Fraxinus  2023.01.05-dev+develop.0da12
An IGT application
cxTrackingSystemBronchoscopyService.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
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11  this list of conditions and the following disclaimer.
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33 
34 
35 #include "cxReporter.h"
36 #include "cxTime.h"
37 #include "cxPlaybackTime.h"
38 #include "cxBronchoscopyTool.h"
39 #include <QApplication>
40 #include "cxUtilHelpers.h"
41 #include "cxManualTool.h"
42 #include "cxTrackerConfiguration.h"
44 
45 
46 namespace cx
47 {
48 
50  mTrackingService(trackingService),
51  mProjectionCenterline(projectionCenterline),
52  mTool(tool)
53 {
54  mBase = this->getIGSTKTrackingSystemService();
55 
56  connect(mBase.get(), &TrackingSystemService::stateChanged, this, &TrackingSystemBronchoscopyService::onStateChanged);
57  if (!mTool)
58  mTool = mTrackingService->getActiveTool(); // Use active tool if tool is not set
59  this->onStateChanged();
60 }
61 
63 {
64 }
65 
67 {
68  std::vector<TrackingSystemServicePtr> trackingSystems = mTrackingService->getTrackingSystems();
69  for (int i=0; i<trackingSystems.size(); i++)
70  if (trackingSystems[i]->getUid() == trackingSystemName)
71  {
72  mBase = trackingSystems[i];
73  this->onStateChanged();
74  return true;
75  }
76  return false;
77 }
78 
79 TrackingSystemServicePtr TrackingSystemBronchoscopyService::getIGSTKTrackingSystemService()
80 {
81  std::vector<TrackingSystemServicePtr> trackingSystems = mTrackingService->getTrackingSystems();
82  for (unsigned i = 0; i < trackingSystems.size(); ++i)
83  {
84  if(trackingSystems[i]->getUid() == "org.custusx.core.tracking.system.igstk")
85  return trackingSystems[i];
86  }
87  return TrackingSystemServicePtr();
88 }
89 
91 {
92  mTool = tool;
93 }
94 
95 void TrackingSystemBronchoscopyService::onStateChanged()
96 {
97  std::vector<ToolPtr> tools = mBase->getTools();
98  mTools.clear();
99  for (unsigned i=0; i<tools.size(); ++i)
100  {
101  if (tools[i] == mTool)
102  {
103  BronchoscopyToolPtr current(new BronchoscopyTool(tools[i], mProjectionCenterline));
104  mTools.push_back(current);
105  }
106  else
107  mTools.push_back(tools[i]);
108  }
109  emit stateChanged();
110 }
111 
113 {
114  return mBase->getReference();
115 }
116 
117 
119 {
120  return mTools;
121 }
122 
124 {
125  return mBase->getState();
126 }
127 
129 {
130  mBase->setState(val);
131 }
132 
134 {
135  mBase->setLoggingFolder(loggingFolder);
136 }
137 
139 {
140  return mBase->getConfiguration();
141 }
142 
143 
144 } // namespace cx
boost::shared_ptr< class TrackingService > TrackingServicePtr
ToolPtr getReference()
reference tool used by entire tracking service - NOTE: system fails if several TrackingSystemServices...
virtual void setState(const Tool::State val)
asynchronously request a state. Wait for signal stateChanged()
void stateChanged()
Reset time synchronization. Used for resetting time synchronization of incoming timestamps in OpenIGT...
boost::shared_ptr< class TrackerConfiguration > TrackerConfigurationPtr
TrackingSystemBronchoscopyService(TrackingServicePtr trackingService, BronchoscopePositionProjectionPtr projectionCenterline, ToolPtr tool=NULL)
A tool used during playback.
boost::shared_ptr< class BronchoscopePositionProjection > BronchoscopePositionProjectionPtr
boost::shared_ptr< class BronchoscopyTool > BronchoscopyToolPtr
Namespace for all CustusX production code.
boost::shared_ptr< class Tool > ToolPtr
boost::shared_ptr< class TrackingSystemService > TrackingSystemServicePtr