class. See documentation of enum * RotationMode for details on the different modes. */ itkGetConstMacro(RotationMode,RotationMode); /** * \brief return current object state (Setup, Ready or Tracking) */ TrackingDeviceState GetState() const; /** - * \brief Deprecated! Use the more specific getDeviceData instead. return device type identifier + * \brief Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier */ TrackingDeviceType GetType() const; /** * \brief Deprecated! Use the more specific setDeviceData instead. set device type */ void SetType(TrackingDeviceType type); + /** + * \brief Convenient Method to get the Name of the Tracking Device. + * This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() + * to check if you have a specific device. + */ + std::string GetTrackingDeviceName(); + /** * \brief return device data */ TrackingDeviceData GetData() const; /** * \brief set device type */ void SetData(TrackingDeviceData data); /** * @return Returns true if the device is installed on this system an can be used. * Installed means activated in MITK, in some cases this means the MITK * installation / build has to know the installation path of the device * libraries on this system. This path is usually given as cmake variable * during the build configuration in devellopers mode. If the device should * be available for end users with an installer the libraries can be included * into the installer or the installer has to be adapted such that it asks * for the path. * Returns fals if the device is not installed. It cannot be used on this build * in this case. * * Note that some tracking systems communicate via a standard interface (e.g., serial * port) and don't need any library or installation. These devices are always "installed". */ virtual bool IsDeviceInstalled(); /** @return Returns true if this device can autodetects its tools. */ virtual bool AutoDetectToolsAvailable(); + /** @return Returns true if it is possible to add a single tool. Default return is true.*/ + virtual bool AddSingleToolIsAvailable(); + /** Autodetects tools from this device and returns them as a navigation tool storage. * @return Returns the detected tools. Returns an empty storage if no tools are present * or if detection is not possible */ virtual mitk::NavigationToolStorage::Pointer AutoDetectTools(); private: TrackingDeviceState m_State; ///< current object state (Setup, Ready or Tracking) protected: /** * \brief change object state */ void SetState(TrackingDeviceState state); TrackingDevice(); virtual ~TrackingDevice(); TrackingDeviceData m_Data; ///< current device Data bool m_StopTracking; ///< signal stop to tracking thread itk::FastMutexLock::Pointer m_StopTrackingMutex; ///< mutex to control access to m_StopTracking itk::FastMutexLock::Pointer m_TrackingFinishedMutex; ///< mutex to manage control flow of StopTracking() itk::FastMutexLock::Pointer m_StateMutex; ///< mutex to control access to m_State RotationMode m_RotationMode; ///< defines the rotation mode Standard or Transposed, Standard is default }; } // namespace mitk #endif /* MITKTRACKINGDEVICE_H_HEADER_INCLUDED_C1C2FCD2 */ diff --git a/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.cpp b/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.cpp index 2a3d8ce323..229f2bfa13 100644 --- a/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.cpp @@ -1,77 +1,77 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkAbstractTrackingDeviceWidget.h" #include QmitkAbstractTrackingDeviceWidget::QmitkAbstractTrackingDeviceWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) , isInitialized(false) , m_TestConnectionWorker(NULL) , m_TestConnectionWorkerThread(NULL) , m_ErrorMessage("") { } void QmitkAbstractTrackingDeviceWidget::InitializeSuperclassWidget() { m_TestConnectionWorkerThread = new QThread(); m_TestConnectionWorker = new QmitkTrackingDeviceConfigurationWidgetConnectionWorker(); CreateConnections(); m_ErrorMessage = ""; isInitialized = true; } QmitkAbstractTrackingDeviceWidget::~QmitkAbstractTrackingDeviceWidget(){ if (m_TestConnectionWorker) delete m_TestConnectionWorker; if (m_TestConnectionWorkerThread) delete m_TestConnectionWorkerThread; } void QmitkAbstractTrackingDeviceWidget::TestConnectionFinished(bool connected, QString output) { m_TestConnectionWorkerThread->quit(); AddOutput(output.toStdString()); MITK_INFO << "Test connection: " << connected; this->setEnabled(true); } void QmitkAbstractTrackingDeviceWidget::TestConnection() { this->setEnabled(false); //construct a tracking device: - mitk::TrackingDevice::Pointer testTrackingDevice = ConstructTrackingDevice(); + mitk::TrackingDevice::Pointer testTrackingDevice = GetTrackingDevice(); m_TestConnectionWorker->SetTrackingDevice(testTrackingDevice); m_TestConnectionWorkerThread->start(); } void QmitkAbstractTrackingDeviceWidget::CreateConnections() { connect(m_TestConnectionWorker, SIGNAL(ConnectionTested(bool, QString)), this, SLOT(TestConnectionFinished(bool, QString))); connect(m_TestConnectionWorkerThread, SIGNAL(started()), m_TestConnectionWorker, SLOT(TestConnectionThreadFunc())); //move the worker to the thread m_TestConnectionWorker->moveToThread(m_TestConnectionWorkerThread); } QmitkAbstractTrackingDeviceWidget* QmitkAbstractTrackingDeviceWidget::CloneForQt(QWidget* parent) const { QmitkAbstractTrackingDeviceWidget* clonedWidget = this->Clone(parent); if (!clonedWidget->IsInitialized()) MITK_ERROR << "Your cloned widget is not initialized!"; clonedWidget->create(); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.h b/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.h index 44754bd672..8d5cd3b902 100644 --- a/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkAbstractTrackingDeviceWidget.h @@ -1,143 +1,175 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkAbstractTrackingDeviceWidget_H #define QmitkAbstractTrackingDeviceWidget_H #include #include "MitkIGTUIExports.h" #include "mitkTrackingDevice.h" #include #include "QmitkTrackingDeviceConfigurationWidgetConnectionWorker.h" //itk headers /** Documentation: * \brief Abstract class to configure a tracking device. * Inherited widgets should be registered in the Microservice (TrackingDeviceCollectionWidget), * If done so, they will be included in the QmitkTrackingDeviceConfigurationWidget of the Tracking Toolbox. * - * - Each implementation of this class must have a method to construct a tracking Device (ConstructTrackingDevice). + * - Each implementation of this class must have a method to get a TrackingDevice + * - Each implementation handles itself, if a new TrackingDevice needs to be constructed. + * Attention: In former MITK versions, there was no pure virtual GetTrackingDevice function but a pure virtual ConstructTrackingDevice function. + * You can simply rename these, but you should give it a thought, if each time "Construct" was called, a new device needs to be constructed, + * or if you can store your TrackingDevice in a member variable and return this. Up to you. * - Please create the UI elements in a function like CreateQtPartControl (e.g. see QmitkVitrualTrackerWidget). * - You might want to use own buttons etc., please connect them in a private CreateConnections (e.g. see QmitkVitrualTrackerWidget). * - Due to initialization of qt during autoloading of the IGT module, you constructor should be as slim as possible and only contain a call * of the QmitkAbstractTrackingDeviceWidget constructor and simple variable initialization. * - For the initialization, you must write an Iniltialize() function, which must include a call of InitializeSuperclassWidget() and should contain * calls of your private CreateConnections / CreateQtPartControl (if you implemented these). * - For integration into the TrackingToolbox, a clone function is needed. Here, a new widget should be created, Initialize() needs to be called, * and all settings of your widget should be copied. * * You can Load and Store previous settings of your GUI elements (e.g. see QmitkNDIPolarisWidget). * Also, you can add an output textbox to your widget to display information about your device status. It's optional, see e.g. QmitkNDIAuroraWidget. * Some Devices need the information if drivers are installed on your computer. If this is necessary for your device to avoid crashes, * please override IsDeviceInstalled. The default return value is true otherwise. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkAbstractTrackingDeviceWidget : public QWidget { Q_OBJECT public: static const std::string VIEW_ID; QmitkAbstractTrackingDeviceWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); virtual ~QmitkAbstractTrackingDeviceWidget(); /** * \brief Return pointer to copy of the object. * Internally use of QmitkUSAbstractCustomWidget::Clone() with additionaly * setting an internal flag that the object was really cloned. */ QmitkAbstractTrackingDeviceWidget* CloneForQt(QWidget* parent = 0) const; /** * \brief Subclass must implement this method to return a pointer to a copy of the object. * Please don't forget to call InitializeSuperclassWidget(), CreateQtPartControl and optionally CreateConnections during this function. */ virtual void Initialize() = 0; bool IsInitialized() const { return isInitialized; } signals: void ConnectionTested(bool connected, QString output); protected slots: void TestConnectionFinished(bool connected, QString output); /* @brief This method is called when the user presses the button "test connection". The method will then create a temporary tracking device, * try to open a connection and start tracking. The user can see the result of the connection test on the small output window. */ void TestConnection(); private: /// \brief Creation of the connections. You might implement the same function again in your inherited widget. void CreateConnections(); protected: PERSISTENCE_GET_SERVICE_METHOD_MACRO void InitializeSuperclassWidget(); QmitkTrackingDeviceConfigurationWidgetConnectionWorker* m_TestConnectionWorker; QThread* m_TestConnectionWorkerThread; /** * \brief Subclass must implement this method to return a pointer to a copy of the object. * Please don't forget to call Initialize() during this function and copy all of your settings. */ virtual QmitkAbstractTrackingDeviceWidget* Clone(QWidget* parent = 0) const = 0; public: /** * \brief Optional method to add output to a small screen in the trackingToolbox (see QmitkNDIPolarisWidget) */ virtual void ResetOutput() {} /** * \brief Optional method to add output to a small screen in the trackingToolbox (see QmitkNDIPolarisWidget) */ virtual void AddOutput(std::string) {} - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice() = 0; + virtual mitk::TrackingDevice::Pointer GetTrackingDevice() = 0; /** * \brief Optional method to store and load settings of your widget (see QmitkNDIPolarisWidget) */ virtual void StoreUISettings() {} /** * \brief Optional method to store and load settings of your widget (see QmitkNDIPolarisWidget) */ virtual void LoadUISettings() {} /** * \brief Optional method to investigate if drivers etc for your device are installed. * The default value is "true" as most devices don't need this information. * Others however migth crash, and for these you might implement this function (see QmitkMicronTrackerWidget) */ virtual bool IsDeviceInstalled() { return true; } + /** + * \brief This function is called, when in the TrackingToolboxView "Connect" was clicked and the device is successful connected. + * Can e.g. be used to activate options of a tracking device only when it is connected. + */ + virtual void OnConnected(bool _success) {}; + /** + * \brief This function is called, when in the TrackingToolboxView "Disconnect" was clicked and the device is successful disconnected. + * Can e.g. be used to activate/disactivate options of a tracking device. + */ + virtual void OnDisconnected(bool _success) {}; + + /** + * \brief This function is called, when in the TrackingToolboxView "Start Tracking" was clicked and the device successfully started tracking. + * Can e.g. be used to activate options of a tracking device only when tracking is started. + */ + virtual void OnStartTracking(bool _success){}; + /** + * \brief This function is called, when in the TrackingToolboxView "Stop Tracking" was clicked and the device successful stopped tracking. + * Can e.g. be used to activate/disactivate options when device is not tracking. + */ + virtual void OnStopTracking(bool _success) {}; + /** + * \brief This function is called, when anything in the ToolStorage changed, e.g. AddTool or EditTool. + * ServiceListener is connected in the QmitkMITKIGTTrackingToolboxView. + */ + virtual void OnToolStorageChanged() {}; + + std::string m_ErrorMessage; ///< current problem description private: /** * \warning Don't touch this variable if you don't know what you are doing! */ bool isInitialized; }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.cpp b/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.cpp index 9422e1eeac..380b25a937 100644 --- a/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.cpp @@ -1,171 +1,171 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkMicronTrackerWidget.h" #include #include #include #include #include #include #include const std::string QmitkMicronTrackerWidget::VIEW_ID = "org.mitk.views.NDIMicronTrackerWidget"; QmitkMicronTrackerWidget::QmitkMicronTrackerWidget(QWidget* parent, Qt::WindowFlags f) : QmitkAbstractTrackingDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkMicronTrackerWidget::Initialize() { InitializeSuperclassWidget(); CreateQtPartControl(this); CreateConnections(); m_MTCalibrationFile = ""; } QmitkMicronTrackerWidget::~QmitkMicronTrackerWidget() { delete m_Controls; } void QmitkMicronTrackerWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkMicronTrackerWidget; m_Controls->setupUi(parent); } } void QmitkMicronTrackerWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_testConnectionMicronTracker), SIGNAL(clicked()), this, SLOT(TestConnection())); connect((QObject*)(m_Controls->m_SetMTCalibrationFile), SIGNAL(clicked()), this, SLOT(SetMTCalibrationFileClicked())); } } void QmitkMicronTrackerWidget::ResetOutput() { m_Controls->m_outputTextMicronTracker->setHtml("output:"); } void QmitkMicronTrackerWidget::AddOutput(std::string s) { m_Controls->m_outputTextMicronTracker->setHtml(QString(s.c_str())); m_Controls->m_outputTextMicronTracker->verticalScrollBar()->setValue(m_Controls->m_outputTextMicronTracker->verticalScrollBar()->maximum()); } -mitk::TrackingDevice::Pointer QmitkMicronTrackerWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkMicronTrackerWidget::GetTrackingDevice() { mitk::ClaronTrackingDevice::Pointer newDevice = mitk::ClaronTrackingDevice::New(); if (this->m_MTCalibrationFile.empty()) //if configuration file for MicronTracker is empty: load default { mitk::ClaronTrackingDevice::Pointer tempDevice = mitk::ClaronTrackingDevice::New(); m_MTCalibrationFile = tempDevice->GetCalibrationDir(); Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } if (!this->m_MTCalibrationFile.empty()) { //extract path from calibration file and set the calibration dir of the device std::string path = itksys::SystemTools::GetFilenamePath(m_MTCalibrationFile); newDevice->SetCalibrationDir(path); } else AddOutput("
Warning: Calibration file is not set!"); return static_cast(newDevice); } void QmitkMicronTrackerWidget::StoreUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) // now save the settings using the persistence service { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); propList->Set("MTCalibrationFile", m_MTCalibrationFile); } else // QSettings as a fallback if the persistence service is not available { QSettings settings; settings.beginGroup(QString::fromStdString(id)); settings.setValue("mTCalibrationFile", QVariant(QString::fromStdString(m_MTCalibrationFile))); settings.endGroup(); } } void QmitkMicronTrackerWidget::LoadUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); if (propList.IsNull()) { MITK_ERROR << "Property list for this UI (" << id << ") is not available, could not load UI settings!"; return; } propList->Get("MTCalibrationFile", m_MTCalibrationFile); } else { // QSettings as a fallback if the persistence service is not available QSettings settings; settings.beginGroup(QString::fromStdString(id)); m_MTCalibrationFile = settings.value("mTCalibrationFile", "").toString().toStdString(); settings.endGroup(); } m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString::fromStdString(m_MTCalibrationFile)); } bool QmitkMicronTrackerWidget::IsDeviceInstalled() { return mitk::ClaronTrackingDevice::New()->IsDeviceInstalled(); } void QmitkMicronTrackerWidget::SetMTCalibrationFileClicked() { std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Calibration File"), QmitkIGTCommonHelper::GetLastFileLoadPath(), "*.*").toLatin1().data(); if (filename == "") { return; } else { QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(QString::fromStdString(filename)); m_MTCalibrationFile = filename; Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } QmitkMicronTrackerWidget* QmitkMicronTrackerWidget::Clone(QWidget* parent) const { QmitkMicronTrackerWidget* clonedWidget = new QmitkMicronTrackerWidget(parent); clonedWidget->Initialize(); clonedWidget->m_MTCalibrationFile = m_MTCalibrationFile; m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString::fromStdString(m_MTCalibrationFile)); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.h b/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.h index 6f304182f1..5190f37db1 100644 --- a/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkMicronTrackerWidget.h @@ -1,71 +1,71 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkMicronTrackerWidget_H #define QmitkMicronTrackerWidget_H #include "ui_QmitkMicronTrackerWidget.h" #include "QmitkAbstractTrackingDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget for Micron Tracking Devices. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkMicronTrackerWidget : public QmitkAbstractTrackingDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkMicronTrackerWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkMicronTrackerWidget(); virtual void Initialize(); signals: protected slots : /* @brief Opens a file dialog. The users sets the calibration file which location is then stored in the member m_MTCalibrationFile.