class ProstateTRUSNavUltrasound(UltraSound):
OFFLINE_VOLUME_FILENAME = "RecVol_Reference.mha"
SCOUT_VOLUME_FILENAME = "ScoutScan.mha"
LIVE_VOLUME_FILENAME = "LiveReconstructedVolume.mha"
RECORDING_FILENAME = "Recording.mha"
SCOUT_RECORDING_FILENAME = "ScoutScanRecording.mha"
LIVE_RECORDING_FILENAME = LIVE_VOLUME_FILENAME
SCOUT_VOLUME_NODE_NAME = "ScoutScan"
OFFLINE_VOLUME_NODE_NAME = "RecVol_Reference"
LIVE_VOLUME_NODE_NAME = "liveReconstruction"
APPLY_HOLE_FILLING_FOR_SNAPSHOT = False
SNAPSHOT_INTERVAL = 3
OUTPUT_VOLUME_SPACING = 3
LIVE_OUTPUT_VOLUME_SPACING = 1
@property
def roiNode(self):
return self._roiNode
@roiNode.setter
def roiNode(self, node):
self._roiNode = node
if node is not None:
self.startStopLiveReconstructionButton.setEnabled(True)
else:
self.startStopLiveReconstructionButton.setEnabled(False)
def __init__(self, guideletParent):
UltraSound.__init__(self, guideletParent)
self.parameterNode = guideletParent.parameterNode
self.parameterNodeObserver = None
self._roiNode = None
self.liveOutputSpacingValue = [
self.LIVE_OUTPUT_VOLUME_SPACING, self.LIVE_OUTPUT_VOLUME_SPACING,
self.LIVE_OUTPUT_VOLUME_SPACING
]
self.outputSpacing = [
self.OUTPUT_VOLUME_SPACING, self.OUTPUT_VOLUME_SPACING,
self.OUTPUT_VOLUME_SPACING
]
self.roiOrigin = None
self.roiExtent = None
self.defaultParameterNode = None
self.logic = ProstateTRUSNavUltrasoundLogic()
def setupPanel(self, parentWidget):
logging.debug('ProstateTRUSNavUltrasound.setupPanel')
self.connectorNode = self.guideletParent.connectorNode
self.connectorNodeConnected = False
collapsibleButton = ctkCollapsibleButton()
collapsibleButton.setProperty('collapsedHeight', 20)
setButtonStyle(collapsibleButton, 2.0)
collapsibleButton.text = "Ultrasound"
parentWidget.addWidget(collapsibleButton)
ultrasoundLayout = QFormLayout(collapsibleButton)
ultrasoundLayout.setContentsMargins(12, 4, 4, 4)
ultrasoundLayout.setSpacing(4)
self.connectDisconnectButton = QPushButton("Connect")
self.connectDisconnectButton.setToolTip(
"If clicked, connection OpenIGTLink")
hbox = QHBoxLayout()
hbox.addWidget(self.connectDisconnectButton)
ultrasoundLayout.addRow(hbox)
self.setupIcons()
self.captureIDSelector = QComboBox()
self.captureIDSelector.setToolTip("Pick capture device ID")
self.captureIDSelector.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.volumeReconstructorIDSelector = QComboBox()
self.volumeReconstructorIDSelector.setToolTip(
"Pick volume reconstructor device ID")
self.volumeReconstructorIDSelector.setSizePolicy(
QSizePolicy.Expanding, QSizePolicy.Expanding)
self.startStopRecordingButton = QPushButton(" Start Recording")
self.startStopRecordingButton.setCheckable(True)
self.startStopRecordingButton.setIcon(self.recordIcon)
self.startStopRecordingButton.setEnabled(False)
self.startStopRecordingButton.setToolTip("If clicked, start recording")
self.startStopRecordingButton.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
recordParametersControlsLayout = QGridLayout()
self.filenameLabel = self.createLabel("Filename:", visible=False)
recordParametersControlsLayout.addWidget(self.filenameLabel, 1, 0)
# Offline Reconstruction
self.offlineReconstructButton = QPushButton(" Offline Reconstruction")
self.offlineReconstructButton.setCheckable(True)
self.offlineReconstructButton.setIcon(self.recordIcon)
self.offlineReconstructButton.setEnabled(False)
self.offlineReconstructButton.setToolTip(
"If clicked, reconstruct recorded volume")
self.offlineReconstructButton.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.offlineVolumeToReconstructSelector = QComboBox()
self.offlineVolumeToReconstructSelector.setEditable(True)
self.offlineVolumeToReconstructSelector.setToolTip(
"Pick/set volume to reconstruct")
self.offlineVolumeToReconstructSelector.visible = False
hbox = QHBoxLayout()
hbox.addWidget(self.startStopRecordingButton)
hbox.addWidget(self.offlineReconstructButton)
ultrasoundLayout.addRow(hbox)
# Scout scan (record and low resolution reconstruction) and live reconstruction
# Scout scan part
self.startStopScoutScanButton = QPushButton(
" Scout scan\n Start recording")
self.startStopScoutScanButton.setCheckable(True)
self.startStopScoutScanButton.setIcon(self.recordIcon)
self.startStopScoutScanButton.setToolTip("If clicked, start recording")
self.startStopScoutScanButton.setEnabled(False)
self.startStopScoutScanButton.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.startStopLiveReconstructionButton = QPushButton(
" Start live reconstruction")
self.startStopLiveReconstructionButton.setCheckable(True)
self.startStopLiveReconstructionButton.setIcon(self.recordIcon)
self.startStopLiveReconstructionButton.setToolTip(
"If clicked, start live reconstruction")
self.startStopLiveReconstructionButton.setEnabled(False)
self.startStopLiveReconstructionButton.setSizePolicy(
QSizePolicy.Expanding, QSizePolicy.Expanding)
self.displayRoiButton = QToolButton()
self.displayRoiButton.setCheckable(True)
self.displayRoiButton.setIcon(self.visibleOffIcon)
self.displayRoiButton.setToolTip("If clicked, display ROI")
hbox = QHBoxLayout()
hbox.addWidget(self.startStopScoutScanButton)
hbox.addWidget(self.startStopLiveReconstructionButton)
# hbox.addWidget(self.displayRoiButton)
ultrasoundLayout.addRow(hbox)
self.snapshotTimer = QTimer()
self.snapshotTimer.setSingleShot(True)
self.onParameterSetSelected()
return collapsibleButton
def setupResliceDriver(self):
layoutManager = slicer.app.layoutManager()
# Show ultrasound in red view.
redSlice = layoutManager.sliceWidget('Red')
redSliceLogic = redSlice.sliceLogic()
redSliceLogic.GetSliceCompositeNode().SetBackgroundVolumeID(
self.liveUltrasoundNode_Reference.GetID())
resliceLogic = slicer.modules.volumereslicedriver.logic()
if resliceLogic:
redNode = slicer.util.getNode('vtkMRMLSliceNodeRed')
redNode.SetSliceResolutionMode(
slicer.vtkMRMLSliceNode.SliceResolutionMatchVolumes)
resliceLogic.SetDriverForSlice(
self.liveUltrasoundNode_Reference.GetID(), redNode)
resliceLogic.SetModeForSlice(
6, redNode) # Transverse mode, default for PLUS ultrasound.
