cxShapeSensorWidget.cpp

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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.
=========================================================================*/
 
#include "cxShapeSensorWidget.h"
#include <QLabel>
#include <QVBoxLayout>
#include <QPushButton>
#include <QApplication>
#include <string>
#include <vtkRenderer.h>
#include <vtkPolyData.h>
#include "cxProfile.h"
#include "cxXmlOptionItem.h"
#include "cxDoubleWidgets.h"
#include "cxVisServices.h"
#include "cxHelperWidgets.h"
#include "cxStringProperty.h"
#include "cxDoubleProperty.h"
#include "cxLogger.h"
#include "cxViewService.h"
#include "cxActiveToolWidget.h"
#include "cxTrackingService.h"
 
namespace cx
{
 
ShapeSensorWidget::ShapeSensorWidget(VisServicesPtr services, QWidget* parent) :
        BaseWidget(parent, "shape_sensor_widget", "Shape Sensor"),
        mServices(services),
        mVerticalLayout(new QVBoxLayout(this)),
        mSocketConnection(new SocketConnection(this)),
        mReadFbgsMessage(new ReadFbgsMessage(services))
{
        SocketConnection::ConnectionInfo info = mSocketConnection->getConnectionInfo();
        info.port = 5001;
        mSocketConnection->setConnectionInfo(info);
 
 
        XmlOptionFile mOptions;
        mOptions = profile()->getXmlSettings().descend("shape");
        QDomElement element = mOptions.getElement("shape");
 
        mIpAddress = this->getIPAddress(element);
        mIpPort = this->getIPPort(element);
        mShapePointLock = this->getShapePointLock(element);
 
        this->setWhatsThis(this->defaultWhatsThis());
 
        //Is tool selector needed?
        ActiveToolWidget* activeToolWidget = new ActiveToolWidget(services->tracking(), this);
        mSelector = activeToolWidget->getSelector();
        connect(mSelector.get(), &StringPropertyBase::changed, this, &ShapeSensorWidget::toolChangedSlot);
        //connect(services->tracking().get(), &TrackingService::activeToolChanged,this, &ShapeSensorWidget::activeToolChangedSlot);
 
        //Connect to tool
        mTool = mServices->tracking()->getActiveTool();
        connect(mTool.get(), &Tool::toolTransformAndTimestamp, this, &ShapeSensorWidget::receiveTransforms);
 
        mConnectButton = new QPushButton("Connect", this);
        mShowShapeButton = new QPushButton("Hide shape", this);
        mSaveShapeButton = new QPushButton("Save mesh snapshot to file", this);
        mTestShapeButton = new QPushButton("Create test shape", this);
 
        connect(mConnectButton, &QPushButton::clicked, this, &ShapeSensorWidget::connectClickedSlot);
        connect(mShowShapeButton, &QPushButton::clicked, this, &ShapeSensorWidget::showClickedSlot);
        connect(mSaveShapeButton, &QPushButton::clicked, this, &ShapeSensorWidget::saveShapeClickedSlot);
        connect(mTestShapeButton, &QPushButton::clicked, this, &ShapeSensorWidget::testShapeClickedSlot);
        connect(mSocketConnection.get(), &SocketConnection::stateChanged, this, &ShapeSensorWidget::connectStateChangedSlot);
        connect(mSocketConnection.get(), &SocketConnection::dataAvailable, this, &ShapeSensorWidget::dataAvailableSlot);
        connect(mShapePointLock.get(), &Property::changed, this, &ShapeSensorWidget::shapePointLockChangedSlot);
 
        QWidget* addressWidget = sscCreateDataWidget(this, mIpAddress);
        QWidget* portWidget = sscCreateDataWidget(this, mIpPort);
        QWidget* shapePointLockWidget = sscCreateDataWidget(this, mShapePointLock);
 
        mVerticalLayout->addWidget(addressWidget);
        mVerticalLayout->addWidget(portWidget);
 
        mVerticalLayout->addWidget(mConnectButton);
        mVerticalLayout->addWidget(this->createHorizontalLine());
        mVerticalLayout->addWidget(mShowShapeButton);
        mVerticalLayout->addWidget(shapePointLockWidget);
        mVerticalLayout->addWidget(activeToolWidget);
        mVerticalLayout->addWidget(this->createHorizontalLine());
        mVerticalLayout->addStretch(1);
        mVerticalLayout->addWidget(mSaveShapeButton);
        mVerticalLayout->addWidget(mTestShapeButton);
        mVerticalLayout->addStretch();
 
