cxToolUsingIGSTK.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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   and/or other materials provided with the distribution.

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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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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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#define _USE_MATH_DEFINES
#include "cxToolUsingIGSTK.h"

#include <vtkPolyData.h>
#include <vtkConeSource.h>
#include <vtkSTLReader.h>
#include <QDir>
#include <QDateTime>
#include <QStringList>
#include <QTextStream>

#include "cxTypeConversions.h"
#include "cxProbeData.h"
#include "cxProbeImpl.h"
#include "cxIgstkTool.h"
#include "cxTrackingPositionFilter.h"

namespace cx
{

ToolUsingIGSTK::ToolUsingIGSTK(IgstkToolPtr igstkTool) :
        ToolImpl(""),
                                mTool(igstkTool), mPolyData(NULL),
                                mValid(false), mConfigured(false), mTracked(false)
{
        mTimestamp = 0;
        Tool::mUid = mTool->getInternalStructure().mUid;
        Tool::mName = mTool->getInternalStructure().mName;
    mValid = igstkTool->isValid();

        this->createPolyData();

        connect(mTool.get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this,
                                        SLOT(toolTransformAndTimestampSlot(Transform3D, double)));
        connect(mTool.get(), SIGNAL(attachedToTracker(bool)), this, SIGNAL(attachedToTracker(bool)));
        connect(mTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(toolVisibleSlot(bool)));
        connect(mTool.get(), SIGNAL(toolVisible(bool)), this, SIGNAL(toolVisible(bool)));
        connect(&mTpsTimer, SIGNAL(timeout()), this, SLOT(calculateTpsSlot()));

        if (mTool->getInternalStructure().mIsProbe)
        {
                mProbe = ProbeImpl::New(mTool->getInternalStructure().mInstrumentId,
                                                mTool->getInternalStructure().mInstrumentScannerId);
                connect(mProbe.get(), SIGNAL(sectorChanged()), this, SIGNAL(toolProbeSector()));
        }
}

ToolUsingIGSTK::~ToolUsingIGSTK()
{
}

std::set<ToolUsingIGSTK::Type> ToolUsingIGSTK::getTypes() const
{
        std::set<Type> retval;

        if (mTool->getInternalStructure().mIsReference)
                retval.insert(ToolUsingIGSTK::TOOL_REFERENCE);
        if (mTool->getInternalStructure().mIsPointer)
                retval.insert(ToolUsingIGSTK::TOOL_POINTER);
        if (mTool->getInternalStructure().mIsProbe)
                retval.insert(ToolUsingIGSTK::TOOL_US_PROBE);

        return retval;
}

vtkPolyDataPtr ToolUsingIGSTK::getGraphicsPolyData() const
{
        return mPolyData;
}

ProbePtr ToolUsingIGSTK::getProbe() const
{
        return mProbe;
}

bool ToolUsingIGSTK::getVisible() const
{
        return mTool->isVisible();
}

bool ToolUsingIGSTK::isInitialized() const
{
        return mTool->isInitialized();
}

QString ToolUsingIGSTK::getUid() const
{
        return Tool::mUid;
}

QString ToolUsingIGSTK::getName() const
{
        return Tool::mName;
}

double ToolUsingIGSTK::getTooltipOffset() const
{
        if(this->getProbe())
                return this->getProbe()->getProbeData().getDepthStart();
        return ToolImpl::getTooltipOffset();
}

void ToolUsingIGSTK::setTooltipOffset(double val)
{
        if(this->getProbe())
                return;
        ToolImpl::setTooltipOffset(val);
}

bool ToolUsingIGSTK::isValid() const
{
        return mValid;
}

void ToolUsingIGSTK::createPolyData()
{
        QDir dir;
        if (!mTool->getInternalStructure().mGraphicsFileName.isEmpty()
                                        && dir.exists(mTool->getInternalStructure().mGraphicsFileName))
        {
                vtkSTLReaderPtr reader = vtkSTLReaderPtr::New();
                reader->SetFileName(cstring_cast(mTool->getInternalStructure().mGraphicsFileName));
                reader->Update();
                mPolyData = reader->GetOutput();
        }
        else
        {
                vtkConeSourcePtr coneSource = vtkConeSourcePtr::New();
                coneSource->SetResolution(25);
                coneSource->SetRadius(10);
                coneSource->SetHeight(100);