else:
logging.warning('Logic not found for Volume Reslice Driver')
def createCollapsibleButton(self, text, collapsed=False):
collapsibleButton = ctkCollapsibleButton()
collapsibleButton.text = text
collapsibleButton.collapsed = collapsed
return collapsibleButton
def createLabel(self, text, visible=True):
label = QLabel()
label.setText(text)
label.visible = visible
return label
def setupConnections(self):
self.startStopRecordingButton.connect(
'clicked(bool)', self.onStartStopRecordingButtonClicked)
self.offlineReconstructButton.connect('clicked(bool)',
self.onReconstVolume)
self.startStopScoutScanButton.connect(
'clicked(bool)', self.onStartStopScoutScanButtonClicked)
self.startStopLiveReconstructionButton.connect(
'clicked(bool)', self.onStartStopLiveReconstructionButtonClicked)
self.displayRoiButton.connect('clicked(bool)',
self.onDisplayRoiButtonClicked)
self.captureIDSelector.connect('currentIndexChanged(QString)',
self.updateParameterNodeFromGui)
self.volumeReconstructorIDSelector.connect(
'currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.offlineVolumeToReconstructSelector.connect(
'currentIndexChanged(int)', self.updateParameterNodeFromGui)
self.displayRoiButton.connect('clicked(bool)',
self.updateParameterNodeFromGui)
self.snapshotTimer.timeout.connect(
self.onRequestVolumeReconstructionSnapshot)
self.connectDisconnectButton.connect(
'clicked(bool)', self.onConnectDisconnectButtonClicked)
def disconnect(self):
self.startStopRecordingButton.disconnect(
'clicked(bool)', self.onStartStopRecordingButtonClicked)
self.offlineReconstructButton.disconnect('clicked(bool)',
self.onReconstVolume)
self.startStopScoutScanButton.disconnect(
'clicked(bool)', self.onStartStopScoutScanButtonClicked)
self.startStopLiveReconstructionButton.disconnect(
'clicked(bool)', self.onStartStopLiveReconstructionButtonClicked)
self.displayRoiButton.disconnect('clicked(bool)',
self.onDisplayRoiButtonClicked)
self.captureIDSelector.disconnect('currentIndexChanged(QString)',
self.updateParameterNodeFromGui)
self.volumeReconstructorIDSelector.disconnect(
'currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.offlineVolumeToReconstructSelector.disconnect(
'currentIndexChanged(int)', self.updateParameterNodeFromGui)
self.displayRoiButton.disconnect('clicked(bool)',
self.updateParameterNodeFromGui)
self.snapshotTimer.timeout.disconnect(
self.onRequestVolumeReconstructionSnapshot)
self.connectDisconnectButton.disconnect(
'clicked(bool)', self.onConnectDisconnectButtonClicked)
def setupIcons(self):
self.plusRemoteModuleDirectoryPath = slicer.modules.plusremote.path.replace(
"PlusRemote.py", "")
self.recordIcon = QIcon(self.plusRemoteModuleDirectoryPath +
'/Resources/Icons/icon_Record.png')
self.stopIcon = QIcon(self.plusRemoteModuleDirectoryPath +
'/Resources/Icons/icon_Stop.png')
self.waitIcon = QIcon(self.plusRemoteModuleDirectoryPath +
'/Resources/Icons/icon_Wait.png')
self.visibleOffIcon = QIcon(":Icons\VisibleOff.png")
self.visibleOnIcon = QIcon(":Icons\VisibleOn.png")
def onParameterSetSelected(self):
# Set up default values for new nodes
if self.parameterNode:
self.plusRemoteLogic.setDefaultParameters(self.parameterNode)
self.updateGuiFromParameterNode()
def updateGuiFromParameterNode(self):
self.parameterVolumeList = {
'OfflineVolumeToReconstruct':
self.offlineVolumeToReconstructSelector
}
for parameter in self.parameterVolumeList:
if self.parameterNode.GetParameter(parameter):
self.parameterVolumeList[parameter].blockSignals(True)
self.parameterVolumeList[parameter].blockSignals(False)
if self.parameterNode.GetParameter('CaptureID'):
self.captureIDSelector.blockSignals(True)
for i in range(0, self.captureIDSelector.count):
if self.parameterNode.GetParameter(
'CaptureID') == self.captureIDSelector.itemText(i):
self.captureIDSelector.setCurrentIndex(
int(self.parameterNode.GetParameter('CaptureIdIndex')))
self.captureIDSelector.blockSignals(False)
if self.parameterNode.GetParameter('VolumeReconstructor'):
self.volumeReconstructorIDSelector.blockSignals(True)
for i in range(0, self.volumeReconstructorIDSelector.count):
if self.parameterNode.GetParameter(
'VolumeReconstructor'
) == self.volumeReconstructorIDSelector.itemText(i):
self.volumeReconstructorIDSelector.setCurrentIndex(
int(
self.parameterNode.GetParameter(
'VolumeReconstructorIndex')))
self.volumeReconstructorIDSelector.blockSignals(False)
self.roiNode = self.parameterNode.GetNthNodeReference('ROI', 0)
def updateParameterNodeFromGui(self):
#Update parameter node value to save when user change value in the interface
if not self.parameterNode:
return
self.parametersList = {
'CaptureID':
self.captureIDSelector.currentText,
'CaptureIdIndex':
self.captureIDSelector.currentIndex,
'VolumeReconstructor':
self.volumeReconstructorIDSelector.currentText,
'VolumeReconstructorIndex':
self.volumeReconstructorIDSelector.currentIndex,
'OfflineVolumeToReconstruct':
self.offlineVolumeToReconstructSelector.currentIndex
}
for parameter in self.parametersList:
self.parameterNode.SetParameter(
parameter, str(self.parametersList[parameter]))
if self.roiNode:
roiNodeID = self.roiNode.GetID()
self.parameterNode.SetNthNodeReferenceID('ROI', 0, roiNodeID)
#
# Connector observation and actions
#
def onConnectorNodeConnected(self):
logging.debug("ProstateTrusUltrasound:onConnectorNodeConnected")
self.connectorNodeConnected = True
self.captureIDSelector.setDisabled(False)
self.volumeReconstructorIDSelector.setDisabled(False)
self.plusRemoteLogic.getCaptureDeviceIds(
self.connectorNode.GetID(),
self.onGetCaptureDeviceCommandResponseReceived)
self.plusRemoteLogic.getVolumeReconstructorDeviceIds(
self.connectorNode.GetID(),
self.onGetVolumeReconstructorDeviceCommandResponseReceived)
self.connectDisconnectButton.setText("Disconnect")
def onConnectorNodeDisconnected(self):
logging.debug("ProstateTrusUltrasound:onConnectorNodeDisconnected")
self.connectorNodeConnected = False
self.startStopRecordingButton.setEnabled(False)
self.startStopScoutScanButton.setEnabled(False)
self.startStopLiveReconstructionButton.setEnabled(False)
self.offlineReconstructButton.setEnabled(False)
self.captureIDSelector.setDisabled(True)
self.volumeReconstructorIDSelector.setDisabled(True)
self.connectDisconnectButton.setText("Connect")
def getLiveVolumeRecNode(self):
liveVolumeRecNode = slicer.util.getNode(self.LIVE_VOLUME_NODE_NAME)
return liveVolumeRecNode
def getOfflineVolumeRecNode(self):
offlineVolumeRecNode = slicer.util.getNode(
self.OFFLINE_VOLUME_NODE_NAME)
return offlineVolumeRecNode
def getScoutVolumeNode(self):
scoutScanVolumeNode = slicer.util.getNode(self.SCOUT_VOLUME_NODE_NAME)
return scoutScanVolumeNode
def onConnectDisconnectButtonClicked(self):
if self.connectorNode.GetState(
) == slicer.vtkMRMLIGTLConnectorNode.STATE_CONNECTED:
self.connectorNode.Stop()
else:
self.connectorNode.Start()
def onStartStopRecordingButtonClicked(self):
if self.startStopRecordingButton.isChecked():
self.startStopRecordingButton.setText(" Stop Recording")
self.startStopRecordingButton.setIcon(self.stopIcon)
self.startStopRecordingButton.setToolTip(
"If clicked, stop recording")
self.onStartRecording(self.generateRecordingOutputFilename())
else:
self.startStopRecordingButton.setText(" Start Recording")
self.startStopRecordingButton.setIcon(self.recordIcon)
self.startStopRecordingButton.setToolTip(
"If clicked, start recording")
self.onStopRecording(self.onVolumeRecorded)
def onStartStopScoutScanButtonClicked(self):
if self.startStopScoutScanButton.isChecked():
self.startStopScoutScanButton.setText(
" Scout Scan\n Stop Recording and Reconstruct Recorded Volume"
)
self.startStopScoutScanButton.setIcon(self.stopIcon)