*/ void SetMTCalibrationFileClicked(); private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); protected: virtual QmitkMicronTrackerWidget* Clone(QWidget* parent) const; std::string m_MTCalibrationFile; Ui::QmitkMicronTrackerWidget* m_Controls; public: virtual void ResetOutput(); virtual void AddOutput(std::string s); - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); virtual void StoreUISettings(); virtual void LoadUISettings(); virtual bool IsDeviceInstalled(); }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.cpp index a91be96fa8..e225eab219 100644 --- a/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.cpp @@ -1,174 +1,174 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkNDIAuroraWidget.h" #include "mitkNDITrackingDevice.h" #include "mitkNDIAuroraTypeInformation.h" #include #include const std::string QmitkNDIAuroraWidget::VIEW_ID = "org.mitk.views.NDIAuroraWidget"; QmitkNDIAuroraWidget::QmitkNDIAuroraWidget(QWidget* parent, Qt::WindowFlags f) : QmitkNDIAbstractDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkNDIAuroraWidget::Initialize() { InitializeNDIWidget(); CreateQtPartControl(this); CreateConnections(); } QmitkNDIAuroraWidget::~QmitkNDIAuroraWidget() { delete m_Controls; } void QmitkNDIAuroraWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNDIAuroraWidget; m_Controls->setupUi(parent); } } void QmitkNDIAuroraWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_testConnectionAurora), SIGNAL(clicked()), this, SLOT(TestConnection())); connect((QObject*)(m_Controls->m_AutoScanAurora), SIGNAL(clicked()), this, SLOT(AutoScanPorts())); //set a few UI components depending on Windows / Linux #ifdef WIN32 m_Controls->portTypeLabelAurora->setVisible(false); m_Controls->portTypeAurora->setVisible(false); #else m_Controls->comPortLabelAurora->setText("Port Nr:"); m_Controls->m_portSpinBoxAurora->setPrefix(""); #endif } } void QmitkNDIAuroraWidget::ResetOutput() { m_Controls->m_outputTextAurora->setHtml("output:"); } void QmitkNDIAuroraWidget::AddOutput(std::string s) { m_Controls->m_outputTextAurora->setHtml(QString(s.c_str())); m_Controls->m_outputTextAurora->verticalScrollBar()->setValue(m_Controls->m_outputTextAurora->verticalScrollBar()->maximum()); } -mitk::TrackingDevice::Pointer QmitkNDIAuroraWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkNDIAuroraWidget::GetTrackingDevice() { mitk::NDITrackingDevice::Pointer tempTrackingDevice = mitk::NDITrackingDevice::New(); //get port int port = 0; port = m_Controls->m_portSpinBoxAurora->value(); //build prefix (depends on linux/win) QString prefix = ""; #ifdef WIN32 prefix = "COM"; tempTrackingDevice->SetPortNumber(static_cast(port)); //also set the com port for compatibility #else prefix = m_Controls->portTypeAurora->currentText(); #endif //build port name string QString portName = prefix + QString::number(port); tempTrackingDevice->SetDeviceName(portName.toStdString()); //set the port name tempTrackingDevice->SetBaudRate(mitk::SerialCommunication::BaudRate115200);//set baud rate tempTrackingDevice->SetType(mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()); return static_cast(tempTrackingDevice); } void QmitkNDIAuroraWidget::StoreUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) // now save the settings using the persistence service { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); propList->Set("AuroraPortWin", m_Controls->m_portSpinBoxAurora->value()); propList->Set("PortTypeAurora", m_Controls->portTypeAurora->currentIndex()); } else // QSettings as a fallback if the persistence service is not available { QSettings settings; settings.beginGroup(QString::fromStdString(id)); settings.setValue("portSpinBoxAurora", QVariant(m_Controls->m_portSpinBoxAurora->value())); settings.setValue("portTypeAurora", QVariant(m_Controls->portTypeAurora->currentIndex())); settings.endGroup(); } } void QmitkNDIAuroraWidget::LoadUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) { int port = 0; int portType = 0; mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); if (propList.IsNull()) { MITK_ERROR << "Property list for this UI (" << id << ") is not available, could not load UI settings!"; return; } propList->Get("AuroraPortWin", port); propList->Get("PortTypeAurora", portType); this->SetPortTypeToGUI(portType); this->SetPortValueToGUI(port); } else { // QSettings as a fallback if the persistence service is not available QSettings settings; settings.beginGroup(QString::fromStdString(id)); m_Controls->m_portSpinBoxAurora->setValue(settings.value("portSpinBoxAurora", 0).toInt()); m_Controls->portTypeAurora->setCurrentIndex(settings.value("portTypeAurora", 0).toInt()); settings.endGroup(); } } void QmitkNDIAuroraWidget::SetPortValueToGUI(int portValue){ m_Controls->m_portSpinBoxAurora->setValue(portValue); } void QmitkNDIAuroraWidget::SetPortTypeToGUI(int portType){ m_Controls->portTypeAurora->setCurrentIndex(portType); } QmitkNDIAuroraWidget* QmitkNDIAuroraWidget::Clone(QWidget* parent) const { QmitkNDIAuroraWidget* clonedWidget = new QmitkNDIAuroraWidget(parent); clonedWidget->Initialize(); clonedWidget->SetPortTypeToGUI(m_Controls->portTypeAurora->currentIndex()); clonedWidget->SetPortValueToGUI(m_Controls->m_portSpinBoxAurora->value()); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.h b/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.h index f3fd1bea10..00ce26d20d 100644 --- a/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkNDIAuroraWidget.h @@ -1,62 +1,62 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkNDIAuroraWidget_H #define QmitkNDIAuroraWidget_H #include "ui_QmitkNDIAuroraWidget.h" #include "QmitkNDIAbstractDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget for NDI Aurora Devices. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkNDIAuroraWidget : public QmitkNDIAbstractDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkNDIAuroraWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkNDIAuroraWidget(); virtual void Initialize(); private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); protected: virtual void ResetOutput(); virtual void AddOutput(std::string s); - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); virtual void StoreUISettings(); virtual void LoadUISettings(); virtual void SetPortValueToGUI(int portValue); virtual void SetPortTypeToGUI(int portType); virtual QmitkNDIAuroraWidget* Clone(QWidget* parent) const; Ui::QmitkNDIAuroraWidget* m_Controls; }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.cpp index 403cebd81b..437576aafa 100644 --- a/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.cpp @@ -1,197 +1,197 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkNDIPolarisWidget.h" #include "mitkNDITrackingDevice.h" #include "mitkNDIPolarisTypeInformation.h" #include #include const std::string QmitkNDIPolarisWidget::VIEW_ID = "org.mitk.views.NDIPolarisWidget"; QmitkNDIPolarisWidget::QmitkNDIPolarisWidget(QWidget* parent, Qt::WindowFlags f) : QmitkNDIAbstractDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkNDIPolarisWidget::Initialize() { InitializeNDIWidget(); CreateQtPartControl(this); CreateConnections(); } QmitkNDIPolarisWidget::~QmitkNDIPolarisWidget() { delete m_Controls; } void QmitkNDIPolarisWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNDIPolarisWidget; m_Controls->setupUi(parent); } } void QmitkNDIPolarisWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_testConnectionPolaris), SIGNAL(clicked()), this, SLOT(TestConnection())); connect((QObject*)(m_Controls->m_AutoScanPolaris), SIGNAL(clicked()), this, SLOT(AutoScanPorts())); //set a few UI components depending on Windows / Linux #ifdef WIN32 m_Controls->portTypeLabelPolaris->setVisible(false); m_Controls->portTypePolaris->setVisible(false); #else m_Controls->m_comPortLabelPolaris->setText("Port Nr:"); m_Controls->m_portSpinBoxPolaris->setPrefix(""); #endif } } void QmitkNDIPolarisWidget::ResetOutput() { m_Controls->m_outputTextPolaris->setHtml("output:"); } void QmitkNDIPolarisWidget::AddOutput(std::string s) { m_Controls->m_outputTextPolaris->setHtml(QString(s.c_str())); m_Controls->m_outputTextPolaris->verticalScrollBar()->setValue(m_Controls->m_outputTextPolaris->verticalScrollBar()->maximum()); } -mitk::TrackingDevice::Pointer QmitkNDIPolarisWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkNDIPolarisWidget::GetTrackingDevice() { mitk::NDITrackingDevice::Pointer tempTrackingDevice = mitk::NDITrackingDevice::New(); //get port int port = 0; port = m_Controls->m_portSpinBoxPolaris->value(); //build prefix (depends on linux/win) QString prefix = ""; #ifdef WIN32 prefix = "COM"; tempTrackingDevice->SetPortNumber(static_cast(port)); //also set the com port for compatibility tempTrackingDevice->SetIlluminationActivationRate(GetPolarisFrameRate()); #else prefix = m_Controls->portTypePolaris->currentText(); tempTrackingDevice->SetIlluminationActivationRate(GetPolarisFrameRate()); #endif //build port name string QString portName = prefix + QString::number(port); tempTrackingDevice->SetDeviceName(portName.toStdString()); //set the port name tempTrackingDevice->SetBaudRate(mitk::SerialCommunication::BaudRate115200);//set baud rate tempTrackingDevice->SetType(mitk::NDIPolarisTypeInformation::GetTrackingDeviceName()); return static_cast(tempTrackingDevice); } void QmitkNDIPolarisWidget::StoreUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) // now save the settings using the persistence service { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); propList->Set("PolarisPortWin", m_Controls->m_portSpinBoxPolaris->value()); propList->Set("PortTypePolaris", m_Controls->portTypePolaris->currentIndex()); propList->Set("PolarisFrameRate", GetPolarisFrameRate()); } else // QSettings as a fallback if the persistence service is not available { QSettings settings; settings.beginGroup(QString::fromStdString(id)); settings.setValue("portSpinBoxPolaris", QVariant(m_Controls->m_portSpinBoxPolaris->value())); settings.setValue("portTypePolaris", QVariant(m_Controls->portTypePolaris->currentIndex())); settings.setValue("PolarisFrameRate", QVariant(GetPolarisFrameRate())); settings.endGroup(); } } void QmitkNDIPolarisWidget::LoadUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; if (this->GetPersistenceService()) { int port = 0; int portType = 0; int polarisFrameRate = 0; mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); if (propList.IsNull()) { MITK_ERROR << "Property list for this UI (" << id << ") is not available, could not load UI settings!"; return; } propList->Get("PolarisPortWin", port); propList->Get("PortTypePolaris", portType); propList->Get("PolarisFrameRate", polarisFrameRate); this->SetPortTypeToGUI(portType); this->SetPortValueToGUI(port); m_Controls->m_frameRateComboBoxPolaris->setCurrentIndex((int)(polarisFrameRate / 30)); } else { // QSettings as a fallback if the persistence service is not available QSettings settings; settings.beginGroup(QString::fromStdString(id)); m_Controls->m_portSpinBoxPolaris->setValue(settings.value("portSpinBoxPolaris", 0).toInt()); m_Controls->portTypePolaris->setCurrentIndex(settings.value("portTypePolaris", 0).toInt()); //framerates 20,30,60 --> divided by 30 = 0,1,2 --> index of combobox m_Controls->m_frameRateComboBoxPolaris->setCurrentIndex((int)(settings.value("PolarisFrameRate", 0).toInt() / 30)); settings.endGroup(); } } mitk::IlluminationActivationRate QmitkNDIPolarisWidget::GetPolarisFrameRate() { mitk::IlluminationActivationRate frameRate; QString comboBox = m_Controls->m_frameRateComboBoxPolaris->currentText(); if (comboBox == "20 Hz") frameRate = mitk::Hz20; else if (comboBox == "30 Hz") frameRate = mitk::Hz30; else if (comboBox == "60 Hz") frameRate = mitk::Hz60; return frameRate; } void QmitkNDIPolarisWidget::SetPortValueToGUI(int portValue){ m_Controls->m_portSpinBoxPolaris->setValue(portValue); } void QmitkNDIPolarisWidget::SetPortTypeToGUI(int portType){ m_Controls->portTypePolaris->setCurrentIndex(portType); } QmitkNDIPolarisWidget* QmitkNDIPolarisWidget::Clone(QWidget* parent) const { QmitkNDIPolarisWidget* clonedWidget = new QmitkNDIPolarisWidget(parent); clonedWidget->Initialize(); clonedWidget->SetPortTypeToGUI(m_Controls->portTypePolaris->currentIndex()); clonedWidget->SetPortValueToGUI(m_Controls->m_portSpinBoxPolaris->value()); clonedWidget->m_Controls->m_frameRateComboBoxPolaris->setCurrentIndex(m_Controls->m_frameRateComboBoxPolaris->currentIndex()); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.h b/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.h index d201e84349..b6f3060e4b 100644 --- a/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkNDIPolarisWidget.h @@ -1,71 +1,71 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkNDIPolarisWidget_H #define QmitkNDIPolarisWidget_H #include "ui_QmitkNDIPolarisWidget.h" #include "QmitkNDIAbstractDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget for NDI Polaris Devices. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkNDIPolarisWidget : public QmitkNDIAbstractDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkNDIPolarisWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkNDIPolarisWidget(); virtual void Initialize(); signals: protected slots : private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); protected: /** @return Returns the frame rate set in the m_frameRatePolaris ComboBox */ mitk::IlluminationActivationRate GetPolarisFrameRate(); Ui::QmitkNDIPolarisWidget* m_Controls; virtual void SetPortValueToGUI(int portValue); virtual void SetPortTypeToGUI(int portType); virtual QmitkNDIPolarisWidget* Clone(QWidget* parent) const; public: virtual void ResetOutput(); virtual void AddOutput(std::string s); - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); virtual void StoreUISettings(); virtual void LoadUISettings(); }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.cpp index a594650739..bec95717f1 100644 --- a/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.cpp @@ -1,122 +1,122 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkNPOptitrackWidget.h" #include "mitkOptitrackTrackingDevice.h" #include "mitkNPOptitrackTrackingTypeInformation.h" #include "QmitkIGTCommonHelper.h" #include #include #include const std::string QmitkNPOptitrackWidget::VIEW_ID = "org.mitk.views.NPOptitrackWidget"; QmitkNPOptitrackWidget::QmitkNPOptitrackWidget(QWidget* parent, Qt::WindowFlags f) : QmitkAbstractTrackingDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkNPOptitrackWidget::Initialize() { InitializeSuperclassWidget(); CreateQtPartControl(this); CreateConnections(); } QmitkNPOptitrackWidget::~QmitkNPOptitrackWidget() { delete m_Controls; } void QmitkNPOptitrackWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNPOptitrackWidget; m_Controls->setupUi(parent); } } void QmitkNPOptitrackWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_testConnectionOptitrack), SIGNAL(clicked()), this, SLOT(TestConnection())); connect((QObject*)(m_Controls->m_SetOptitrackCalibrationFile), SIGNAL(clicked()), this, SLOT(SetOptitrackCalibrationFileClicked())); } } void QmitkNPOptitrackWidget::ResetOutput() { m_Controls->m_outputTextOptitrack->setHtml("output:"); } void QmitkNPOptitrackWidget::AddOutput(std::string s) { m_Controls->m_outputTextOptitrack->setHtml(QString(s.c_str())); m_Controls->m_outputTextOptitrack->verticalScrollBar()->setValue(m_Controls->m_outputTextOptitrack->verticalScrollBar()->maximum()); } -mitk::TrackingDevice::Pointer QmitkNPOptitrackWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkNPOptitrackWidget::GetTrackingDevice() { // Create the Tracking Device mitk::OptitrackTrackingDevice::Pointer tempTrackingDevice = mitk::OptitrackTrackingDevice::New(); // Set the calibration File tempTrackingDevice->SetCalibrationPath(m_OptitrackCalibrationFile); //Set the camera parameters tempTrackingDevice->SetExp(m_Controls->m_OptitrackExp->value()); tempTrackingDevice->SetLed(m_Controls->m_OptitrackLed->value()); tempTrackingDevice->SetThr(m_Controls->m_OptitrackThr->value()); tempTrackingDevice->SetType(mitk::NPOptitrackTrackingTypeInformation::GetTrackingDeviceName()); return static_cast(tempTrackingDevice); } bool QmitkNPOptitrackWidget::IsDeviceInstalled() { return mitk::OptitrackTrackingDevice::New()->IsDeviceInstalled(); } void QmitkNPOptitrackWidget::SetOptitrackCalibrationFileClicked() { std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Calibration File"), QmitkIGTCommonHelper::GetLastFileLoadPath(), "*.*").toLatin1().data(); if (filename == "") { return; } else { QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(QString::fromStdString(filename)); m_OptitrackCalibrationFile = filename; Poco::Path myPath = Poco::Path(m_OptitrackCalibrationFile.c_str()); m_Controls->m_OptitrackCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } QmitkNPOptitrackWidget* QmitkNPOptitrackWidget::Clone(QWidget* parent) const { QmitkNPOptitrackWidget* clonedWidget = new QmitkNPOptitrackWidget(parent); clonedWidget->Initialize(); clonedWidget->m_OptitrackCalibrationFile = this->m_OptitrackCalibrationFile; clonedWidget->m_Controls->m_OptitrackCalibrationFile->setText(m_Controls->m_OptitrackCalibrationFile->text()); clonedWidget->m_Controls->m_OptitrackExp->setValue(m_Controls->m_OptitrackExp->value()); clonedWidget->m_Controls->m_OptitrackLed->setValue(m_Controls->m_OptitrackLed->value()); clonedWidget->m_Controls->m_OptitrackThr->setValue(m_Controls->m_OptitrackThr->value()); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.h b/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.h index 54d8c17088..eef9e52e12 100644 --- a/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkNPOptitrackWidget.h @@ -1,68 +1,68 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkNPOptitrackWidget_H #define QmitkNPOptitrackWidget_H #include "ui_QmitkNPOptitrackWidget.h" #include "QmitkAbstractTrackingDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget for NP Optitrack Tracking Devices. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkNPOptitrackWidget : public QmitkAbstractTrackingDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkNPOptitrackWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkNPOptitrackWidget(); virtual void Initialize(); signals: protected slots : /* @brief Opens a file dialog. The users sets the calibration file which location is then stored in the member m_OptitrackCalibrationFile.*/ void SetOptitrackCalibrationFileClicked(); private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); protected: virtual QmitkNPOptitrackWidget* Clone(QWidget* parent) const; std::string m_OptitrackCalibrationFile; Ui::QmitkNPOptitrackWidget* m_Controls; public: virtual void ResetOutput(); virtual void AddOutput(std::string s); - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); virtual bool IsDeviceInstalled(); }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp index 8cf3156a28..59886b777f 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp @@ -1,419 +1,412 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkNavigationToolManagementWidget.h" //mitk headers #include "mitkTrackingTypes.h" #include #include #include #include #include #include #include //qt headers #include #include #include #include //poco headers #include const std::string QmitkNavigationToolManagementWidget::VIEW_ID = "org.mitk.views.navigationtoolmanagementwidget"; QmitkNavigationToolManagementWidget::QmitkNavigationToolManagementWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); } QmitkNavigationToolManagementWidget::~QmitkNavigationToolManagementWidget() { } void QmitkNavigationToolManagementWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNavigationToolManagementWidgetControls; m_Controls->setupUi(parent); } //Disable StorageControls in the beginning, because there is no storage to edit DisableStorageControls(); } void QmitkNavigationToolManagementWidget::OnLoadTool() { if (m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } mitk::NavigationToolReader::Pointer myReader = mitk::NavigationToolReader::New(); std::string filename = QFileDialog::getOpenFileName(NULL,tr("Add Navigation Tool"), QmitkIGTCommonHelper::GetLastFileLoadPath(), "*.IGTTool").toLatin1().data(); QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(QString::fromStdString(filename)); if (filename == "") return; mitk::NavigationTool::Pointer readTool = myReader->DoRead(filename); if (readTool.IsNull()) MessageBox("Error: " + myReader->GetErrorMessage()); else { if (!m_NavigationToolStorage->AddTool(readTool)) { MessageBox("Error: Can't add tool!"); m_DataStorage->Remove(readTool->GetDataNode()); } UpdateToolTable(); - m_NavigationToolStorage->UpdateMicroservice(); - } +} } void QmitkNavigationToolManagementWidget::OnSaveTool() { //if no item is selected, show error message: if (m_Controls->m_ToolList->currentItem() == NULL) { MessageBox("Error: Please select tool first!"); return; } mitk::NavigationToolWriter::Pointer myWriter = mitk::NavigationToolWriter::New(); std::string filename = QFileDialog::getSaveFileName(NULL,tr("Save Navigation Tool"), QmitkIGTCommonHelper::GetLastFileSavePath(), "*.IGTTool").toLatin1().data(); QmitkIGTCommonHelper::SetLastFileSavePathByFileName(QString::fromStdString(filename)); if (filename == "") return; std::string fileExt = Poco::Path(filename).getExtension(); if (fileExt == "") { filename.append(".IGTTool"); } if (!myWriter->DoWrite(filename,m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()))) MessageBox("Error: "+ myWriter->GetErrorMessage()); } void QmitkNavigationToolManagementWidget::CreateConnections() { if (m_Controls) { //main widget page: connect((QObject*)(m_Controls->m_AddTool), SIGNAL(clicked()), this, SLOT(OnAddTool())); connect((QObject*)(m_Controls->m_DeleteTool), SIGNAL(clicked()), this, SLOT(OnDeleteTool())); connect((QObject*)(m_Controls->m_EditTool), SIGNAL(clicked()), this, SLOT(OnEditTool())); connect((QObject*)(m_Controls->m_MoveToolUp), SIGNAL(clicked()), this, SLOT(OnMoveToolUp())); connect((QObject*)(m_Controls->m_MoveToolDown), SIGNAL(clicked()), this, SLOT(OnMoveToolDown())); connect((QObject*)(m_Controls->m_LoadStorage), SIGNAL(clicked()), this, SLOT(OnLoadStorage())); connect((QObject*)(m_Controls->m_SaveStorage), SIGNAL(clicked()), this, SLOT(OnSaveStorage())); connect((QObject*)(m_Controls->m_LoadTool), SIGNAL(clicked()), this, SLOT(OnLoadTool())); connect((QObject*)(m_Controls->m_SaveTool), SIGNAL(clicked()), this, SLOT(OnSaveTool())); connect((QObject*)(m_Controls->m_CreateNewStorage), SIGNAL(clicked()), this, SLOT(OnCreateStorage())); //widget