        this->toolChangedSlot();
}
 
ShapeSensorWidget::~ShapeSensorWidget()
{
}
 
QString ShapeSensorWidget::defaultWhatsThis() const
{
        return "<html>"
                   "<h3>Shape Sensor plugin.</h3>"
                   "<p>Widget for connecting to Fiber Bragg Shape Sensor/p>"
                   "</html>";
}
 
StringPropertyBasePtr ShapeSensorWidget::getIPAddress(QDomElement root)
{
        StringPropertyPtr retval;
        QString defaultValue = "127.0.0.1";
        retval = StringProperty::initialize("ip_address", "Address", "TCP/IP Address",
                                                                                defaultValue, root);
        retval->setGroup("Connection");
        return retval;
}
 
DoublePropertyBasePtr ShapeSensorWidget::getIPPort(QDomElement root)
{
        DoublePropertyPtr retval;
        retval = DoubleProperty::initialize("ip_port", "Port", "TCP/IP Port (default 5001)",
                                                                                5001, DoubleRange(1024, 49151, 1), 0, root);
        retval->setGuiRepresentation(DoublePropertyBase::grSPINBOX);
        retval->setAdvanced(true);
        retval->setGroup("Connection");
        return retval;
}
 
DoublePropertyPtr ShapeSensorWidget::getShapePointLock(QDomElement root)
{
        DoublePropertyPtr retval;
        retval = DoubleProperty::initialize("shape_point_lock", "Lock shape point number to tool",
                                                                                "Lock a specific point in the shape to the position of the active tool ",
                                                                                0, DoubleRange(0, 1000, 1), 0, root);
        retval->setGuiRepresentation(DoublePropertyBase::grSPINBOX);
        retval->setAdvanced(true);
        retval->setGroup("Connection");
        return retval;
}
 
void ShapeSensorWidget::shapePointLockChangedSlot()
{
        mReadFbgsMessage->setShapePointLock(mShapePointLock->getValue());
}
 
void ShapeSensorWidget::updateShapePointLockRange()
{
        int rangeMax = mReadFbgsMessage->getRangeMax();
        if(rangeMax > 0)
        {
                DoubleRange range = mShapePointLock->getValueRange();
                if (range.max() != rangeMax)
                {
                        range.mMax = rangeMax;
                        mShapePointLock->setValueRange(range);
                }
                if (mShapePointLock->getValue() > rangeMax)
                        mShapePointLock->setValue(rangeMax);
        }
}
 
void ShapeSensorWidget::connectStateChangedSlot(CX_SOCKETCONNECTION_STATE status)
{
        if(status == scsCONNECTED)
        {
                mConnectButton->setText("Disconnect");
        }
        else
        {
                mConnectButton->setText("Connect");
        }
}
 
void ShapeSensorWidget::connectClickedSlot()
{
 
        SocketConnection::ConnectionInfo info = mSocketConnection->getConnectionInfo();
        info.port = mIpPort->getValue();
        info.host = mIpAddress->getValue();
        mSocketConnection->setConnectionInfo(info);
 
        if(mSocketConnection->getState() != scsCONNECTED)
                mSocketConnection->requestConnect();
        else
                mSocketConnection->requestDisconnect();
 
        this->showShape();
}
 
 
void ShapeSensorWidget::showClickedSlot()
{
        vtkPolyDataPtr polydata = mReadFbgsMessage->getPolyData();
        if(mShowShape)
                mShowShapeButton->setText("Show shape");
        else
                mShowShapeButton->setText("Hide shape");
        mShowShape = !mShowShape;
        this->showShape();
}
 
void ShapeSensorWidget::showShape()
{
        if(mShowShape)
                mServices->view()->get3DView()->getRenderer()->AddActor(mReadFbgsMessage->getActor());
        else
                mServices->view()->get3DView()->getRenderer()->RemoveActor(mReadFbgsMessage->getActor());
}
 