self.startStopScoutScanButton.setToolTip(
"If clicked, stop recording and reconstruct recorded volume")
self.onStartRecording(self.generateScoutRecordingOutputFilename())
else:
self.onStopRecording(self.onScoutVolumeRecorded)
def onStartStopLiveReconstructionButtonClicked(self):
if self.startStopLiveReconstructionButton.isChecked():
if self.roiNode:
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(
self.LIVE_OUTPUT_VOLUME_SPACING, self.roiNode)
self.startStopLiveReconstructionButton.setText(
" Stop Live Reconstruction")
self.startStopLiveReconstructionButton.setIcon(self.stopIcon)
self.startStopLiveReconstructionButton.setToolTip(
"If clicked, stop live reconstruction")
self.onStartRecording(self.getLiveRecordingOutputFilename())
self.onStartReconstruction()
else:
self.startStopLiveReconstructionButton.setText(
" Start Live Reconstruction")
self.startStopLiveReconstructionButton.setIcon(self.recordIcon)
self.startStopLiveReconstructionButton.setToolTip(
"If clicked, start live reconstruction")
self.onStopRecording(self.printCommandResponse)
self.onStopReconstruction()
def onDisplayRoiButtonClicked(self):
if self.displayRoiButton.isChecked():
self.displayRoiButton.setIcon(self.visibleOnIcon)
self.displayRoiButton.setToolTip("If clicked, hide ROI")
if self.roiNode:
self.roiNode.SetDisplayVisibility(1)
else:
self.displayRoiButton.setIcon(self.visibleOffIcon)
self.displayRoiButton.setToolTip("If clicked, display ROI")
if self.roiNode:
self.roiNode.SetDisplayVisibility(0)
def generateRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(
self.RECORDING_FILENAME)
def generateScoutRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(
self.SCOUT_RECORDING_FILENAME)
def getLiveRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(
self.LIVE_RECORDING_FILENAME)
def getLiveReconstructionOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(
self.LIVE_VOLUME_FILENAME)
def onStartRecording(self, filename):
self.plusRemoteLogic.startRecording(self.connectorNode.GetID(),
self.captureIDSelector.currentText,
filename,
self.printCommandResponse)
def onStopRecording(self, callback):
self.plusRemoteLogic.stopRecording(self.connectorNode.GetID(),
self.captureIDSelector.currentText,
callback)
def onStartReconstruction(self):
if self.roiNode:
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(
self.LIVE_OUTPUT_VOLUME_SPACING, self.roiNode)
self.plusRemoteLogic.startVolumeReconstuction(
self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.liveOutputSpacingValue, self.roiOrigin, self.roiExtent,
self.printCommandResponse,
self.getLiveReconstructionOutputFilename(),
self.LIVE_VOLUME_NODE_NAME)
# Set up timer for requesting snapshot
self.snapshotTimer.start(self.SNAPSHOT_INTERVAL * 1000)
def onStopReconstruction(self):
self.snapshotTimer.stop()
self.plusRemoteLogic.stopVolumeReconstruction(
self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.onVolumeLiveReconstructed,
self.getLiveReconstructionOutputFilename(),
self.LIVE_VOLUME_NODE_NAME)
def onReconstVolume(self):
self.offlineReconstructButton.setIcon(self.waitIcon)
self.offlineReconstructButton.setText(
" Offline Reconstruction in progress ...")
self.offlineReconstructButton.setEnabled(False)
self.plusRemoteLogic.reconstructRecorded(
self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.offlineVolumeToReconstructSelector.currentText,
self.outputSpacing, self.onVolumeReconstructed,
self.OFFLINE_VOLUME_FILENAME, self.OFFLINE_VOLUME_NODE_NAME)
def onScoutScanReconstVolume(self):
self.startStopScoutScanButton.setIcon(self.waitIcon)
self.startStopScoutScanButton.setText(
" Scout Scan\n Reconstruction in progress ...")
self.startStopScoutScanButton.setEnabled(False)
self.plusRemoteLogic.reconstructRecorded(
self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.lastScoutRecordingOutputFilename, self.outputSpacing,
self.onScoutVolumeReconstructed, self.SCOUT_VOLUME_FILENAME,
self.SCOUT_VOLUME_NODE_NAME)
def onRequestVolumeReconstructionSnapshot(self, stopFlag=""):
self.plusRemoteLogic.getVolumeReconstructionSnapshot(
self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.LIVE_VOLUME_FILENAME, self.LIVE_VOLUME_NODE_NAME,
self.APPLY_HOLE_FILLING_FOR_SNAPSHOT, self.onSnapshotAcquired)
def executeCommandDelayed(self, method, delay=100):
# Order of OpenIGTLink message receiving and processing is not guaranteed to be the same
# therefore we wait a bit to make sure the image message is processed as well
QTimer.singleShot(delay, method)
def printCommandResponse(self, command, q):
statusText = "Command {0} [{1}]: {2}\n".format(
command.GetCommandName(), command.GetID(),
command.StatusToString(command.GetStatus()))
if command.GetResponseMessage():
statusText = statusText + command.GetResponseMessage()
elif command.GetResponseText():
statusText = statusText + command.GetResponseText()
logging.debug(statusText)
def onGetCaptureDeviceCommandResponseReceived(self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() != command.CommandSuccess:
return
captureDeviceIdsListString = command.GetResponseMessage()
if captureDeviceIdsListString:
captureDevicesIdsList = captureDeviceIdsListString.split(",")
else:
captureDevicesIdsList = []
for i in range(0, len(captureDevicesIdsList)):
if self.captureIDSelector.findText(captureDevicesIdsList[i]) == -1:
self.captureIDSelector.addItem(captureDevicesIdsList[i])
def onGetVolumeReconstructorDeviceCommandResponseReceived(
self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() != command.CommandSuccess:
return
volumeReconstructorDeviceIdsListString = command.GetResponseMessage()
if volumeReconstructorDeviceIdsListString:
volumeReconstructorDeviceIdsList = volumeReconstructorDeviceIdsListString.split(
",")
else:
volumeReconstructorDeviceIdsList = []
self.volumeReconstructorIDSelector.clear()
self.volumeReconstructorIDSelector.addItems(
volumeReconstructorDeviceIdsList)
self.startStopRecordingButton.setEnabled(True)
self.offlineReconstructButton.setEnabled(True)
self.startStopScoutScanButton.setEnabled(True)
if self.roiNode:
self.startStopLiveReconstructionButton.setEnabled(True)
def onVolumeRecorded(self, command, q):
self.printCommandResponse(command, q)
self.offlineReconstructButton.setEnabled(True)
volumeToReconstructFileName = os.path.basename(
command.GetResponseMessage())
self.offlineVolumeToReconstructSelector.insertItem(
0, volumeToReconstructFileName)
self.offlineVolumeToReconstructSelector.setCurrentIndex(0)
def onScoutVolumeRecorded(self, command, q):
self.printCommandResponse(command, q)
self.offlineReconstructButton.setEnabled(True)
if command.GetStatus() == command.CommandExpired:
logging.fatal(
"Scout Volume Recording: Timeout while waiting for volume reconstruction result"
)
return
if command.GetStatus() == command.CommandSuccess:
self.lastScoutRecordingOutputFilename = os.path.basename(
command.GetResponseMessage())
self.onScoutScanReconstVolume()
def onVolumeReconstructed(self, command, q):
self.printCommandResponse(command, q)
self.offlineReconstructButton.setIcon(self.recordIcon)
self.offlineReconstructButton.setText("Offline Reconstruction")
self.offlineReconstructButton.setEnabled(True)
self.offlineReconstructButton.setChecked(False)
if command.GetStatus() == command.CommandExpired:
# volume reconstruction command timed out
logging.fatal(
"Volume Reconstruction: Timeout while waiting for volume reconstruction result"
)
return
if command.GetStatus() != command.CommandSuccess:
logging.debug("Volume Reconstruction: " +
command.GetResponseMessage())
return
self.executeCommandDelayed(self.onVolumeReconstructedFinalize)
def onVolumeReconstructedFinalize(self):
applicationLogic = slicer.app.applicationLogic()