page "add tool": connect((QObject*)(m_Controls->m_ToolCreationWidget), SIGNAL(Canceled()), this, SLOT(OnAddToolCancel())); connect((QObject*)(m_Controls->m_ToolCreationWidget), SIGNAL(NavigationToolFinished()), this, SLOT(OnAddToolSave())); } } void QmitkNavigationToolManagementWidget::Initialize(mitk::DataStorage* dataStorage) { m_DataStorage = dataStorage; m_Controls->m_ToolCreationWidget->Initialize(m_DataStorage, "Tool0"); } void QmitkNavigationToolManagementWidget::LoadStorage(mitk::NavigationToolStorage::Pointer storageToLoad) { if (storageToLoad.IsNotNull()) { m_NavigationToolStorage = storageToLoad; m_Controls->m_StorageName->setText(m_NavigationToolStorage->GetName().c_str()); EnableStorageControls(); } else { m_NavigationToolStorage = NULL; DisableStorageControls(); } UpdateToolTable(); - m_NavigationToolStorage->UpdateMicroservice(); } //################################################################################## //############################## slots: main widget ################################ //################################################################################## void QmitkNavigationToolManagementWidget::OnMoveToolUp() { if (m_NavigationToolStorage.IsNotNull()) { int toolIndex = m_Controls->m_ToolList->currentIndex().row(); if (toolIndex >= 0) { mitk::NavigationTool::Pointer currentNavigationTool = m_NavigationToolStorage->GetTool(toolIndex); if (currentNavigationTool.IsNotNull()) { std::string currentIdentifier = currentNavigationTool->GetIdentifier(); int NewNumber = m_Controls->m_ToolList->currentIndex().row() - 1; if (NewNumber < 0) { MITK_WARN << "Cannot move tool up because it is on the top!"; } else { m_NavigationToolStorage->AssignToolNumber(currentIdentifier, NewNumber); } UpdateToolTable(); - m_NavigationToolStorage->UpdateMicroservice(); } } } } void QmitkNavigationToolManagementWidget::OnMoveToolDown() { if (m_NavigationToolStorage.IsNotNull()) { int toolIndex = m_Controls->m_ToolList->currentIndex().row(); if (toolIndex >= 0) { mitk::NavigationTool::Pointer currentNavigationTool = m_NavigationToolStorage->GetTool(toolIndex); if (currentNavigationTool.IsNotNull()) { std::string currentIdentifier = currentNavigationTool->GetIdentifier(); int NewNumber = m_Controls->m_ToolList->currentIndex().row() + 1; if (NewNumber >= m_NavigationToolStorage->GetToolCount()) { MITK_WARN << "Cannot move tool down because it is the last tool in this storage!"; } else { m_NavigationToolStorage->AssignToolNumber(currentIdentifier, NewNumber); } UpdateToolTable(); - m_NavigationToolStorage->UpdateMicroservice(); } } } } void QmitkNavigationToolManagementWidget::OnAddTool() { if (m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } QString defaultIdentifier = "NavigationTool#" + QString::number(m_NavigationToolStorage->GetToolCount()); QString defaultName = "NavigationTool" + QString::number(m_NavigationToolStorage->GetToolCount()); m_Controls->m_ToolCreationWidget->Initialize(m_DataStorage, defaultIdentifier.toStdString(), defaultName.toStdString()); m_edit = false; m_Controls->m_MainWidgets->setCurrentIndex(1); - m_NavigationToolStorage->UpdateMicroservice(); } void QmitkNavigationToolManagementWidget::OnDeleteTool() { //first: some checks if (m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } else if (m_Controls->m_ToolList->currentItem() == NULL) //if no item is selected, show error message: { MessageBox("Error: Please select tool first!"); return; } m_DataStorage->Remove(m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row())->GetDataNode()); m_NavigationToolStorage->DeleteTool(m_Controls->m_ToolList->currentIndex().row()); UpdateToolTable(); - m_NavigationToolStorage->UpdateMicroservice(); } void QmitkNavigationToolManagementWidget::OnEditTool() { if (m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } else if (m_Controls->m_ToolList->currentItem() == NULL) //if no item is selected, show error message: { MessageBox("Error: Please select tool first!"); return; } mitk::NavigationTool::Pointer selectedTool = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()); m_Controls->m_ToolCreationWidget->SetDefaultData(selectedTool); m_NavigationToolStorage->SetName("test"); m_edit = true; m_Controls->m_MainWidgets->setCurrentIndex(1); - m_NavigationToolStorage->UpdateMicroservice(); } void QmitkNavigationToolManagementWidget::OnCreateStorage() { QString storageName = QInputDialog::getText(NULL, "Storage Name", "Name of the new tool storage:"); if (storageName.isNull()) return; m_NavigationToolStorage = mitk::NavigationToolStorage::New(this->m_DataStorage); m_NavigationToolStorage->SetName(storageName.toStdString()); m_Controls->m_StorageName->setText(m_NavigationToolStorage->GetName().c_str()); EnableStorageControls(); emit NewStorageAdded(m_NavigationToolStorage, storageName.toStdString()); } void QmitkNavigationToolManagementWidget::OnLoadStorage() { mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(m_DataStorage); std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Navigation Tool Storage"), "/", tr("IGT Tool Storage (*.IGTToolStorage)")).toStdString(); if (filename == "") return; try { mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(m_DataStorage); std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Navigation Tool Storage"), QmitkIGTCommonHelper::GetLastFileLoadPath(), tr("IGT Tool Storage (*.IGTToolStorage)")).toStdString(); if (filename == "") return; QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(QString::fromStdString(filename)); try { mitk::NavigationToolStorage::Pointer tempStorage = myDeserializer->Deserialize(filename); if (tempStorage.IsNull()) MessageBox("Error" + myDeserializer->GetErrorMessage()); else { Poco::Path myPath = Poco::Path(filename.c_str()); tempStorage->SetName(myPath.getFileName()); //set the filename as name for the storage, so the user can identify it this->LoadStorage(tempStorage); emit NewStorageAdded(m_NavigationToolStorage,myPath.getFileName()); - m_NavigationToolStorage->UpdateMicroservice(); } } catch (const mitk::Exception& exception) { MessageBox(exception.GetDescription()); } } catch (const mitk::Exception& exception) { MessageBox(exception.GetDescription()); } - m_NavigationToolStorage->UpdateMicroservice(); } void QmitkNavigationToolManagementWidget::OnSaveStorage() { QFileDialog *fileDialog = new QFileDialog; fileDialog->setDefaultSuffix("IGTToolStorage"); QString suffix = "IGT Tool Storage (*.IGTToolStorage)"; QString filename = fileDialog->getSaveFileName(NULL, tr("Save Navigation Tool Storage"), QmitkIGTCommonHelper::GetLastFileSavePath(), suffix, &suffix); if (filename.isEmpty()) return; //canceled by the user // check file suffix QFileInfo file(filename); if(file.suffix().isEmpty()) filename += ".IGTToolStorage"; //serialize tool storage mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New(); if (!mySerializer->Serialize(filename.toStdString(), m_NavigationToolStorage)) { MessageBox("Error: " + mySerializer->GetErrorMessage()); return; QmitkIGTCommonHelper::SetLastFileSavePath(file.absolutePath()); } Poco::Path myPath = Poco::Path(filename.toStdString()); m_Controls->m_StorageName->setText(QString::fromStdString(myPath.getFileName())); } //################################################################################## //############################## slots: add tool widget ############################ //################################################################################## void QmitkNavigationToolManagementWidget::OnAddToolSave() { mitk::NavigationTool::Pointer newTool = m_Controls->m_ToolCreationWidget->GetCreatedTool(); if (m_edit) //here we edit a existing tool { mitk::NavigationTool::Pointer editedTool = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()); editedTool->Graft(newTool); + //Keep this line, 'cause otherwise, the NavigationToolStorage wouldn't notice, that the toolStorage changed. + m_NavigationToolStorage->UpdateMicroservice(); } else //here we create a new tool { m_NavigationToolStorage->AddTool(newTool); } UpdateToolTable(); m_Controls->m_MainWidgets->setCurrentIndex(0); - m_NavigationToolStorage->UpdateMicroservice(); + } void QmitkNavigationToolManagementWidget::OnAddToolCancel() { m_Controls->m_MainWidgets->setCurrentIndex(0); } //################################################################################## //############################## private help methods ############################## //################################################################################## void QmitkNavigationToolManagementWidget::UpdateToolTable() { m_Controls->m_ToolList->clear(); if (m_NavigationToolStorage.IsNull()) return; for (int i = 0; i < m_NavigationToolStorage->GetToolCount(); i++) { QString currentTool = "Tool" + QString::number(i) + ": " + QString(m_NavigationToolStorage->GetTool(i)->GetDataNode()->GetName().c_str()) + " "; currentTool += "(" + QString::fromStdString(m_NavigationToolStorage->GetTool(i)->GetTrackingDeviceType()) + "/"; switch (m_NavigationToolStorage->GetTool(i)->GetType()) { case mitk::NavigationTool::Instrument: currentTool += "Instrument)"; break; case mitk::NavigationTool::Fiducial: currentTool += "Fiducial)"; break; case mitk::NavigationTool::Skinmarker: currentTool += "Skinmarker)"; break; default: currentTool += "Unknown)"; } m_Controls->m_ToolList->addItem(currentTool); } } void QmitkNavigationToolManagementWidget::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkNavigationToolManagementWidget::DisableStorageControls() { m_Controls->m_StorageName->setText(""); m_Controls->m_AddTool->setEnabled(false); m_Controls->m_LoadTool->setEnabled(false); m_Controls->m_MoveToolUp->setEnabled(false); m_Controls->m_MoveToolDown->setEnabled(false); m_Controls->m_selectedLabel->setEnabled(false); m_Controls->m_DeleteTool->setEnabled(false); m_Controls->m_EditTool->setEnabled(false); m_Controls->m_SaveTool->setEnabled(false); m_Controls->m_ToolList->setEnabled(false); m_Controls->m_SaveStorage->setEnabled(false); m_Controls->m_ToolLabel->setEnabled(false); } void QmitkNavigationToolManagementWidget::EnableStorageControls() { m_Controls->m_AddTool->setEnabled(true); m_Controls->m_LoadTool->setEnabled(true); m_Controls->m_MoveToolUp->setEnabled(true); m_Controls->m_MoveToolDown->setEnabled(true); m_Controls->m_selectedLabel->setEnabled(true); m_Controls->m_DeleteTool->setEnabled(true); m_Controls->m_EditTool->setEnabled(true); m_Controls->m_SaveTool->setEnabled(true); m_Controls->m_ToolList->setEnabled(true); m_Controls->m_SaveStorage->setEnabled(true); m_Controls->m_ToolLabel->setEnabled(true); } \ No newline at end of file diff --git a/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.cpp b/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.cpp index 0a8c3a1ffc..317575e58d 100644 --- a/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.cpp @@ -1,69 +1,69 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkOpenIGTLinkWidget.h" #include "mitkOpenIGTLinkTrackingDevice.h" const std::string QmitkOpenIGTLinkWidget::VIEW_ID = "org.mitk.views.OpenIGTLinkWidget"; QmitkOpenIGTLinkWidget::QmitkOpenIGTLinkWidget(QWidget* parent, Qt::WindowFlags f) : QmitkAbstractTrackingDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkOpenIGTLinkWidget::Initialize() { InitializeSuperclassWidget(); CreateQtPartControl(this); } QmitkOpenIGTLinkWidget::~QmitkOpenIGTLinkWidget() { delete m_Controls; } void QmitkOpenIGTLinkWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkOpenIGTLinkWidget; m_Controls->setupUi(parent); } } -mitk::TrackingDevice::Pointer QmitkOpenIGTLinkWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkOpenIGTLinkWidget::GetTrackingDevice() { // Create the Virtual Tracking Device mitk::OpenIGTLinkTrackingDevice::Pointer OIGTLDevice = mitk::OpenIGTLinkTrackingDevice::New(); OIGTLDevice->SetPortNumber(m_Controls->m_OpenIGTLinkPort->text().toInt()); OIGTLDevice->SetHostname(m_Controls->m_OpenIGTLinkHostname->text().toStdString()); OIGTLDevice->SetUpdateRate(m_Controls->m_UpdateRate->value()); return static_cast(OIGTLDevice); } QmitkOpenIGTLinkWidget* QmitkOpenIGTLinkWidget::Clone(QWidget* parent) const { QmitkOpenIGTLinkWidget* clonedWidget = new QmitkOpenIGTLinkWidget(parent); clonedWidget->Initialize(); clonedWidget->m_Controls->m_OpenIGTLinkPort->setText(m_Controls->m_OpenIGTLinkPort->text()); clonedWidget->m_Controls->m_OpenIGTLinkHostname->setText(m_Controls->m_OpenIGTLinkHostname->text()); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.h b/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.h index a0ebfbb3e5..77ee5d390b 100644 --- a/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkOpenIGTLinkWidget.h @@ -1,54 +1,54 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkOpenIGTLinkWidget_H #define QmitkOpenIGTLinkWidget_H #include "ui_QmitkOpenIGTLinkWidget.h" #include "QmitkAbstractTrackingDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget to use an Open IGT Link connection to track any device. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkOpenIGTLinkWidget : public QmitkAbstractTrackingDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkOpenIGTLinkWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkOpenIGTLinkWidget(); virtual void Initialize(); signals: protected slots : private: void CreateQtPartControl(QWidget *parent); protected: virtual QmitkOpenIGTLinkWidget* Clone(QWidget* parent) const; Ui::QmitkOpenIGTLinkWidget* m_Controls; public: - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.cpp b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.cpp index c1add0dd7a..1196c0c290 100644 --- a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.cpp @@ -1,85 +1,271 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkPolhemusTrackerWidget.h" #include #include - -#include +#include #include #include #include +#include +#include +#include "vtkRenderer.h" +#include "vtkCamera.h" + const std::string QmitkPolhemusTrackerWidget::VIEW_ID = "org.mitk.views.PolhemusTrackerWidget"; QmitkPolhemusTrackerWidget::QmitkPolhemusTrackerWidget(QWidget* parent, Qt::WindowFlags f) : QmitkAbstractTrackingDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkPolhemusTrackerWidget::Initialize() { InitializeSuperclassWidget(); CreateQtPartControl(this); + + SetAdvancedSettingsEnabled(false); + on_m_AdvancedSettings_clicked(); //hide advanced settings on setup } QmitkPolhemusTrackerWidget::~QmitkPolhemusTrackerWidget() { delete m_Controls; } void QmitkPolhemusTrackerWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkPolhemusTrackerWidget; m_Controls->setupUi(parent); } } +void QmitkPolhemusTrackerWidget::OnToolStorageChanged() +{ + this->m_TrackingDevice = nullptr; + MITK_DEBUG<<"Resetting Polhemus Tracking Device, because tool storage changed."; +} + void QmitkPolhemusTrackerWidget::CreateConnections() { if (m_Controls) { - + connect((QObject*)(m_Controls->m_hemisphereTracking), SIGNAL(clicked()), this, SLOT(on_m_hemisphereTracking_clicked())); + connect((QObject*)(m_Controls->m_ToggleHemisphere), SIGNAL(clicked()), this, SLOT(on_m_ToggleHemisphere_clicked())); + connect((QObject*)(m_Controls->m_SetHemisphere), SIGNAL(clicked()), this, SLOT(on_m_SetHemisphere_clicked())); + connect((QObject*)(m_Controls->m_GetHemisphere), SIGNAL(clicked()), this, SLOT(on_m_GetHemisphere_clicked())); + connect((QObject*)(m_Controls->m_AdjustHemisphere), SIGNAL(clicked()), this, SLOT(on_m_AdjustHemisphere_clicked())); + connect((QObject*)(m_Controls->m_AdvancedSettings), SIGNAL(clicked()), this, SLOT(on_m_AdvancedSettings_clicked())); } } mitk::TrackingDevice::Pointer QmitkPolhemusTrackerWidget::GetTrackingDevice() { - if (m_TrackingDevice.IsNull()) m_TrackingDevice = ConstructTrackingDevice(); - return m_TrackingDevice; + if (m_TrackingDevice.IsNull()) + { + m_TrackingDevice = mitk::PolhemusTrackingDevice::New(); + m_TrackingDevice->SetHemisphereTrackingEnabled(m_Controls->m_hemisphereTracking->isChecked()); + } + + return static_cast(m_TrackingDevice); } +QmitkPolhemusTrackerWidget* QmitkPolhemusTrackerWidget::Clone(QWidget* parent) const +{ + QmitkPolhemusTrackerWidget* clonedWidget = new QmitkPolhemusTrackerWidget(parent); + clonedWidget->Initialize(); + return clonedWidget; +} -mitk::TrackingDevice::Pointer QmitkPolhemusTrackerWidget::ConstructTrackingDevice() +void QmitkPolhemusTrackerWidget::on_m_hemisphereTracking_clicked() { - mitk::PolhemusTrackingDevice::Pointer newDevice = mitk::PolhemusTrackingDevice::New(); - newDevice->SetHemisphereTrackingEnabled(m_Controls->m_hemisphereTracking->isChecked()); - return static_cast(newDevice); + m_TrackingDevice->SetHemisphereTrackingEnabled(m_Controls->m_hemisphereTracking->isChecked()); } +void QmitkPolhemusTrackerWidget::on_m_ToggleHemisphere_clicked() +{ + // Index 0 == All Tools == -1 for Polhemus interface; Index 2 == Tool 2 == 1 for Polhemus; etc... + m_TrackingDevice->ToggleHemisphere(GetSelectedToolIndex()); + MITK_INFO << "Toggle Hemisphere for tool " << m_Controls->m_ToolSelection->currentText().toStdString(); +} -QmitkPolhemusTrackerWidget* QmitkPolhemusTrackerWidget::Clone(QWidget* parent) const +void QmitkPolhemusTrackerWidget::on_m_SetHemisphere_clicked() { - QmitkPolhemusTrackerWidget* clonedWidget = new QmitkPolhemusTrackerWidget(parent); - clonedWidget->Initialize(); - return clonedWidget; + mitk::Vector3D _hemisphere; + mitk::FillVector3D(_hemisphere, m_Controls->m_Hemisphere_X->value(), m_Controls->m_Hemisphere_Y->value(), m_Controls->m_Hemisphere_Z->value()); + m_TrackingDevice->SetHemisphere(GetSelectedToolIndex(), _hemisphere); + + //If you set a hemisphere vector which is unequal (0|0|0), this means, that there is no hemisphere tracking any more + //disable the checkbox in case it was on before, so that it can be reactivated... + if (_hemisphere.GetNorm() != 0) + m_Controls->m_hemisphereTracking->setChecked(false); + + MITK_INFO << "Hemisphere set for tool " << m_Controls->m_ToolSelection->currentText().toStdString(); +} + +void QmitkPolhemusTrackerWidget::on_m_GetHemisphere_clicked() +{ + mitk::Vector3D _hemisphere = m_TrackingDevice->GetHemisphere(GetSelectedToolIndex()); + m_Controls->m_Hemisphere_X->setValue(_hemisphere[0]); + m_Controls->m_Hemisphere_Y->setValue(_hemisphere[1]); + m_Controls->m_Hemisphere_Z->setValue(_hemisphere[2]); + + QString label; + + if (m_TrackingDevice->GetHemisphereTrackingEnabled(GetSelectedToolIndex())) + { + label = "HemisphereTracking is ON for tool "; + label.append(m_Controls->m_ToolSelection->currentText()); + } + else + { + label = "HemisphereTracking is OFF for tool "; + label.append(m_Controls->m_ToolSelection->currentText()); + } + + m_Controls->m_StatusLabelHemisphereTracking->setText(label); + + MITK_INFO << "Updated SpinBox for Hemisphere of tool " << m_Controls->m_ToolSelection->currentText().toStdString(); } + +void QmitkPolhemusTrackerWidget::on_m_AdjustHemisphere_clicked() +{ + int _tool = GetSelectedToolIndex(); + QMessageBox msgBox; + QString _text; + if (_tool == -1) + { + _text.append("Adjusting hemisphere for all tools."); + msgBox.setText(_text); + _text.clear(); + _text = tr("Please make sure, that the entire tools (including tool tip AND sensor) are placed in the positive x hemisphere. Press 'Adjust hemisphere' if you are ready."); + msgBox.setInformativeText(_text); + } + else + { + _text.append("Adjusting hemisphere for tool '"); + _text.append(m_Controls->m_ToolSelection->currentText()); + _text.append(tr("' at port %2.").arg(_tool)); + msgBox.setText(_text); + _text.clear(); + _text = tr("Please make sure, that the entire tool (including tool tip AND sensor) is placed in the positive x hemisphere. Press 'Adjust hemisphere' if you are ready."); + msgBox.setInformativeText(_text); + } + + QPushButton *adjustButton = msgBox.addButton(tr("Adjust hemisphere"), QMessageBox::ActionRole); + QPushButton *cancelButton = msgBox.addButton(QMessageBox::Cancel); + msgBox.exec(); + if (msgBox.clickedButton() == adjustButton) { + // adjust + m_TrackingDevice->AdjustHemisphere(_tool); + MITK_INFO << "Adjusting Hemisphere for tool " << m_Controls->m_ToolSelection->currentText().toStdString(); + } + else if (msgBox.clickedButton() == cancelButton) { + // abort + MITK_INFO << "Cancel 'Adjust hemisphere'. No harm done..."; + } +} + +void QmitkPolhemusTrackerWidget::OnConnected(bool _success) +{ + if (!