cxToolPropertiesWidget.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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modification, are permitted provided that the following conditions are met:

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   this list of conditions and the following disclaimer.

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   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

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#include "cxToolPropertiesWidget.h"

#include <QTreeWidget>
#include <QTreeWidgetItem>
#include <QStringList>
#include <QVBoxLayout>
#include <QGroupBox>
#include <QCheckBox>


#include "cxTrackingService.h"
#include "cxLabeledComboBoxWidget.h"
#include "cxTypeConversions.h"
//#include "UsConfigGui.h"
#include "cxDataInterface.h"
#include "cxTrackingService.h"
#include "cxTool.h"
#include "cxToolProperty.h"
#include "cxActiveToolWidget.h"
#include "cxManualTool.h"
#include "cxLegacySingletons.h"
#include "cxSpaceProvider.h"
#include "cxSpaceEditWidget.h"
#include "cxLegacySingletons.h"

namespace cx
{
  
ToolPropertiesWidget::ToolPropertiesWidget(QWidget* parent) :
  BaseWidget(parent, "ToolPropertiesWidget", "Tool Properties")
{
        this->setToolTip("Tool properties");
  //layout
  mToptopLayout = new QVBoxLayout(this);
  //toptopLayout->setMargin(0);

  mToptopLayout->addWidget(new ActiveToolWidget(trackingService(), this));
  
  QHBoxLayout* generalLayout = new QHBoxLayout;
  mReferenceStatusLabel = new QLabel("Reference frame <undefined>", this);
  generalLayout->addWidget(mReferenceStatusLabel);
  mTrackingSystemStatusLabel = new QLabel("Tracking <undefined>", this);
  generalLayout->addWidget(mTrackingSystemStatusLabel);

  mToptopLayout->addLayout(generalLayout);

  QGroupBox* activeGroup = new QGroupBox(this);
  activeGroup->setTitle("Active Tool");
  mToptopLayout->addWidget(activeGroup);
  QVBoxLayout* activeGroupLayout = new QVBoxLayout;
  activeGroup->setLayout(activeGroupLayout);

  QHBoxLayout* activeToolLayout = new QHBoxLayout;
  activeToolLayout->addWidget(new QLabel("Name:", this));
  mToolNameLabel = new QLabel(this);
  activeToolLayout->addWidget(mToolNameLabel);
  mActiveToolVisibleLabel = new QLabel("Visible: NA");
  activeToolLayout->addWidget(mActiveToolVisibleLabel);
  activeGroupLayout->addLayout(activeToolLayout);

  QGroupBox* manualGroup = new QGroupBox(this);
  manualGroup->setTitle("Manual Tool");
  mToptopLayout->addWidget(manualGroup);
  QVBoxLayout* manualGroupLayout = new QVBoxLayout;
  mManualGroup = manualGroup;
  manualGroup->setLayout(manualGroupLayout);
  manualGroupLayout->setMargin(0);
  mManualToolWidget = new Transform3DWidget(manualGroup);
  manualGroupLayout->addWidget(mManualToolWidget);
  connect(trackingService()->getManualTool().get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this, SLOT(manualToolChanged()));
  connect(trackingService()->getManualTool().get(), SIGNAL(toolVisible(bool)), this, SLOT(manualToolChanged()));
  connect(mManualToolWidget, SIGNAL(changed()), this, SLOT(manualToolWidgetChanged()));

  mSpaceSelector = SpaceProperty::initialize("selectSpace",
      "Space",
          "Select coordinate system to store position in.");
  mSpaceSelector->setSpaceProvider(spaceProvider());
  connect(mSpaceSelector.get(), &SpaceProperty::valueWasSet, this, &ToolPropertiesWidget::spacesChangedSlot);
  connect(mSpaceSelector.get(), &SpaceProperty::valueWasSet, this, &ToolPropertiesWidget::setModified);
  mSpaceSelector->setValue(spaceProvider()->getPr());
  manualGroupLayout->addWidget(new SpaceEditWidget(this, mSpaceSelector));

  TrackingServicePtr ts = trackingService();
  mUSSectorConfigBox = new LabeledComboBoxWidget(this, StringPropertyActiveProbeConfiguration::New(ts));
  mToptopLayout->addWidget(mUSSectorConfigBox);
  mUSSectorConfigBox->hide();

