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cxDummyTool.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
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7 Redistribution and use in source and binary forms, with or without
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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31 =========================================================================*/
32 
33 #ifndef CXDUMMYTOOL_H_
34 #define CXDUMMYTOOL_H_
35 
36 #include "cxResourceExport.h"
37 
38 #include "cxToolImpl.h"
39 #include <vector>
40 #include <QThread>
41 #include <QDateTime>
42 #include <QTimer>
43 #include "cxBoundingBox3D.h"
44 #include "vtkForwardDeclarations.h"
45 #include "cxProbeSector.h"
46 #include "cxTime.h"
47 
48 typedef boost::shared_ptr<class QTimer> QTimerPtr;
49 
50 namespace cx
51 {
52 class ToolManager;
53 
59 class cxResource_EXPORT DummyProbe: public Probe
60 {
61  Q_OBJECT
62 public:
63  virtual ~DummyProbe() {}
64  virtual bool isValid() const
65  {
66  return mProbeDefinition.getType() != ProbeDefinition::tNONE;
67  }
68  virtual QStringList getAvailableVideoSources() { return QStringList() << "active"; }
69  virtual ProbeDefinition getProbeDefinition(QString uid="active") const
70  {
71  return mProbeDefinition;
72  }
73  virtual ProbeSectorPtr getSector(QString uid="active")
74  {
75  ProbeSectorPtr retval(new ProbeSector());
76  retval->setData(this->getProbeDefinition());
77  return retval;
78  }
79  virtual VideoSourcePtr getRTSource(QString uid="active") const
80  {
81  return mVideoSource;
82  }
83 
84  virtual void setActiveStream(QString uid) {}
85  virtual QString getActiveStream() const { return mProbeDefinition.getUid(); }
86 
87  virtual void addXml(QDomNode& dataNode) {}
88  virtual void parseXml(QDomNode& dataNode) {}
89 
90  virtual QStringList getConfigIdList() const { return QStringList(); }
91  virtual QString getConfigName(QString uid) { return QString(); }
92  virtual QString getConfigId() const { return QString(); }
93  virtual QString getConfigurationPath() const { return QString(); }
94  virtual void removeCurrentConfig() {}
95  virtual void saveCurrentConfig(QString uid, QString name) {}
96 
97  virtual void applyNewConfigurationWithId(QString uid) {}
98  virtual void setTemporalCalibration(double val) {}
99  virtual void setSoundSpeedCompensationFactor(double val) {}
100  virtual void setProbeDefinition(ProbeDefinition probeDefinition)
101  {
102  mProbeDefinition = probeDefinition;
103  emit sectorChanged();
104  }
105  virtual void setRTSource(VideoSourcePtr source)
106  {
107  mVideoSource = source;
108  emit sectorChanged();
109  }
110  virtual void removeRTSource(VideoSourcePtr source)
111  {
112  if (source!=mVideoSource)
113  return;
114  mVideoSource.reset();
115  emit sectorChanged();
116  }
117 
118 private:
119  ProbeDefinition mProbeDefinition;
120  VideoSourcePtr mVideoSource;
121 };
122 
126 class cxResource_EXPORT DummyToolThread : public QThread
127 {
128  Q_OBJECT
129 public:
130  DummyToolThread(int interval, QObject* parent=NULL) : QThread(parent), mInterval(interval)
131  {
132  this->setObjectName("org.custusx.resource.core.tracking.dummytool"); // becomes the thread name
133  }
134 protected:
135  void run()
136  {
137  QTimer* timer = new QTimer;
138  timer->start(mInterval);
139  connect(timer, SIGNAL(timeout()), this, SIGNAL(ping())); // this signal will be executed in the thread of THIS, i.e. the main thread.
140 // connect(timer, SIGNAL(timeout()), this, SLOT(pong())); // this signal will be executed in the thread of THIS, i.e. the main thread.