applicationLogic.FitSliceToAll()
self.guideletParent.showVolumeRendering(self.getOfflineVolumeRecNode())
def onScoutVolumeReconstructed(self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() == command.CommandExpired:
logging.fatal(
"Scout Volume Reconstruction: Timeout while waiting for scout volume reconstruction result"
)
return
self.startStopScoutScanButton.setIcon(self.recordIcon)
self.startStopScoutScanButton.setText(
" Scout Scan\n Start Recording")
self.startStopScoutScanButton.setEnabled(True)
if command.GetStatus() != command.CommandSuccess:
logging.debug("Scout Volume Reconstruction: " +
command.GetResponseMessage())
return
self.executeCommandDelayed(self.onScoutVolumeReconstructedFinalize)
def onScoutVolumeReconstructedFinalize(self):
# Create and initialize ROI after scout scan because low resolution scout scan is used to set
# a smaller ROI for the live high resolution reconstruction
self.roiNode = self.logic.onRoiInitialization(
self.SCOUT_VOLUME_NODE_NAME, self.roiNode)
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(
self.LIVE_OUTPUT_VOLUME_SPACING, self.roiNode)
scoutScanVolumeNode = self.getScoutVolumeNode()
applicationLogic = slicer.app.applicationLogic()
applicationLogic.FitSliceToAll()
self.guideletParent.showVolumeRendering(scoutScanVolumeNode)
def onSnapshotAcquired(self, command, q):
self.printCommandResponse(command, q)
if not self.startStopLiveReconstructionButton.isChecked():
# live volume reconstruction is not active
return
self.executeCommandDelayed(self.onSnapshotAcquiredFinalize)
def onSnapshotAcquiredFinalize(self):
self.guideletParent.showVolumeRendering(self.getLiveVolumeRecNode())
self.snapshotTimer.start(self.SNAPSHOT_INTERVAL * 1000)
def onVolumeLiveReconstructed(self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() == command.CommandExpired:
logging.fatal(
"LIVE Volume Reconstruction: Failed to stop volume reconstruction"
)
return
if command.GetStatus() != command.CommandSuccess:
logging.debug("LIVE Volume Reconstruction " +
command.GetResponseMessage())
return
self.executeCommandDelayed(self.getLiveVolumeRecNode)
def onVolumeLiveReconstructedFinalize(self):
self.guideletParent.showVolumeRendering(self.getLiveVolumeRecNode())
class ProstateTRUSNavWidget(GuideletWidget):
DEFAULT_PLUSSERVER_CHOOSER_TEXT = "Choose PlusServer.exe"
DEFAULT_CONFIGURATION_CHOOSER_TEXT = "Select Configuration"
def __init__(self, parent = None):
GuideletWidget.__init__(self, parent)
self.plusServerProcess = None
self.configurationFile = self.getSetting('ConfigurationFile', self.DEFAULT_CONFIGURATION_CHOOSER_TEXT)
self.serverExecutable = self.getSetting('PlusServer', self.DEFAULT_PLUSSERVER_CHOOSER_TEXT)
def cleanup(self):
GuideletWidget.cleanup(self)
if self.plusServerProcess:
self.plusServerProcess.terminate()
def setup(self):
showPlusServerWidget = True
if _platform == "linux" or _platform == "linux2" or _platform == "darwin": #linux or linux or OS X
message = "Attention: You are running Slicer on Linux or OS X. Do you have PlusServer installed on the current OS?"
result = QMessageBox.question(slicer.util.mainWindow(), 'ProstateTRUSNav', message,
QMessageBox.Yes | QMessageBox.No)
showPlusServerWidget = result == QMessageBox.Yes
if _platform == "win32" or showPlusServerWidget:
# Windows...
plusServerCollapsibleButton = ctkCollapsibleButton()
plusServerCollapsibleButton.text = "PlusServer"
self.layout.addWidget(plusServerCollapsibleButton)
self.configurationFileChooserButton = QPushButton(self.configurationFile)
self.configurationFileChooserButton.connect('clicked()', self.onConfigFileSelected)
self.runPlusServerButton = QPushButton("Run PlusServer")
self.runPlusServerButton.setCheckable(True)
self.runPlusServerButton.connect('clicked()', self.onRunPlusServerButtonClicked)
self.serverFormLayout = QFormLayout(plusServerCollapsibleButton)
self.serverExecutableChooserButton = QPushButton(self.serverExecutable)
self.serverExecutableChooserButton.connect('clicked()', self.onServerExecutableSelected)
hbox = QHBoxLayout()
hbox.addWidget(self.serverExecutableChooserButton)
self.serverFormLayout.addRow(hbox)
hbox = QHBoxLayout()
hbox.addWidget(self.configurationFileChooserButton)
hbox.addWidget(self.runPlusServerButton)
self.serverFormLayout.addRow(hbox)
GuideletWidget.setup(self)
# do specific setup here
if _platform == "win32" or showPlusServerWidget:
self.launchGuideletButton.setEnabled(False)
self.checkExecutableAndArgument()
def checkExecutableAndArgument(self):
if os.path.exists(self.serverExecutable) and os.path.exists(self.configurationFile):
self.runPlusServerButton.setEnabled(True)
else:
self.runPlusServerButton.setEnabled(False)
def getSetting(self, settingName, defaultValue=""):
settings = QSettings()
value = settings.value(self.moduleName + '/' + settingName, defaultValue)
return value if value is not None and value != "" else defaultValue
def setSetting(self, settingName, value):
settings = QSettings()
settings.setValue(self.moduleName + '/'+ settingName, value)
def addLauncherWidgets(self):
GuideletWidget.addLauncherWidgets(self)
# add launcher widget here
def onServerExecutableSelected(self):
executable = QFileDialog.getOpenFileName(self.parent, "PlusServer Executable",
self.serverExecutable, "*.exe")
if executable != "" and executable.find("PlusServer.exe"):
self.serverExecutable = executable
self.serverExecutableChooserButton.setText(executable)
self.setSetting("PlusServer", executable)
self.checkExecutableAndArgument()
def onConfigFileSelected(self):
self.configurationFile = QFileDialog.getOpenFileName(self.parent, "Choose Configuration File",
self.configurationFile, "*.xml")
if self.configurationFile != "":
self.configurationFileChooserButton.setText(os.path.split(self.configurationFile)[1])
self.setSetting("ConfigurationFile", self.configurationFile)
self.checkExecutableAndArgument()
def onRunPlusServerButtonClicked(self):
if self.runPlusServerButton.isChecked():
command = [self.serverExecutable, "--config-file="+self.configurationFile]
logging.info("Executing %s %s" % tuple(command))
self.plusServerProcess = Popen([self.serverExecutable, "--config-file="+self.configurationFile])
if self.plusServerProcess:
self.runPlusServerButton.setText("Quit Plus Server")
self.launchGuideletButton.setEnabled(True)
else:
if self.plusServerProcess:
self.plusServerProcess.terminate()
self.runPlusServerButton.setText("Run PlusServer")
self.launchGuideletButton.setEnabled(False)
def collectParameterList(self):
parameterList = GuideletWidget.collectParameterList(self)
if not parameterList:
parameterList = dict()
parameterList['OfflineVolumeToReconstruct'] = 0,
return parameterList
def createGuideletInstance(self, parameterList = None):
return ProstateTRUSNavGuidelet(None, self.guideletLogic, parameterList)
def createGuideletLogic(self):
return ProstateTRUSNavLogic()
class ProstateTRUSNavWidget(GuideletWidget):
DEFAULT_PLUSSERVER_CHOOSER_TEXT = "Choose PlusServer.exe"
DEFAULT_CONFIGURATION_CHOOSER_TEXT = "Select Configuration"
def __init__(self, parent=None):
GuideletWidget.__init__(self, parent)
self.plusServerProcess = None
self.configurationFile = self.getSetting(
'ConfigurationFile', self.DEFAULT_CONFIGURATION_CHOOSER_TEXT)
self.serverExecutable = self.getSetting(
'PlusServer', self.DEFAULT_PLUSSERVER_CHOOSER_TEXT)
def cleanup(self):
GuideletWidget.cleanup(self)
if self.plusServerProcess:
self.plusServerProcess.terminate()
def setup(self):
showPlusServerWidget = True
if _platform == "linux" or _platform == "linux2" or _platform == "darwin": #linux or linux or OS X
message = "Attention: You are running Slicer on Linux or OS X. Do you have PlusServer installed on the current OS?"
