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cxToolPropertiesWidget.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
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4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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32 
33 #include "cxToolPropertiesWidget.h"
34 
35 #include <QTreeWidget>
36 #include <QTreeWidgetItem>
37 #include <QStringList>
38 #include <QVBoxLayout>
39 #include <QGroupBox>
40 #include <QCheckBox>
41 
42 
43 #include "cxTrackingService.h"
45 #include "cxTypeConversions.h"
46 //#include "UsConfigGui.h"
47 #include "cxDataInterface.h"
48 #include "cxTrackingService.h"
49 #include "cxTool.h"
50 #include "cxToolProperty.h"
51 #include "cxActiveToolWidget.h"
52 #include "cxManualTool.h"
53 #include "cxSpaceProvider.h"
54 #include "cxSpaceEditWidget.h"
55 #include "cxToolProperty.h"
56 #include "cxSpaceProvider.h"
57 #include "cxLogger.h"
58 
59 namespace cx
60 {
61 
62 
64  BaseWidget(parent, "ToolPropertiesWidget", "Tool Properties")
65 {
66 
67  QVBoxLayout* layout = new QVBoxLayout(this);
68  layout->setMargin(0);
69  ActiveToolWidget* activeToolWidget = new ActiveToolWidget(trackingService, this);
70  layout->addWidget(activeToolWidget);
71 
72  StringPropertyBasePtr selector = activeToolWidget->getSelector();
73 
74  ToolPropertiesWidget* info = new ToolPropertiesWidget(selector, trackingService, spaceProvider, this);
75  info->layout()->setMargin(0);
76  layout->addWidget(info);
77 }
78 
80 {}
81 
82 //---------------------------------------------------------
83 //---------------------------------------------------------
84 //---------------------------------------------------------
85 
86 ToolPropertiesWidget::ToolPropertiesWidget(StringPropertyBasePtr toolSelector,
89  QWidget* parent) :
90  BaseWidget(parent, "ToolCorePropertiesWidget", "Tool Properties"),
91  mSelector(toolSelector),
92  mTrackingService(trackingService),
93  mSpaceProvider(spaceProvider),
94  mManualToolWidget(NULL)
95 {
96  mToptopLayout = new QVBoxLayout(this);
97  this->setModified();
98 }
99 
101 {
102 }
103 
105 {
106  if (mManualToolWidget) // already created
107  return;
108 
109  this->setToolTip("Tool properties");
110  //layout
111  //toptopLayout->setMargin(0);
112 
113  QHBoxLayout* generalLayout = new QHBoxLayout;
114  mReferenceStatusLabel = new QLabel("Reference frame <undefined>", this);
115  generalLayout->addWidget(mReferenceStatusLabel);
116  mTrackingSystemStatusLabel = new QLabel("Tracking <undefined>", this);
117  generalLayout->addWidget(mTrackingSystemStatusLabel);
118 
119  mToptopLayout->addLayout(generalLayout);
120 
121  QGroupBox* activeGroup = new QGroupBox(this);
122  activeGroup->setTitle("Tool");
123  mToptopLayout->addWidget(activeGroup);
124  QVBoxLayout* activeGroupLayout = new QVBoxLayout;
125  activeGroup->setLayout(activeGroupLayout);
126 
127  QHBoxLayout* activeToolLayout = new QHBoxLayout;
128  activeToolLayout->addWidget(new QLabel("Name:", this));
129  mToolNameLabel = new QLabel(this);
130  activeToolLayout->addWidget(mToolNameLabel);
131  mActiveToolVisibleLabel = new QLabel("Visible: NA");
132  activeToolLayout->addWidget(mActiveToolVisibleLabel);
133  activeGroupLayout->addLayout(activeToolLayout);
134 
135  QGroupBox* manualGroup = new QGroupBox(this);
136  manualGroup->setTitle("Manual Tool");
137  mToptopLayout->addWidget(manualGroup);
138  QVBoxLayout* manualGroupLayout = new QVBoxLayout;
139  mManualGroup = manualGroup;
140  manualGroup->setLayout(manualGroupLayout);
141  manualGroupLayout->setMargin(0);
142  mManualToolWidget = new Transform3DWidget(manualGroup);
143  manualGroupLayout->addWidget(mManualToolWidget);
144  connect(mManualToolWidget, SIGNAL(changed()), this, SLOT(manualToolWidgetChanged()));
145 
146  mSpaceSelector = SpaceProperty::initialize("selectSpace",