141  exec();
142  delete timer;
143  }
145 private slots:
146  void pong()
147  {
148  std::cout << "Thread Pong " << QDateTime::currentDateTime().toString("mm:ss:zzz").toStdString() << std::endl;
149  }
150 signals:
151  void ping();
152 };
153 
154 struct cxResource_EXPORT DummyToolTestUtilities
155 {
156  static DummyToolPtr createDummyTool(ProbeDefinition probeDefinition = ProbeDefinition());
157  static ProbeDefinition createProbeDefinitionLinear(double depth=40, double width=50, Eigen::Array2i frameSize=Eigen::Array2i(80,40));
158  static ProbeDefinition createProbeDefinition(ProbeDefinition::TYPE, double depth=40, double width=50, Eigen::Array2i frameSize=Eigen::Array2i(80,40));
159 };
160 
170 class cxResource_EXPORT DummyTool : public ToolImpl
171 {
172  Q_OBJECT
173 public:
174  explicit DummyTool(const QString& uid="dummytool");
175  ~DummyTool();
176  virtual std::set<Type> getTypes() const;
177  virtual void setType(Type);
178 
179  virtual vtkPolyDataPtr getGraphicsPolyData() const;
180  virtual void setTransformSaveFile(const QString& filename);
181  virtual bool getVisible() const;
182  virtual QString getUid() const;
183  virtual QString getName() const;
184  virtual int getIndex() const{return 0;}
185  virtual bool isCalibrated() const;
186  virtual ProbePtr getProbe() const
187  {
188  return mProbe;
189  }
190  void setProbeSector( ProbeDefinition probeDefinition )
191  {
192  mProbeDefinition = probeDefinition;
193  mProbe.reset(new DummyProbe());
194  mProbe->setProbeDefinition(mProbeDefinition);
195  emit toolProbeSector();
196  }
198  {
199  mProbe = probe;
200  mProbeDefinition = probe->getProbeDefinition();
201  emit toolProbeSector();
202  }
203  virtual double getTimestamp() const { return getMilliSecondsSinceEpoch(); }
204 
205  void startTracking(int interval=33);
206  void stopTracking();
207 
208  void setToolPositionMovement(const std::vector<Transform3D>& positions);
209  void setToolPositionMovementBB(const DoubleBoundingBox3D& bb);
210  std::vector<Transform3D> createToolPositionMovementTranslationOnly(const DoubleBoundingBox3D& bb) const;
211  std::vector<Transform3D> getToolPositionMovement();
212  void set_prMt(const Transform3D& ptMt);
213  void setVisible(bool val);
214 
215 // virtual double getTooltipOffset() const;
216 // virtual void setTooltipOffset(double val);
217  virtual Transform3D getCalibration_sMt() const;
218 
219  virtual std::map<int, Vector3D> getReferencePoints() const {return std::map<int, Vector3D>();};
220 
221  static vtkPolyDataPtr createPolyData(double h1, double h2, double r1, double r2);
222 
223 private slots:
224  virtual void sendTransform();
225 
226 private:
227  void stopThread();
228  void createPolyData();
229  std::vector<Transform3D> createToolPositionMovement(const DoubleBoundingBox3D& bb) const;
230  Transform3D* getNextTransform();
231  void createLinearMovement(std::vector<Transform3D>* retval, Transform3D* T_in, const Transform3D& R, const Vector3D& a, const Vector3D& b, double step) const;
232 
233  vtkPolyDataPtr mPolyData;
234  bool mVisible;
235  QString mTransformSaveFileName;
236  QTimerPtr mTimer;
237  std::vector<Transform3D> mTransforms;
238 
239  static int mTransformCount;
240 // Type mType;
241  std::set<Type> mTypes;
242  ProbeDefinition mProbeDefinition;
243  ProbePtr mProbe;
244  DummyToolThread* mThread;
245 };
246 typedef boost::shared_ptr<DummyTool> DummyToolPtr;
247 }//namespace cx
248 #endif /* CXDUMMYTOOL_H_ */
virtual void setProbeDefinition(ProbeDefinition probeDefinition)
Definition: cxDummyTool.h:100
virtual bool isValid() const
Definition: cxDummyTool.h:64
virtual QStringList getAvailableVideoSources()
Return a list of all available video source. The default is one with uid=='active'.