result = QMessageBox.question(slicer.util.mainWindow(),
'ProstateTRUSNav', message,
QMessageBox.Yes | QMessageBox.No)
showPlusServerWidget = result == QMessageBox.Yes
if _platform == "win32" or showPlusServerWidget:
# Windows...
plusServerCollapsibleButton = ctkCollapsibleButton()
plusServerCollapsibleButton.text = "PlusServer"
self.layout.addWidget(plusServerCollapsibleButton)
self.configurationFileChooserButton = QPushButton(
self.configurationFile)
self.configurationFileChooserButton.connect(
'clicked()', self.onConfigFileSelected)
self.runPlusServerButton = QPushButton("Run PlusServer")
self.runPlusServerButton.setCheckable(True)
self.runPlusServerButton.connect('clicked()',
self.onRunPlusServerButtonClicked)
self.serverFormLayout = QFormLayout(plusServerCollapsibleButton)
self.serverExecutableChooserButton = QPushButton(
self.serverExecutable)
self.serverExecutableChooserButton.connect(
'clicked()', self.onServerExecutableSelected)
hbox = QHBoxLayout()
hbox.addWidget(self.serverExecutableChooserButton)
self.serverFormLayout.addRow(hbox)
hbox = QHBoxLayout()
hbox.addWidget(self.configurationFileChooserButton)
hbox.addWidget(self.runPlusServerButton)
self.serverFormLayout.addRow(hbox)
GuideletWidget.setup(self)
# do specific setup here
if _platform == "win32" or showPlusServerWidget:
self.launchGuideletButton.setEnabled(False)
self.checkExecutableAndArgument()
def checkExecutableAndArgument(self):
if os.path.exists(self.serverExecutable) and os.path.exists(
self.configurationFile):
self.runPlusServerButton.setEnabled(True)
else:
self.runPlusServerButton.setEnabled(False)
def getSetting(self, settingName, defaultValue=""):
settings = QSettings()
value = settings.value(self.moduleName + '/' + settingName,
defaultValue)
return value if value is not None and value != "" else defaultValue
def setSetting(self, settingName, value):
settings = QSettings()
settings.setValue(self.moduleName + '/' + settingName, value)
def addLauncherWidgets(self):
GuideletWidget.addLauncherWidgets(self)
# add launcher widget here
def onServerExecutableSelected(self):
executable = QFileDialog.getOpenFileName(self.parent,
"PlusServer Executable",
self.serverExecutable,
"*.exe")
if executable != "" and executable.find("PlusServer.exe"):
self.serverExecutable = executable
self.serverExecutableChooserButton.setText(executable)
self.setSetting("PlusServer", executable)
self.checkExecutableAndArgument()
def onConfigFileSelected(self):
self.configurationFile = QFileDialog.getOpenFileName(
self.parent, "Choose Configuration File", self.configurationFile,
"*.xml")
if self.configurationFile != "":
self.configurationFileChooserButton.setText(
os.path.split(self.configurationFile)[1])
self.setSetting("ConfigurationFile", self.configurationFile)
self.checkExecutableAndArgument()
def onRunPlusServerButtonClicked(self):
if self.runPlusServerButton.isChecked():
command = [
self.serverExecutable,
"--config-file=" + self.configurationFile
]
logging.info("Executing %s %s" % tuple(command))
self.plusServerProcess = Popen([
self.serverExecutable,
"--config-file=" + self.configurationFile
])
if self.plusServerProcess:
self.runPlusServerButton.setText("Quit Plus Server")
self.launchGuideletButton.setEnabled(True)
else:
if self.plusServerProcess:
self.plusServerProcess.terminate()
self.runPlusServerButton.setText("Run PlusServer")
self.launchGuideletButton.setEnabled(False)
def collectParameterList(self):
parameterList = GuideletWidget.collectParameterList(self)
if not parameterList:
parameterList = dict()
parameterList['OfflineVolumeToReconstruct'] = 0,
return parameterList
def createGuideletInstance(self, parameterList=None):
return ProstateTRUSNavGuidelet(None, self.guideletLogic, parameterList)
def createGuideletLogic(self):
return ProstateTRUSNavLogic()
class ProstateTRUSNavUltrasound(UltraSound):
OFFLINE_VOLUME_FILENAME = "RecVol_Reference.mha"
SCOUT_VOLUME_FILENAME = "ScoutScan.mha"
LIVE_VOLUME_FILENAME = "LiveReconstructedVolume.mha"
RECORDING_FILENAME = "Recording.mha"
SCOUT_RECORDING_FILENAME = "ScoutScanRecording.mha"
LIVE_RECORDING_FILENAME = LIVE_VOLUME_FILENAME
SCOUT_VOLUME_NODE_NAME = "ScoutScan"
OFFLINE_VOLUME_NODE_NAME = "RecVol_Reference"
LIVE_VOLUME_NODE_NAME = "liveReconstruction"
APPLY_HOLE_FILLING_FOR_SNAPSHOT = False
SNAPSHOT_INTERVAL = 3
OUTPUT_VOLUME_SPACING = 3
LIVE_OUTPUT_VOLUME_SPACING = 1
@property
def roiNode(self):
return self._roiNode
@roiNode.setter
def roiNode(self, node):
self._roiNode=node
if node is not None:
self.startStopLiveReconstructionButton.setEnabled(True)
else:
self.startStopLiveReconstructionButton.setEnabled(False)
def __init__(self, guideletParent):
UltraSound.__init__(self, guideletParent)
self.parameterNode = guideletParent.parameterNode
self.parameterNodeObserver = None
self._roiNode = None
self.liveOutputSpacingValue = [self.LIVE_OUTPUT_VOLUME_SPACING, self.LIVE_OUTPUT_VOLUME_SPACING,
self.LIVE_OUTPUT_VOLUME_SPACING]
self.outputSpacing = [self.OUTPUT_VOLUME_SPACING, self.OUTPUT_VOLUME_SPACING, self.OUTPUT_VOLUME_SPACING]
self.roiOrigin = None
self.roiExtent = None
self.defaultParameterNode = None
self.logic = ProstateTRUSNavUltrasoundLogic()
def setupPanel(self, parentWidget):
logging.debug('ProstateTRUSNavUltrasound.setupPanel')
self.connectorNode = self.guideletParent.connectorNode
self.connectorNodeConnected = False
collapsibleButton = ctkCollapsibleButton()
collapsibleButton.setProperty('collapsedHeight', 20)
setButtonStyle(collapsibleButton, 2.0)
collapsibleButton.text = "Ultrasound"
parentWidget.addWidget(collapsibleButton)
ultrasoundLayout = QFormLayout(collapsibleButton)
ultrasoundLayout.setContentsMargins(12,4,4,4)
ultrasoundLayout.setSpacing(4)
self.connectDisconnectButton = QPushButton("Connect")
self.connectDisconnectButton.setToolTip("If clicked, connection OpenIGTLink")
hbox = QHBoxLayout()
hbox.addWidget(self.connectDisconnectButton)
ultrasoundLayout.addRow(hbox)
self.setupIcons()
self.captureIDSelector = QComboBox()
self.captureIDSelector.setToolTip("Pick capture device ID")
self.captureIDSelector.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.volumeReconstructorIDSelector = QComboBox()
self.volumeReconstructorIDSelector.setToolTip( "Pick volume reconstructor device ID" )
self.volumeReconstructorIDSelector.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.startStopRecordingButton = QPushButton(" Start Recording")
self.startStopRecordingButton.setCheckable(True)
self.startStopRecordingButton.setIcon(self.recordIcon)
self.startStopRecordingButton.setEnabled(False)
self.startStopRecordingButton.setToolTip("If clicked, start recording")
self.startStopRecordingButton.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
recordParametersControlsLayout = QGridLayout()
self.filenameLabel = self.createLabel("Filename:", visible=False)
recordParametersControlsLayout.addWidget(self.filenameLabel, 1, 0)
