mitkPolhemusTrackingDevice.cpp

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
#include "mitkPolhemusTrackingDevice.h"
#include "mitkPolhemusTool.h"
#include "mitkIGTConfig.h"
#include "mitkIGTTimeStamp.h"
#include "mitkIGTHardwareException.h"
#include <itksys/SystemTools.hxx>
#include <iostream>
#include <mutex>
#include "mitkPolhemusTrackerTypeInformation.h"
 
mitk::PolhemusTrackingDevice::PolhemusTrackingDevice() : mitk::TrackingDevice()
{
  //set the type of this tracking device
  this->m_Data = mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty();
  m_Device = mitk::PolhemusInterface::New();
}
 
mitk::PolhemusTrackingDevice::~PolhemusTrackingDevice()
{
}
 
bool mitk::PolhemusTrackingDevice::IsDeviceInstalled()
{
  return true;
}
 
mitk::TrackingTool* mitk::PolhemusTrackingDevice::AddTool(const char* toolName, int toolPort)
{
  //Only add tool if port isn't already used.
  for (auto _tool : m_AllTools)
  {
    if (_tool->GetToolPort() == toolPort)
    {
      MITK_DEBUG << "There is already a tool connected to this port. Returning existing tool";
      return _tool;
    }
  }
 
  mitk::PolhemusTool::Pointer t = mitk::PolhemusTool::New();
  t->SetToolName(toolName);
  t->SetToolPort(toolPort);
  if (this->InternalAddTool(t) == false)
    return nullptr;
  return t.GetPointer();
}
 
bool mitk::PolhemusTrackingDevice::InternalAddTool(PolhemusTool::Pointer tool)
{
  m_AllTools.push_back(tool);
  return true;
}
 
bool mitk::PolhemusTrackingDevice::StartTracking()
{
  bool success = m_Device->StartTracking();
  if (success)
  {
    mitk::IGTTimeStamp::GetInstance()->Start(this);
    this->SetState(Tracking);
    this->m_StopTrackingMutex.lock();
    this->m_StopTracking = false;
    this->m_StopTrackingMutex.unlock();
    if (m_Thread.joinable()) {m_Thread.detach();}
    m_Thread = std::thread(&PolhemusTrackingDevice::ThreadStartTracking, this); // start a new thread that executes the TrackTools() methodreturn true;
  }
  else
  {
    this->SetState(Ready);
    mitkThrowException(mitk::IGTHardwareException) << "Error while trying to start the device!";
  }
  return success;
}
 
bool mitk::PolhemusTrackingDevice::StopTracking()
{
  m_Device->StopTracking();
  return Superclass::StopTracking();
}
 
unsigned int mitk::PolhemusTrackingDevice::GetToolCount() const
{
  return (unsigned int)this->m_AllTools.size();
}
 
mitk::TrackingTool* mitk::PolhemusTrackingDevice::GetTool(unsigned int toolNumber) const
{
  if (toolNumber >= this->GetToolCount())
    return nullptr;
  else
    return this->m_AllTools[toolNumber];
}
 
bool mitk::PolhemusTrackingDevice::OpenConnection()
{
  //reset everything
  if (m_Device.IsNull()) { m_Device = mitk::PolhemusInterface::New(); }
  if (!m_Device->Connect()) //Connect the device, if it fails, throw an error.
  {
    MITK_ERROR << "Cannot connect Polhemus device!";
    CloseConnection();
    return false;
  }
 
  //Ready must be set here, 'cause if tools don't match we need to be able to disconnect.
  this->SetState(Ready);
 
  //check if connected ports of Polhemus matches the tools in the toolStorage.
  std::vector<int> toolPorts = m_Device->GetToolPorts();
 
  //first, check size.
  if (this->GetToolCount() != toolPorts.size())
  {
    MITK_ERROR << "Cannot connect device, number of tools in toolstorage doesn't match the number of tools connected to Polhemus device!";
    CloseConnection();
    return false;
  }
 
  //second, check if toolStorage identifier is included in this port.
  for (auto _tool : m_AllTools)
  {
    if (std::find(toolPorts.begin(), toolPorts.end(), _tool->GetToolPort()) == toolPorts.end())
    {
      MITK_ERROR << "Cannot connect device, tool " << _tool->GetToolPort() << " is not connected to its port.";
      CloseConnection();
      return false;
    }
    else
    {
      //erase this port to avoid that two tools want to connect to the same port.
      toolPorts.erase(std::find(toolPorts.begin(), toolPorts.end(), _tool->GetToolPort()));
    }
  }
 
  m_Device->SetHemisphereTrackingEnabled(m_HemisphereTrackingEnabled);
 
  return true;
}
 
bool mitk::PolhemusTrackingDevice::CloseConnection()
{
  bool returnValue = true;
  if (this->GetState() == Setup)
    return true;
 
  returnValue = m_Device->Disconnect();
 
  this->SetState(Setup);
  return returnValue;
}
 
mitk::PolhemusInterface* mitk::PolhemusTrackingDevice::GetDevice()
{
  return m_Device;
}
 
std::vector<mitk::PolhemusTool::Pointer> mitk::PolhemusTrackingDevice::GetAllTools()
{
  return this->m_AllTools;
}
 
void mitk::PolhemusTrackingDevice::TrackTools()
{
  try
  {
    /* lock the TrackingFinishedMutex to signal that the execution rights are now transfered to the tracking thread */
    std::lock_guard<std::mutex> trackingFinishedLockHolder(m_TrackingFinishedMutex); // keep lock until end of scope
 
    bool localStopTracking;       // Because m_StopTracking is used by two threads, access has to be guarded by a mutex. To minimize thread locking, a local copy is used here
    this->m_StopTrackingMutex.lock();  // update the local copy of m_StopTracking
    localStopTracking = this->m_StopTracking;
    this->m_StopTrackingMutex.unlock();
    Sleep(100);//Wait a bit until the tracker is ready...
 
