Remove tracker when InVesalius is closed (#75)

* remove tracker when invesalius is closed * Fix polhemus connection warning -added msg for statusbar when try to disconnect tracker * Standardization

Remove tracker when InVesalius is closed (#75)
* remove tracker when invesalius is closed * Fix polhemus connection warning -added msg for statusbar when try to disconnect tracker * Standardization
Renan · Thiago Franco de Moraes
1 parent b8381c75
Showing 4 changed files with 15 additions and 1 deletions Show diff stats
invesalius/data/coordinates.py
invesalius/data/trackers.py
invesalius/gui/frame.py
invesalius/gui/task_navigator.py
@@ -51,7 +51,7 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
 def ClaronCoord(trck_init, trck_id, ref_mode):
     trck = trck_init[0]
-    scale = 10. * np.array([1., 1.0, -1.0])
+    scale = np.array([1.0, 1.0, -1.0])
     coord = None
     k = 0
     # TODO: try to replace while and use some Claron internal computation
@@ -123,6 +123,8 @@ def PlhWrapperConnection():
         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.'
@@ -195,6 +197,8 @@ def DisconnectTracker(tracker_id):
     :param tracker_id: ID of tracking device.
     """
+    from wx.lib.pubsub import pub as Publisher
+    Publisher.sendMessage('Update status text in GUI', _("Disconnecting tracker ..."))
     trck_init = None
     # TODO: create individual functions to disconnect each other device, e.g. Polhemus.
     if tracker_id == 1:
@@ -202,6 +206,7 @@ def DisconnectTracker(tracker_id):
             import pyclaron
             pyclaron.pyclaron().Close()
             lib_mode = 'wrapper'
+            print 'Claron tracker disconnected.'
         except ImportError:
             lib_mode = 'error'
             print 'The ClaronTracker library is not installed.'
@@ -211,6 +216,7 @@ def DisconnectTracker(tracker_id):
             import polhemus
             polhemus.polhemus().Close()
             lib_mode = 'wrapper'
+            print 'Polhemus tracker disconnected.'
         except ImportError:
             lib_mode = 'error'
             print 'The polhemus library is not installed.'
@@ -219,4 +225,6 @@ def DisconnectTracker(tracker_id):
         print 'Debug tracker disconnected.'
         lib_mode = 'debug'
+    Publisher.sendMessage('Update status text in GUI', _("Ready"))
+
     return trck_init, lib_mode
 \ No newline at end of file
@@ -382,6 +382,7 @@ class Frame(wx.Frame):
         Close all project data.
         """
         Publisher.sendMessage('Close Project')
+        Publisher.sendMessage('Disconnect tracker')
         s = ses.Session()
         if not s.IsOpen() or not s.project_path:
             Publisher.sendMessage('Exit')
@@ -312,6 +312,7 @@ class NeuronavigationPanel(wx.Panel):
         Publisher.subscribe(self.LoadImageFiducials, 'Load image fiducials')
         Publisher.subscribe(self.UpdateTriggerState, 'Update trigger state')
         Publisher.subscribe(self.UpdateImageCoordinates, 'Set ball reference position')
+        Publisher.subscribe(self.OnDisconnectTracker, 'Disconnect tracker')
     def LoadImageFiducials(self, pubsub_evt):
         marker_id = pubsub_evt.data[0]
@@ -341,6 +342,10 @@ class NeuronavigationPanel(wx.Panel):
     def UpdateTriggerState (self, pubsub_evt):
         self.trigger_state = pubsub_evt.data
+    def OnDisconnectTracker(self, pubsub_evt):
+        if self.tracker_id:
+            dt.TrackerConnection(self.tracker_id, 'disconnect')
+
     def OnChoiceTracker(self, evt, ctrl):
         Publisher.sendMessage('Update status text in GUI', _("Configuring tracker ..."))
         if evt:
	@@ -51,7 +51,7 @@ def GetCoordinates(trck_init, trck_id, ref_mode):		@@ -51,7 +51,7 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
51		51
52	def ClaronCoord(trck_init, trck_id, ref_mode):	52	def ClaronCoord(trck_init, trck_id, ref_mode):
53	trck = trck_init[0]	53	trck = trck_init[0]
54	- scale = 10. * np.array([1., 1.0, -1.0])	54	+ scale = np.array([1.0, 1.0, -1.0])
55	coord = None	55	coord = None
56	k = 0	56	k = 0
57	# TODO: try to replace while and use some Claron internal computation	57	# TODO: try to replace while and use some Claron internal computation