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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   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
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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 "cxProbeDefinition.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(), &IgstkTool::toolTransformAndTimestamp, this,
                                        &ToolUsingIGSTK::toolTransformAndTimestampSlot);
        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()->getProbeDefinition().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
        {
        mPolyData = Tool::createDefaultPolyDataCone();
        }
}

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, ToolPositionMetadata metadata)
{
        Transform3D prMt_filtered = matrix;

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

        mTimestamp = timestamp;
        mMetadata[timestamp] = metadata;

        (*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