Fraxinus  22.04-rc3
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
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,
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18  may be used to endorse or promote products derived from this software
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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 "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  mBase(trackingService->getTrackingSystems().back()),
51  mTrackingService(trackingService),
52  mProjectionCenterline(projectionCenterline),
53  mTool(tool)
54 {
55  connect(mBase.get(), &TrackingSystemService::stateChanged, this, &TrackingSystemBronchoscopyService::onStateChanged);
56  if (!mTool)
57  mTool = mTrackingService->getActiveTool(); // Use active tool if tool is not set
58  this->onStateChanged();
59 }
60 
62 {
63 }
64 
66 {
67  std::vector<TrackingSystemServicePtr> trackingSystems = mTrackingService->getTrackingSystems();
68  for (int i=0; i<trackingSystems.size(); i++)
69  if (trackingSystems[i]->getUid() == trackingSystemName)
70  {
71  mBase = trackingSystems[i];
72  return true;
73  }
74  return false;
75 }
76 
78 {
79  mTool = tool;
80 }
81 
82 void TrackingSystemBronchoscopyService::onStateChanged()
83 {
84  std::vector<ToolPtr> tools = mBase->getTools();
85  mTools.clear();
86  for (unsigned i=0; i<tools.size(); ++i)
87  {
88  if (tools[i] == mTool)
89  {
90  BronchoscopyToolPtr current(new BronchoscopyTool(tools[i], mProjectionCenterline));
91  mTools.push_back(current);
92  }
93  else
94  mTools.push_back(tools[i]);
95  }
96  emit stateChanged();
97 }
98 
100 {
101  return mBase->getReference();
102 }
103 
104 
106 {
107  return mTools;
108 }
109 
111 {
112  return mBase->getState();
113 }
114 
116 {
117  mBase->setState(val);
118 }
119 
121 {
122  mBase->setLoggingFolder(loggingFolder);
123 }
124 
126 {
127  return mBase->getConfiguration();
128 }
129 
130 
131 } // 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