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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkMicronConfigurationXMLFileReader.cxx,v $
Language: C++
Date: $Date: 2009-02-06 01:48:11 $
Version: $Revision: 1.2 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#include <itksys/SystemTools.hxx>
#include "igstkMicronConfigurationXMLFileReader.h"
#include "igstkMicronTrackerConfiguration.h"
namespace igstk
{
void
MicronConfigurationXMLFileReader::StartElement(
const char * name,
const char **atts )
{
//let the super class try to analyze the current tag
Superclass::StartElement( name, atts );
if( itksys::SystemTools::Strucmp( name,
"camera_calibration_directory" ) == 0 ||
itksys::SystemTools::Strucmp( name, "initialization_file" ) == 0 ||
itksys::SystemTools::Strucmp( name, "templates_directory" ) == 0 ||
itksys::SystemTools::Strucmp( name, "tool" ) == 0 )
{
if( !m_ReadingTrackerConfiguration )
throw FileFormatException( "Tag not nested correctly in xml structure." );
}
}
void
MicronConfigurationXMLFileReader::EndElement(
const char *name )
{
//let the super class try to analyze the current tag
Superclass::EndElement( name );
if( m_ReadingTrackerConfiguration &&
itksys::SystemTools::Strucmp( name, "camera_calibration_directory" ) == 0 )
{
ProcessMicronCalibrationDirectory();
}
else if( m_ReadingTrackerConfiguration &&
itksys::SystemTools::Strucmp( name, "initialization_file" ) == 0 )
{
ProcessMicronInitializationFile();
}
else if( m_ReadingTrackerConfiguration &&
itksys::SystemTools::Strucmp( name, "templates_directory" ) == 0 )
{
ProcessMicronTemplatesDirectory();
}
else if( m_ReadingToolConfiguration &&
itksys::SystemTools::Strucmp( name, "marker_name" ) == 0 )
{
ProcessMarkerName();
}
}
std::string
MicronConfigurationXMLFileReader::GetSystemType()
{
return "micron";
}
double
MicronConfigurationXMLFileReader::GetMaximalRefreshRate()
{
igstk::MicronTrackerConfiguration::Pointer trackerConfig =
igstk::MicronTrackerConfiguration::New();
return trackerConfig->GetMaximalRefreshRate();
}
void
MicronConfigurationXMLFileReader::ProcessMicronCalibrationDirectory()
throw ( FileFormatException )
{
if( !itksys::SystemTools::FileExists( this->m_CurrentTagData.c_str() ) ||
!itksys::SystemTools::FileIsDirectory( this->m_CurrentTagData.c_str() ) )
{
throw FileFormatException(
"Invalid string given as camera_calibration_directory tag" );
}
this->m_MicronCalibrationDirectory = this->m_CurrentTagData;
}
void
MicronConfigurationXMLFileReader::ProcessMicronInitializationFile()
throw ( FileFormatException )
{
if( !itksys::SystemTools::FileExists( this->m_CurrentTagData.c_str() ) ||
itksys::SystemTools::FileIsDirectory( this->m_CurrentTagData.c_str() ) )
{
throw FileFormatException(
"Invalid string given as initialization_file tag" );
}
this->m_MicronInitializationFile = this->m_CurrentTagData;
}
void
MicronConfigurationXMLFileReader::ProcessMicronTemplatesDirectory()
throw ( FileFormatException )
{
if( !itksys::SystemTools::FileExists( this->m_CurrentTagData.c_str() ) ||
!itksys::SystemTools::FileIsDirectory( this->m_CurrentTagData.c_str() ) )
{
throw FileFormatException(
"Invalid string given as templates_directory tag" );
}
this->m_MicronTemplatesDirectory = this->m_CurrentTagData;
}
void
MicronConfigurationXMLFileReader::ProcessMarkerName()
throw ( FileFormatException )
{
this->m_CurrentMarkerName = this->m_CurrentTagData;
}
void
MicronConfigurationXMLFileReader::ProcessToolData()
throw ( FileFormatException )
{
if( this->m_CurrentToolName.empty() )
{
throw FileFormatException( "\"name\" missing for one of the tools." );
}
if( this->m_CurrentMarkerName.empty() )
{
throw FileFormatException( "\"marker_name\" missing for one of the tools." );
}
//if the tool section does not have a "calibration_file" tag
//we assume the calibration is identity
igstk::MicronToolConfiguration *toolConfig =
new igstk::MicronToolConfiguration();
toolConfig->SetToolName( this->m_CurrentToolName );
toolConfig->SetMarkerName( this->m_CurrentMarkerName );
toolConfig->SetCalibrationTransform( this->m_CurrentToolCalibration );
if( this->m_CurrentToolIsReference )
{
this->m_ReferenceTool = toolConfig;
}
else
{
this->m_TrackerToolList.push_back( toolConfig );
}
//reset all tool data to initial state
this->m_CurrentToolName.clear();
this->m_CurrentMarkerName.clear();
this->m_CurrentToolCalibration.SetToIdentity(
igstk::TimeStamp::GetLongestPossibleTime() );
}
bool
MicronConfigurationXMLFileReader::HaveConfigurationData()
{
//check that we have a refresh rate for the tracking system, at least
//one tool
return ( this->m_HaveRefreshRate &&
this->m_TrackerToolList.size() != 0 &&
!this->m_MicronCalibrationDirectory.empty() &&
!this->m_MicronInitializationFile.empty() &&
!this->m_MicronTemplatesDirectory.empty() );
}
const igstk::TrackerConfiguration::Pointer
MicronConfigurationXMLFileReader::GetTrackerConfigurationData()
throw ( FileFormatException )
{
igstk::MicronTrackerConfiguration::Pointer trackerConfig =
igstk::MicronTrackerConfiguration::New();
//this request is guaranteed to succeed as the refresh rate
//is validated in the TrackerConfigurationXMLReaderBase
trackerConfig->RequestSetFrequency( this->m_RefreshRate );
trackerConfig->SetCameraCalibrationFileDirectory(
this->m_MicronCalibrationDirectory );
trackerConfig->SetInitializationFile( this->m_MicronInitializationFile );
trackerConfig->SetTemplatesDirectory( this->m_MicronTemplatesDirectory );
//add the tools
std::vector<TrackerToolConfiguration *>::iterator it, end;
it = this->m_TrackerToolList.begin();
end = this->m_TrackerToolList.end();
AddToolFailureObserver::Pointer failureObserver =
AddToolFailureObserver::New();
trackerConfig->AddObserver( igstk::TrackerConfiguration::AddToolFailureEvent(),
failureObserver );
for(; it!=end; it++ )
{
trackerConfig->RequestAddTool( *it );
if( failureObserver->GotAddToolFailure() )
{
throw FileFormatException( failureObserver->GetAddToolFailure() );
}
}
if( this->m_ReferenceTool != NULL )
{
trackerConfig->RequestAddReference( this->m_ReferenceTool );
if( failureObserver->GotAddToolFailure() )
{
throw FileFormatException( failureObserver->GetAddToolFailure() );
}
}
//explicitly upcast to avoid the compiler warning
igstk::TrackerConfiguration::Pointer genericConfig;
genericConfig = trackerConfig;
return genericConfig;
}
} //namespace
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