147  "Space",
148  "Select coordinate system to store position in.");
149  mSpaceSelector->setSpaceProvider(mSpaceProvider);
150  connect(mSpaceSelector.get(), &SpaceProperty::valueWasSet, this, &ToolPropertiesWidget::spacesChangedSlot);
151  connect(mSpaceSelector.get(), &SpaceProperty::valueWasSet, this, &ToolPropertiesWidget::setModified);
152  mSpaceSelector->setValue(mSpaceProvider->getPr());
153  manualGroupLayout->addWidget(new SpaceEditWidget(this, mSpaceSelector));
154 
155  TrackingServicePtr ts = mTrackingService;
156  mUSSectorConfigBox = new LabeledComboBoxWidget(this, StringPropertyActiveProbeConfiguration::New(ts));
157  mToptopLayout->addWidget(mUSSectorConfigBox);
158  mUSSectorConfigBox->hide();
159 
160  QGridLayout* gridLayout = new QGridLayout;
161  activeGroupLayout->addLayout(gridLayout);
162 
163  mToolOffset = DoublePropertyToolOffset::create(mTool);
164  gridLayout->addWidget(new SpinBoxAndSliderGroupWidget(this, mToolOffset));
165 
166  mMetadataLabel = new QTextEdit;
167  mToptopLayout->addWidget(mMetadataLabel);
168 
169  connect(ts.get(), &TrackingService::stateChanged, this, &ToolPropertiesWidget::reconnectTools);
172 
173  this->reconnectTools();
174  this->activeToolChangedSlot();
175  this->spacesChangedSlot();
176 }
177 
179 {
180  this->setupUI();
181  this->updateFrontend();
182  this->toolPositionChanged();
183 }
184 
185 void ToolPropertiesWidget::toolPositionChanged()
186 {
187  if (!mTool)
188  return;
189 
190  mManualGroup->setVisible(mTool->getVisible());
191  mManualToolWidget->blockSignals(true);
192 
193  Transform3D prMt = mTool->get_prMt();
194  CoordinateSystem space_q = mSpaceSelector->getValue();
195  CoordinateSystem space_mt = mSpaceProvider->getTO(mTool);
196  Transform3D qMt = mSpaceProvider->get_toMfrom(space_mt, space_q);
197 
198  mManualToolWidget->setMatrix(qMt);
199  mManualToolWidget->blockSignals(false);
200 
201  this->updateBrowser();
202 }
203 
204 QString ToolPropertiesWidget::createDescriptionForTool(ToolPtr current)
205 {
206  QString meta = current->getMetadata().toString();
207  return QString("Tool=%1: visible=%2\n%3\n")
208  .arg(current->getName())
209  .arg(current->getVisible())
210  .arg(meta);
211 }
212 
213 void ToolPropertiesWidget::updateBrowser()
214 {
215  QString text;
216 
217  for (TrackingService::ToolMap::iterator i=mTools.begin(); i!=mTools.end(); ++i)
218  {
219  text += this->createDescriptionForTool(i->second) + "\n";
220  }
221 
222  int sstart = mMetadataLabel->textCursor().selectionStart();
223  int send = mMetadataLabel->textCursor().selectionEnd();
224  int textPos = mMetadataLabel->textCursor().position();
225 
226  mMetadataLabel->setPlainText(text);
227  QTextCursor cursor = mMetadataLabel->textCursor();
228 
229  cursor.setPosition(sstart, QTextCursor::MoveAnchor);
230  cursor.setPosition(send, QTextCursor::KeepAnchor);
231 
232  mMetadataLabel->setTextCursor(cursor);
233 }
234 
236 {
237  if (!mTool)
238  return;
239 
240  Transform3D qMt = mManualToolWidget->getMatrix();
241  CoordinateSystem space_q = mSpaceSelector->getValue();
242  CoordinateSystem space_mt = mSpaceProvider->getTO(mTool);
243  CoordinateSystem space_pr = mSpaceProvider->getPr();
244  Transform3D qMpr = mSpaceProvider->get_toMfrom(space_pr, space_q);
245  Transform3D prMt = qMpr.inv() * qMt;
246 
247  mTool->set_prMt(prMt);
248 }
249 
251 {
252  CoordinateSystem space = mSpaceSelector->getValue();
253 
254 // mSpaceSelector->setValueRange(spaceProvider()->getSpacesToPresentInGUI());
255  mSpaceSelector->setValue(space);
256  mSpaceSelector->setHelp(QString("The space q to display tool position in,\n"
257  "qMt"));
258  this->setModified();
259 // this->toolPositionChanged();
260 }
261 
262 void ToolPropertiesWidget::reconnectTools()
263 {
