RUFF

invesalius · Feb 11, 2025 · 5fcfe36 · 5fcfe36
1 parent ca50dc9
commit 5fcfe36
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Showing 3 changed files with 41 additions and 34 deletions.
diff --git a/invesalius/data/viewer_volume.py b/invesalius/data/viewer_volume.py
@@ -511,7 +511,8 @@ def __bind_events(self):
             self.OnUpdateRobotStatus, "Robot to Neuronavigation: Update robot status"
         )
         Publisher.subscribe(
-            self.UpdateForceCompensation, "Robot to Neuronavigation: Update force compensation displacement"
+            self.UpdateForceCompensation,
+            "Robot to Neuronavigation: Update force compensation displacement",
         )
         Publisher.subscribe(self.GetCoilPosition, "Calculate position and rotation")
         Publisher.subscribe(
@@ -1007,9 +1008,6 @@ def EnableTargetMode(self):
         # force_compensate_arrow_up = self.CreateCompensateArrowUp()
         # self.ren.AddActor(force_compensate_arrow_up)
 
-
-
-
         # Store the object for 'distance' text so it can be modified when distance changes.
         self.distance_text = distance_text
 
@@ -1106,7 +1104,6 @@ def UpdateForceCompensation(self, displacement):
         # if self.force_compensate_text is not None:
         #         self.force_compensate_text.SetValue(formatted_force_compensate)
 
-
     def OnUpdateCoilPose(self, m_img, coord):
         # vtk_colors = vtkNamedColors()
         if self.target_coord and self.target_mode:
@@ -1186,17 +1183,12 @@ def OnUpdateCoilPose(self, m_img, coord):
 
             # print("creating force_compensate_arrow_up")
             # force_compensate_arrow_up = self.actor_factory.CreateArrow([0, 0, 0], [0, 0, 50])
-            force_compensate_arrow_up = self.actor_factory.CreateArrow(
-                [0, 0, 0], [0, -50, 0]
-            )
+            force_compensate_arrow_up = self.actor_factory.CreateArrow([0, 0, 0], [0, -50, 0])
             force_compensate_arrow_up.SetPosition(0, -575, 0)
             force_compensate_arrow_up.RotateY(90)
             force_compensate_arrow_up.RotateZ(180)
             force_compensate_arrow_up.GetProperty().SetColor(1, 1, 1)
 
-
-
-
             # print("Adding the actor force_compensate_arrow_up")
             self.target_guide_renderer.AddActor(force_compensate_arrow_up)
             ########
@@ -1376,15 +1368,14 @@ def CreateDistanceText(self):
     #     force_compensate_arrow_up.RotateZ(180)
     #     return force_compensate_arrow_up
 
-
     # def CreateForceCompensateText(self):
-        # up_arrow_actor = vtku.vtkTextActor()
-        # up_arrow_actor.SetInput("TESTTEST")  # Unicode for up arrow
-        # up_arrow_actor.GetTextProperty().SetFontSize(24)
-        # up_arrow_actor.GetTextProperty().SetColor(1.0, 1.0, 1.0)
-        # up_arrow_actor.SetPosition(100, 100) #### Might wanna change
+    # up_arrow_actor = vtku.vtkTextActor()
+    # up_arrow_actor.SetInput("TESTTEST")  # Unicode for up arrow
+    # up_arrow_actor.GetTextProperty().SetFontSize(24)
+    # up_arrow_actor.GetTextProperty().SetColor(1.0, 1.0, 1.0)
+    # up_arrow_actor.SetPosition(100, 100) #### Might wanna change
 
-        # return up_arrow_actor
+    # return up_arrow_actor
 
     # def CreateForceCompensateText(self):
     #     force_compensate_text = vtku.Text()

diff --git a/invesalius/gui/preferences.py b/invesalius/gui/preferences.py
@@ -717,7 +717,7 @@ def __init__(self, parent):
         border = wx.BoxSizer(wx.VERTICAL)
         border.Add(bsizer_logging, 1, wx.EXPAND | wx.ALL, 10)  # | wx.FIXED_MINSIZE, 10)
         border.Add(bsizer_console_logging, 1, wx.EXPAND | wx.ALL, 10)  # | wx.FIXED_MINSIZE, 10)
-        
+
         self.SetSizerAndFit(border)
 
         self.Layout()
@@ -861,21 +861,24 @@ def __init__(self, parent, navigation):
             choices=["No", "Yes"],
             majorDimension=2,
             style=wx.RA_SPECIFY_COLS | wx.NO_BORDER | wx.FIXED_MINSIZE,
-        )   
+        )
 
         min_force_threshold = wx.StaticText(self, -1, _("Min force (N):"))
-        min_force_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(self, -1, "", size=wx.Size(50, 23), inc=0.01)
+        min_force_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(
+            self, -1, "", size=wx.Size(50, 23), inc=0.01
+        )
         min_force_threshold_spin.Enable(1)
         min_force_threshold_spin.SetRange(2.0, 10.0)
         min_force_threshold_spin.SetValue(self.min_force_threshold)
         # spin_nav_move.Bind(wx.EVT_TEXT, partial(self.OnSelectNavSleep, ctrl=spin_nav_sleep))
         # spin_nav_move.Bind(wx.EVT_SPINCTRL, partial(self.OnSelectNavSleep, ctrl=spin_nav_sleep))
-
 