                coneSource->SetDirection(0, 0, 1);
                double newCenter[3];
                coneSource->GetCenter(newCenter);
                newCenter[2] = newCenter[2] - coneSource->GetHeight() / 2;
                coneSource->SetCenter(newCenter);

                coneSource->Update();
                mPolyData = coneSource->GetOutput();
        }
}

bool ToolUsingIGSTK::isCalibrated() const
{
        Transform3D identity = Transform3D::Identity();
        Transform3D sMt = mTool->getInternalStructure().getCalibrationAsSSC();
        return !similar(sMt, identity);
}

Transform3D ToolUsingIGSTK::getCalibration_sMt() const
{
        Transform3D sMt = mTool->getInternalStructure().getCalibrationAsSSC();

        return sMt;
}

void ToolUsingIGSTK::setCalibration_sMt(Transform3D calibration)
{
        mTool->updateCalibration(calibration);
}

QString ToolUsingIGSTK::getCalibrationFileName() const
{
        return mTool->getInternalStructure().mCalibrationFilename;
}

TRACKING_SYSTEM ToolUsingIGSTK::getTrackerType()
{
        return mTool->getInternalStructure().mTrackerType;
}

void ToolUsingIGSTK::printInternalStructure()
{
        mTool->printInternalStructure();
}

std::map<int, Vector3D> ToolUsingIGSTK::getReferencePoints() const
{
        return mTool->getInternalStructure().mReferencePoints;
}

bool ToolUsingIGSTK::hasReferencePointWithId(int id)
{
  return this->getReferencePoints().count(id);
}

void ToolUsingIGSTK::addXml(QDomNode& dataNode)
{
        QDomDocument doc = dataNode.ownerDocument();
        dataNode.toElement().setAttribute("uid", qstring_cast(this->getUid()));
        if (mProbe && mProbe->isValid())
        {
                QDomElement probeNode = doc.createElement("probe");
                mProbe->addXml(probeNode);
                dataNode.appendChild(probeNode);
        }
}

void ToolUsingIGSTK::parseXml(QDomNode& dataNode)
{
        if (dataNode.isNull())
                return;
        if (mProbe)
        {
                QDomNode probeNode = dataNode.namedItem("probe");
                mProbe->parseXml(probeNode);
        }
}

void ToolUsingIGSTK::toolTransformAndTimestampSlot(Transform3D matrix, double timestamp)
{
        Transform3D prMt_filtered = matrix;

        if (mTrackingPositionFilter)
        {
                mTrackingPositionFilter->addPosition(matrix, timestamp);
                prMt_filtered = mTrackingPositionFilter->getFilteredPosition();
        }

        mTimestamp = timestamp;
        (*mPositionHistory)[timestamp] = matrix; // store original in history
        m_prMt = prMt_filtered;
        emit toolTransformAndTimestamp(m_prMt, timestamp);

//      ToolImpl::set_prMt(matrix, timestamp);
}

void ToolUsingIGSTK::calculateTpsSlot()
{
        int tpsNr = 0;

        int numberOfTransformsToCheck = ((mPositionHistory->size() >= 10) ? 10 : mPositionHistory->size());
        if (    numberOfTransformsToCheck <= 1)
        {
                emit tps(0);
                return;
        }

        TimedTransformMap::reverse_iterator it = mPositionHistory->rbegin();
        double lastTransform = it->first;
        for (int i = 0; i < numberOfTransformsToCheck; ++i)
                ++it;
        double firstTransform = it->first;
        double secondsPassed = (lastTransform - firstTransform) / 1000;

        if (!similar(secondsPassed, 0))
                tpsNr = (int) (numberOfTransformsToCheck / secondsPassed);

        emit tps(tpsNr);
}

void ToolUsingIGSTK::toolVisibleSlot(bool on)
{
        if (on)
                mTpsTimer.start(1000); //calculate tps every 1 seconds
        else
                mTpsTimer.stop();
}

void ToolUsingIGSTK::set_prMt(const Transform3D& prMt, double timestamp)
{

}

void ToolUsingIGSTK::setVisible(bool vis)
{

}


}//namespace cx