264  for (TrackingService::ToolMap::iterator i=mTools.begin(); i!=mTools.end(); ++i)
265  {
266  disconnect(i->second.get(), &Tool::toolVisible, this, &ToolPropertiesWidget::setModified);
267  disconnect(i->second.get(), &Tool::toolTransformAndTimestamp, this, &ToolPropertiesWidget::setModified);
268  }
269  mTools = mTrackingService->getTools();
270  for (TrackingService::ToolMap::iterator i=mTools.begin(); i!=mTools.end(); ++i)
271  {
272  connect(i->second.get(), &Tool::toolVisible, this, &ToolPropertiesWidget::setModified);
273  connect(i->second.get(), &Tool::toolTransformAndTimestamp, this, &ToolPropertiesWidget::setModified);
274  }
275 }
276 
278 {
279  mTool = mTrackingService->getTool(mSelector->getValue());
280 
281  mToolOffset->setTool(mTool);
282  mUSSectorConfigBox->setVisible(mTool && mTool->hasType(Tool::TOOL_US_PROBE));
283  mToptopLayout->update();
284 
285  this->setModified();
286 }
287 
288 void ToolPropertiesWidget::updateFrontend()
289 {
290  if (mTool)
291  {
292  mToolNameLabel->setText(qstring_cast(mTool->getName()));
293  QString text = mTool->getVisible() ? "Visible" : "Not Visible";
294  mActiveToolVisibleLabel->setText(text);
295  }
296  else
297  {
298  mToolNameLabel->setText("none");
299  mActiveToolVisibleLabel->setText("");
300  }
301 
302  ToolPtr reference = mTrackingService->getReferenceTool();
303  if (reference)
304  {
305  QString text = reference->getVisible() ? "Visible" : "Not Visible";
306  mReferenceStatusLabel->setText("Reference " + text);
307  }
308  else
309  {
310  mReferenceStatusLabel->setText("Reference is the tracker");
311  }
312 
313  QString status = "Unconfigured";
314  if (mTrackingService->getState()==Tool::tsCONFIGURED)
315  status = "Configured";
316  if (mTrackingService->getState()==Tool::tsINITIALIZED)
317  status = "Initialized";
318  if (mTrackingService->getState()==Tool::tsTRACKING)
319  status = "Tracking";
320  mTrackingSystemStatusLabel->setText("Tracking status: " + status);
321 }
322 
323 }//end namespace cx
boost::shared_ptr< class SpaceProvider > SpaceProviderPtr
QString qstring_cast(const T &val)
Widget for displaying and manipulating an affine matrix, i.e. a rotation+translation matrix...
Composite widget for string selection.
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class TrackingService > TrackingServicePtr
static SpacePropertyPtr initialize(const QString &uid, QString name, QString help, Space value=Space(), std::vector< Space > range=std::vector< Space >(), QDomNode root=QDomNode())
void toolTransformAndTimestamp(Transform3D matrix, double timestamp)
static StringPropertyActiveProbeConfigurationPtr New(TrackingServicePtr trackingService)
Composite widget for string selection.
configured with basic info
Definition: cxTool.h:96
void setMatrix(const Transform3D &M)
Composite widget for scalar data manipulation.
static boost::shared_ptr< DoublePropertyToolOffset > create(ToolPtr tool)
void toolVisible(bool visible)
StringPropertyBasePtr getSelector()
boost::shared_ptr< class StringPropertyBase > StringPropertyBasePtr
Widget that contains a select active tool combo box.
Identification of a Coordinate system.
void changed()
emit when the underlying data value is changed: The user interface will be updated.
cxLogicManager_EXPORT SpaceProviderPtr spaceProvider()
connected to hardware, if any, ready to use
Definition: cxTool.h:97
Interface for QWidget which handles widgets uniformly for the system.
Definition: cxBaseWidget.h:108
Transform3D getMatrix() const
ActiveToolPropertiesWidget(TrackingServicePtr trackingService, SpaceProviderPtr spaceProvider, QWidget *parent)
emitting tracking data
Definition: cxTool.h:98
cxLogicManager_EXPORT TrackingServicePtr trackingService()
Ultrasond probe. The tool has a Probe subinterface with a sector and a video stream.
Definition: cxTool.h:108
boost::shared_ptr< class Tool > ToolPtr