Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[InterventionalRadiologyController] Improve init checks to avoid potential crashes #72

Merged
merged 6 commits into from
Oct 28, 2022
Merged

[InterventionalRadiologyController] Improve init checks to avoid potential crashes #72

Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
307f24d
[IRCtrl] Fix instrumentList parsing and bad filling at init
epernod Oct 11, 2022
79a746f
[IRCtrl] Add warning at init if nbrDof is too low
epernod Oct 11, 2022
da123e5
Merge branch 'master' into IRCtrl_init
epernod Oct 13, 2022
d75889f
Fix compilation
fredroy Oct 14, 2022
5e8d0a3
Apply suggestions from code review
epernod Oct 27, 2022
117c68b
Update InterventionalRadiologyController.inl
epernod Oct 27, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
37 changes: 28 additions & 9 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,8 +87,7 @@ void InterventionalRadiologyController<DataTypes>::init()
const type::vector<std::string>& instrumentPathList = d_instrumentsPath.getValue();
if (instrumentPathList.empty())
{
WBeamInterpolation * wbinterpol= context->get< WBeamInterpolation >(BaseContext::Local);
epernod marked this conversation as resolved.
Show resolved Hide resolved
m_instrumentsList.push_back(wbinterpol);
getContext()->template get<WBeamInterpolation>(&m_instrumentsList, sofa::core::objectmodel::BaseContext::Local);
}
else
{
Expand All @@ -103,8 +102,15 @@ void InterventionalRadiologyController<DataTypes>::init()
}
}

if(m_instrumentsList.empty())
msg_error()<<"No Beam Interpolation found !!! the component can not work.";
if (m_instrumentsList.empty()) {
msg_error() << "No instrument found (no WireBeamInterpolation)! the component can not work and will be set to Invalid.";
sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
return;
}
epernod marked this conversation as resolved.
Show resolved Hide resolved
else
{
msg_info() << m_instrumentsList.size() << " instrument(s) found (WireBeamInterpolation)";
}

m_activatedPointsBuf.clear();

Expand All @@ -120,11 +126,6 @@ void InterventionalRadiologyController<DataTypes>::init()
loadMotionData(d_motionFilename.getValue());
}

if (m_instrumentsList.size() == 0)
{
msg_error()<<"No instrument found ( no WireBeamInterpolation).";
return;
}
auto x_instr_tip = sofa::helper::getWriteOnlyAccessor(d_xTip);
x_instr_tip.resize(m_instrumentsList.size());

Expand Down Expand Up @@ -160,6 +161,7 @@ void InterventionalRadiologyController<DataTypes>::init()

Inherit::init();

sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
}

template<class DataTypes>
Expand Down Expand Up @@ -202,6 +204,23 @@ void InterventionalRadiologyController<DataTypes>::bwdInit()
x[i] = d_startingPos.getValue();
m_numControlledNodes = x.size();

sofa::Size nbrBeam = 0;
for (unsigned int i = 0; i < m_instrumentsList.size(); i++)
{
type::vector<Real> xP_noticeable_I;
type::vector< int > density_I;
m_instrumentsList[i]->getSamplingParameters(xP_noticeable_I, density_I);

for (auto nb : density_I)
nbrBeam += nb;
}

if (nbrBeam > m_numControlledNodes)
{
msg_warning() << "Parameter missmatch: According to the list of controlled instrument controlled. The number of potential beams: "
<< nbrBeam << " exceed the number of degree of freedom in the MechanicalObject: " << m_numControlledNodes << ". This could lead to unespected behavior.";
}

applyInterventionalRadiologyController();
}

Expand Down