Software Público Brasileiro

#--------------------------------------------------------------------------
# Software:     InVesalius - Software de Reconstrucao 3D de Imagens Medicas
# Copyright:    (C) 2001  Centro de Pesquisas Renato Archer
# Homepage:     http://www.softwarepublico.gov.br
# Contact:      invesalius@cti.gov.br
# License:      GNU - GPL 2 (LICENSE.txt/LICENCA.txt)
#--------------------------------------------------------------------------
#    Este programa e software livre; voce pode redistribui-lo e/ou
#    modifica-lo sob os termos da Licenca Publica Geral GNU, conforme
#    publicada pela Free Software Foundation; de acordo com a versao 2
#    da Licenca.
#
#    Este programa eh distribuido na expectativa de ser util, mas SEM
#    QUALQUER GARANTIA; sem mesmo a garantia implicita de
#    COMERCIALIZACAO ou de ADEQUACAO A QUALQUER PROPOSITO EM
#    PARTICULAR. Consulte a Licenca Publica Geral GNU para obter mais
#    detalhes.
#--------------------------------------------------------------------------

# TODO: Disconnect tracker when a new one is connected
# TODO: Test if there are too many prints when connection fails


def TrackerConnection(tracker_id, action):
    """
    Initialize spatial trackers for coordinate detection during navigation.

    :param tracker_id: ID of tracking device.
    :param action: string with to decide whether connect or disconnect the selected device.
    :return spatial tracker initialization instance or None if could not open device.
    """

    if action == 'connect':
        trck_fcn = {1: ClaronTracker,
                    2: PolhemusTracker,    # FASTRAK
                    3: PolhemusTracker,    # ISOTRAK
                    4: PolhemusTracker,    # PATRIOT
                    5: DebugTracker}

        trck_init = trck_fcn[tracker_id](tracker_id)

    elif action == 'disconnect':
        trck_init = DisconnectTracker(tracker_id)

    return trck_init


def DefaultTracker(tracker_id):
    trck_init = None
    try:
        # import spatial tracker library
        print 'Connect to default tracking device.'

    except:
        print 'Could not connect to default tracker.'

    # return tracker initialization variable and type of connection
    return trck_init, 'wrapper'


def ClaronTracker(tracker_id):
    import invesalius.constants as const

    trck_init = None
    try:
        import pyclaron

        lib_mode = 'wrapper'
        trck_init = pyclaron.pyclaron()
        trck_init.CalibrationDir = const.CAL_DIR
        trck_init.MarkerDir = const.MAR_DIR
        trck_init.NumberFramesProcessed = 10
        trck_init.FramesExtrapolated = 0
        trck_init.PROBE_NAME = "1Probe"
        trck_init.REF_NAME = "5Ref"
        trck_init.Initialize()

        if trck_init.GetIdentifyingCamera():
            trck_init.Run()
            print "MicronTracker camera identified."
        else:
            trck_init = None

    except ImportError:
        lib_mode = 'error'
        print 'The ClaronTracker library is not installed.'

    return trck_init, lib_mode


def PolhemusTracker(tracker_id):
    trck_init = None
    try:
        trck_init = PlhWrapperConnection()
        lib_mode = 'wrapper'
        if not trck_init:
            print 'Could not connect with Polhemus wrapper, trying USB connection...'
            trck_init = PlhUSBConnection(tracker_id)
            lib_mode = 'usb'
            if not trck_init:
                print 'Could not connect with Polhemus USB, trying serial connection...'
                trck_init = PlhSerialConnection(tracker_id)
                lib_mode = 'serial'
    except:
        lib_mode = 'error'
        print 'Could not connect to Polhemus.'

    return trck_init, lib_mode


def DebugTracker(tracker_id):
    trck_init = True
    print 'Debug device started.'
    return trck_init, 'debug'


def PlhWrapperConnection():
    trck_init = None
    try:
        import polhemus

        trck_init = polhemus.polhemus()
        trck_check = trck_init.Initialize()

        if trck_check:
            # First run is necessary to discard the first coord collection
            trck_init.Run()
        else:
            trck_init = trck_check
    except:
        print 'Could not connect to Polhemus via wrapper.'

    return trck_init


def PlhSerialConnection(tracker_id):
    try:
        import serial

        trck_init = serial.Serial('COM1', baudrate=115200, timeout=0.2)

        if tracker_id == 2:
            # Polhemus FASTRAK needs configurations first
            trck_init.write(0x02, "u")
            trck_init.write(0x02, "F")
        elif tracker_id == 3:
            # Polhemus ISOTRAK needs to set tracking point from
            # center to tip.
            trck_init.write("F")
            trck_init.write("Y")

        trck_init.write('P')
        data = trck_init.readlines()

        if not data:
            trck_init = None

    except:
        trck_init = None
        print 'Could not connect to Polhemus serial.'

    return trck_init


def PlhUSBConnection(tracker_id):
    trck_init = None
    try:
        import usb.core as uc
        trck_init = uc.find(idVendor=0x0F44, idProduct=0x0003)
        cfg = trck_init.get_active_configuration()
        for i in cfg:
            for x in i:
                # TODO: try better code
                x = x
        trck_init.set_configuration()
        endpoint = trck_init[0][(0, 0)][0]
        if tracker_id == 2:
            # Polhemus FASTRAK needs configurations first
            # TODO: Check configurations to standardize initialization for all Polhemus devices
            trck_init.write(0x02, "u")
            trck_init.write(0x02, "F")
        # First run to confirm that everything is working
        trck_init.write(0x02, "P")
        data = trck_init.read(endpoint.bEndpointAddress,
                              endpoint.wMaxPacketSize)
        if not data:
            trck_init = None

    except:
        print 'Could not connect to Polhemus USB.'

    return trck_init


def DisconnectTracker(tracker_id):
    """
    Disconnect current spatial tracker

    :param tracker_id: ID of tracking device.
    """
    from wx.lib.pubsub import pub as Publisher
    Publisher.sendMessage('Update status text in GUI', _("Disconnecting tracker ..."))
    Publisher.sendMessage('Remove sensors ID')
    trck_init = None
    # TODO: create individual functions to disconnect each other device, e.g. Polhemus.
    if tracker_id == 1:
        try:
            import pyclaron
            pyclaron.pyclaron().Close()
            lib_mode = 'wrapper'
            print 'Claron tracker disconnected.'
        except ImportError:
            lib_mode = 'error'
            print 'The ClaronTracker library is not installed.'

    elif tracker_id == 4:
        try:
            import polhemus
            polhemus.polhemus().Close()
            lib_mode = 'wrapper'
            print 'Polhemus tracker disconnected.'
        except ImportError:
            lib_mode = 'error'
            print 'The polhemus library is not installed.'

    elif tracker_id == 5:
        print 'Debug tracker disconnected.'
        lib_mode = 'debug'

    Publisher.sendMessage('Update status text in GUI', _("Ready"))

    return trck_init, lib_mode