/** extract information from the IGTLinkUSStatusMessage
* and store locally. Also reset the old local info with
* information from the probe in toolmanager.
*/
void VideoConnection::updateStatus(ProbeDefinitionPtr msg)
{
ToolPtr tool = mBackend->tracking()->getFirstProbe();
if (!tool || !tool->getProbe())
{
//Don't throw away the ProbeDefinition. Save it until it can be used
if (mUnusedProbeDefinitionVector.empty())
connect(mBackend->tracking().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDefinitionSlot);
mUnusedProbeDefinitionVector.push_back(msg);
return;
}
ProbePtr probe = tool->getProbe();
// start with getting a valid data object from the probe, in order to keep
// existing values (such as temporal calibration).
// Note that the 'active' data is get while the 'uid' data is set.
ProbeDefinition data = probe->getProbeDefinition();
data.setUid(msg->getUid());
data.setType(msg->getType());
data.setSector(msg->getDepthStart(), msg->getDepthEnd(), msg->getWidth());
data.setOrigin_p(msg->getOrigin_p());
data.setSize(msg->getSize());
data.setSpacing(msg->getSpacing());
data.setClipRect_p(msg->getClipRect_p());
data.setUseDigitalVideo(true);
probe->setProbeDefinition(data);
probe->setActiveStream(msg->getUid());
}
IGTLinkUSStatusMessage::Pointer IGTLinkConversion::encode(ProbeDefinitionPtr input)
{
IGTLinkUSStatusMessage::Pointer retval = IGTLinkUSStatusMessage::New();
retval->SetOrigin(input->getOrigin_p().data());
// 1 = sector, 2 = linear
retval->SetProbeType(input->getType());
retval->SetDepthStart(input->getDepthStart());// Start of sector in mm from origin
retval->SetDepthEnd(input->getDepthEnd()); // End of sector in mm from origin
retval->SetWidth(input->getWidth());// Width of sector in mm for LINEAR, Width of sector in radians for SECTOR.
retval->SetDeviceName(cstring_cast(input->getUid()));
return retval;
}
