//=======================================================
// StartTracking
//=======================================================
bool mitk::OptitrackTrackingDevice::StartTracking()
{
MITK_DEBUG << "StartTracking";
bool resultIsTrackableTracked;
if (this->GetState() != mitk::TrackingDevice::Ready)
{
MITK_INFO << "System is not in State Ready -> Cannot StartTracking";
mitkThrowException(mitk::IGTException) << "System is not in State Ready -> Cannot StartTracking";
return false;
}
this->SetState(mitk::TrackingDevice::Tracking);
// Change the m_StopTracking Variable to false
this->m_StopTrackingMutex->Lock();
this->m_StopTracking = false;
this->m_StopTrackingMutex->Unlock();
m_TrackingFinishedMutex->Unlock(); // transfer the execution rights to tracking thread
/******************************************************************************
###############################################################################
TODO: check the timestamp from the Optitrack API
###############################################################################
******************************************************************************/
mitk::IGTTimeStamp::GetInstance()->Start(this);
// Launch multiThreader using the Function ThreadStartTracking that executes the TrackTools() method
m_ThreadID = m_MultiThreader->SpawnThread(this->ThreadStartTracking, this); // start a new thread that executes the TrackTools() method
// Information for the user
if(GetToolCount() == 0) MITK_INFO << "No tools are defined";
for ( int i = 0; i < GetToolCount(); ++i) // use mutexed methods to access tool container
{
resultIsTrackableTracked = TT_IsTrackableTracked(i);
if(resultIsTrackableTracked)
{
MITK_DEBUG << "Trackable " << i << " is inside the Tracking Volume and it is Tracked";
}
else
{
MITK_DEBUG << "Trackable " << i << " is not been tracked. Check if it is inside the Tracking volume";
}
}
return true;
}
wxRibbonToolBarToolBase* wxRibbonToolBar::AddTool(
int tool_id,
const wxBitmap& bitmap,
const wxBitmap& bitmap_disabled,
const wxString& help_string,
wxRibbonButtonKind kind,
wxObject* client_data)
{
return InsertTool(GetToolCount(), tool_id, bitmap, bitmap_disabled,
help_string, kind, client_data);
}
//=======================================================
// TrackTools
//=======================================================
void mitk::OptitrackTrackingDevice::TrackTools()
{
MITK_DEBUG << "TrackTools";
Point3D position;
ScalarType t = 0.0;
try
{
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;
/* lock the TrackingFinishedMutex to signal that the execution rights are now transfered to the tracking thread */
if (!localStopTracking)
{
m_TrackingFinishedMutex->Lock();
}
this->m_StopTrackingMutex->Unlock();
while ((this->GetState() == mitk::TrackingDevice::Tracking) && (localStopTracking == false))
{
// For each Tracked Tool update the position and orientation
for ( int i = 0; i < GetToolCount(); ++i) // use mutexed methods to access tool container
{
OptitrackTrackingTool* currentTool = this->GetOptitrackTool(i);
if(currentTool != nullptr)
{
currentTool->updateTool();
MITK_DEBUG << "Tool number " << i << " updated position";
}
else
{
MITK_DEBUG << "Get data from tool number " << i << " failed";
mitkThrowException(mitk::IGTException) << "Get data from tool number " << i << " failed";
}
}
/* Update the local copy of m_StopTracking */
this->m_StopTrackingMutex->Lock();
localStopTracking = m_StopTracking;
this->m_StopTrackingMutex->Unlock();
Sleep(OPTITRACK_FRAME_RATE);
} // tracking ends if we pass this line
m_TrackingFinishedMutex->Unlock(); // transfer control back to main thread
}
catch(...)
{
m_TrackingFinishedMutex->Unlock();
this->StopTracking();
mitkThrowException(mitk::IGTException) << "Error while trying to track tools. Thread stopped.";
}
}
//-----------------------------------------------------------------------------
// Switches to a named tool
//-----------------------------------------------------------------------------
IToolSystem *CToolFrameworkInternal::SwitchToTool( const char* pToolName )
{
int nCount = GetToolCount();
for ( int i = 0; i < nCount; ++i )
{
if ( !Q_stricmp( pToolName, GetToolName(i) ) )
{
SwitchToTool( i );
return m_ToolSystems[i];
}
}
return NULL;
}
//-----------------------------------------------------------------------------
// Purpose: Returns a tool pointer for a given tool ID, NULL if there is no
// corresponding tool.
//-----------------------------------------------------------------------------
CBaseTool *CToolManager::GetToolForID(ToolID_t eToolID)
{
int nToolCount = GetToolCount();
for (int i = 0; i < nToolCount; i++)
{
CBaseTool *pTool = GetTool(i);
if (pTool->GetToolID() == eToolID)
{
return pTool;
}
}
return NULL;
}
CCustomToolTipCtrl::CCustomToolTipCtrl(CWnd* pParentWnd)
{
ASSERT(pParentWnd);
pParentWnd->EnableToolTips(TRUE);
VERIFY(Create(pParentWnd));
CWnd* w = pParentWnd->GetWindow(GW_CHILD);
while (w)
{
AddTool(w);
w = w->GetWindow(GW_HWNDNEXT);
}
if (GetToolCount()>0)
Activate(TRUE);
}
IMaterialProxy *CToolFrameworkInternal::LookupProxy( const char *proxyName )
{
int toolCount = GetToolCount();
for ( int i = 0; i < toolCount; ++i )
{
IToolSystem *tool = m_ToolSystems[ i ];
Assert( tool );
IMaterialProxy *matProxy = tool->LookupProxy( proxyName );
if ( matProxy )
{
return matProxy;
}
}
return NULL;
}
mitk::NavigationTool::Pointer mitk::NavigationToolStorage::GetToolByName(std::string name)
{
for (int i=0; i<GetToolCount(); i++) if ((GetTool(i)->GetToolName())==name) return GetTool(i);
return NULL;
}
mitk::NavigationTool::Pointer mitk::NavigationToolStorage::GetTool(std::string identifier)
{
for (int i=0; i<GetToolCount(); i++) if ((GetTool(i)->GetIdentifier())==identifier) return GetTool(i);
return NULL;
}