# Offline Reconstruction
self.offlineReconstructButton = QPushButton(" Offline Reconstruction")
self.offlineReconstructButton.setCheckable(True)
self.offlineReconstructButton.setIcon(self.recordIcon)
self.offlineReconstructButton.setEnabled(False)
self.offlineReconstructButton.setToolTip("If clicked, reconstruct recorded volume")
self.offlineReconstructButton.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.offlineVolumeToReconstructSelector = QComboBox()
self.offlineVolumeToReconstructSelector.setEditable(True)
self.offlineVolumeToReconstructSelector.setToolTip( "Pick/set volume to reconstruct" )
self.offlineVolumeToReconstructSelector.visible = False
hbox = QHBoxLayout()
hbox.addWidget(self.startStopRecordingButton)
hbox.addWidget(self.offlineReconstructButton)
ultrasoundLayout.addRow(hbox)
# Scout scan (record and low resolution reconstruction) and live reconstruction
# Scout scan part
self.startStopScoutScanButton = QPushButton(" Scout scan\n Start recording")
self.startStopScoutScanButton.setCheckable(True)
self.startStopScoutScanButton.setIcon(self.recordIcon)
self.startStopScoutScanButton.setToolTip("If clicked, start recording")
self.startStopScoutScanButton.setEnabled(False)
self.startStopScoutScanButton.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.startStopLiveReconstructionButton = QPushButton(" Start live reconstruction")
self.startStopLiveReconstructionButton.setCheckable(True)
self.startStopLiveReconstructionButton.setIcon(self.recordIcon)
self.startStopLiveReconstructionButton.setToolTip("If clicked, start live reconstruction")
self.startStopLiveReconstructionButton.setEnabled(False)
self.startStopLiveReconstructionButton.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.displayRoiButton = QToolButton()
self.displayRoiButton.setCheckable(True)
self.displayRoiButton.setIcon(self.visibleOffIcon)
self.displayRoiButton.setToolTip("If clicked, display ROI")
hbox = QHBoxLayout()
hbox.addWidget(self.startStopScoutScanButton)
hbox.addWidget(self.startStopLiveReconstructionButton)
# hbox.addWidget(self.displayRoiButton)
ultrasoundLayout.addRow(hbox)
self.snapshotTimer = QTimer()
self.snapshotTimer.setSingleShot(True)
self.onParameterSetSelected()
return collapsibleButton
def setupResliceDriver(self):
layoutManager = slicer.app.layoutManager()
# Show ultrasound in red view.
redSlice = layoutManager.sliceWidget('Red')
redSliceLogic = redSlice.sliceLogic()
redSliceLogic.GetSliceCompositeNode().SetBackgroundVolumeID(self.liveUltrasoundNode_Reference.GetID())
resliceLogic = slicer.modules.volumereslicedriver.logic()
if resliceLogic:
redNode = slicer.util.getNode('vtkMRMLSliceNodeRed')
redNode.SetSliceResolutionMode(slicer.vtkMRMLSliceNode.SliceResolutionMatchVolumes)
resliceLogic.SetDriverForSlice(self.liveUltrasoundNode_Reference.GetID(), redNode)
resliceLogic.SetModeForSlice(6, redNode) # Transverse mode, default for PLUS ultrasound.
else:
logging.warning('Logic not found for Volume Reslice Driver')
def createCollapsibleButton(self, text, collapsed=False):
collapsibleButton = ctkCollapsibleButton()
collapsibleButton.text = text
collapsibleButton.collapsed = collapsed
return collapsibleButton
def createLabel(self, text, visible=True):
label = QLabel()
label.setText(text)
label.visible = visible
return label
def setupConnections(self):
self.startStopRecordingButton.connect('clicked(bool)', self.onStartStopRecordingButtonClicked)
self.offlineReconstructButton.connect('clicked(bool)', self.onReconstVolume)
self.startStopScoutScanButton.connect('clicked(bool)', self.onStartStopScoutScanButtonClicked)
self.startStopLiveReconstructionButton.connect('clicked(bool)', self.onStartStopLiveReconstructionButtonClicked)
self.displayRoiButton.connect('clicked(bool)', self.onDisplayRoiButtonClicked)
self.captureIDSelector.connect('currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.volumeReconstructorIDSelector.connect('currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.offlineVolumeToReconstructSelector.connect('currentIndexChanged(int)', self.updateParameterNodeFromGui)
self.displayRoiButton.connect('clicked(bool)', self.updateParameterNodeFromGui)
self.snapshotTimer.timeout.connect(self.onRequestVolumeReconstructionSnapshot)
self.connectDisconnectButton.connect('clicked(bool)', self.onConnectDisconnectButtonClicked)
def disconnect(self):
self.startStopRecordingButton.disconnect('clicked(bool)', self.onStartStopRecordingButtonClicked)
self.offlineReconstructButton.disconnect('clicked(bool)', self.onReconstVolume)
self.startStopScoutScanButton.disconnect('clicked(bool)', self.onStartStopScoutScanButtonClicked)
self.startStopLiveReconstructionButton.disconnect('clicked(bool)', self.onStartStopLiveReconstructionButtonClicked)
self.displayRoiButton.disconnect('clicked(bool)', self.onDisplayRoiButtonClicked)
self.captureIDSelector.disconnect('currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.volumeReconstructorIDSelector.disconnect('currentIndexChanged(QString)', self.updateParameterNodeFromGui)
self.offlineVolumeToReconstructSelector.disconnect('currentIndexChanged(int)', self.updateParameterNodeFromGui)
self.displayRoiButton.disconnect('clicked(bool)', self.updateParameterNodeFromGui)
self.snapshotTimer.timeout.disconnect(self.onRequestVolumeReconstructionSnapshot)
self.connectDisconnectButton.disconnect('clicked(bool)', self.onConnectDisconnectButtonClicked)
def setupIcons(self):
self.plusRemoteModuleDirectoryPath = slicer.modules.plusremote.path.replace("PlusRemote.py", "")
self.recordIcon = QIcon(self.plusRemoteModuleDirectoryPath + '/Resources/Icons/icon_Record.png')
self.stopIcon = QIcon(self.plusRemoteModuleDirectoryPath + '/Resources/Icons/icon_Stop.png')
self.waitIcon = QIcon(self.plusRemoteModuleDirectoryPath + '/Resources/Icons/icon_Wait.png')
self.visibleOffIcon = QIcon(":Icons\VisibleOff.png")
self.visibleOnIcon = QIcon(":Icons\VisibleOn.png")
def onParameterSetSelected(self):
# Set up default values for new nodes
if self.parameterNode:
self.plusRemoteLogic.setDefaultParameters(self.parameterNode)
self.updateGuiFromParameterNode()
def updateGuiFromParameterNode(self):
self.parameterVolumeList = {'OfflineVolumeToReconstruct': self.offlineVolumeToReconstructSelector}
for parameter in self.parameterVolumeList:
if self.parameterNode.GetParameter(parameter):
self.parameterVolumeList[parameter].blockSignals(True)
self.parameterVolumeList[parameter].blockSignals(False)
if self.parameterNode.GetParameter('CaptureID'):
self.captureIDSelector.blockSignals(True)
for i in range(0, self.captureIDSelector.count):
if self.parameterNode.GetParameter('CaptureID') == self.captureIDSelector.itemText(i):
self.captureIDSelector.setCurrentIndex(int(self.parameterNode.GetParameter('CaptureIdIndex')))
self.captureIDSelector.blockSignals(False)
if self.parameterNode.GetParameter('VolumeReconstructor'):
