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[BeamActions] Add BeamActions and BeamActionController to manage cont…
…rols (#63) * backup work * BAckup work on BeamActions and BeamAdapterActionController * Add more actions support * Fix BeamAdapaterAction behavior * Fix compilation for gcc * fix compilation for gcc and force true value for listening * backup work on beam action as string * [BeamActionController] Add writeMode support using keyboard * [BeamActionCtrl] Add option to display actions only when exporting using key binding * Clean & doc * Fix compile and some warnings * Fix compile and some warnings Co-authored-by: Fred R <[email protected]> Co-authored-by: Frederick Roy <[email protected]>
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src/BeamAdapter/component/controller/BeamAdapterActionController.cpp
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program is distributed in the hope that it will be useful, but WITHOUT * | ||
| * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * | ||
| * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Authors: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #define SOFA_PLUGIN_BEAMADAPTER_ACTIONCONTROLLER_CPP | ||
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| #include <sofa/core/ObjectFactory.h> | ||
| #include <sofa/defaulttype/VecTypes.h> | ||
| #include <sofa/defaulttype/RigidTypes.h> | ||
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| #include <BeamAdapter/config.h> | ||
| #include <BeamAdapter/component/controller/BeamAdapterActionController.inl> | ||
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| namespace sofa::component::controller | ||
| { | ||
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| const static int BeamAdapterActionControllerClass = core::RegisterObject("BeamAdapterActionController") | ||
| .add< BeamAdapterActionController<sofa::defaulttype::Rigid3Types> >() | ||
| ; | ||
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| template class SOFA_BEAMADAPTER_API BeamAdapterActionController<sofa::defaulttype::Rigid3Types>; | ||
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| } // namespace sofa::component::controller |
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src/BeamAdapter/component/controller/BeamAdapterActionController.h
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program is distributed in the hope that it will be useful, but WITHOUT * | ||
| * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * | ||
| * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Authors: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
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| #include <sofa/component/controller/MechanicalStateController.h> | ||
| #include <BeamAdapter/utils/BeamActions.h> | ||
| #include <BeamAdapter/component/controller/InterventionalRadiologyController.h> | ||
| #include <sofa/defaulttype/VecTypes.h> | ||
| #include <sofa/defaulttype/RigidTypes.h> | ||
| #include <sofa/core/objectmodel/MouseEvent.h> | ||
| #include <sofa/core/objectmodel/KeypressedEvent.h> | ||
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| namespace sofa::component::controller | ||
| { | ||
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| /*** | ||
| * This class is a SOFA component inheriting from MechanicalStateController. | ||
| * It can be used to script the InterventionalRadiologyController using @sa BeamActions | ||
| * If @sa d_writeMode mode is on, each keyboard interaction used to control the Beam will be exported with key times. | ||
| * Otherwise, it will load a list of @sa BeamActions with their corresponding key times to replay a navigation. | ||
| */ | ||
| template<class DataTypes> | ||
| class BeamAdapterActionController : public MechanicalStateController<DataTypes> | ||
| { | ||
| public: | ||
| SOFA_CLASS(SOFA_TEMPLATE(BeamAdapterActionController, DataTypes), SOFA_TEMPLATE(MechanicalStateController, DataTypes)); | ||
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| using BeamAdapterAction = sofa::beamadapter::BeamAdapterAction; | ||
| using interventionCtrl = InterventionalRadiologyController<DataTypes>; | ||
| using Real = typename DataTypes::Real; | ||
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| BeamAdapterActionController(); | ||
| ~BeamAdapterActionController() override = default; | ||
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| /// Method to init the component. Will search for a InterventionalRadiologyController using link @sa l_interventionController | ||
| void init() override; | ||
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| /// Method called at each timestep. Will check if an action has to be read or write | ||
| void onBeginAnimationStep(const double dt) override; | ||
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| /// Method to control the Beam using keyboard and save the actions in @sa d_actions | ||
| void onKeyPressedEvent(core::objectmodel::KeypressedEvent* kev) override; | ||
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| /// Unused metho for mouse event | ||
| void onMouseEvent(core::objectmodel::MouseEvent* ev) override { SOFA_UNUSED(ev);} | ||
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| Data <bool> d_writeMode; ///< If true, will accumulate actions in @sa d_actions for export. Press key E for export. | ||
| Data <type::vector<int> > d_actions; ///< List of actions to import or export. | ||
| Data <type::vector<std::string> > d_actionString; ///< List of actions to import or export as string. | ||
| Data <type::vector<Real> > d_timeSteps; ///< List of key times corresponding to BeamActions in @sa d_actions or @sa d_actionString | ||
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| /// Link to the InterventionalRadiologyController, controlling the Beam, to script. | ||
| SingleLink<BeamAdapterActionController<DataTypes>, InterventionalRadiologyController<DataTypes>, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_interventionController; | ||
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| private: | ||
| int m_readStep = 0; ///< counter to the current action to read in @sa d_actions | ||
| BeamAdapterAction m_currAction = BeamAdapterAction::NO_ACTION; ///< Current action imported or to export | ||
| BeamAdapterAction m_lastAction = BeamAdapterAction::NO_ACTION; ///< Previous action imported or to export | ||
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| bool m_exportActions = false; ///< Bool to dump actions, will be set to true if key 'E' is pressed | ||
| }; | ||
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| #if !defined(SOFA_PLUGIN_BEAMADAPTER_ACTIONCONTROLLER_CPP) | ||
| extern template class SOFA_BEAMADAPTER_API BeamAdapterActionController<sofa::defaulttype::Rigid3Types>; | ||
| #endif | ||
