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

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merged 6 commits into from
Oct 28, 2022
Merged

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

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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
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37 changes: 28 additions & 9 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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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);
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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;
}
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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