self.volumeReconstructorIDSelector.blockSignals(True)
for i in range(0, self.volumeReconstructorIDSelector.count):
if self.parameterNode.GetParameter('VolumeReconstructor') == self.volumeReconstructorIDSelector.itemText(i):
self.volumeReconstructorIDSelector.setCurrentIndex(int(self.parameterNode.GetParameter('VolumeReconstructorIndex')))
self.volumeReconstructorIDSelector.blockSignals(False)
self.roiNode = self.parameterNode.GetNthNodeReference('ROI', 0)
def updateParameterNodeFromGui(self):
#Update parameter node value to save when user change value in the interface
if not self.parameterNode:
return
self.parametersList = {'CaptureID': self.captureIDSelector.currentText,
'CaptureIdIndex': self.captureIDSelector.currentIndex,
'VolumeReconstructor': self.volumeReconstructorIDSelector.currentText,
'VolumeReconstructorIndex': self.volumeReconstructorIDSelector.currentIndex,
'OfflineVolumeToReconstruct': self.offlineVolumeToReconstructSelector.currentIndex}
for parameter in self.parametersList:
self.parameterNode.SetParameter(parameter, str(self.parametersList[parameter]))
if self.roiNode:
roiNodeID = self.roiNode.GetID()
self.parameterNode.SetNthNodeReferenceID('ROI', 0, roiNodeID)
#
# Connector observation and actions
#
def onConnectorNodeConnected(self):
logging.debug("ProstateTrusUltrasound:onConnectorNodeConnected")
self.connectorNodeConnected = True
self.captureIDSelector.setDisabled(False)
self.volumeReconstructorIDSelector.setDisabled(False)
self.plusRemoteLogic.getCaptureDeviceIds(self.connectorNode.GetID(),
self.onGetCaptureDeviceCommandResponseReceived)
self.plusRemoteLogic.getVolumeReconstructorDeviceIds(self.connectorNode.GetID(),
self.onGetVolumeReconstructorDeviceCommandResponseReceived)
self.connectDisconnectButton.setText("Disconnect")
def onConnectorNodeDisconnected(self):
logging.debug("ProstateTrusUltrasound:onConnectorNodeDisconnected")
self.connectorNodeConnected = False
self.startStopRecordingButton.setEnabled(False)
self.startStopScoutScanButton.setEnabled(False)
self.startStopLiveReconstructionButton.setEnabled(False)
self.offlineReconstructButton.setEnabled(False)
self.captureIDSelector.setDisabled(True)
self.volumeReconstructorIDSelector.setDisabled(True)
self.connectDisconnectButton.setText("Connect")
def getLiveVolumeRecNode(self):
liveVolumeRecNode = slicer.util.getNode(self.LIVE_VOLUME_NODE_NAME)
return liveVolumeRecNode
def getOfflineVolumeRecNode(self):
offlineVolumeRecNode = slicer.util.getNode(self.OFFLINE_VOLUME_NODE_NAME)
return offlineVolumeRecNode
def getScoutVolumeNode(self):
scoutScanVolumeNode = slicer.util.getNode(self.SCOUT_VOLUME_NODE_NAME)
return scoutScanVolumeNode
def onConnectDisconnectButtonClicked(self):
if self.connectorNode.GetState() == slicer.vtkMRMLIGTLConnectorNode.STATE_CONNECTED:
self.connectorNode.Stop()
else:
self.connectorNode.Start()
def onStartStopRecordingButtonClicked(self):
if self.startStopRecordingButton.isChecked():
self.startStopRecordingButton.setText(" Stop Recording")
self.startStopRecordingButton.setIcon(self.stopIcon)
self.startStopRecordingButton.setToolTip( "If clicked, stop recording" )
self.onStartRecording(self.generateRecordingOutputFilename())
else:
self.startStopRecordingButton.setText(" Start Recording")
self.startStopRecordingButton.setIcon(self.recordIcon)
self.startStopRecordingButton.setToolTip( "If clicked, start recording" )
self.onStopRecording(self.onVolumeRecorded)
def onStartStopScoutScanButtonClicked(self):
if self.startStopScoutScanButton.isChecked():
self.startStopScoutScanButton.setText(" Scout Scan\n Stop Recording and Reconstruct Recorded Volume")
self.startStopScoutScanButton.setIcon(self.stopIcon)
self.startStopScoutScanButton.setToolTip( "If clicked, stop recording and reconstruct recorded volume" )
self.onStartRecording(self.generateScoutRecordingOutputFilename())
else:
self.onStopRecording(self.onScoutVolumeRecorded)
def onStartStopLiveReconstructionButtonClicked(self):
if self.startStopLiveReconstructionButton.isChecked():
if self.roiNode:
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(self.LIVE_OUTPUT_VOLUME_SPACING,
self.roiNode)
self.startStopLiveReconstructionButton.setText(" Stop Live Reconstruction")
self.startStopLiveReconstructionButton.setIcon(self.stopIcon)
self.startStopLiveReconstructionButton.setToolTip( "If clicked, stop live reconstruction" )
self.onStartRecording(self.getLiveRecordingOutputFilename())
self.onStartReconstruction()
else:
self.startStopLiveReconstructionButton.setText(" Start Live Reconstruction")
self.startStopLiveReconstructionButton.setIcon(self.recordIcon)
self.startStopLiveReconstructionButton.setToolTip( "If clicked, start live reconstruction" )
self.onStopRecording(self.printCommandResponse)
self.onStopReconstruction()
def onDisplayRoiButtonClicked(self):
if self.displayRoiButton.isChecked():
self.displayRoiButton.setIcon(self.visibleOnIcon)
self.displayRoiButton.setToolTip("If clicked, hide ROI")
if self.roiNode:
self.roiNode.SetDisplayVisibility(1)
else:
self.displayRoiButton.setIcon(self.visibleOffIcon)
self.displayRoiButton.setToolTip("If clicked, display ROI")
if self.roiNode:
self.roiNode.SetDisplayVisibility(0)
def generateRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(self.RECORDING_FILENAME)
def generateScoutRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(self.SCOUT_RECORDING_FILENAME)
def getLiveRecordingOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(self.LIVE_RECORDING_FILENAME)
def getLiveReconstructionOutputFilename(self):
return self.plusRemoteLogic.addTimestampToFilename(self.LIVE_VOLUME_FILENAME)
def onStartRecording(self, filename):
self.plusRemoteLogic.startRecording(self.connectorNode.GetID(), self.captureIDSelector.currentText,
filename, self.printCommandResponse)
def onStopRecording(self, callback):
self.plusRemoteLogic.stopRecording(self.connectorNode.GetID(), self.captureIDSelector.currentText, callback)
def onStartReconstruction(self):
if self.roiNode:
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(self.LIVE_OUTPUT_VOLUME_SPACING,
self.roiNode)
self.plusRemoteLogic.startVolumeReconstuction(self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.liveOutputSpacingValue, self.roiOrigin,
self.roiExtent, self.printCommandResponse,
self.getLiveReconstructionOutputFilename(), self.LIVE_VOLUME_NODE_NAME)
# Set up timer for requesting snapshot
self.snapshotTimer.start(self.SNAPSHOT_INTERVAL*1000)
def onStopReconstruction(self):
self.snapshotTimer.stop()
self.plusRemoteLogic.stopVolumeReconstruction(self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.onVolumeLiveReconstructed,
self.getLiveReconstructionOutputFilename(),
self.LIVE_VOLUME_NODE_NAME)
def onReconstVolume(self):
self.offlineReconstructButton.setIcon(self.waitIcon)
self.offlineReconstructButton.setText(" Offline Reconstruction in progress ...")