_success) + { + this->m_TrackingDevice = nullptr; + return; + } + + SetAdvancedSettingsEnabled(true); + + if (m_TrackingDevice->GetToolCount() != m_Controls->m_ToolSelection->count()) + { + m_Controls->m_ToolSelection->clear(); + + m_Controls->m_ToolSelection->addItem("All Tools"); + + for (int i = 0; i < m_TrackingDevice->GetToolCount(); ++i) + { + m_Controls->m_ToolSelection->addItem(m_TrackingDevice->GetTool(i)->GetToolName()); + } + } +} + +void QmitkPolhemusTrackerWidget::OnStartTracking(bool _success) +{ + if (!_success) + return; + //Rotate mitk standard multi widget, so that the view matches the sensor. Positive x == right, y == front, z == down; + mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToPosterior(); + mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetVtkRenderer()->GetActiveCamera()->SetViewUp(0, 0, -1); + +} + +void QmitkPolhemusTrackerWidget::OnDisconnected(bool _success) +{ + if (!_success) + return; + SetAdvancedSettingsEnabled(false); +} + +void QmitkPolhemusTrackerWidget::SetAdvancedSettingsEnabled(bool _enable) +{ + m_Controls->m_ToolSelection->setEnabled(_enable); + m_Controls->label_toolsToChange->setEnabled(_enable); + m_Controls->label_UpdateOnRequest->setEnabled(_enable); + m_Controls->m_GetHemisphere->setEnabled(_enable); + m_Controls->m_Hemisphere_X->setEnabled(_enable); + m_Controls->m_Hemisphere_Y->setEnabled(_enable); + m_Controls->m_Hemisphere_Z->setEnabled(_enable); + m_Controls->m_SetHemisphere->setEnabled(_enable); + m_Controls->m_ToggleHemisphere->setEnabled(_enable); + m_Controls->m_AdjustHemisphere->setEnabled(_enable); +} + +void QmitkPolhemusTrackerWidget::on_m_AdvancedSettings_clicked() +{ + bool _enable = m_Controls->m_AdvancedSettings->isChecked(); + m_Controls->m_ToolSelection->setVisible(_enable); + m_Controls->label_toolsToChange->setVisible(_enable); + m_Controls->label_UpdateOnRequest->setVisible(_enable); + m_Controls->m_GetHemisphere->setVisible(_enable); + m_Controls->m_Hemisphere_X->setVisible(_enable); + m_Controls->m_Hemisphere_Y->setVisible(_enable); + m_Controls->m_Hemisphere_Z->setVisible(_enable); + m_Controls->m_SetHemisphere->setVisible(_enable); + m_Controls->m_ToggleHemisphere->setVisible(_enable); + m_Controls->m_AdjustHemisphere->setVisible(_enable); + m_Controls->m_StatusLabelHemisphereTracking->setVisible(_enable); +} + +int QmitkPolhemusTrackerWidget::GetSelectedToolIndex() +{ + // Index 0 == All Tools == -1 for Polhemus interface; Index 1 == Tool 1 == 1 for Polhemus Interface; etc... + int _index = m_Controls->m_ToolSelection->currentIndex() - 1; + if (_index != -1) + { + //we need to find the internal Polhemus index for this tool. This is stored in the identifier of a navigation tool or as Port in PolhemusTool. + mitk::PolhemusTool* _tool = dynamic_cast(m_TrackingDevice->GetToolByName(m_Controls->m_ToolSelection->currentText().toStdString())); + _index = _tool->GetToolPort(); + } + return _index; +} \ No newline at end of file diff --git a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.h b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.h index dfd41ec261..d2e7bbe970 100644 --- a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.h @@ -1,65 +1,95 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkPolhemusTrackerWidget_H #define QmitkPolhemusTrackerWidget_H #include "ui_QmitkPolhemusTrackerWidget.h" #include "QmitkAbstractTrackingDeviceWidget.h" +#include /** Documentation: * \brief Implementation of a configuration widget for Polhemus Tracking Devices. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkPolhemusTrackerWidget : public QmitkAbstractTrackingDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkPolhemusTrackerWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkPolhemusTrackerWidget(); - mitk::TrackingDevice::Pointer GetTrackingDevice(); - virtual void Initialize(); signals: -protected slots : + protected slots : + void on_m_hemisphereTracking_clicked(); + void on_m_ToggleHemisphere_clicked(); + void on_m_SetHemisphere_clicked(); + void on_m_GetHemisphere_clicked(); + void on_m_AdjustHemisphere_clicked(); + void on_m_AdvancedSettings_clicked(); private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); + void SetAdvancedSettingsEnabled(bool _enable); + + int GetSelectedToolIndex(); + protected: virtual QmitkPolhemusTrackerWidget* Clone(QWidget* parent) const; Ui::QmitkPolhemusTrackerWidget* m_Controls; - mitk::TrackingDevice::Pointer m_TrackingDevice; + mitk::PolhemusTrackingDevice::Pointer m_TrackingDevice; public: - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); + /** + * \brief This function is called, when in the TrackingToolboxView "Connect" was clicked and the device is successful connected. + * Can e.g. be used to activate options of a tracking device only when it is connected. + */ + virtual void OnConnected( bool _success); + /** + * \brief This function is called, when in the TrackingToolboxView "Disconnect" was clicked and the device is successful disconnected. + * Can e.g. be used to activate/disactivate options of a tracking device. + */ + virtual void OnDisconnected(bool _success); + /** + * \brief This function is called, when in the TrackingToolboxView "Start Tracking" was clicked and the device successfully started tracking. + * Can e.g. be used to activate options of a tracking device only when tracking is started. + */ + virtual void OnStartTracking(bool _success); + /** + * \brief This function is called, when anything in the ToolStorage changed, e.g. AddTool or EditTool. + * ServiceListener is connected in the QmitkMITKIGTTrackingToolboxView. + */ + virtual void OnToolStorageChanged(); + }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.ui b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.ui index 9dee4ebd75..4203265d33 100644 --- a/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.ui +++ b/Modules/IGTUI/Qmitk/QmitkPolhemusTrackerWidget.ui @@ -1,52 +1,167 @@ QmitkPolhemusTrackerWidget 0 0 475 - 181 + 324 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" text-decoration: underline;">Polhemus Tracker</span></p></body></html> - + + + + + Enable hemisphere tracking (for all tools) + + + true + + + + + + + Show Advanced Settings + + + + + + + + + Qt::Horizontal + + + + + + + + + + + + Tools to change: + + + + + + + - Enable hemisphere tracking + Spinbox values and label are only updated on request (click 'Get Hemisphere'). - - true + + + + + + + + Get Hemisphere + + + + + + + -10 + + + 10 + + + + + + + -10 + + + 10 + + + + + + + -10 + + + 10 + + + + + + + Set Hemisphere + + + + + + + + + + + + + + + + + + Toggle Hemisphere + + + + + + + Adjust Hemisphere + + + + + Qt::Vertical 20 40 diff --git a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp index 6ae2c4dbb5..8f1f07205e 100644 --- a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp @@ -1,347 +1,362 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkTrackingDeviceConfigurationWidget.h" #include "mitkNDIPolarisTypeInformation.h" +#include "mitkNDIAuroraTypeInformation.h" #include const std::string QmitkTrackingDeviceConfigurationWidget::VIEW_ID = "org.mitk.views.trackingdeviceconfigurationwidget"; QmitkTrackingDeviceConfigurationWidget::QmitkTrackingDeviceConfigurationWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) , m_Controls(nullptr) - , m_TrackingDevice(nullptr) , m_DeviceToWidgetIndexMap() { //initializations CreateQtPartControl(this); CreateConnections(); RefreshTrackingDeviceCollection(); //initialize a few UI elements AddOutput("
First Element selected"); //Order from Collection List //reset a few things ResetOutput(); //restore old UI settings LoadUISettings(); } QmitkTrackingDeviceConfigurationWidget::~QmitkTrackingDeviceConfigurationWidget() { StoreUISettings(); delete m_Controls; - m_TrackingDevice = nullptr; } void QmitkTrackingDeviceConfigurationWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkTrackingDeviceConfigurationWidgetControls; m_Controls->setupUi(parent); } } void QmitkTrackingDeviceConfigurationWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_TrackingDeviceChooser), SIGNAL(currentIndexChanged(int)), this, SLOT(TrackingDeviceChanged())); } } void QmitkTrackingDeviceConfigurationWidget::TrackingDeviceChanged() { const std::string currentDevice = this->GetCurrentDeviceName(); //show the correspondig widget m_Controls->m_TrackingSystemWidget->setCurrentIndex(m_DeviceToWidgetIndexMap[currentDevice]); //reset output ResetOutput(); AddOutput("
"); AddOutput(currentDevice); AddOutput(" selected"); QmitkAbstractTrackingDeviceWidget* widget = GetWidget(currentDevice); if (widget == nullptr || !widget->IsDeviceInstalled()) { AddOutput("
ERROR: not installed!"); } emit TrackingDeviceSelectionChanged(); } void QmitkTrackingDeviceConfigurationWidget::RefreshTrackingDeviceCollection() { // clean-up of stacked widget, drop-down box and map for (auto& item : m_DeviceToWidgetIndexMap) { m_Controls->m_TrackingSystemWidget->removeWidget(m_Controls->m_TrackingSystemWidget->widget(item.second)); MITK_INFO << "removing widget for device '" << item.first << "'"; } m_Controls->m_TrackingDeviceChooser->clear(); m_DeviceToWidgetIndexMap.clear(); // get tracking device type service references us::ModuleContext* context = us::GetModuleContext(); std::vector > deviceRefs = context->GetServiceReferences(); if (deviceRefs.empty()) { MITK_ERROR << "No tracking device type service found!"; return; } // get tracking device configuration widget service references std::vector > widgetRefs = context->GetServiceReferences(); if (widgetRefs.empty()) { MITK_ERROR << "No tracking device configuration widget service found!"; return; } const us::ServiceReference& deviceServiceReference = deviceRefs.front(); const us::ServiceReference& widgetServiceReference = widgetRefs.front(); mitk::TrackingDeviceTypeCollection* deviceTypeCollection = context->GetService(deviceServiceReference); mitk::TrackingDeviceWidgetCollection* deviceWidgetCollection = context->GetService(widgetServiceReference); for (auto name : deviceTypeCollection->GetTrackingDeviceTypeNames()) { // if the device is not included yet, add name to comboBox and widget to stackedWidget if (m_Controls->m_TrackingDeviceChooser->findText(QString::fromStdString(name)) == -1) { m_Controls->m_TrackingDeviceChooser->addItem(QString::fromStdString(name)); QWidget* current = deviceWidgetCollection->GetTrackingDeviceWidgetClone(name); if (current == nullptr) { MITK_WARN << "No widget for tracking device type " << name << " available. Please implement and register it!"; current = new QWidget(); } m_DeviceToWidgetIndexMap[name] = m_Controls->m_TrackingSystemWidget->addWidget(current); } } if (!m_DeviceToWidgetIndexMap.empty()) { m_Controls->m_TrackingDeviceChooser->setCurrentIndex(0); m_Controls->m_TrackingSystemWidget->setCurrentIndex(0); } context->UngetService(deviceServiceReference); context->UngetService(widgetServiceReference); } //######################### internal help methods ####################################### void QmitkTrackingDeviceConfigurationWidget::ResetOutput() { QmitkAbstractTrackingDeviceWidget* currentWidget = this->GetWidget(this->GetCurrentDeviceName()); if (currentWidget == nullptr) { return; } currentWidget->ResetOutput(); currentWidget->repaint(); } void QmitkTrackingDeviceConfigurationWidget::AddOutput(std::string s) { QmitkAbstractTrackingDeviceWidget* currentWidget = this->GetWidget(this->GetCurrentDeviceName()); if (currentWidget == nullptr) { return; } currentWidget->AddOutput(s); currentWidget->repaint(); } -mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::GetTrackingDevice() { QmitkAbstractTrackingDeviceWidget* currentWidget = this->GetWidget(this->GetCurrentDeviceName()); - if (currentWidget == nullptr) + if (currentWidget == nullptr || !currentWidget->IsDeviceInstalled()) { return nullptr; } - return currentWidget->ConstructTrackingDevice(); -} - -mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::GetTrackingDevice() -{ - m_TrackingDevice = ConstructTrackingDevice(); - if (m_TrackingDevice.IsNull() || !m_TrackingDevice->IsDeviceInstalled()) return nullptr; - else return this->m_TrackingDevice; + return currentWidget->GetTrackingDevice(); } void QmitkTrackingDeviceConfigurationWidget::StoreUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; std::string selectedDevice = this->GetCurrentDeviceName(); //Save settings for every widget //Don't use m_DeviceTypeCollection here, it's already unregistered, when deconstructor is called... for (int index = 0; index < m_Controls->m_TrackingSystemWidget->count(); index++) { QmitkAbstractTrackingDeviceWidget* widget = dynamic_cast(m_Controls->m_TrackingSystemWidget->widget(index)); if (widget != nullptr) { widget->StoreUISettings(); } } if (this->GetPersistenceService()) // now save the settings using the persistence service { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); propList->Set("SelectedDevice", selectedDevice); } else // QSettings as a fallback if the persistence service is not available { QSettings settings; settings.beginGroup(QString::fromStdString(id)); settings.setValue("trackingDeviceChooser", QVariant(QString::fromStdString(selectedDevice))); settings.endGroup(); } } /** * @brief QmitkTrackingDeviceConfigurationWidget::LoadUISettings * * Precondition: * Make sure that QStackedWidget is already initialized, * e.g. by calling RefreshTrackingDeviceCollection() before. */ void QmitkTrackingDeviceConfigurationWidget::LoadUISettings() { //Load settings for every widget for (int index = 0; index < m_Controls->m_TrackingSystemWidget->count(); index++) { QmitkAbstractTrackingDeviceWidget* widget = dynamic_cast(m_Controls->m_TrackingSystemWidget->widget(index)); if (widget != nullptr) { widget->LoadUISettings(); } } std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; std::string selectedDevice; if (this->GetPersistenceService()) { mitk::PropertyList::Pointer propList = this->GetPersistenceService()->GetPropertyList(id); if (propList.IsNull()) { MITK_ERROR << "Property list for this UI (" << id << ") is not available, could not load UI settings!"; return; } propList->Get("SelectedDevice", selectedDevice); if (selectedDevice.empty()) { MITK_ERROR << "Loaded data from persistence service is invalid (SelectedDevice:" << selectedDevice << "): aborted to restore data!"; return; } MITK_INFO << "Successfully restored UI settings"; } else { // QSettings as a fallback if the persistence service is not available QSettings settings; settings.beginGroup(QString::fromStdString(id)); selectedDevice = settings.value("trackingDeviceChooser", "").toString().toStdString(); settings.endGroup(); } // The selected device requires some checks because a device that is not installed should not be restored to avoid bugs. // Use NDI Polaris as default if there's no widget registered for selected device or there's a widget for it but no device installed. const auto& deviceIterator = m_DeviceToWidgetIndexMap.find(selectedDevice); if (deviceIterator != m_DeviceToWidgetIndexMap.end()) { QmitkAbstractTrackingDeviceWidget* widget = dynamic_cast(m_Controls->m_TrackingSystemWidget->widget(deviceIterator->second)); if (widget == nullptr || (widget != nullptr && !widget->IsDeviceInstalled())) { selectedDevice = mitk::NDIPolarisTypeInformation::GetTrackingDeviceName(); } } else { selectedDevice = mitk::NDIPolarisTypeInformation::GetTrackingDeviceName(); } const int index = m_Controls->m_TrackingDeviceChooser->findText(QString::fromStdString(selectedDevice)); if (index >= 0) { m_Controls->m_TrackingDeviceChooser->setCurrentIndex(index); } else { MITK_ERROR << "Failed to load UI setting for tracking device configuration"; return; } m_Controls->m_TrackingSystemWidget->setCurrentIndex(m_DeviceToWidgetIndexMap[selectedDevice]); } std::string QmitkTrackingDeviceConfigurationWidget::GetCurrentDeviceName(void) const { return m_Controls->m_TrackingDeviceChooser->currentText().toStdString(); } QmitkAbstractTrackingDeviceWidget* QmitkTrackingDeviceConfigurationWidget::GetWidget(const std::string& deviceName) const { const auto& deviceIterator = m_DeviceToWidgetIndexMap.find(deviceName); if (deviceIterator != m_DeviceToWidgetIndexMap.end()) { QWidget* widget = m_Controls->m_TrackingSystemWidget->widget(deviceIterator->second); return dynamic_cast(widget); } return nullptr; } + +void QmitkTrackingDeviceConfigurationWidget::OnConnected(bool _success) +{ + this->GetWidget(this->GetCurrentDeviceName())->OnConnected(_success); +} +void QmitkTrackingDeviceConfigurationWidget::OnDisconnected(bool _success) +{ + this->GetWidget(this->GetCurrentDeviceName())->OnDisconnected(_success); +} + +void QmitkTrackingDeviceConfigurationWidget::OnStartTracking(bool _success) +{ + this->GetWidget(this->GetCurrentDeviceName())->OnStartTracking(_success); +} +void QmitkTrackingDeviceConfigurationWidget::OnStopTracking(bool _success) +{ + this->GetWidget(this->GetCurrentDeviceName())->OnStopTracking(_success); +} + +void QmitkTrackingDeviceConfigurationWidget::OnToolStorageChanged() +{ + this->GetWidget(this->GetCurrentDeviceName())->OnToolStorageChanged(); +} diff --git a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.h b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.h index f024a6d923..3a8a1605ce 100644 --- a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.h @@ -1,108 +1,135 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QMITKTRACKINGDEVICECONFIGURATIONWIDGET_H #define QMITKTRACKINGDEVICECONFIGURATIONWIDGET_H #include #include #include "MitkIGTUIExports.h" #include "ui_QmitkTrackingDeviceConfigurationWidgetControls.h" #include "mitkTrackingDeviceTypeCollection.h" #include "mitkTrackingDeviceWidgetCollection.h" + /** Documentation: * \brief An object of this class offers an UI to configurate * a tracking device. If the user finished the configuration process and * a fully configurated tracking device is availiabe the object emits a * signal "TrackingDeviceConfigurationFinished()". You can then get the * tracking device by calling the method GetTrackingDevice(). * * Once the tracking device is configurated there are two ways to reset * the UI to allow the user for configuring a new device. The method Reset() * can be called and there is also a button "reset" which can be pressed by * the user. In both cases a signal "TrackingDeviceConfigurationReseted()" * is emitted and you may wait for a new configurated tracking device. * * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkTrackingDeviceConfigurationWidget : public QWidget { Q_OBJECT public: static const std::string VIEW_ID; QmitkTrackingDeviceConfigurationWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkTrackingDeviceConfigurationWidget(); /* @return Returns the current configurated tracking device. If the user didn't finished the * configuration process or if there is an error during configuration NULL is returned. */ mitk::TrackingDevice::Pointer GetTrackingDevice(); + /** + * \brief This function is called, when anything in the ToolStorage changed, e.g. AddTool or EditTool. + * ServiceListener is connected in the QmitkMITKIGTTrackingToolboxView. + */ + void OnToolStorageChanged(); + signals: /* @brief This signal is sent if the tracking device was changed. */ void TrackingDeviceSelectionChanged(); +public slots: +/** +* \brief This function is called, when in the TrackingToolboxView "Connect" was clicked and the device is successful connected. +* Can e.g. be used to activate options of a tracking device only when it is connected. +*/ + void OnConnected(bool _success); + /** + * \brief This function is called, when in the TrackingToolboxView "Disconnect" was clicked and the device is successful disconnected. + * Can e.g. be used to activate/disactivate options of a tracking device. + */ + void OnDisconnected(bool _success); + + /** + * \brief This function is called, when in the TrackingToolboxView "Start Tracking" was clicked and the device successfully started tracking. + * Can e.g. be used to activate options of a tracking device only when tracking is started. + */ + void OnStartTracking(bool _success); + /** + * \brief This function is called, when in the TrackingToolboxView "Stop Tracking" was clicked and the device successful stopped tracking. + * Can e.g. be used to activate/disactivate options when device is not tracking. + */ + void OnStopTracking(bool _success); + protected: /// \brief Creation of the connections virtual void CreateConnections(); virtual void CreateQtPartControl(QWidget *parent); Ui::QmitkTrackingDeviceConfigurationWidgetControls* m_Controls; - mitk::TrackingDevice::Pointer m_TrackingDevice; - // key is port name (e.g. "COM1", "/dev/ttyS0"), value will be filled with the type of tracking device at this port typedef QMap PortDeviceMap; //######################### internal help methods ####################################### void ResetOutput(); void AddOutput(std::string s); - mitk::TrackingDevice::Pointer ConstructTrackingDevice(); void StoreUISettings(); void LoadUISettings(); /* @brief This method is called when the user clicks on "Refresh Selection" (m_RefreshTrackingDeviceCollection). It then sets the correct widget for the selected tracking device.