void ShapeSensorWidget::testShapeClickedSlot()
{
        std::vector<double> *xAxis = mReadFbgsMessage->getAxisPosVector(ReadFbgsMessage::axisX);
        std::vector<double> *yAxis = mReadFbgsMessage->getAxisPosVector(ReadFbgsMessage::axisY);
        std::vector<double> *zAxis = mReadFbgsMessage->getAxisPosVector(ReadFbgsMessage::axisZ);
        xAxis->push_back(0);
        yAxis->push_back(0);
        zAxis->push_back(0);
        for(int i = 1; i < 100; ++i)
        {
                xAxis->push_back(i+std::rand()/((RAND_MAX + 1u)/3));
                yAxis->push_back(i+std::rand()/((RAND_MAX + 1u)/3));
                zAxis->push_back(i+std::rand()/((RAND_MAX + 1u)/3));
        }
        mReadFbgsMessage->createPolyData();
}
 
void ShapeSensorWidget::saveShapeClickedSlot()
{
        mReadFbgsMessage->saveMeshSnapshot();
}
 
void ShapeSensorWidget::dataAvailableSlot()
{
        this->processData();
}
 
void ShapeSensorWidget::processData()
{
        //This processing could cause the GUI to slow down. Especially opening new windows seems to fail
        //Using prePaintEvent Don't work for rendering in 3D scene
        //Could possibly use RenderLoop::preRender in ViewImplService
        //Current solution is to first process all events in the QEventLoop:
        qApp->processEvents();
 
        bool bufferUpdated = this->readBuffer();
        if(!bufferUpdated)
                return;
 
        mReadFbgsMessage->readBuffer(mBuffer);
        this->updateShapePointLockRange();
}
 
bool ShapeSensorWidget::readBuffer()
{
        bool ok = this->readMessageLenght();
        if(!ok)
                return false;
 
        bool bufferUpdated = false;
        int numberRead = 0;
 
        //Read messages until we get the latest
 
        QTime timer;
        timer.start();
        do
        {
                char *charBuffer = (char*)malloc(mDataLenght);
                ok = mSocketConnection->socketReceive(charBuffer, mDataLenght);
                if(ok)
                {
                        bufferUpdated = true;
                        mDataLenght = 0;
                        mBuffer = QString(charBuffer);
                        ok = this->readMessageLenght();
                        if(ok)
                                numberRead++;
                }
                free(charBuffer);
        }
        while (ok);
//      CX_LOG_DEBUG() << "Read " << numberRead << " tcp messages.";
        return bufferUpdated;
}
 
bool ShapeSensorWidget::readMessageLenght()
{
        bool ok = true;
        if(mDataLenght == 0)//Use previously read value, if not whole buffer could be read last time
        {
                unsigned char charSize[4];
                ok = mSocketConnection->socketReceive(&charSize, 4);
                if(!ok)
                {
                        //CX_LOG_WARNING() << "ShapeSensorWidget::readMessageLenght: Cannot read 4 characters from TCP socket";
                        return false;
                }
                mDataLenght = int( ( (unsigned char)(charSize[0]) << 24 )
                                | ( (unsigned char)(charSize[1]) << 16 )
                                | ( (unsigned char)(charSize[2]) << 8 )
                                | ( (unsigned char)(charSize[3]) ) );
        }
        return true;
}
 
void ShapeSensorWidget::toolChangedSlot()
{
// Alternative code for connecting to active tool instead of tool selector
//      disconnect(mTool.get(), &Tool::toolTransformAndTimestamp, this, &ShapeSensorWidget::receiveTransforms);
//      mTool = mServices->tracking()->getActiveTool();
//      connect(mTool.get(), &Tool::toolTransformAndTimestamp, this, &ShapeSensorWidget::receiveTransforms);
 
        disconnect(mSelector.get(), &StringPropertyBase::changed, this, &ShapeSensorWidget::toolChangedSlot);
        mTool = mServices->tracking()->getTool(mSelector->getValue());
        connect(mSelector.get(), &StringPropertyBase::changed, this, &ShapeSensorWidget::toolChangedSlot);
}
 
void ShapeSensorWidget::receiveTransforms(Transform3D prMt, double timestamp)
{
        mReadFbgsMessage->set_prMt(prMt);
}
} /* namespace cx */