self.offlineReconstructButton.setEnabled(False)
self.plusRemoteLogic.reconstructRecorded(self.connectorNode.GetID(), self.volumeReconstructorIDSelector.currentText,
self.offlineVolumeToReconstructSelector.currentText, self.outputSpacing,
self.onVolumeReconstructed, self.OFFLINE_VOLUME_FILENAME,
self.OFFLINE_VOLUME_NODE_NAME)
def onScoutScanReconstVolume(self):
self.startStopScoutScanButton.setIcon(self.waitIcon)
self.startStopScoutScanButton.setText(" Scout Scan\n Reconstruction in progress ...")
self.startStopScoutScanButton.setEnabled(False)
self.plusRemoteLogic.reconstructRecorded(self.connectorNode.GetID(), self.volumeReconstructorIDSelector.currentText,
self.lastScoutRecordingOutputFilename, self.outputSpacing,
self.onScoutVolumeReconstructed, self.SCOUT_VOLUME_FILENAME,
self.SCOUT_VOLUME_NODE_NAME)
def onRequestVolumeReconstructionSnapshot(self, stopFlag = ""):
self.plusRemoteLogic.getVolumeReconstructionSnapshot(self.connectorNode.GetID(),
self.volumeReconstructorIDSelector.currentText,
self.LIVE_VOLUME_FILENAME,
self.LIVE_VOLUME_NODE_NAME,
self.APPLY_HOLE_FILLING_FOR_SNAPSHOT, self.onSnapshotAcquired)
def executeCommandDelayed(self, method, delay=100):
# Order of OpenIGTLink message receiving and processing is not guaranteed to be the same
# therefore we wait a bit to make sure the image message is processed as well
QTimer.singleShot(delay, method)
def printCommandResponse(self, command, q):
statusText = "Command {0} [{1}]: {2}\n".format(command.GetCommandName(), command.GetID(),
command.StatusToString(command.GetStatus()))
if command.GetResponseMessage():
statusText = statusText + command.GetResponseMessage()
elif command.GetResponseText():
statusText = statusText + command.GetResponseText()
logging.debug(statusText)
def onGetCaptureDeviceCommandResponseReceived(self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() != command.CommandSuccess:
return
captureDeviceIdsListString = command.GetResponseMessage()
if captureDeviceIdsListString:
captureDevicesIdsList = captureDeviceIdsListString.split(",")
else:
captureDevicesIdsList = []
for i in range(0,len(captureDevicesIdsList)):
if self.captureIDSelector.findText(captureDevicesIdsList[i]) == -1:
self.captureIDSelector.addItem(captureDevicesIdsList[i])
def onGetVolumeReconstructorDeviceCommandResponseReceived(self, command, q):
self.printCommandResponse(command, q)
if command.GetStatus() != command.CommandSuccess:
return
volumeReconstructorDeviceIdsListString = command.GetResponseMessage()
if volumeReconstructorDeviceIdsListString:
volumeReconstructorDeviceIdsList = volumeReconstructorDeviceIdsListString.split(",")
else:
volumeReconstructorDeviceIdsList = []
self.volumeReconstructorIDSelector.clear()
self.volumeReconstructorIDSelector.addItems(volumeReconstructorDeviceIdsList)
self.startStopRecordingButton.setEnabled(True)
self.offlineReconstructButton.setEnabled(True)
self.startStopScoutScanButton.setEnabled(True)
if self.roiNode:
self.startStopLiveReconstructionButton.setEnabled(True)
def onVolumeRecorded(self, command, q):
self.printCommandResponse(command, q)
self.offlineReconstructButton.setEnabled(True)
volumeToReconstructFileName = os.path.basename(command.GetResponseMessage())
self.offlineVolumeToReconstructSelector.insertItem(0,volumeToReconstructFileName)
self.offlineVolumeToReconstructSelector.setCurrentIndex(0)
def onScoutVolumeRecorded(self, command, q):
self.printCommandResponse(command,q)
self.offlineReconstructButton.setEnabled(True)
if command.GetStatus() == command.CommandExpired:
logging.fatal("Scout Volume Recording: Timeout while waiting for volume reconstruction result")
return
if command.GetStatus() == command.CommandSuccess:
self.lastScoutRecordingOutputFilename = os.path.basename(command.GetResponseMessage())
self.onScoutScanReconstVolume()
def onVolumeReconstructed(self, command, q):
self.printCommandResponse(command,q)
self.offlineReconstructButton.setIcon(self.recordIcon)
self.offlineReconstructButton.setText("Offline Reconstruction")
self.offlineReconstructButton.setEnabled(True)
self.offlineReconstructButton.setChecked(False)
if command.GetStatus() == command.CommandExpired:
# volume reconstruction command timed out
logging.fatal("Volume Reconstruction: Timeout while waiting for volume reconstruction result")
return
if command.GetStatus() != command.CommandSuccess:
logging.debug("Volume Reconstruction: " + command.GetResponseMessage())
return
self.executeCommandDelayed(self.onVolumeReconstructedFinalize)
def onVolumeReconstructedFinalize(self):
applicationLogic = slicer.app.applicationLogic()
applicationLogic.FitSliceToAll()
self.guideletParent.showVolumeRendering(self.getOfflineVolumeRecNode())
def onScoutVolumeReconstructed(self, command, q):
self.printCommandResponse(command,q)
if command.GetStatus() == command.CommandExpired:
logging.fatal("Scout Volume Reconstruction: Timeout while waiting for scout volume reconstruction result")
return
self.startStopScoutScanButton.setIcon(self.recordIcon)
self.startStopScoutScanButton.setText(" Scout Scan\n Start Recording")
self.startStopScoutScanButton.setEnabled(True)
if command.GetStatus() != command.CommandSuccess:
logging.debug("Scout Volume Reconstruction: " + command.GetResponseMessage())
return
self.executeCommandDelayed(self.onScoutVolumeReconstructedFinalize)
def onScoutVolumeReconstructedFinalize(self):
# Create and initialize ROI after scout scan because low resolution scout scan is used to set
# a smaller ROI for the live high resolution reconstruction
self.roiNode = self.logic.onRoiInitialization(self.SCOUT_VOLUME_NODE_NAME, self.roiNode)
self.roiOrigin, self.roiExtent = self.logic.updateVolumeOriginAndExtentFromROI(self.LIVE_OUTPUT_VOLUME_SPACING,
self.roiNode)
scoutScanVolumeNode = self.getScoutVolumeNode()
applicationLogic = slicer.app.applicationLogic()
applicationLogic.FitSliceToAll()
self.guideletParent.showVolumeRendering(scoutScanVolumeNode)
def onSnapshotAcquired(self, command, q):
self.printCommandResponse(command,q)
if not self.startStopLiveReconstructionButton.isChecked():
# live volume reconstruction is not active
return
self.executeCommandDelayed(self.onSnapshotAcquiredFinalize)
def onSnapshotAcquiredFinalize(self):
self.guideletParent.showVolumeRendering(self.getLiveVolumeRecNode())
self.snapshotTimer.start(self.SNAPSHOT_INTERVAL*1000)
def onVolumeLiveReconstructed(self, command, q):
self.printCommandResponse(command,q)
if command.GetStatus() == command.CommandExpired:
logging.fatal("LIVE Volume Reconstruction: Failed to stop volume reconstruction")
return
if command.GetStatus() != command.CommandSuccess:
logging.debug("LIVE Volume Reconstruction " + command.GetResponseMessage())
return
self.executeCommandDelayed(self.getLiveVolumeRecNode)
def onVolumeLiveReconstructedFinalize(self):
self.guideletParent.showVolumeRendering(self.getLiveVolumeRecNode())