*/ void RefreshTrackingDeviceCollection(); protected slots: /* @brief This method is called when the user changes the selection of the trackingdevice (m_trackingDeviceChooser). It then sets the correct widget for the selected tracking device.*/ void TrackingDeviceChanged(); private: PERSISTENCE_GET_SERVICE_METHOD_MACRO std::string GetCurrentDeviceName(void) const; QmitkAbstractTrackingDeviceWidget* GetWidget(const std::string& deviceName) const; /** * @brief Mapping of device type identifier and index of the configuration widget in QStackedWidget. */ std::map m_DeviceToWidgetIndexMap; }; #endif diff --git a/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.cpp b/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.cpp index 4b4a3db625..257b3fe1bc 100644 --- a/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.cpp @@ -1,94 +1,94 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "QmitkVirtualTrackerWidget.h" #include "mitkVirtualTrackingDevice.h" const std::string QmitkVirtualTrackerWidget::VIEW_ID = "org.mitk.views.VirtualTrackerWidget"; QmitkVirtualTrackerWidget::QmitkVirtualTrackerWidget(QWidget* parent, Qt::WindowFlags f) : QmitkAbstractTrackingDeviceWidget(parent, f) , m_Controls(nullptr) { } void QmitkVirtualTrackerWidget::Initialize() { InitializeSuperclassWidget(); CreateQtPartControl(this); CreateConnections(); } QmitkVirtualTrackerWidget::~QmitkVirtualTrackerWidget() { delete m_Controls; } void QmitkVirtualTrackerWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkVirtualTrackerWidget; m_Controls->setupUi(parent); } } void QmitkVirtualTrackerWidget::CreateConnections() { if (m_Controls) { connect((QObject*)(m_Controls->m_EnableGaussianNoise), SIGNAL(clicked()), this, SLOT(EnableGaussianNoise())); } } -mitk::TrackingDevice::Pointer QmitkVirtualTrackerWidget::ConstructTrackingDevice() +mitk::TrackingDevice::Pointer QmitkVirtualTrackerWidget::GetTrackingDevice() { // Create the Virtual Tracking Device mitk::VirtualTrackingDevice::Pointer returnValue = mitk::VirtualTrackingDevice::New(); if (m_Controls->m_EnableGaussianNoise->isChecked()) { returnValue->EnableGaussianNoise(); returnValue->SetParamsForGaussianNoise(m_Controls->m_MeanDistributionParam->value(), m_Controls->m_DeviationDistributionParam->value()); } return static_cast(returnValue); //static_cast necessary for compiling with Linux } void QmitkVirtualTrackerWidget::EnableGaussianNoise() { if (m_Controls->m_EnableGaussianNoise->isChecked()) { m_Controls->m_MeanDistributionParam->setEnabled(true); m_Controls->m_DeviationDistributionParam->setEnabled(true); } else { m_Controls->m_MeanDistributionParam->setEnabled(false); m_Controls->m_DeviationDistributionParam->setEnabled(false); } } QmitkVirtualTrackerWidget* QmitkVirtualTrackerWidget::Clone(QWidget* parent) const { QmitkVirtualTrackerWidget* clonedWidget = new QmitkVirtualTrackerWidget(parent); clonedWidget->Initialize(); clonedWidget->m_Controls->m_EnableGaussianNoise->setEnabled(m_Controls->m_EnableGaussianNoise->isEnabled()); clonedWidget->m_Controls->m_MeanDistributionParam->setValue(m_Controls->m_MeanDistributionParam->value()); clonedWidget->m_Controls->m_DeviationDistributionParam->setValue(m_Controls->m_DeviationDistributionParam->value()); return clonedWidget; } diff --git a/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.h b/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.h index a713d917dc..3864f62fd8 100644 --- a/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkVirtualTrackerWidget.h @@ -1,61 +1,61 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkVirtualTrackerWidget_H #define QmitkVirtualTrackerWidget_H #include "ui_QmitkVirtualTrackerWidget.h" #include "QmitkAbstractTrackingDeviceWidget.h" /** Documentation: * \brief Implementation of a configuration widget for a Vitrual Tracking Device. * * \ingroup IGTUI */ class MITKIGTUI_EXPORT QmitkVirtualTrackerWidget : public QmitkAbstractTrackingDeviceWidget { Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject) public: static const std::string VIEW_ID; QmitkVirtualTrackerWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkVirtualTrackerWidget(); virtual void Initialize(); signals: protected slots : /* @brief Enables or disables the Gaussian Noise for the VirtualTrackingDevice dependent on the State of the according Checkbox */ void EnableGaussianNoise(); private: /// \brief Creation of the connections void CreateConnections(); void CreateQtPartControl(QWidget *parent); protected: virtual QmitkVirtualTrackerWidget* Clone(QWidget* parent) const; Ui::QmitkVirtualTrackerWidget* m_Controls; public: - virtual mitk::TrackingDevice::Pointer ConstructTrackingDevice(); + virtual mitk::TrackingDevice::Pointer GetTrackingDevice(); }; #endif diff --git a/Plugins/org.mitk.gui.qt.igttracking/files.cmake b/Plugins/org.mitk.gui.qt.igttracking/files.cmake index 73f51d7e22..cbb54f9284 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/files.cmake +++ b/Plugins/org.mitk.gui.qt.igttracking/files.cmake @@ -1,58 +1,59 @@ set(SRC_CPP_FILES - + internal/QmitkMITKIGTTrackingToolboxViewWorker.cpp ) set(INTERNAL_CPP_FILES mitkPluginActivator.cpp QmitkMITKIGTNavigationToolManagerView.cpp QmitkMITKIGTTrackingToolboxView.cpp QmitkNavigationDataPlayerView.cpp IGTFiducialRegistration.cpp IGTNavigationToolCalibration.cpp ) set(UI_FILES src/internal/QmitkMITKIGTNavigationToolManagerViewControls.ui src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui src/internal/QmitkNavigationDataPlayerViewControls.ui src/internal/IGTNavigationToolCalibrationControls.ui src/internal/IGTFiducialRegistrationControls.ui ) set(MOC_H_FILES src/internal/mitkPluginActivator.h src/internal/QmitkMITKIGTNavigationToolManagerView.h src/internal/QmitkMITKIGTTrackingToolboxView.h + src/internal/QmitkMITKIGTTrackingToolboxViewWorker.h src/internal/QmitkNavigationDataPlayerView.h src/internal/IGTNavigationToolCalibration.h src/internal/IGTFiducialRegistration.h ) # list of resource files which can be used by the plug-in # system without loading the plug-ins shared library, # for example the icon used in the menu and tabs for the # plug-in views in the workbench set(CACHED_RESOURCE_FILES resources/iconTrackingDataPlayer.svg resources/iconTrackingRegistration.svg resources/iconTrackingToolbox.svg resources/iconTrackingToolCalibration.svg resources/iconTrackingToolManager.svg plugin.xml ) # list of Qt .qrc files which contain additional resources # specific to this plugin set(QRC_FILES resources/IGTNavigationToolCalibration.qrc ) set(CPP_FILES ) foreach(file ${SRC_CPP_FILES}) set(CPP_FILES ${CPP_FILES} src/${file}) endforeach(file ${SRC_CPP_FILES}) foreach(file ${INTERNAL_CPP_FILES}) set(CPP_FILES ${CPP_FILES} src/internal/${file}) endforeach(file ${INTERNAL_CPP_FILES}) \ No newline at end of file diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp index 41ca0f63b4..bf0f822d00 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp @@ -1,1475 +1,1257 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ // Blueberry #include #include // Qmitk #include "QmitkMITKIGTTrackingToolboxView.h" -#include "QmitkTrackingDeviceConfigurationWidget.h" #include "QmitkStdMultiWidget.h" // Qt #include #include #include // MITK #include -#include #include -#include #include #include #include -//#include #include #include -#include #include #include -#include "mitkNDIAuroraTypeInformation.h" - -// vtk -#include //for exceptions #include #include -//for Microservice #include "mitkPluginActivator.h" -#include -#include -#include "usServiceReference.h" const std::string QmitkMITKIGTTrackingToolboxView::VIEW_ID = "org.mitk.views.mitkigttrackingtoolbox"; QmitkMITKIGTTrackingToolboxView::QmitkMITKIGTTrackingToolboxView() : QmitkFunctionality() , m_Controls(nullptr) , m_MultiWidget(nullptr) , m_DeviceTypeCollection(nullptr) { m_TrackingLoggingTimer = new QTimer(this); m_TrackingRenderTimer = new QTimer(this); m_TimeoutTimer = new QTimer(this); m_tracking = false; m_connected = false; m_logging = false; m_loggedFrames = 0; m_SimpleModeEnabled = false; //create filename for autosaving of tool storage QString loggingPathWithoutFilename = QString(mitk::LoggingBackend::GetLogFile().c_str()); if (!loggingPathWithoutFilename.isEmpty()) //if there already is a path for the MITK logging file use this one { //extract path from path+filename (if someone knows a better way to do this feel free to change it) int lengthOfFilename = QFileInfo(QString::fromStdString(mitk::LoggingBackend::GetLogFile())).fileName().size(); loggingPathWithoutFilename.resize(loggingPathWithoutFilename.size() - lengthOfFilename); m_AutoSaveFilename = loggingPathWithoutFilename + "TrackingToolboxAutoSave.IGTToolStorage"; } else //if not: use a temporary path from IOUtil { m_AutoSaveFilename = QString(mitk::IOUtil::GetTempPath().c_str()) + "TrackingToolboxAutoSave.IGTToolStorage"; } MITK_INFO("IGT Tracking Toolbox") << "Filename for auto saving of IGT ToolStorages: " << m_AutoSaveFilename.toStdString(); //! [Thread 1] //initialize worker thread m_WorkerThread = new QThread(); m_Worker = new QmitkMITKIGTTrackingToolboxViewWorker(); //! [Thread 1] ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext(); if (pluginContext) { QString interfaceName = QString::fromStdString(us_service_interface_iid()); QList serviceReference = pluginContext->getServiceReferences(interfaceName); if (serviceReference.size() > 0) { m_DeviceTypeServiceReference = serviceReference.at(0); const ctkServiceReference& r = serviceReference.at(0); m_DeviceTypeCollection = pluginContext->getService(r); } else { MITK_INFO << "No Tracking Device Collection!"; } } } QmitkMITKIGTTrackingToolboxView::~QmitkMITKIGTTrackingToolboxView() { this->StoreUISettings(); m_TrackingLoggingTimer->stop(); m_TrackingRenderTimer->stop(); m_TimeoutTimer->stop(); delete m_TrackingLoggingTimer; delete m_TrackingRenderTimer; delete m_TimeoutTimer; try { //! [Thread 2] // wait for thread to finish m_WorkerThread->terminate(); m_WorkerThread->wait(); //clean up worker thread if (m_WorkerThread) { delete m_WorkerThread; } if (m_Worker) { delete m_Worker; } //! [Thread 2] //remove the tracking volume this->GetDataStorage()->Remove(m_TrackingVolumeNode); //unregister microservices if (m_toolStorage) { m_toolStorage->UnRegisterMicroservice(); } - if (m_TrackingDeviceSource) { m_TrackingDeviceSource->UnRegisterMicroservice(); } + if (m_IGTLMessageProvider.IsNotNull()){ m_IGTLMessageProvider->UnRegisterMicroservice(); } } catch (std::exception& e) { MITK_WARN << "Unexpected exception during clean up of tracking toolbox view: " << e.what(); } catch (...) { MITK_WARN << "Unexpected unknown error during clean up of tracking toolbox view!"; } //store tool storage and UI settings for persistence this->AutoSaveToolStorage(); this->StoreUISettings(); m_DeviceTypeCollection = nullptr; mitk::PluginActivator::GetContext()->ungetService(m_DeviceTypeServiceReference); } void QmitkMITKIGTTrackingToolboxView::CreateQtPartControl(QWidget *parent) { // build up qt view, unless already done if (!m_Controls) { // create GUI widgets from the Qt Designer's .ui file m_Controls = new Ui::QmitkMITKIGTTrackingToolboxViewControls; m_Controls->setupUi(parent); //create connections connect(m_Controls->m_LoadTools, SIGNAL(clicked()), this, SLOT(OnLoadTools())); connect(m_Controls->m_ConnectDisconnectButton, SIGNAL(clicked()), this, SLOT(OnConnectDisconnect())); connect(m_Controls->m_StartStopTrackingButton, SIGNAL(clicked()), this, SLOT(OnStartStopTracking())); connect(m_Controls->m_ConnectSimpleMode, SIGNAL(clicked()), this, SLOT(OnConnectDisconnect())); connect(m_Controls->m_StartTrackingSimpleMode, SIGNAL(clicked()), this, SLOT(OnStartStopTracking())); connect(m_Controls->m_FreezeUnfreezeTrackingButton, SIGNAL(clicked()), this, SLOT(OnFreezeUnfreezeTracking())); connect(m_TrackingLoggingTimer, SIGNAL(timeout()), this, SLOT(UpdateLoggingTrackingTimer())); connect(m_TrackingRenderTimer, SIGNAL(timeout()), this, SLOT(UpdateRenderTrackingTimer())); connect(m_TimeoutTimer, SIGNAL(timeout()), this, SLOT(OnTimeOut())); connect(m_Controls->m_ChooseFile, SIGNAL(clicked()), this, SLOT(OnChooseFileClicked())); connect(m_Controls->m_StartLogging, SIGNAL(clicked()), this, SLOT(StartLogging())); connect(m_Controls->m_StopLogging, SIGNAL(clicked()), this, SLOT(StopLogging())); connect(m_Controls->m_VolumeSelectionBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(OnTrackingVolumeChanged(QString))); connect(m_Controls->m_ShowTrackingVolume, SIGNAL(clicked()), this, SLOT(OnShowTrackingVolumeChanged())); connect(m_Controls->m_AutoDetectTools, SIGNAL(clicked()), this, SLOT(OnAutoDetectTools())); connect(m_Controls->m_ResetTools, SIGNAL(clicked()), this, SLOT(OnResetTools())); connect(m_Controls->m_AddSingleTool, SIGNAL(clicked()), this, SLOT(OnAddSingleTool())); connect(m_Controls->m_NavigationToolCreationWidget, SIGNAL(NavigationToolFinished()), this, SLOT(OnAddSingleToolFinished())); connect(m_Controls->m_NavigationToolCreationWidget, SIGNAL(Canceled()), this, SLOT(OnAddSingleToolCanceled())); connect(m_Controls->m_csvFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension())); connect(m_Controls->m_xmlFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension())); connect(m_Controls->m_UseDifferentUpdateRates, SIGNAL(clicked()), this, SLOT(OnToggleDifferentUpdateRates())); connect(m_Controls->m_RenderUpdateRate, SIGNAL(valueChanged(int)), this, SLOT(OnChangeRenderUpdateRate())); connect(m_Controls->m_DisableAllTimers, SIGNAL(stateChanged(int)), this, SLOT(EnableDisableTimerButtons(int))); connect(m_Controls->m_advancedUI, SIGNAL(clicked()), this, SLOT(OnToggleAdvancedSimpleMode())); connect(m_Controls->m_simpleUI, SIGNAL(clicked()), this, SLOT(OnToggleAdvancedSimpleMode())); //connections for the tracking device configuration widget connect(m_Controls->m_configurationWidget, SIGNAL(TrackingDeviceSelectionChanged()), this, SLOT(OnTrackingDeviceChanged())); + //! [Thread 3] //connect worker thread connect(m_Worker, SIGNAL(AutoDetectToolsFinished(bool, QString)), this, SLOT(OnAutoDetectToolsFinished(bool, QString))); connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool, QString)), this, SLOT(OnConnectFinished(bool, QString))); connect(m_Worker, SIGNAL(StartTrackingFinished(bool, QString)), this, SLOT(OnStartTrackingFinished(bool, QString))); connect(m_Worker, SIGNAL(StopTrackingFinished(bool, QString)), this, SLOT(OnStopTrackingFinished(bool, QString))); connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool, QString)), this, SLOT(OnDisconnectFinished(bool, QString))); connect(m_WorkerThread, SIGNAL(started()), m_Worker, SLOT(ThreadFunc())); + connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool, QString)), m_Controls->m_configurationWidget, SLOT(OnConnected(bool))); + connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool, QString)), m_Controls->m_configurationWidget, SLOT(OnDisconnected(bool))); + connect(m_Worker, SIGNAL(StartTrackingFinished(bool, QString)), m_Controls->m_configurationWidget, SLOT(OnStartTracking(bool))); + connect(m_Worker, SIGNAL(StopTrackingFinished(bool, QString)), m_Controls->m_configurationWidget, SLOT(OnStopTracking(bool))); + + + //Add Listener, so that we know when the toolStorage changed. + std::string m_Filter = "(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.NavigationToolStorage" + ")"; + mitk::PluginActivator::GetContext()->connectServiceListener(this, "OnToolStorageChanged", QString(m_Filter.c_str())); + //move the worker to the thread m_Worker->moveToThread(m_WorkerThread); //! [Thread 3] //initialize widgets m_Controls->m_TrackingToolsStatusWidget->SetShowPositions(true); m_Controls->m_TrackingToolsStatusWidget->SetTextAlignment(Qt::AlignLeft); m_Controls->m_simpleWidget->setVisible(false); //initialize tracking volume node m_TrackingVolumeNode = mitk::DataNode::New(); m_TrackingVolumeNode->SetName("TrackingVolume"); m_TrackingVolumeNode->SetBoolProperty("Backface Culling", true); mitk::Color red; red.SetRed(1); m_TrackingVolumeNode->SetColor(red); //initialize buttons m_Controls->m_AutoDetectTools->setVisible(false); //only visible if supported by tracking device m_Controls->m_StartStopTrackingButton->setEnabled(false); m_Controls->m_StartTrackingSimpleMode->setEnabled(false); m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(false); //initialize warning labels m_Controls->m_renderWarningLabel->setVisible(false); m_Controls->m_TrackingFrozenLabel->setVisible(false); //Update List of available models for selected tool. std::vector Compatibles; if ((m_Controls == NULL) || //check all these stuff for NULL, latterly this causes crashes from time to time (m_Controls->m_configurationWidget == NULL) || (m_Controls->m_configurationWidget->GetTrackingDevice().IsNull())) { MITK_ERROR << "Couldn't get current tracking device or an object is NULL, something went wrong!"; return; } else { Compatibles = m_DeviceTypeCollection->GetDeviceDataForLine(m_Controls->m_configurationWidget->GetTrackingDevice()->GetType()); } m_Controls->m_VolumeSelectionBox->clear(); for (std::size_t i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } //initialize tool storage m_toolStorage = mitk::NavigationToolStorage::New(GetDataStorage()); m_toolStorage->SetName("TrackingToolbox Default Storage"); m_toolStorage->RegisterAsMicroservice("no tracking device"); //set home directory as default path for logfile m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(QDir::homePath()) + QDir::separator() + "logfile.csv"); //tracking device may be changed already by the persistence of the //QmitkTrackingDeciveConfigurationWidget this->OnTrackingDeviceChanged(); this->LoadUISettings(); //add tracking volume node only to data storage this->GetDataStorage()->Add(m_TrackingVolumeNode); if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0); else m_TrackingVolumeNode->SetOpacity(0.25); //Update List of available models for selected tool. m_Controls->m_VolumeSelectionBox->clear(); for (std::size_t i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } } } void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetAvailable(QmitkStdMultiWidget &stdMultiWidget) { m_MultiWidget = &stdMultiWidget; } void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetNotAvailable() { m_MultiWidget = NULL; } void QmitkMITKIGTTrackingToolboxView::OnLoadTools() { //read in filename QString filename = QFileDialog::getOpenFileName(NULL, tr("Open Tool Storage"), "/", tr("Tool Storage Files (*.IGTToolStorage)")); if (filename.isNull()) return; //read tool storage from disk std::string errorMessage = ""; mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage()); // try-catch block for exceptions try { this->ReplaceCurrentToolStorage(myDeserializer->Deserialize(filename.toStdString()), filename.toStdString()); } catch (mitk::IGTException) { std::string errormessage = "Error during loading the tool storage file. Please only load tool storage files created with the NavigationToolManager view."; QMessageBox::warning(NULL, "Tool Storage Loading Error", errormessage.c_str()); return; } if (m_toolStorage->isEmpty()) { errorMessage = myDeserializer->GetErrorMessage(); MessageBox(errorMessage); return; } //update label UpdateToolStorageLabel(filename); //update tool preview m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); //save filename for persistent storage m_ToolStorageFilename = filename; } void QmitkMITKIGTTrackingToolboxView::OnResetTools() { this->ReplaceCurrentToolStorage(mitk::NavigationToolStorage::New(GetDataStorage()), "TrackingToolbox Default Storage"); m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); QString toolLabel = QString(""); m_Controls->m_toolLabel->setText(toolLabel); m_ToolStorageFilename = ""; } void QmitkMITKIGTTrackingToolboxView::OnStartStopTracking() { if (!m_connected) { MITK_WARN << "Can't start tracking if no device is connected. Aborting"; return; } if (m_tracking) { OnStopTracking(); } else { OnStartTracking(); } } void QmitkMITKIGTTrackingToolboxView::OnFreezeUnfreezeTracking() { if (m_Controls->m_FreezeUnfreezeTrackingButton->text() == "Freeze Tracking") { - m_TrackingDeviceSource->Freeze(); + m_Worker->GetTrackingDeviceSource()->Freeze(); m_Controls->m_FreezeUnfreezeTrackingButton->setText("Unfreeze Tracking"); m_Controls->m_TrackingFrozenLabel->setVisible(true); } else if (m_Controls->m_FreezeUnfreezeTrackingButton->text() == "Unfreeze Tracking") { - m_TrackingDeviceSource->UnFreeze(); + m_Worker->GetTrackingDeviceSource()->UnFreeze(); m_Controls->m_FreezeUnfreezeTrackingButton->setText("Freeze Tracking"); m_Controls->m_TrackingFrozenLabel->setVisible(false); } } void QmitkMITKIGTTrackingToolboxView::OnConnectDisconnect() { if (m_connected) { OnDisconnect(); } else { OnConnect(); } } void QmitkMITKIGTTrackingToolboxView::OnConnect() { - MITK_INFO << "Connect Clicked"; + MITK_DEBUG << "Connect Clicked"; //check if everything is ready to start tracking if (this->m_toolStorage.IsNull()) { MessageBox("Error: No Tools Loaded Yet!"); return; } else if (this->m_toolStorage->GetToolCount() == 0) { MessageBox("Error: No Way To Track Without Tools!"); return; } //parse tracking device data mitk::TrackingDeviceData data = mitk::UnspecifiedTrackingTypeInformation::GetDeviceDataUnspecified(); QString qstr = m_Controls->m_VolumeSelectionBox->currentText(); if ((!qstr.isNull()) || (!qstr.isEmpty())) { std::string str = qstr.toStdString(); data = m_DeviceTypeCollection->GetDeviceDataByName(str); //Data will be set later, after device generation } //! [Thread 4] //initialize worker thread m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eConnectDevice); m_Worker->SetTrackingDevice(this->m_Controls->m_configurationWidget->GetTrackingDevice()); m_Worker->SetInverseMode(m_Controls->m_InverseMode->isChecked()); m_Worker->SetNavigationToolStorage(this->m_toolStorage); m_Worker->SetTrackingDeviceData(data); //start worker thread m_WorkerThread->start(); //! [Thread 4] //disable buttons this->m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::EnableDisableTimerButtons(int enable) { bool enableBool = enable; m_Controls->m_UpdateRateOptionsGroupBox->setEnabled(!enableBool); m_Controls->m_renderWarningLabel->setVisible(enableBool); } void QmitkMITKIGTTrackingToolboxView::OnConnectFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); //enable buttons this->m_Controls->m_MainWidget->setEnabled(true); if (!