Definition: cxDummyTool.h:68
virtual void saveCurrentConfig(QString uid, QString name)
save current config to disk under ids (uid,name).
Definition: cxDummyTool.h:95
virtual void removeRTSource(VideoSourcePtr source)
Definition: cxDummyTool.h:110
virtual std::map< int, Vector3D > getReferencePoints() const
Get the optional reference points from this tool.
Definition: cxDummyTool.h:219
virtual void addXml(QDomNode &dataNode)
Definition: cxDummyTool.h:87
virtual int getIndex() const
Definition: cxDummyTool.h:184
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Common functionality for Tool subclasses.
Definition: cxToolImpl.h:50
double getMilliSecondsSinceEpoch()
Definition: cxTime.cpp:65
virtual ProbeDefinition getProbeDefinition(QString uid="active") const
Return a ProbeDefinition for the given uid. Use 'active' to get the default.
Definition: cxDummyTool.h:69
virtual QString getConfigName(QString uid)
Definition: cxDummyTool.h:91
virtual void setActiveStream(QString uid)
Definition: cxDummyTool.h:84
virtual ~DummyProbe()
Definition: cxDummyTool.h:63
virtual QStringList getConfigIdList() const
Definition: cxDummyTool.h:90
virtual QString getActiveStream() const
Definition: cxDummyTool.h:85
virtual ProbeSectorPtr getSector(QString uid="active")
Definition: cxDummyTool.h:73
boost::shared_ptr< Probe > ProbePtr
Definition: cxProbe.h:93
boost::shared_ptr< class DummyTool > DummyToolPtr
vtkSmartPointer< class vtkPolyData > vtkPolyDataPtr
US Probe interface.
Definition: cxProbe.h:53
virtual VideoSourcePtr getRTSource(QString uid="active") const
Return a VideoSource for the given uid. Use 'active' to get the default stream.
Definition: cxDummyTool.h:79
virtual double getTimestamp() const
latest valid timestamp for the position matrix. 0 means indeterminate (for f.ex. manual tools) ...
Definition: cxDummyTool.h:203
boost::shared_ptr< class VideoSource > VideoSourcePtr
virtual QString getConfigId() const
Definition: cxDummyTool.h:92
Representation of a floating-point bounding box in 3D. The data are stored as {xmin,xmax,ymin,ymax,zmin,zmax}, in order to simplify communication with vtk.
Implementation of a Tool used for testing.
Definition: cxDummyTool.h:170
virtual void parseXml(QDomNode &dataNode)
Definition: cxDummyTool.h:88
boost::shared_ptr< class ProbeSector > ProbeSectorPtr
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
Definition of characteristics for an Ultrasound Probe Sector.
DummyToolThread(int interval, QObject *parent=NULL)
Definition: cxDummyTool.h:130
virtual QString getConfigurationPath() const
Definition: cxDummyTool.h:93
Utility functions for drawing an US Probe sector.
Definition: cxProbeSector.h:59
virtual ProbePtr getProbe() const
additional information if the tool represents an US Probe. Extends getProbeSector() ...
Definition: cxDummyTool.h:186
void setProbeSector(ProbePtr probe)
Definition: cxDummyTool.h:197
virtual void removeCurrentConfig()
remove the current config from disk
Definition: cxDummyTool.h:94
void setProbeSector(ProbeDefinition probeDefinition)
Definition: cxDummyTool.h:190
virtual void setSoundSpeedCompensationFactor(double val)
Definition: cxDummyTool.h:99
virtual void setRTSource(VideoSourcePtr source)
Definition: cxDummyTool.h:105
boost::shared_ptr< class QTimer > QTimerPtr
Definition: cxDummyTool.h:48
virtual void applyNewConfigurationWithId(QString uid)
Definition: cxDummyTool.h:97
virtual void setTemporalCalibration(double val)
Definition: cxDummyTool.h:98