  QGridLayout* gridLayout = new QGridLayout;
  activeGroupLayout->addLayout(gridLayout);

  new SpinBoxAndSliderGroupWidget(this, DoublePropertyBasePtr(new DoublePropertyActiveToolOffset), gridLayout, 0);

  mToptopLayout->addStretch();

  connect(trackingService().get(), &TrackingService::stateChanged, this, &ToolPropertiesWidget::referenceToolChangedSlot);

  connect(trackingService().get(), SIGNAL(activeToolChanged(const QString&)), this, SLOT(activeToolChangedSlot()));

  connect(trackingService().get(), &TrackingService::stateChanged, this, &ToolPropertiesWidget::updateSlot);
  connect(trackingService().get(), SIGNAL(activeToolChanged(const QString&)), this, SLOT(updateSlot()));

  this->activeToolChangedSlot();
  this->referenceToolChangedSlot();
  this->updateSlot();
  this->manualToolChanged();
  this->spacesChangedSlot();
}

ToolPropertiesWidget::~ToolPropertiesWidget()
{
}

void ToolPropertiesWidget::manualToolChanged()
{
        if (!trackingService()->getManualTool())
                return;
  mManualGroup->setVisible(trackingService()->getManualTool()->getVisible());
  mManualToolWidget->blockSignals(true);

  Transform3D prMt = trackingService()->getManualTool()->get_prMt();
  CoordinateSystem space_q = mSpaceSelector->getValue();
  CoordinateSystem space_mt = spaceProvider()->getTO(trackingService()->getManualTool());
  Transform3D qMt = spaceProvider()->get_toMfrom(space_mt, space_q);

  mManualToolWidget->setMatrix(qMt);
  mManualToolWidget->blockSignals(false);
}

void ToolPropertiesWidget::manualToolWidgetChanged()
{
        Transform3D qMt = mManualToolWidget->getMatrix();
  CoordinateSystem space_q = mSpaceSelector->getValue();
  CoordinateSystem space_mt = spaceProvider()->getTO(trackingService()->getManualTool());
  CoordinateSystem space_pr = spaceProvider()->getPr();
  Transform3D qMpr = spaceProvider()->get_toMfrom(space_pr, space_q);
  Transform3D prMt = qMpr.inv() * qMt;

  trackingService()->getManualTool()->set_prMt(prMt);
}

void ToolPropertiesWidget::spacesChangedSlot()
{
        CoordinateSystem space = mSpaceSelector->getValue();

//      mSpaceSelector->setValueRange(spaceProvider()->getSpacesToPresentInGUI());
        mSpaceSelector->setValue(space);
        mSpaceSelector->setHelp(QString("The space q to display tool position in,\n"
                                        "qMt"));
        this->setModified();
        this->manualToolChanged();
}

void ToolPropertiesWidget::activeToolChangedSlot()
{
  if (mActiveTool)
    disconnect(mActiveTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(updateSlot()));

  mActiveTool = trackingService()->getActiveTool();

  if(mActiveTool && mActiveTool->hasType(Tool::TOOL_US_PROBE))
  {
    mUSSectorConfigBox->show();
    mToptopLayout->update();
  }
  else
  {
    mUSSectorConfigBox->hide();
    mToptopLayout->update();
  }

  if (mActiveTool)
    connect(mActiveTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(updateSlot()));
}

void ToolPropertiesWidget::referenceToolChangedSlot()
{
  if (mReferenceTool)
    disconnect(mReferenceTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(updateSlot()));

  mReferenceTool = trackingService()->getReferenceTool();

  if (mReferenceTool)
    connect(mReferenceTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(updateSlot()));
}

void ToolPropertiesWidget::updateSlot()
{
  if (mActiveTool)
  {
    mToolNameLabel->setText(qstring_cast(mActiveTool->getName()));
    QString text = mActiveTool->getVisible() ? "Visible" : "Not Visible";
    mActiveToolVisibleLabel->setText(text);
  }
  else
  {
    mToolNameLabel->setText("none");
    mActiveToolVisibleLabel->setText("");
  }

  if (mReferenceTool)
  {
    QString text = mReferenceTool->getVisible() ? "visible" : "not visible";
    mReferenceStatusLabel->setText("Reference " + text);
  }
  else
  {
    mReferenceStatusLabel->setText("Reference is the tracker");
  }

  QString status = "Unconfigured";
  if (trackingService()->getState()==Tool::tsCONFIGURED)
    status = "Configured";
  if (trackingService()->getState()==Tool::tsINITIALIZED)
        status = "Initialized";
  if (trackingService()->getState()==Tool::tsTRACKING)
        status = "Tracking";
  mTrackingSystemStatusLabel->setText("Tracking status: " + status);
}

void ToolPropertiesWidget::showEvent(QShowEvent* event)
{
  QWidget::showEvent(event);
}

void ToolPropertiesWidget::hideEvent(QCloseEvent* event)
{
  QWidget::closeEvent(event);
}


}//end namespace cx