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); return; } //! [Thread 6] //get data from worker thread - m_TrackingDeviceSource = m_Worker->GetTrackingDeviceSource(); m_TrackingDeviceData = m_Worker->GetTrackingDeviceData(); m_ToolVisualizationFilter = m_Worker->GetToolVisualizationFilter(); //! [Thread 6] //enable/disable Buttons DisableOptionsButtons(); DisableTrackingConfigurationButtons(); m_Controls->m_TrackingControlLabel->setText("Status: connected"); m_Controls->m_ConnectDisconnectButton->setText("Disconnect"); m_Controls->m_ConnectSimpleMode->setText("Disconnect"); m_Controls->m_StartStopTrackingButton->setEnabled(true); m_Controls->m_StartTrackingSimpleMode->setEnabled(true); m_connected = true; } void QmitkMITKIGTTrackingToolboxView::OnDisconnect() { m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eDisconnectDevice); m_WorkerThread->start(); m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnDisconnectFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); m_Controls->m_MainWidget->setEnabled(true); if (!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); return; } //enable/disable Buttons m_Controls->m_StartStopTrackingButton->setEnabled(false); m_Controls->m_StartTrackingSimpleMode->setEnabled(false); EnableOptionsButtons(); EnableTrackingConfigurationButtons(); m_Controls->m_TrackingControlLabel->setText("Status: disconnected"); m_Controls->m_ConnectDisconnectButton->setText("Connect"); m_Controls->m_ConnectSimpleMode->setText("Connect"); m_Controls->m_FreezeUnfreezeTrackingButton->setText("Freeze Tracking"); m_Controls->m_TrackingFrozenLabel->setVisible(false); m_connected = false; } void QmitkMITKIGTTrackingToolboxView::OnStartTracking() { //show tracking volume this->OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText()); //Reset the view to a defined start. Do it here and not in OnStartTrackingFinished, to give other tracking devices the chance to reset the view to a different direction. this->GlobalReinit(); m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStartTracking); m_WorkerThread->start(); this->m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnStartTrackingFinished(bool success, QString errorMessage) { //! [Thread 5] m_WorkerThread->quit(); m_WorkerThread->wait(); //! [Thread 5] this->m_Controls->m_MainWidget->setEnabled(true); if (!success) { MessageBox(errorMessage.toStdString()); MITK_WARN << errorMessage.toStdString(); return; } if (!(m_Controls->m_DisableAllTimers->isChecked())) { if (m_Controls->m_UseDifferentUpdateRates->isChecked()) { if (m_Controls->m_RenderUpdateRate->value() != 0) m_TrackingRenderTimer->start(1000 / (m_Controls->m_RenderUpdateRate->value())); m_TrackingLoggingTimer->start(1000 / (m_Controls->m_LogUpdateRate->value())); } else { m_TrackingRenderTimer->start(1000 / (m_Controls->m_UpdateRate->value())); m_TrackingLoggingTimer->start(1000 / (m_Controls->m_UpdateRate->value())); } } m_Controls->m_TrackingControlLabel->setText("Status: tracking"); //connect the tool visualization widget - for (std::size_t i = 0; i < m_TrackingDeviceSource->GetNumberOfOutputs(); i++) + for (std::size_t i = 0; i < m_Worker->GetTrackingDeviceSource()->GetNumberOfOutputs(); i++) { - m_Controls->m_TrackingToolsStatusWidget->AddNavigationData(m_TrackingDeviceSource->GetOutput(i)); + m_Controls->m_TrackingToolsStatusWidget->AddNavigationData(m_Worker->GetTrackingDeviceSource()->GetOutput(i)); } m_Controls->m_TrackingToolsStatusWidget->ShowStatusLabels(); if (m_Controls->m_ShowToolQuaternions->isChecked()) { m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(true); } else { m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(false); } //if activated enable open IGT link microservice if (m_Controls->m_EnableOpenIGTLinkMicroService->isChecked()) { //create convertion filter m_IGTLConversionFilter = mitk::NavigationDataToIGTLMessageFilter::New(); m_IGTLConversionFilter->SetName("IGT Tracking Toolbox"); QString dataModeSelection = this->m_Controls->m_OpenIGTLinkDataFormat->currentText(); if (dataModeSelection == "TDATA") - {m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendTDataMsg);} + { + m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendTDataMsg); + } else if (dataModeSelection == "TRANSFORM") - {m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendTransMsg);} + { + m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendTransMsg); + } else if (dataModeSelection == "QTDATA") - {m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendQTDataMsg);} + { + m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendQTDataMsg); + } else if (dataModeSelection == "POSITION") - {m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendQTransMsg);} + { + m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendQTransMsg); + } m_IGTLConversionFilter->ConnectTo(m_ToolVisualizationFilter); m_IGTLConversionFilter->RegisterAsMicroservice(); - //create server and message provider m_IGTLServer = mitk::IGTLServer::New(false); m_IGTLServer->SetName("Tracking Toolbox IGTL Server"); m_IGTLMessageProvider = mitk::IGTLMessageProvider::New(); m_IGTLMessageProvider->SetIGTLDevice(m_IGTLServer); m_IGTLMessageProvider->RegisterAsMicroservice(); } m_tracking = true; m_Controls->m_ConnectDisconnectButton->setEnabled(false); m_Controls->m_StartStopTrackingButton->setText("Stop Tracking"); m_Controls->m_StartTrackingSimpleMode->setText("Stop\nTracking"); m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(true); - } void QmitkMITKIGTTrackingToolboxView::OnStopTracking() { if (!m_tracking) return; m_TrackingRenderTimer->stop(); m_TrackingLoggingTimer->stop(); m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStopTracking); m_WorkerThread->start(); m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnStopTrackingFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); m_Controls->m_MainWidget->setEnabled(true); if (!success) { MessageBox(errorMessage.toStdString()); MITK_WARN << errorMessage.toStdString(); return; } m_Controls->m_TrackingControlLabel->setText("Status: connected"); if (m_logging) StopLogging(); m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); m_tracking = false; m_Controls->m_StartStopTrackingButton->setText("Start Tracking"); m_Controls->m_StartTrackingSimpleMode->setText("Start\nTracking"); m_Controls->m_ConnectDisconnectButton->setEnabled(true); m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(false); //unregister open IGT link micro service if (m_Controls->m_EnableOpenIGTLinkMicroService->isChecked()) { m_IGTLConversionFilter->UnRegisterMicroservice(); m_IGTLMessageProvider->UnRegisterMicroservice(); } } void QmitkMITKIGTTrackingToolboxView::OnTrackingDeviceChanged() { mitk::TrackingDeviceType Type; if (m_Controls->m_configurationWidget->GetTrackingDevice().IsNotNull()) { Type = m_Controls->m_configurationWidget->GetTrackingDevice()->GetType(); //enable controls because device is valid m_Controls->m_TrackingToolsGoupBox->setEnabled(true); m_Controls->m_TrackingControlsGroupBox->setEnabled(true); } else { Type = mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(); MessageBox("Error: This tracking device is not included in this project. Please make sure that the device is installed and activated in your MITK build."); m_Controls->m_TrackingToolsGoupBox->setEnabled(false); m_Controls->m_TrackingControlsGroupBox->setEnabled(false); return; } // Code to enable/disable device specific buttons if (m_Controls->m_configurationWidget->GetTrackingDevice()->AutoDetectToolsAvailable()) - { m_Controls->m_AutoDetectTools->setVisible(true); } + { + m_Controls->m_AutoDetectTools->setVisible(true); + } else - { m_Controls->m_AutoDetectTools->setVisible(false); } + { + m_Controls->m_AutoDetectTools->setVisible(false); + } - if (Type == mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) //Aurora - { m_Controls->m_AddSingleTool->setEnabled(false);} - else //other trackers - { m_Controls->m_AddSingleTool->setEnabled(true); } + m_Controls->m_AddSingleTool->setEnabled(this->m_Controls->m_configurationWidget->GetTrackingDevice()->AddSingleToolIsAvailable()); // Code to select appropriate tracking volume for current type std::vector Compatibles = m_DeviceTypeCollection->GetDeviceDataForLine(Type); m_Controls->m_VolumeSelectionBox->clear(); for (std::size_t i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } } void QmitkMITKIGTTrackingToolboxView::OnTrackingVolumeChanged(QString qstr) { if (qstr.isNull()) return; if (qstr.isEmpty()) return; mitk::TrackingVolumeGenerator::Pointer volumeGenerator = mitk::TrackingVolumeGenerator::New(); std::string str = qstr.toStdString(); mitk::TrackingDeviceData data = m_DeviceTypeCollection->GetDeviceDataByName(str); m_TrackingDeviceData = data; volumeGenerator->SetTrackingDeviceData(data); volumeGenerator->Update(); mitk::Surface::Pointer volumeSurface = volumeGenerator->GetOutput(); m_TrackingVolumeNode->SetData(volumeSurface); if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0); else m_TrackingVolumeNode->SetOpacity(0.25); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnShowTrackingVolumeChanged() { if (m_Controls->m_ShowTrackingVolume->isChecked()) { OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText()); m_TrackingVolumeNode->SetOpacity(0.25); } else { m_TrackingVolumeNode->SetOpacity(0.0); } } void QmitkMITKIGTTrackingToolboxView::OnAutoDetectTools() { if (m_Controls->m_configurationWidget->GetTrackingDevice()->AutoDetectToolsAvailable()) { DisableTrackingConfigurationButtons(); m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eAutoDetectTools); m_Worker->SetTrackingDevice(m_Controls->m_configurationWidget->GetTrackingDevice().GetPointer()); m_Worker->SetDataStorage(this->GetDataStorage()); m_WorkerThread->start(); - m_TimeoutTimer->start(5000); + m_TimeoutTimer->start(7000); //disable controls until worker thread is finished this->m_Controls->m_MainWidget->setEnabled(false); } } void QmitkMITKIGTTrackingToolboxView::OnAutoDetectToolsFinished(bool success, QString errorMessage) { - m_TimeoutTimer->stop(); - m_WorkerThread->quit(); - m_WorkerThread->wait(); + //Check, if the thread is running. There might have been a timeOut inbetween and this causes crashes... + if (m_WorkerThread->isRunning()) + { + m_TimeoutTimer->stop(); + m_WorkerThread->quit(); + m_WorkerThread->wait(); + } //enable controls again this->m_Controls->m_MainWidget->setEnabled(true); EnableTrackingConfigurationButtons(); if (!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); EnableTrackingConfigurationButtons(); return; } mitk::NavigationToolStorage::Pointer autoDetectedStorage = m_Worker->GetNavigationToolStorage(); //save detected tools - this->ReplaceCurrentToolStorage(autoDetectedStorage, "Autodetected NDI Aurora Storage"); + std::string _autoDetectText; + _autoDetectText = "Autodetected "; + _autoDetectText.append(this->m_TrackingDeviceData.Line); //This is the device name as string of the current TrackingDevice. + _autoDetectText.append(" Storage"); + this->ReplaceCurrentToolStorage(autoDetectedStorage, _autoDetectText); //auto save the new storage to hard disc (for persistence) AutoSaveToolStorage(); //update label QString toolLabel = QString("Loaded Tools: ") + QString::number(m_toolStorage->GetToolCount()) + " Tools (Auto Detected)"; m_Controls->m_toolLabel->setText(toolLabel); //update tool preview m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); EnableTrackingConfigurationButtons(); //print a logging message about the detected tools switch (m_toolStorage->GetToolCount()) { case 0: MITK_INFO("IGT Tracking Toolbox") << "Found no tools. Empty ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); break; case 1: MITK_INFO("IGT Tracking Toolbox") << "Found one tool. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); break; default: MITK_INFO("IGT Tracking Toolbox") << "Found " << m_toolStorage->GetToolCount() << " tools. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); } } void QmitkMITKIGTTrackingToolboxView::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkMITKIGTTrackingToolboxView::UpdateRenderTrackingTimer() { //update filter m_ToolVisualizationFilter->Update(); MITK_DEBUG << "Number of outputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedOutputs(); MITK_DEBUG << "Number of inputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedInputs(); //update tool colors to show tool status for (unsigned int i = 0; i < m_ToolVisualizationFilter->GetNumberOfIndexedOutputs(); i++) { mitk::NavigationData::Pointer currentTool = m_ToolVisualizationFilter->GetOutput(i); if (currentTool->IsDataValid()) { this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_VALID); } else { this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_WARNING); } } //refresh view and status widget mitk::RenderingManager::GetInstance()->RequestUpdateAll(); m_Controls->m_TrackingToolsStatusWidget->Refresh(); } void QmitkMITKIGTTrackingToolboxView::UpdateLoggingTrackingTimer() { //update logging if (m_logging) { this->m_loggingFilter->Update(); m_loggedFrames = this->m_loggingFilter->GetNumberOfRecordedSteps(); this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: " + QString::number(m_loggedFrames)); //check if logging stopped automatically if ((m_loggedFrames > 1) && (!m_loggingFilter->GetRecording())){ StopLogging(); } } //refresh status widget m_Controls->m_TrackingToolsStatusWidget->Refresh(); } void QmitkMITKIGTTrackingToolboxView::OnChooseFileClicked() { QDir currentPath = QFileInfo(m_Controls->m_LoggingFileName->text()).dir(); // if no path was selected (QDir would select current working dir then) or the // selected path does not exist -> use home directory if (currentPath == QDir() || !currentPath.exists()) { currentPath = QDir(QDir::homePath()); } QString filename = QFileDialog::getSaveFileName(NULL, tr("Choose Logging File"), currentPath.absolutePath(), "*.*"); if (filename == "") return; this->m_Controls->m_LoggingFileName->setText(filename); this->OnToggleFileExtension(); } // bug-16470: toggle file extension after clicking on radio button void QmitkMITKIGTTrackingToolboxView::OnToggleFileExtension() { QString currentInputText = this->m_Controls->m_LoggingFileName->text(); QString currentFile = QFileInfo(currentInputText).baseName(); QDir currentPath = QFileInfo(currentInputText).dir(); if (currentFile.isEmpty()) { currentFile = "logfile"; } // Setting currentPath to default home path when currentPath is empty or it does not exist if (currentPath == QDir() || !currentPath.exists()) { currentPath = QDir::homePath(); } // check if csv radio button is clicked if (this->m_Controls->m_csvFormat->isChecked()) { // you needn't add a seperator to the input text when currentpath is the rootpath if (currentPath.isRoot()) { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".csv"); } else { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".csv"); } } // check if xml radio button is clicked else if (this->m_Controls->m_xmlFormat->isChecked()) { // you needn't add a seperator to the input text when currentpath is the rootpath if (currentPath.isRoot()) { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".xml"); } else { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".xml"); } } } void QmitkMITKIGTTrackingToolboxView::OnToggleAdvancedSimpleMode() { if (m_SimpleModeEnabled) { m_Controls->m_simpleWidget->setVisible(false); m_Controls->m_MainWidget->setVisible(true); m_Controls->m_simpleUI->setChecked(false); m_SimpleModeEnabled = false; } else { m_Controls->m_simpleWidget->setVisible(true); m_Controls->m_MainWidget->setVisible(false); m_SimpleModeEnabled = true; } } void QmitkMITKIGTTrackingToolboxView::OnToggleDifferentUpdateRates() { if (m_Controls->m_UseDifferentUpdateRates->isChecked()) { if (m_Controls->m_RenderUpdateRate->value() == 0) m_Controls->m_renderWarningLabel->setVisible(true); else m_Controls->m_renderWarningLabel->setVisible(false); m_Controls->m_UpdateRate->setEnabled(false); m_Controls->m_OptionsUpdateRateLabel->setEnabled(false); m_Controls->m_RenderUpdateRate->setEnabled(true); m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(true); m_Controls->m_LogUpdateRate->setEnabled(true); m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(true); } else { m_Controls->m_renderWarningLabel->setVisible(false); m_Controls->m_UpdateRate->setEnabled(true); m_Controls->m_OptionsUpdateRateLabel->setEnabled(true); m_Controls->m_RenderUpdateRate->setEnabled(false); m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(false); m_Controls->m_LogUpdateRate->setEnabled(false); m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(false); } } void QmitkMITKIGTTrackingToolboxView::OnChangeRenderUpdateRate() { if (m_Controls->m_RenderUpdateRate->value() == 0) m_Controls->m_renderWarningLabel->setVisible(true); else m_Controls->m_renderWarningLabel->setVisible(false); } void QmitkMITKIGTTrackingToolboxView::StartLogging() { if (m_ToolVisualizationFilter.IsNull()) { MessageBox("Cannot activate logging without a connected device. Configure and connect a tracking device first."); return; } if (!m_logging) { //initialize logging filter m_loggingFilter = mitk::NavigationDataRecorder::New(); m_loggingFilter->SetRecordOnlyValidData(m_Controls->m_SkipInvalidData->isChecked()); m_loggingFilter->ConnectTo(m_ToolVisualizationFilter); if (m_Controls->m_LoggingLimit->isChecked()){ m_loggingFilter->SetRecordCountLimit(m_Controls->m_LoggedFramesLimit->value()); } //start filter with try-catch block for exceptions try { m_loggingFilter->StartRecording(); } catch (mitk::IGTException) { std::string errormessage = "Error