cxDummyTool.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.

CustusX is released under a BSD 3-Clause license.

See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#ifndef CXDUMMYTOOL_H_
#define CXDUMMYTOOL_H_

#include "cxResourceExport.h"

#include "cxToolImpl.h"
#include <vector>
#include <QThread>
#include <QDateTime>
#include <QTimer>
#include "cxBoundingBox3D.h"
#include "vtkForwardDeclarations.h"
#include "cxProbeSector.h"
#include "cxTime.h"

typedef boost::shared_ptr<class QTimer> QTimerPtr;

namespace cx
{
class ToolManager;

class cxResource_EXPORT DummyProbe: public Probe
{
        Q_OBJECT
public:
        virtual ~DummyProbe() {}
        virtual bool isValid() const
        {
                return mProbeDefinition.getType() != ProbeDefinition::tNONE;
        }
        virtual QStringList getAvailableVideoSources() { return QStringList() << "active"; }
        virtual ProbeDefinition getProbeDefinition(QString uid="active") const
        {
                return mProbeDefinition;
        }
        virtual ProbeSectorPtr getSector(QString uid="active")
        {
                ProbeSectorPtr retval(new ProbeSector());
                retval->setData(this->getProbeDefinition());
                return retval;
        }
        virtual VideoSourcePtr getRTSource(QString uid="active") const
        {
                return mVideoSource;
        }

        virtual void setActiveStream(QString uid) {}
        virtual QString getActiveStream() const { return mProbeDefinition.getUid(); }

        virtual void addXml(QDomNode& dataNode) {}
        virtual void parseXml(QDomNode& dataNode) {}

        virtual QStringList getConfigIdList() const { return QStringList(); }
        virtual QString getConfigName(QString uid) { return QString(); }
        virtual QString getConfigId() const { return QString(); }
        virtual QString getConfigurationPath() const { return QString(); }
        virtual void removeCurrentConfig() {}
        virtual void saveCurrentConfig(QString uid, QString name) {}

        virtual void applyNewConfigurationWithId(QString uid) {}
        virtual void setTemporalCalibration(double val) {}
        virtual void setSoundSpeedCompensationFactor(double val) {}
        virtual void setProbeDefinition(ProbeDefinition probeDefinition)
        {
                mProbeDefinition = probeDefinition;
                emit sectorChanged();
        }
        virtual void setRTSource(VideoSourcePtr source)
        {
                mVideoSource = source;
                emit sectorChanged();
        }
        virtual void removeRTSource(VideoSourcePtr source)
        {
                if (source!=mVideoSource)
                        return;
                mVideoSource.reset();
                emit sectorChanged();
        }

private:
        ProbeDefinition mProbeDefinition;
        VideoSourcePtr mVideoSource;
};

class cxResource_EXPORT DummyToolThread : public QThread
{
        Q_OBJECT
public:
        DummyToolThread(int interval, QObject* parent=NULL) : QThread(parent), mInterval(interval)
        {
                this->setObjectName("org.custusx.resource.core.tracking.dummytool"); // becomes the thread name
        }
protected:
        void run()
        {
                QTimer* timer = new QTimer;
                timer->start(mInterval);
                connect(timer, SIGNAL(timeout()), this, SIGNAL(ping())); // this signal will be executed in the thread of THIS, i.e. the main thread.
                //              connect(timer, SIGNAL(timeout()), this, SLOT(pong())); // this signal will be executed in the thread of THIS, i.e. the main thread.
                exec();
                delete timer;
        }
        int mInterval;
private slots:
        void pong()
        {
                std::cout << "Thread Pong " << QDateTime::currentDateTime().toString("mm:ss:zzz").toStdString() << std::endl;
        }
signals:
        void ping();
};

struct cxResource_EXPORT DummyToolTestUtilities
{
        static DummyToolPtr createDummyTool(ProbeDefinition probeDefinition = ProbeDefinition());
        static ProbeDefinition createProbeDefinitionLinear(double depth=40, double width=50, Eigen::Array2i frameSize=Eigen::Array2i(80,40));
        static ProbeDefinition createProbeDefinition(ProbeDefinition::TYPE, double depth=40, double width=50, Eigen::Array2i frameSize=Eigen::Array2i(80,40));
};

class cxResource_EXPORT DummyTool : public ToolImpl
{
        Q_OBJECT
public:
        explicit DummyTool(const QString& uid="dummytool");
        ~DummyTool();
        virtual std::set<Type> getTypes() const;
        virtual void setType(Type);

        virtual void setTransformSaveFile(const QString& filename);
        virtual bool getVisible() const;
        virtual QString getUid() const;
        virtual QString getName() const;
        virtual int getIndex() const{return 0;}
        virtual bool isCalibrated() const;
        virtual ProbePtr getProbe() const
        {
                return mProbe;
        }
        void setProbeSector( ProbeDefinition probeDefinition )
        {
                mProbeDefinition = probeDefinition;
                mProbe.reset(new DummyProbe());
                mProbe->setProbeDefinition(mProbeDefinition);
                emit toolProbeSector();
        }
        void setProbeSector(ProbePtr probe)
        {
                mProbe = probe;
                mProbeDefinition = probe->getProbeDefinition();
                emit toolProbeSector();
        }
        virtual double getTimestamp() const { return getMilliSecondsSinceEpoch(); }

        void startTracking(int interval=33);
        void stopTracking();

        void setToolPositionMovement(const std::vector<Transform3D>& positions);
        void setToolPositionMovementBB(const DoubleBoundingBox3D& bb);
        std::vector<Transform3D> createToolPositionMovementTranslationOnly(const DoubleBoundingBox3D& bb) const;
        std::vector<Transform3D> getToolPositionMovement();
        void set_prMt(const Transform3D& ptMt);
        void setVisible(bool val);

        //      virtual double getTooltipOffset() const;
        //      virtual void setTooltipOffset(double val);
        virtual Transform3D getCalibration_sMt() const;

        virtual std::map<QString, Vector3D> getReferencePoints() const {return std::map<QString, Vector3D>();};

        static vtkPolyDataPtr createPolyData(double h1, double h2, double r1, double r2);

private slots:
        virtual void sendTransform();

private:
        void stopThread();
        void createPolyData();
        std::vector<Transform3D> createToolPositionMovement(const DoubleBoundingBox3D& bb) const;
        Transform3D* getNextTransform();
        void createLinearMovement(std::vector<Transform3D>* retval, Transform3D* T_in, const Transform3D& R, const Vector3D& a, const Vector3D& b, double step) const;

        bool mVisible;
        QString mTransformSaveFileName;
        QTimerPtr mTimer;
        std::vector<Transform3D> mTransforms;

        static int mTransformCount;
        //      Type mType;
        std::set<Type> mTypes;
        ProbeDefinition mProbeDefinition;
        ProbePtr mProbe;
        DummyToolThread* mThread;
};
typedef boost::shared_ptr<DummyTool> DummyToolPtr;
}//namespace cx
#endif /* CXDUMMYTOOL_H_ */