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| } /// namespace sofa::component::controller |
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src/BeamAdapter/component/controller/BeamAdapterActionController.inl
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program is distributed in the hope that it will be useful, but WITHOUT * | ||
| * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * | ||
| * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Authors: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
| #include <BeamAdapter/component/controller/BeamAdapterActionController.h> | ||
| #include <sofa/core/objectmodel/MouseEvent.h> | ||
| #include <sofa/core/objectmodel/KeypressedEvent.h> | ||
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| namespace sofa::component::controller | ||
| { | ||
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| using namespace sofa::beamadapter; | ||
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| template <class DataTypes> | ||
| BeamAdapterActionController<DataTypes>::BeamAdapterActionController() | ||
| : d_writeMode(initData(&d_writeMode, false, "writeMode", "If true, will accumulate actions from keyboard and dump the actions and times when key 'E' is pressed.")) | ||
| , d_actions(initData(&d_actions, "actions", "List of actions to script the BeamAdapter")) | ||
| , d_actionString(initData(&d_actionString, "actionString", "List of actions as string to script the BeamAdapter")) | ||
| , d_timeSteps(initData(&d_timeSteps, "timeSteps", "List of key times corresponding to the actions")) | ||
| , l_interventionController(initLink("interventionController", "Path to the InterventionalRadiologyController component on scene")) | ||
| { | ||
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| } | ||
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| template <class DataTypes> | ||
| void BeamAdapterActionController<DataTypes>::init() | ||
| { | ||
| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Loading); | ||
| if (!l_interventionController.get()) | ||
| { | ||
| msg_error() << "No l_interventionController given. Component will be set to Invalid."; | ||
| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); | ||
| } | ||
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| // the controller must listen to the event (in particular BeginAnimationStep event) | ||
| this->f_listening.setValue(true); | ||
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| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); | ||
| } | ||
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| template <class DataTypes> | ||
| void BeamAdapterActionController<DataTypes>::onKeyPressedEvent(core::objectmodel::KeypressedEvent* kev) | ||
| { | ||
| if (!d_writeMode.getValue()) | ||
| return; | ||
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| /// Control keys for interventonal Radiology simulations: | ||
| switch (kev->getKey()) | ||
| { | ||
| case 'E': | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| m_exportActions = !m_exportActions; | ||
| break; | ||
| case 'D': | ||
| m_currAction = BeamAdapterAction::DROP_TOOL; | ||
| break; | ||
| case '2': | ||
| m_currAction = BeamAdapterAction::USE_TOOL_2; | ||
| break; | ||
| case '1': | ||
| m_currAction = BeamAdapterAction::USE_TOOL_1; | ||
| break; | ||
| case '0': | ||
| m_currAction = BeamAdapterAction::USE_TOOL_0; | ||
| break; | ||
| case 20: // droite = 20 | ||
| if (m_currAction == BeamAdapterAction::SPIN_RIGHT) | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| else | ||
| m_currAction = BeamAdapterAction::SPIN_RIGHT; | ||
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| break; | ||
| case 18: // gauche = 18 | ||
| if (m_currAction == BeamAdapterAction::SPIN_LEFT) | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| else | ||
| m_currAction = BeamAdapterAction::SPIN_LEFT; | ||
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| break; | ||
| case 19: // fleche haut = 19 | ||
| if (m_currAction == BeamAdapterAction::MOVE_FORWARD) | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| else | ||
| m_currAction = BeamAdapterAction::MOVE_FORWARD; | ||
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| break; | ||
| case 21: // bas = 21 | ||
| if (m_currAction == BeamAdapterAction::MOVE_BACKWARD) | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| else | ||
| m_currAction = BeamAdapterAction::MOVE_BACKWARD; | ||
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| break; | ||
| default: | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| break; | ||
| } | ||
| } | ||
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| template <class DataTypes> | ||
| void BeamAdapterActionController<DataTypes>::onBeginAnimationStep(const double /*dt*/) | ||
| { | ||
| const auto currentTime = this->getContext()->getTime(); | ||
| if (d_writeMode.getValue()) | ||
| { | ||
| interventionCtrl* ctrl = l_interventionController.get(); | ||
| ctrl->applyAction(m_currAction); | ||
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| if (m_lastAction != m_currAction) | ||
| { | ||
| auto times = sofa::helper::WriteAccessor(d_timeSteps); | ||
| auto actions = sofa::helper::WriteAccessor(d_actions); | ||
| times.push_back(currentTime); | ||
| actions.push_back(int(m_currAction)); | ||
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| if (m_exportActions) | ||
| { | ||
| std::cout << "timeSteps='" << times.wref() << "'" << std::endl; | ||
| std::cout << "actions='" << actions.wref() << "'" << std::endl; | ||
| } | ||
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| m_lastAction = m_currAction; | ||
| } | ||
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| if (m_currAction >= BeamAdapterAction::SWITCH_NEXT_TOOL) // action regarding tool needs only to be triggered once | ||
| { | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| const type::vector<Real>& times = d_timeSteps.getValue(); | ||
| if (!times.empty()) | ||
| { | ||
| if (m_readStep < times.size()) | ||
| { | ||
| Real time = times[m_readStep]; | ||
| if (currentTime >= time) // check if another key time has been reached and change action | ||
| { | ||
| m_currAction = BeamAdapterAction(d_actions.getValue()[m_readStep]); | ||
| m_readStep++; | ||
| } | ||
| } | ||
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| interventionCtrl* ctrl = l_interventionController.get(); | ||
| ctrl->applyAction(m_currAction); | ||
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| if (m_currAction >= BeamAdapterAction::SWITCH_NEXT_TOOL) // action regarding tool needs only to be triggered once | ||
| { | ||
| m_currAction = BeamAdapterAction::NO_ACTION; | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| } // namespace sofa::component::controller |
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