Fraxinus  16.5.0-fx-rc4
An IGT application
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cxTrackingSystemPlaybackService.cpp
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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
8 modification, are permitted provided that the following conditions are met:
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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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13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
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21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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31 =========================================================================*/
33 
34 
35 #include "cxLogger.h"
36 #include "cxTime.h"
37 #include "cxPlaybackTime.h"
38 #include "cxPlaybackTool.h"
39 #include <QApplication>
40 #include "cxUtilHelpers.h"
41 #include "cxManualTool.h"
42 #include "cxTrackerConfiguration.h"
43 
44 namespace cx
45 {
46 
48 {
49  mBase = base;
50  mState = Tool::tsNONE;
51  mController = controller;
52  mManual = manual;
53 }
54 
56 {
57  this->setState(Tool::tsNONE);
58 }
59 
60 void TrackingSystemPlaybackService::start()
61 {
62  if (!this->forceBaseToConfiguredState())
63  {
64  reportWarning("ToolManager must be configured before setting playback");
65  return;
66  }
67 
68  std::vector<ToolPtr> original = mBase->getTools();
69 
70  std::pair<double,double> timeRange(getMilliSecondsSinceEpoch(), 0);
71 
72  for (unsigned i=0; i<original.size(); ++i)
73  {
74  cx::PlaybackToolPtr current(new PlaybackTool(original[i], mController));
75  connect(current.get(), &Tool::toolTransformAndTimestamp, this, &TrackingSystemPlaybackService::onToolPositionChanged);
76  mTools.push_back(current);
77 
78  TimedTransformMapPtr history = original[i]->getPositionHistory();
79  if (!history->empty())
80  {
81  timeRange.first = std::min(timeRange.first, history->begin()->first);
82  timeRange.second = std::max(timeRange.second, history->rbegin()->first);
83  }
84  }
85 
86  mController->initialize(QDateTime::fromMSecsSinceEpoch(timeRange.first), timeRange.second - timeRange.first);
87 
88  report("Opened Playback Mode");
89  mState = Tool::tsTRACKING;
90  emit stateChanged();
91 }
92 
93 void TrackingSystemPlaybackService::stop()
94 {
95  mTools.clear();
96  mState = Tool::tsNONE;
97  report("Closed Playback Mode");
98  emit stateChanged();
99 }
100 
101 bool TrackingSystemPlaybackService::forceBaseToConfiguredState()
102 {
103  // attempt to configure tracker if not configured,
104  // or deinit/stop tracking if on.
105  if (mBase->getState() != Tool::tsCONFIGURED)
106  {
107  mBase->setState(Tool::tsCONFIGURED);
108  this->waitForState(mBase, Tool::tsCONFIGURED, 200);
109  }
110 
111  return (mBase->getState() >= Tool::tsCONFIGURED);
112 }
113 
117 void TrackingSystemPlaybackService::waitForState(TrackingSystemServicePtr base, Tool::State state, int timeout)
118 {
119  int interval = 10;
120  for (unsigned i=0; i<timeout/interval; ++i)
121  {
122  if (base->getState() == state)
123  break;
124  qApp->processEvents();
125  sleep_ms(interval);
126  }
127 }
128 
130 {
131  std::vector<ToolPtr> retval;
132  std::copy(mTools.begin(), mTools.end(), back_inserter(retval));
133  return retval;
134 }
135 
137 {
138  return mState;
139 }
140 
141 bool TrackingSystemPlaybackService::isRunning() const
142 {
143  return !mTools.empty();
144 }
145 
147 {
148  mState = val;
149 
150  if (mState >= Tool::tsCONFIGURED)
151  {
152  if (!this->isRunning())
153  this->start();
154  }
155  else
156  {
157  if (this->isRunning())
158  this->stop();
159  }
160 }
161 
163 {
164 
165 }
166 
168 {
170 }
171 
172 void TrackingSystemPlaybackService::onToolPositionChanged(Transform3D matrix, double timestamp)
173 {
174  // Overwrite manual tool pos, set timestamp to 1ms previous.
175  // This makes sure manual tool is not picked as active.
176  mManual->set_prMt(matrix, timestamp-1);
177 // mManual->setVisible(false);
178 // mManual->setVisible(true);
179 }
180 
181 
182 
183 } // namespace cx
virtual void setLoggingFolder(QString loggingFolder)
virtual void setState(const Tool::State val)
asynchronously request a state. Wait for signal stateChanged()
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class PlaybackTool > PlaybackToolPtr
double getMilliSecondsSinceEpoch()
Definition: cxTime.cpp:65
void toolTransformAndTimestamp(Transform3D matrix, double timestamp)
boost::shared_ptr< class ManualTool > ManualToolPtr
TrackingSystemPlaybackService(PlaybackTimePtr controller, TrackingSystemServicePtr base, ManualToolPtr manual)
configured with basic info
Definition: cxTool.h:96
virtual TrackerConfigurationPtr getConfiguration()
boost::shared_ptr< class PlaybackTime > PlaybackTimePtr
boost::shared_ptr< class TrackerConfiguration > TrackerConfigurationPtr
void reportWarning(QString msg)
Definition: cxLogger.cpp:91
static TrackerConfigurationPtr getNullObject()
boost::shared_ptr< TimedTransformMap > TimedTransformMapPtr
Definition: cxTool.h:57
not available
Definition: cxTool.h:95
void report(QString msg)
Definition: cxLogger.cpp:90
emitting tracking data
Definition: cxTool.h:98
void sleep_ms(int ms)
boost::shared_ptr< class TrackingSystemService > TrackingSystemServicePtr