    while ((this->GetState() == Tracking) && (localStopTracking == false))
    {
      std::vector<mitk::PolhemusInterface::trackingData> lastData = this->GetDevice()->GetLastFrame();
 
      if (lastData.size() != m_AllTools.size())
      {
        MITK_WARN << "Tool count is corrupt. Hardware gives " << lastData.size() << " tools, MITK expects " << m_AllTools.size() << " tools. Aborting!";
      }
      else
      {
        std::vector<mitk::PolhemusTool::Pointer> allTools = this->GetAllTools();
        for (size_t i = 0; i < allTools.size(); i++)
        {
          mitk::PolhemusTool::Pointer currentTool = allTools.at(i);
 
          const int distortionLevel = lastData.at(i).distortionLevel;
 
          if (distortionLevel == 0)
          {
            currentTool->SetDataValid(true);
          }
          else
          {
            currentTool->SetDataValid(false);
          }
 
          currentTool->SetDistortionLevel(distortionLevel);
          currentTool->SetPosition(lastData.at(i).pos);
          currentTool->SetOrientation(lastData.at(i).rot);
          currentTool->SetIGTTimeStamp(mitk::IGTTimeStamp::GetInstance()->GetElapsed());
        }
      }
      /* Update the local copy of m_StopTracking */
      this->m_StopTrackingMutex.lock();
      localStopTracking = m_StopTracking;
      this->m_StopTrackingMutex.unlock();
    }
  }
  catch (...)
  {
    this->StopTracking();
    mitkThrowException(mitk::IGTHardwareException) << "Error while trying to track tools. Thread stopped.";
  }
}
 
void mitk::PolhemusTrackingDevice::ThreadStartTracking()
{
  this->TrackTools();
}
 
bool mitk::PolhemusTrackingDevice::AutoDetectToolsAvailable()
{
  return true;
}
 
mitk::NavigationToolStorage::Pointer mitk::PolhemusTrackingDevice::AutoDetectTools()
{
  std::vector<mitk::PolhemusInterface::trackingData> singeFrameData = this->m_Device->AutoDetectTools();
  MITK_INFO << "Found " << singeFrameData.size() << " tools.";
  mitk::NavigationToolStorage::Pointer returnValue = mitk::NavigationToolStorage::New();
  for each (mitk::PolhemusInterface::trackingData t in singeFrameData)
  {
    mitk::NavigationTool::Pointer newTool = mitk::NavigationTool::New();
 
    std::stringstream name;
    name << "Sensor-" << ((int)t.id);
    newTool->GetDataNode()->SetName(name.str());
 
    //The identifier defines, which plug is used (e.g. "Sens 2" --> 2).
    std::stringstream identifier;
    identifier << ((int)t.id);
    newTool->SetIdentifier(identifier.str());
 
    newTool->SetTrackingDeviceType(mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty().Line);
    returnValue->AddTool(newTool);
  }
  return returnValue;
}
 
void  mitk::PolhemusTrackingDevice::SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled)
{
  //We need to remember if HemisphereTracking is switch on for this reason:
  /* m_Device->SetHemi works only if the device is connected. However, GUI can also change if it is not connected.
     In this case, we remember it in the m_HemisphereTrackingEnabled variable. And when connecting, we know, which
     status is wanted from the user by GUI.
     */
  m_HemisphereTrackingEnabled = _HemisphereTrackingEnabled;
  this->m_Device->SetHemisphereTrackingEnabled(_HemisphereTrackingEnabled);
}
 
void  mitk::PolhemusTrackingDevice::ToggleHemisphere(int _tool)
{
  this->m_Device->ToggleHemisphere(_tool);
}
 
void mitk::PolhemusTrackingDevice::SetHemisphere(int _tool, mitk::Vector3D _hemisphere)
{
  //If you set a hemisphere vector which is unequal (0|0|0), this means, that there is no hemisphere tracking any more
  //disable the option, so that it can be reactivated... Also if it is just a single tool.
  if (_hemisphere.GetNorm() != 0)
    m_HemisphereTrackingEnabled = false;
 
  this->m_Device->SetHemisphere(_tool, _hemisphere);
}
 
mitk::Vector3D mitk::PolhemusTrackingDevice::GetHemisphere(int _tool)
{
  return this->m_Device->GetHemisphere(_tool);
}
 
bool mitk::PolhemusTrackingDevice::GetHemisphereTrackingEnabled(int _tool)
{
  return this->m_Device->GetHemisphereTrackingEnabled(_tool);
}
 
void mitk::PolhemusTrackingDevice::AdjustHemisphere(int _tool)
{
  return this->m_Device->AdjustHemisphere(_tool);
}