during start recording. Recorder already started recording?"; QMessageBox::warning(NULL, "IGTPlayer: Error", errormessage.c_str()); m_loggingFilter->StopRecording(); return; } //update labels / logging variables this->m_Controls->m_LoggingLabel->setText("Logging ON"); this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: 0"); m_loggedFrames = 0; m_logging = true; DisableLoggingButtons(); } } void QmitkMITKIGTTrackingToolboxView::StopLogging() { if (m_logging) { //stop logging m_loggingFilter->StopRecording(); m_logging = false; //update GUI this->m_Controls->m_LoggingLabel->setText("Logging OFF"); EnableLoggingButtons(); //write the results to a file if (m_Controls->m_csvFormat->isChecked()) { mitk::IOUtil::SaveBaseData(m_loggingFilter->GetNavigationDataSet(), this->m_Controls->m_LoggingFileName->text().toStdString()); } else if (m_Controls->m_xmlFormat->isChecked()) { mitk::IOUtil::SaveBaseData(m_loggingFilter->GetNavigationDataSet(), this->m_Controls->m_LoggingFileName->text().toStdString()); } } } void QmitkMITKIGTTrackingToolboxView::OnAddSingleTool() { QString Identifier = "Tool#"; QString Name = "NewTool"; if (m_toolStorage.IsNotNull()) { Identifier += QString::number(m_toolStorage->GetToolCount()); Name += QString::number(m_toolStorage->GetToolCount()); } else { Identifier += "0"; Name += "0"; } m_Controls->m_NavigationToolCreationWidget->Initialize(GetDataStorage(), Identifier.toStdString(), Name.toStdString()); m_Controls->m_NavigationToolCreationWidget->SetTrackingDeviceType(m_Controls->m_configurationWidget->GetTrackingDevice()->GetType(), false); m_Controls->m_TrackingToolsWidget->setCurrentIndex(1); //disable tracking volume during tool editing lastTrackingVolumeState = m_Controls->m_ShowTrackingVolume->isChecked(); if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolFinished() { m_Controls->m_TrackingToolsWidget->setCurrentIndex(0); if (this->m_toolStorage.IsNull()) { //this shouldn't happen! MITK_WARN << "No ToolStorage available, cannot add tool, aborting!"; return; } m_toolStorage->AddTool(m_Controls->m_NavigationToolCreationWidget->GetCreatedTool()); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); m_Controls->m_toolLabel->setText(""); //auto save current storage for persistence MITK_INFO << "Auto saving manually added tools for persistence."; AutoSaveToolStorage(); //enable tracking volume again if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolCanceled() { m_Controls->m_TrackingToolsWidget->setCurrentIndex(0); //enable tracking volume again if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::GlobalReinit() { // get all nodes that have not set "includeInBoundingBox" to false mitk::NodePredicateNot::Pointer pred = mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("includeInBoundingBox", mitk::BoolProperty::New(false))); mitk::DataStorage::SetOfObjects::ConstPointer rs = this->GetDataStorage()->GetSubset(pred); // calculate bounding geometry of these nodes mitk::TimeGeometry::Pointer bounds = this->GetDataStorage()->ComputeBoundingGeometry3D(rs, "visible"); // initialize the views to the bounding geometry mitk::RenderingManager::GetInstance()->InitializeViews(bounds); } void QmitkMITKIGTTrackingToolboxView::DisableLoggingButtons() { m_Controls->m_StartLogging->setEnabled(false); m_Controls->m_LoggingFileName->setEnabled(false); m_Controls->m_ChooseFile->setEnabled(false); m_Controls->m_LoggingLimit->setEnabled(false); m_Controls->m_LoggedFramesLimit->setEnabled(false); m_Controls->m_csvFormat->setEnabled(false); m_Controls->m_xmlFormat->setEnabled(false); m_Controls->m_SkipInvalidData->setEnabled(false); m_Controls->m_StopLogging->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::EnableLoggingButtons() { m_Controls->m_StartLogging->setEnabled(true); m_Controls->m_LoggingFileName->setEnabled(true); m_Controls->m_ChooseFile->setEnabled(true); m_Controls->m_LoggingLimit->setEnabled(true); m_Controls->m_LoggedFramesLimit->setEnabled(true); m_Controls->m_csvFormat->setEnabled(true); m_Controls->m_xmlFormat->setEnabled(true); m_Controls->m_SkipInvalidData->setEnabled(true); m_Controls->m_StopLogging->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::DisableOptionsButtons() { m_Controls->m_ShowTrackingVolume->setEnabled(false); m_Controls->m_UseDifferentUpdateRates->setEnabled(false); m_Controls->m_UpdateRate->setEnabled(false); m_Controls->m_OptionsUpdateRateLabel->setEnabled(false); m_Controls->m_RenderUpdateRate->setEnabled(false); m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(false); m_Controls->m_LogUpdateRate->setEnabled(false); m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(false); m_Controls->m_DisableAllTimers->setEnabled(false); m_Controls->m_OtherOptionsGroupBox->setEnabled(false); m_Controls->m_EnableOpenIGTLinkMicroService->setEnabled(false); m_Controls->m_OpenIGTLinkDataFormat->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::EnableOptionsButtons() { m_Controls->m_ShowTrackingVolume->setEnabled(true); m_Controls->m_UseDifferentUpdateRates->setEnabled(true); m_Controls->m_DisableAllTimers->setEnabled(true); m_Controls->m_OtherOptionsGroupBox->setEnabled(true); m_Controls->m_EnableOpenIGTLinkMicroService->setEnabled(true); m_Controls->m_OpenIGTLinkDataFormat->setEnabled(true); OnToggleDifferentUpdateRates(); } void QmitkMITKIGTTrackingToolboxView::EnableTrackingControls() { m_Controls->m_TrackingControlsGroupBox->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::DisableTrackingControls() { m_Controls->m_TrackingControlsGroupBox->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::EnableTrackingConfigurationButtons() { m_Controls->m_AutoDetectTools->setEnabled(true); - if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) m_Controls->m_AddSingleTool->setEnabled(true); + m_Controls->m_AddSingleTool->setEnabled(this->m_Controls->m_configurationWidget->GetTrackingDevice()->AddSingleToolIsAvailable()); m_Controls->m_LoadTools->setEnabled(true); m_Controls->m_ResetTools->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::DisableTrackingConfigurationButtons() { m_Controls->m_AutoDetectTools->setEnabled(false); - if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) m_Controls->m_AddSingleTool->setEnabled(false); + m_Controls->m_AddSingleTool->setEnabled(false); m_Controls->m_LoadTools->setEnabled(false); m_Controls->m_ResetTools->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::ReplaceCurrentToolStorage(mitk::NavigationToolStorage::Pointer newStorage, std::string newStorageName) { //first: get rid of the old one //don't reset if there is no tool storage. BugFix #17793 if (m_toolStorage.IsNotNull()){ m_toolStorage->UnLockStorage(); //only to be sure... m_toolStorage->UnRegisterMicroservice(); m_toolStorage = nullptr; } //now: replace by the new one m_toolStorage = newStorage; m_toolStorage->SetName(newStorageName); m_toolStorage->RegisterAsMicroservice("no tracking device"); } void QmitkMITKIGTTrackingToolboxView::OnTimeOut() { - m_WorkerThread->terminate(); - m_WorkerThread->wait(); + MITK_WARN << "TimeOut. Quitting the thread..."; + m_WorkerThread->quit(); + //only if we can't quit use terminate. + if (!m_WorkerThread->wait(1000)) + { + MITK_ERROR << "Can't quit the thread. Terminating... Might cause further problems, be careful!"; + m_WorkerThread->terminate(); + m_WorkerThread->wait(); + } m_TimeoutTimer->stop(); } +void QmitkMITKIGTTrackingToolboxView::OnToolStorageChanged(const ctkServiceEvent event) +{ + if ((event.getType() == ctkServiceEvent::MODIFIED)) + { + m_Controls->m_configurationWidget->OnToolStorageChanged(); + } +} + //! [StoreUISettings] void QmitkMITKIGTTrackingToolboxView::StoreUISettings() { // persistence service does not directly work in plugins for now // -> using QSettings QSettings settings; settings.beginGroup(QString::fromStdString(VIEW_ID)); MITK_DEBUG << "Store UI settings"; // set the values of some widgets and attrbutes to the QSettings settings.setValue("ShowTrackingVolume", QVariant(m_Controls->m_ShowTrackingVolume->isChecked())); settings.setValue("toolStorageFilename", QVariant(m_ToolStorageFilename)); settings.setValue("VolumeSelectionBox", QVariant(m_Controls->m_VolumeSelectionBox->currentIndex())); settings.setValue("SimpleModeEnabled", QVariant(m_SimpleModeEnabled)); settings.setValue("OpenIGTLinkDataFormat", QVariant(m_Controls->m_OpenIGTLinkDataFormat->currentIndex())); settings.setValue("EnableOpenIGTLinkMicroService", QVariant(m_Controls->m_EnableOpenIGTLinkMicroService->isChecked())); settings.endGroup(); } //! [StoreUISettings] //! [LoadUISettings] void QmitkMITKIGTTrackingToolboxView::LoadUISettings() { // persistence service does not directly work in plugins for now -> using QSettings QSettings settings; settings.beginGroup(QString::fromStdString(VIEW_ID)); // set some widgets and attributes by the values from the QSettings m_Controls->m_ShowTrackingVolume->setChecked(settings.value("ShowTrackingVolume", true).toBool()); m_Controls->m_EnableOpenIGTLinkMicroService->setChecked(settings.value("EnableOpenIGTLinkMicroService", true).toBool()); m_Controls->m_VolumeSelectionBox->setCurrentIndex(settings.value("VolumeSelectionBox", 0).toInt()); m_Controls->m_OpenIGTLinkDataFormat->setCurrentIndex(settings.value("OpenIGTLinkDataFormat", 0).toInt()); m_ToolStorageFilename = settings.value("toolStorageFilename", QVariant("")).toString(); if (settings.value("SimpleModeEnabled", false).toBool()) { this->OnToggleAdvancedSimpleMode(); } settings.endGroup(); //! [LoadUISettings] //! [LoadToolStorage] // try to deserialize the tool storage from the given tool storage file name if (!m_ToolStorageFilename.isEmpty()) { // try-catch block for exceptions try { mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage()); m_toolStorage->UnRegisterMicroservice(); m_toolStorage = myDeserializer->Deserialize(m_ToolStorageFilename.toStdString()); m_toolStorage->RegisterAsMicroservice("no tracking device"); //update label UpdateToolStorageLabel(m_ToolStorageFilename); //update tool preview m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); } catch (mitk::IGTException) { MITK_WARN("QmitkMITKIGTTrackingToolBoxView") << "Error during restoring tools. Problems with file (" << m_ToolStorageFilename.toStdString() << "), please check the file?"; this->OnResetTools(); //if there where errors reset the tool storage to avoid problems later on } } //! [LoadToolStorage] } void QmitkMITKIGTTrackingToolboxView::UpdateToolStorageLabel(QString pathOfLoadedStorage) { QFileInfo myPath(pathOfLoadedStorage); //use this to seperate filename from path QString toolLabel = myPath.fileName(); if (toolLabel.size() > 45) //if the tool storage name is to long trimm the string { toolLabel.resize(40); toolLabel += "[...]"; } m_Controls->m_toolLabel->setText(toolLabel); } void QmitkMITKIGTTrackingToolboxView::AutoSaveToolStorage() { m_ToolStorageFilename = m_AutoSaveFilename; mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New(); mySerializer->Serialize(m_ToolStorageFilename.toStdString(), m_toolStorage); -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetWorkerMethod(WorkerMethod w) -{ - m_WorkerMethod = w; -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDevice(mitk::TrackingDevice::Pointer t) -{ - m_TrackingDevice = t; -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetDataStorage(mitk::DataStorage::Pointer d) -{ - m_DataStorage = d; -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetInverseMode(bool mode) -{ - m_InverseMode = mode; -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDeviceData(mitk::TrackingDeviceData d) -{ - m_TrackingDeviceData = d; -} - -void QmitkMITKIGTTrackingToolboxViewWorker::SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n) -{ - m_NavigationToolStorage = n; -} - -//! [Thread 7] -void QmitkMITKIGTTrackingToolboxViewWorker::ThreadFunc() -{ - switch (m_WorkerMethod) - { - case eAutoDetectTools: - this->AutoDetectTools(); - break; - case eConnectDevice: - this->ConnectDevice(); - break; - case eStartTracking: - this->StartTracking(); - break; - case eStopTracking: - this->StopTracking(); - break; - case eDisconnectDevice: - this->DisconnectDevice(); - break; - default: - MITK_WARN << "Undefined worker method was set ... something went wrong!"; - break; - } -} -//! [Thread 7] - -void QmitkMITKIGTTrackingToolboxViewWorker::AutoDetectTools() -{ - //mitk::ProgressBar::GetInstance()->AddStepsToDo(2); - mitk::NavigationToolStorage::Pointer autoDetectedStorage = mitk::NavigationToolStorage::New(m_DataStorage); - try - { - mitk::NavigationToolStorage::Pointer tempStorage = m_TrackingDevice->AutoDetectTools(); - //mitk::ProgressBar::GetInstance()->Progress(); - for (int i = 0; i < tempStorage->GetToolCount(); i++) { autoDetectedStorage->AddTool(tempStorage->GetTool(i)); } - } - catch (mitk::Exception& e) - { - MITK_WARN << e.GetDescription(); - //mitk::ProgressBar::GetInstance()->Reset(); - emit AutoDetectToolsFinished(false, e.GetDescription()); - return; - } - m_NavigationToolStorage = autoDetectedStorage; - //::ProgressBar::GetInstance()->Progress(); - emit AutoDetectToolsFinished(true, ""); -} - -void QmitkMITKIGTTrackingToolboxViewWorker::ConnectDevice() -{ - std::string message = ""; - //mitk::ProgressBar::GetInstance()->AddStepsToDo(4); - - //build the IGT pipeline - mitk::TrackingDevice::Pointer trackingDevice = m_TrackingDevice; - trackingDevice->SetData(m_TrackingDeviceData); - - //set device to rotation mode transposed becaus we are working with VNL style quaternions - if (m_InverseMode) - { - trackingDevice->SetRotationMode(mitk::TrackingDevice::RotationTransposed); - } - - //Get Tracking Volume Data - mitk::TrackingDeviceData data = m_TrackingDeviceData; - //mitk::ProgressBar::GetInstance()->Progress(); - - //Create Navigation Data Source with the factory class - mitk::TrackingDeviceSourceConfigurator::Pointer myTrackingDeviceSourceFactory = mitk::TrackingDeviceSourceConfigurator::New(m_NavigationToolStorage, trackingDevice); - m_TrackingDeviceSource = myTrackingDeviceSourceFactory->CreateTrackingDeviceSource(m_ToolVisualizationFilter); - //mitk::ProgressBar::GetInstance()->Progress(); - - if (m_TrackingDeviceSource.IsNull()) - { - message = std::string("Cannot connect to device: ") + myTrackingDeviceSourceFactory->GetErrorMessage(); - emit ConnectDeviceFinished(false, QString(message.c_str())); - return; - } - - //set filter to rotation mode transposed becaus we are working with VNL style quaternions - if (m_InverseMode) - m_ToolVisualizationFilter->SetRotationMode(mitk::NavigationDataObjectVisualizationFilter::RotationTransposed); - - //First check if the created object is valid - if (m_TrackingDeviceSource.IsNull()) - { - message = myTrackingDeviceSourceFactory->GetErrorMessage(); - emit ConnectDeviceFinished(false, QString(message.c_str())); - return; - } - - MITK_INFO << "Number of tools: " << m_TrackingDeviceSource->GetNumberOfOutputs(); - //mitk::ProgressBar::GetInstance()->Progress(); - - //The tools are maybe reordered after initialization, e.g. in case of auto-detected tools of NDI Aurora - mitk::NavigationToolStorage::Pointer toolsInNewOrder = myTrackingDeviceSourceFactory->GetUpdatedNavigationToolStorage(); - - if ((toolsInNewOrder.IsNotNull()) && (toolsInNewOrder->GetToolCount() > 0)) - { - //so delete the old tools in wrong order and add them in the right order - //we cannot simply replace the tool storage because the new storage is - //not correctly initialized with the right data storage - - /* - m_NavigationToolStorage->DeleteAllTools(); - for (int i=0; i < toolsInNewOrder->GetToolCount(); i++) {m_NavigationToolStorage->AddTool(toolsInNewOrder->GetTool(i));} - - This was replaced and thereby fixed Bug 18318 DeleteAllTools() is not Threadsafe! - */ - for (int i = 0; i < toolsInNewOrder->GetToolCount(); i++) - { - m_NavigationToolStorage->AssignToolNumber(toolsInNewOrder->GetTool(i)->GetIdentifier(), i); - } - } - - //mitk::ProgressBar::GetInstance()->Progress(); - - //connect to device - try - { - m_TrackingDeviceSource->Connect(); - //mitk::ProgressBar::GetInstance()->Reset(); - //Microservice registration: - m_TrackingDeviceSource->RegisterAsMicroservice(); - m_NavigationToolStorage->UnRegisterMicroservice(); - m_NavigationToolStorage->RegisterAsMicroservice(m_TrackingDeviceSource->GetMicroserviceID()); - m_NavigationToolStorage->LockStorage(); - } - catch (...) //todo: change to mitk::IGTException - { - message = "Error on connecting the tracking device."; - emit ConnectDeviceFinished(false, QString(message.c_str())); - return; - } - emit ConnectDeviceFinished(true, QString(message.c_str())); - //mitk::ProgressBar::GetInstance()->Reset(); -} - -void QmitkMITKIGTTrackingToolboxViewWorker::StartTracking() -{ - QString errorMessage = ""; - try - { - m_TrackingDeviceSource->StartTracking(); - } - catch (...) //todo: change to mitk::IGTException - { - errorMessage += "Error while starting the tracking device!"; - emit StartTrackingFinished(false, errorMessage); - return; - } - //remember the original colors of the tools - m_OriginalColors = std::map(); - for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++) - { - mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); - float c[3]; - currentToolNode->GetColor(c); - mitk::Color color; - color.SetRed(c[0]); - color.SetGreen(c[1]); - color.SetBlue(c[2]); - m_OriginalColors[currentToolNode] = color; - } - - emit StartTrackingFinished(true, errorMessage); -} - -void QmitkMITKIGTTrackingToolboxViewWorker::StopTracking() -{ - //stop tracking - try - { - m_TrackingDeviceSource->StopTracking(); - } - catch (mitk::Exception& e) - { - emit StopTrackingFinished(false, e.GetDescription()); - } - - //restore the original colors of the tools - for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++) - { - mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); - if (m_OriginalColors.find(currentToolNode) == m_OriginalColors.end()) - { - MITK_WARN << "Cannot restore original color of tool " << m_NavigationToolStorage->GetTool(i)->GetToolName(); - } - else - { - currentToolNode->SetColor(m_OriginalColors[currentToolNode]); - } - } - - //emit signal - emit StopTrackingFinished(true, ""); -} - -void QmitkMITKIGTTrackingToolboxViewWorker::DisconnectDevice() -{ - try - { - if (m_TrackingDeviceSource->IsTracking()) { m_TrackingDeviceSource->StopTracking(); } - m_TrackingDeviceSource->Disconnect(); - m_TrackingDeviceSource->UnRegisterMicroservice(); - m_NavigationToolStorage->UnLockStorage(); - } - catch (mitk::Exception& e) - { - emit DisconnectDeviceFinished(false, e.GetDescription()); - } - emit DisconnectDeviceFinished(true, ""); -} +} \ No newline at end of file diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h index e9376fd998..9d30cbf3d0 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h @@ -1,308 +1,244 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkMITKIGTTrackingToolboxView_h #define QmitkMITKIGTTrackingToolboxView_h #include #include #include "ui_QmitkMITKIGTTrackingToolboxViewControls.h" //mitk headers #include -#include #include #include #include #include #include //QT headers #include -class QmitkMITKIGTTrackingToolboxViewWorker; +#include "QmitkMITKIGTTrackingToolboxViewWorker.h" /*! \brief QmitkMITKIGTTrackingToolboxView This is the view of the bundle IGT Tracking Toolbox. The IGT Tracking Toolbox can be used to access tracking devices with MITK-IGT. The Tracking Toolbox can be used to log tracking data in XML or CSV format for measurement purposes. The Tracking Toolbox further allows for visualization of tools with given surfaces in combination with the NaviagtionToolManager. \sa QmitkFunctionality \ingroup Functionalities */ class QmitkMITKIGTTrackingToolboxView : public QmitkFunctionality { // this is needed for all Qt objects that should have a Qt meta-object // (everything that derives from QObject and wants to have signal/slots) Q_OBJECT public: static const std::string VIEW_ID; QmitkMITKIGTTrackingToolboxView(); virtual ~QmitkMITKIGTTrackingToolboxView(); virtual void CreateQtPartControl(QWidget *parent) override; virtual void StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget) override; virtual void StdMultiWidgetNotAvailable() override; protected slots: /** @brief changes name of the filename when switching fileextension by radio button */ void OnToggleFileExtension(); /** @brief This slot is called if the user wants to load a new tool file. A new window opens where the user can choose a file. If the chosen file is corrupt or not valid the user gets an error message. If the file was loaded successfully the tools are show in the tool status widget. */ void OnLoadTools(); /** Starts tracking if tracking is stopped / stops tracking if tracking is started. */ void OnStartStopTracking(); /** Connects the device if it is disconnected / disconnects the device if it is connected. */ void OnConnectDisconnect(); /** Freezes the device if it is not frozen / unfreezes the device if it is frozen. */ void OnFreezeUnfreezeTracking(); /** @brief This slot connects to the device. In status "connected" configuration of the device is disabled. */ void OnConnect(); /** @brief This slot disconnects from the device. */ void OnDisconnect(); /** @brief This slot tries to start tracking with the current device. If start tracking fails the user gets an error message and tracking stays off.*/ void OnStartTracking(); /** @brief This slot stops tracking. If tracking is not strated it does nothing.*/ void OnStopTracking(); /** @brief This slot is called if the user want's to choose a file name for logging. A new windows to navigate through the file system and choose a file opens.*/ void OnChooseFileClicked(); /** @brief This slot starts logging. Logging is only possible if a device is tracking. If not the logging mechanism start when the start tracking is called.*/ void StartLogging(); /** @brief This slot stops logging. If logging is not running it does nothing.*/ void StopLogging(); /** @brief This slot enables / disables UI elements depending on the tracking device after a device is changed.*/ void OnTrackingDeviceChanged(); /** @brief This slot selects the Tracking Volume appropriate for a given model */ void OnTrackingVolumeChanged(QString qstr); /** @brief Shows or hides the tracking volume according to the checkboxe's state */ void OnShowTrackingVolumeChanged(); /** @brief This slot auto detects tools of a NDI Aurora tracking device. If tools where found they will be stored internally as a tool storage. The user is also asked if he wants to save this tool storage to load it later. Only call it if a Aurora device was configured because other devices don't support auto detection.*/ void OnAutoDetectTools(); /** @brief Slot for tracking timer. The timer updates the IGT pipline and also the logging filter if logging is activated.*/ void UpdateRenderTrackingTimer(); void UpdateLoggingTrackingTimer(); /** @brief Slot for showing the rendering disabled warning label*/ void OnChangeRenderUpdateRate(); /** @brief Resets the Tracking Tools: this means all tools are removed. */ void OnResetTools(); /** @brief Opens a dialog where a new navigation tool can be created. */ void OnAddSingleTool(); /** @brief This slot is called if the user finishes the creation of a new tool. */ void OnAddSingleToolFinished(); /** @brief This slot is called if the user cancels the creation of a new tool. */ void OnAddSingleToolCanceled(); void OnTimeOut(); + /** + * \brief This function is called, when anything in the ToolStorage changed, e.g. AddTool or EditTool. + * ServiceListener is connected in the QmitkMITKIGTTrackingToolboxView. + */ + void OnToolStorageChanged(const ctkServiceEvent event); + protected slots: //help slots for enable/disable buttons void DisableLoggingButtons(); void EnableLoggingButtons(); void DisableOptionsButtons(); void EnableOptionsButtons(); void EnableTrackingConfigurationButtons(); void DisableTrackingConfigurationButtons(); void EnableTrackingControls(); void DisableTrackingControls(); void EnableDisableTimerButtons(int enable); void OnToggleAdvancedSimpleMode(); void OnToggleDifferentUpdateRates(); //slots for worker thread void OnAutoDetectToolsFinished(bool success, QString errorMessage); void OnConnectFinished(bool success, QString errorMessage); void OnStartTrackingFinished(bool success, QString errorMessage); void OnStopTrackingFinished(bool success, QString errorMessage); void OnDisconnectFinished(bool success, QString errorMessage); protected: Ui::QmitkMITKIGTTrackingToolboxViewControls* m_Controls; QmitkStdMultiWidget* m_MultiWidget; bool m_tracking; ///> bool which is true if tracking is running, false if not bool m_connected; ///> bool that is true when a tracking device is connected bool m_logging; ///> bool which is true if logging is running, false if not int m_loggedFrames; ///> stores the current number of logged frames if logging is on mitk::NavigationToolStorage::Pointer m_toolStorage; ///>stores the loaded tools mitk::DataNode::Pointer m_TrackingVolumeNode; ///>holds the data node of the tracking volume if volume is visualized bool lastTrackingVolumeState; ///>temporary holds the state of the tracking volume (activated/not activated) during some methods QString m_ToolStorageFilename; ///>stores the filename of the current tool storage QString m_AutoSaveFilename; ///>a filename for auto saving tools if no m_ToolStorageFilename was given by the user /** @brief Shows a message box with the text given as parameter. */ void MessageBox(std::string s); /** @brief reinits the view globally. */ void GlobalReinit(); //members for the filter pipeline - mitk::TrackingDeviceSource::Pointer m_TrackingDeviceSource; ///> member for the source of the IGT pipeline mitk::TrackingDeviceData m_TrackingDeviceData; ///> stores the tracking device data as long as this is not handled by the tracking device configuration widget mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter; ///> holds the tool visualization filter (second filter of the IGT pipeline) mitk::NavigationDataRecorder::Pointer m_loggingFilter; ///> holds the logging filter if logging is on (third filter of the IGT pipeline) //members for open IGT link server mitk::NavigationDataToIGTLMessageFilter::Pointer m_IGTLConversionFilter; ///> Converts the navigation data as open IGT link message and makes this filter available as microservice mitk::IGTLServer::Pointer m_IGTLServer; mitk::IGTLMessageProvider::Pointer m_IGTLMessageProvider; /** @brief This timer updates the IGT pipline and also the logging filter if logging is activated.*/ QTimer* m_TrackingRenderTimer; QTimer* m_TrackingLoggingTimer; QTimer* m_TimeoutTimer; bool m_SimpleModeEnabled; ///>Stores if simple UI mode is enabled /** Replaces the current navigation tool storage which is stored in m_toolStorage. * Basically handles the microservice stuff: unregisteres the old storage, then * replaces the storage and registers the new one. */ void ReplaceCurrentToolStorage(mitk::NavigationToolStorage::Pointer newStorage, std::string newStorageName); /** * \brief Stores the properties of some QWidgets (and the tool storage file name) to QSettings. */ void StoreUISettings(); /** * \brief Loads the properties of some QWidgets (and the tool storage file name) from QSettings. */ void LoadUISettings(); /** * Help method for updating the tool label */ void UpdateToolStorageLabel(QString pathOfLoadedStorage); /** * Auto saves the current tool storage to a temporary file. This ist used for persistence. */ void AutoSaveToolStorage(); //members for worker thread QThread* m_WorkerThread; QmitkMITKIGTTrackingToolboxViewWorker* m_Worker; private: ctkServiceReference m_DeviceTypeServiceReference; mitk::TrackingDeviceTypeCollection* m_DeviceTypeCollection; }; -/** - * Worker thread class for this view. - */ -class QmitkMITKIGTTrackingToolboxViewWorker : public QObject -{ - Q_OBJECT - -public: - enum WorkerMethod{ - eAutoDetectTools = 0, - eConnectDevice = 1, - eStartTracking = 2, - eStopTracking = 3, - eDisconnectDevice = 4 - }; - - void SetWorkerMethod(WorkerMethod w); - void SetTrackingDevice(mitk::TrackingDevice::Pointer t); - void SetDataStorage(mitk::DataStorage::Pointer d); - void SetInverseMode(bool mode); - void SetTrackingDeviceData(mitk::TrackingDeviceData d); - void SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n); - - itkGetMacro(NavigationToolStorage,mitk::NavigationToolStorage::Pointer); - - itkGetMacro(TrackingDeviceSource,mitk::TrackingDeviceSource::Pointer); - itkGetMacro(TrackingDeviceData,mitk::TrackingDeviceData); - itkGetMacro(ToolVisualizationFilter,mitk::NavigationDataObjectVisualizationFilter::Pointer); - - public slots: - void ThreadFunc(); - - signals: - void AutoDetectToolsFinished(bool success, QString errorMessage); - void ConnectDeviceFinished(bool success, QString errorMessage); - void StartTrackingFinished(bool success, QString errorMessage); - void StopTrackingFinished(bool success, QString errorMessage); - void DisconnectDeviceFinished(bool success, QString errorMessage); - - - protected: - - mitk::TrackingDevice::Pointer m_TrackingDevice; - WorkerMethod m_WorkerMethod; - mitk::DataStorage::Pointer m_DataStorage; - mitk::NavigationToolStorage::Pointer m_NavigationToolStorage; - - //members for the filter pipeline which is created in the worker thread during ConnectDevice() - mitk::TrackingDeviceSource::Pointer m_TrackingDeviceSource; ///> member for the source of the IGT pipeline - mitk::TrackingDeviceData m_TrackingDeviceData; ///> stores the tracking device data as long as this is not handled by the tracking device configuration widget - mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter; ///> holds the tool visualization filter (second filter of the IGT pipeline) - - //members some internal flags - bool m_InverseMode; //flag that is true when the inverse mode is enabled - - //stores the original colors of the tracking tools - std::map m_OriginalColors; - - //internal methods - void AutoDetectTools(); - void ConnectDevice(); - void StartTracking(); - void StopTracking(); - void DisconnectDevice(); -}; - - - #endif // _QMITKMITKIGTTRACKINGTOOLBOXVIEW_H_INCLUDED diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.cpp new file mode 100644 index 0000000000..dd9db054c4 --- /dev/null +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.cpp @@ -0,0 +1,250 @@ +/*=================================================================== + +The Medical Imaging Interaction Toolkit (MITK) + +Copyright (c) German Cancer Research Center, +Division of Medical and Biological Informatics. +All rights reserved. + +This software is distributed WITHOUT ANY WARRANTY; without +even the implied warranty of MERCHANTABILITY or FITNESS FOR +A PARTICULAR PURPOSE. + +See LICENSE.txt or http://www.mitk.org for details. + +===================================================================*/ + +// Qmitk +#include "QmitkMITKIGTTrackingToolboxViewWorker.h" + +#include + +QmitkMITKIGTTrackingToolboxViewWorker::QmitkMITKIGTTrackingToolboxViewWorker() +{ +} + +QmitkMITKIGTTrackingToolboxViewWorker::~QmitkMITKIGTTrackingToolboxViewWorker() +{ +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetWorkerMethod(WorkerMethod w) +{ + m_WorkerMethod = w; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDevice(mitk::TrackingDevice::Pointer t) +{ + m_TrackingDevice = t; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetDataStorage(mitk::DataStorage::Pointer d) +{ + m_DataStorage = d; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetInverseMode(bool mode) +{ + m_InverseMode = mode; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDeviceData(mitk::TrackingDeviceData d) +{ + m_TrackingDeviceData = d; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n) +{ + m_NavigationToolStorage = n; +} + +//! [Thread 7] +void QmitkMITKIGTTrackingToolboxViewWorker::ThreadFunc() +{ + switch (m_WorkerMethod) + { + case eAutoDetectTools: + this->AutoDetectTools(); + break; + case eConnectDevice: + this->ConnectDevice(); + break; + case eStartTracking: + this->StartTracking(); + break; + case eStopTracking: + this->StopTracking(); + break; + case eDisconnectDevice: + this->DisconnectDevice(); + break; + default: + MITK_WARN << "Undefined worker method was set ... something went wrong!"; + break; + } +} +//! [Thread 7] + +void QmitkMITKIGTTrackingToolboxViewWorker::AutoDetectTools() +{ + mitk::NavigationToolStorage::Pointer autoDetectedStorage = mitk::NavigationToolStorage::New(m_DataStorage); + try + { + mitk::NavigationToolStorage::Pointer tempStorage = m_TrackingDevice->AutoDetectTools(); + for (int i = 0; i < tempStorage->GetToolCount(); i++) { autoDetectedStorage->AddTool(tempStorage->GetTool(i)); } + } + catch (mitk::Exception& e) + { + MITK_WARN << e.GetDescription(); + emit AutoDetectToolsFinished(false, e.GetDescription()); + return; + } + m_NavigationToolStorage = nullptr; + m_NavigationToolStorage = autoDetectedStorage; + emit AutoDetectToolsFinished(true, ""); + MITK_INFO << "AutoDetect Tools Finished."; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::ConnectDevice() +{ + std::string message = ""; + + //build the IGT pipeline + mitk::TrackingDevice::Pointer trackingDevice = m_TrackingDevice; + trackingDevice->SetData(m_TrackingDeviceData); + + //set device to rotation mode transposed becaus we are working with VNL style quaternions + if (m_InverseMode) + { + trackingDevice->SetRotationMode(mitk::TrackingDevice::RotationTransposed); + } + + //Get Tracking Volume Data + mitk::TrackingDeviceData data = m_TrackingDeviceData; + + //Create Navigation Data Source with the factory class + mitk::TrackingDeviceSourceConfigurator::Pointer myTrackingDeviceSourceFactory = mitk::TrackingDeviceSourceConfigurator::New(m_NavigationToolStorage, trackingDevice); + + m_TrackingDeviceSource = myTrackingDeviceSourceFactory->CreateTrackingDeviceSource(m_ToolVisualizationFilter); + + if (m_TrackingDeviceSource.IsNull()) + { + message = std::string("Cannot connect to device: ") + myTrackingDeviceSourceFactory->GetErrorMessage(); + emit ConnectDeviceFinished(false, QString(message.c_str())); + return; + } + + //set filter to rotation mode transposed becaus we are working with VNL style quaternions + if (m_InverseMode) + m_ToolVisualizationFilter->SetRotationMode(mitk::NavigationDataObjectVisualizationFilter::RotationTransposed); + + //First check if the created object is valid + if (m_TrackingDeviceSource.IsNull()) + { + message = myTrackingDeviceSourceFactory->GetErrorMessage(); + emit ConnectDeviceFinished(false, QString(message.c_str())); + return; + } + + MITK_INFO << "Connected device with " << m_TrackingDeviceSource->GetNumberOfOutputs() << " tools."; + + //connect to device + try + { + m_TrackingDeviceSource->Connect(); + //Microservice registration: + m_TrackingDeviceSource->RegisterAsMicroservice(); + + m_NavigationToolStorage->LockStorage(); + } + catch (...) //todo: change to mitk::IGTException + { + message = "Error on connecting the tracking device."; + emit ConnectDeviceFinished(false, QString(message.c_str())); + return; + } + emit ConnectDeviceFinished(true, QString(message.c_str())); +} + +mitk::TrackingDeviceSource::Pointer QmitkMITKIGTTrackingToolboxViewWorker::GetTrackingDeviceSource() +{ + return this->m_TrackingDeviceSource; +} + +void QmitkMITKIGTTrackingToolboxViewWorker::StartTracking() +{ + QString errorMessage = ""; + try + { + m_TrackingDeviceSource->StartTracking(); + } + catch (...) //todo: change to mitk::IGTException + { + errorMessage += "Error while starting the tracking device!"; + emit StartTrackingFinished(false, errorMessage); + return; + } + //remember the original colors of the tools + m_OriginalColors = std::map(); + for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++) + { + mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); + float c[3]; + currentToolNode->GetColor(c); + mitk::Color color; + color.SetRed(c[0]); + color.SetGreen(c[1]); + color.SetBlue(c[2]); + m_OriginalColors[currentToolNode] = color; + } + + emit StartTrackingFinished(true, errorMessage); +} + +void QmitkMITKIGTTrackingToolboxViewWorker::StopTracking() +{ + //stop tracking + try + { + m_TrackingDeviceSource->StopTracking(); + } + catch (mitk::Exception& e) + { + emit StopTrackingFinished(false, e.GetDescription()); + } + + //restore the original colors of the tools + for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++) + { + mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); + if (m_OriginalColors.find(currentToolNode) == m_OriginalColors.end()) + { + MITK_WARN << "Cannot restore original color of tool " << m_NavigationToolStorage->GetTool(i)->GetToolName(); + } + else + { + currentToolNode->SetColor(m_OriginalColors[currentToolNode]); + } + } + + //emit signal + emit StopTrackingFinished(true, ""); +} + +void QmitkMITKIGTTrackingToolboxViewWorker::DisconnectDevice() +{ + try + { + if (m_TrackingDeviceSource->IsTracking()) { m_TrackingDeviceSource->StopTracking(); } + m_TrackingDeviceSource->Disconnect(); + m_TrackingDeviceSource->UnRegisterMicroservice(); + + m_NavigationToolStorage->UnLockStorage(); + + m_TrackingDeviceSource = nullptr; + } + catch (mitk::Exception& e) + { + emit DisconnectDeviceFinished(false, e.GetDescription()); + } + emit DisconnectDeviceFinished(true, ""); +} \ No newline at end of file diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.h b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.h new file mode 100644 index 0000000000..692b256afd --- /dev/null +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewWorker.h @@ -0,0 +1,100 @@ +/*=================================================================== + +The Medical Imaging Interaction Toolkit (MITK) + +Copyright (c) German Cancer Research Center, +Division of Medical and Biological Informatics. +All rights reserved. + +This software is distributed WITHOUT ANY WARRANTY; without +even the implied warranty of MERCHANTABILITY or FITNESS FOR +A PARTICULAR PURPOSE. + +See LICENSE.txt or http://www.mitk.org for details. + +===================================================================*/ + +#ifndef QmitkMITKIGTTrackingToolboxViewWorker_h +#define QmitkMITKIGTTrackingToolboxViewWorker_h + +#include + +#include + +//mitk headers +#include +#include +#include + +//QT headers +#include + +/** + * Worker thread class for QmitkMITKIGTTrackingToolboxView view. + */ +class QmitkMITKIGTTrackingToolboxViewWorker : public QObject +{ + Q_OBJECT + +public: + enum WorkerMethod{ + eAutoDetectTools = 0, + eConnectDevice = 1, + eStartTracking = 2, + eStopTracking = 3, + eDisconnectDevice = 4 + }; + + QmitkMITKIGTTrackingToolboxViewWorker(); + ~QmitkMITKIGTTrackingToolboxViewWorker(); + + void SetWorkerMethod(WorkerMethod w); + void SetTrackingDevice(mitk::TrackingDevice::Pointer t); + void SetDataStorage(mitk::DataStorage::Pointer d); + void SetInverseMode(bool mode); + void SetTrackingDeviceData(mitk::TrackingDeviceData d); + void SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n); + + itkGetMacro(NavigationToolStorage, mitk::NavigationToolStorage::Pointer); + + mitk::TrackingDeviceSource::Pointer GetTrackingDeviceSource(); + itkGetMacro(TrackingDeviceData, mitk::TrackingDeviceData); + itkGetMacro(ToolVisualizationFilter, mitk::NavigationDataObjectVisualizationFilter::Pointer); + + public slots: + void ThreadFunc(); + +signals: + void AutoDetectToolsFinished(bool success, QString errorMessage); + void ConnectDeviceFinished(bool success, QString errorMessage); + void StartTrackingFinished(bool success, QString errorMessage); + void StopTrackingFinished(bool success, QString errorMessage); + void DisconnectDeviceFinished(bool success, QString errorMessage); + +protected: + + mitk::TrackingDevice::Pointer m_TrackingDevice; + WorkerMethod m_WorkerMethod; + mitk::DataStorage::Pointer m_DataStorage; + mitk::NavigationToolStorage::Pointer m_NavigationToolStorage; + + //members for the filter pipeline which is created in the worker thread during ConnectDevice() + mitk::TrackingDeviceSource::Pointer m_TrackingDeviceSource; ///> member for the source of the IGT pipeline + mitk::TrackingDeviceData m_TrackingDeviceData; ///> stores the tracking device data as long as this is not handled by the tracking device configuration widget + mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter; ///> holds the tool visualization filter (second filter of the IGT pipeline) + + //members some internal flags + bool m_InverseMode; //flag that is true when the inverse mode is enabled + + //stores the original colors of the tracking tools + std::map m_OriginalColors; + + //internal methods + void AutoDetectTools(); + void ConnectDevice(); + void StartTracking(); + void StopTracking(); + void DisconnectDevice(); +}; + +#endif // _QMITKMITKIGTTRACKINGTOOLBOXVIEWWorker_H_INCLUDED