         # Add this variable into a legit variable lol
         self.max_force_threshold = 10.0
         max_force_threshold = wx.StaticText(self, -1, _("Max force (N):"))
-        max_force_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(self, -1, "", size=wx.Size(50, 23), inc=0.01)
+        max_force_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(
+            self, -1, "", size=wx.Size(50, 23), inc=0.01
+        )
         max_force_threshold_spin.Enable(1)
         max_force_threshold_spin.SetRange(2.0, 20.0)
         max_force_threshold_spin.SetValue(self.max_force_threshold)
@@ -902,7 +905,7 @@ def __init__(self, parent, navigation):
 
         bsizer_force_centering = wx.BoxSizer(wx.HORIZONTAL)
         bsizer_force_centering_threshold = wx.BoxSizer(wx.HORIZONTAL)
-        
+
         ##### ADD ANOTHER rb_force_adjust
         rb_force_centering = self.rb_force_centering = wx.RadioBox(
             self,
@@ -916,7 +919,9 @@ def __init__(self, parent, navigation):
         bsizer_force_centering.Add(rb_force_centering, 0, wx.TOP | wx.LEFT | wx.FIXED_MINSIZE, 5)
 
         distance_threshold = wx.StaticText(self, -1, _("Distance threshold (mm):"))
-        distance_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(self, -1, "", size=wx.Size(50, 23), inc=0.01)
+        distance_threshold_spin = self.force_adjust_distance_spin = wx.SpinCtrlDouble(
+            self, -1, "", size=wx.Size(50, 23), inc=0.01
+        )
         distance_threshold_spin.Enable(1)
         distance_threshold_spin.SetRange(1.0, 10.0)
         distance_threshold_spin.SetValue(self.min_force_threshold)
@@ -929,15 +934,19 @@ def __init__(self, parent, navigation):
                 (distance_threshold_spin, 0, wx.ALL | wx.EXPAND | wx.GROW, 5),
             ]
         )
-
-
+
         bsizer_force.Add(bsizer_force_centering, 0, wx.TOP | wx.LEFT | wx.EXPAND, 0)
-        bsizer_force.Add(bsizer_force_centering_threshold, 0, wx.GROW | wx.EXPAND | wx.LEFT | wx.RIGHT | wx.TOP, 5)
+        bsizer_force.Add(
+            bsizer_force_centering_threshold,
+            0,
+            wx.GROW | wx.EXPAND | wx.LEFT | wx.RIGHT | wx.TOP,
+            5,
+        )
 
         main_sizer = wx.BoxSizer(wx.VERTICAL)
         main_sizer.Add(conf_sizer, 0, wx.ALL | wx.EXPAND, 10)
         main_sizer.Add(bsizer_force, 1, wx.EXPAND | wx.ALL | wx.FIXED_MINSIZE, 10)
-        
+
         self.SetSizerAndFit(main_sizer)
         self.Layout()
 
@@ -951,7 +960,9 @@ def OnSelectCoordSleep(self, evt, ctrl):
         self.sleep_coord = ctrl.GetValue()
         Publisher.sendMessage("Update coord sleep", data=self.sleep_coord)
 
-        self.session.SetConfig("sleep_coord", self.sleep_nav) # I presume this is wrong and should be self.sleep_coord, come back to it. 
+        self.session.SetConfig(
+            "sleep_coord", self.sleep_nav
+        )  # I presume this is wrong and should be self.sleep_coord, come back to it.
 
     def LoadConfig(self):
         sleep_nav = self.session.GetConfig("sleep_nav")
@@ -968,7 +979,6 @@ def LoadConfig(self):
         if force_adjust_distance is not None:
             self.min_force_threshold = force_adjust_distance
 
-
     def GetSelection(self):
         options = {
             const.EXCESSIVE_FORCE_ADJUST: self.rb_force_adjust.GetSelection(),
@@ -987,7 +997,6 @@ def LoadSelection(self, values):
         self.force_adjust_distance_spin.SetValue(force_adjust_distance)
 
 
-
 class ObjectTab(wx.Panel):
     def __init__(self, parent, navigation, tracker, pedal_connector):
         wx.Panel.__init__(self, parent)

diff --git a/invesalius/navigation/navigation.py b/invesalius/navigation/navigation.py
@@ -402,8 +402,15 @@ def SelectCoil(self, coil_name, coil_registration):
 
     def UpdateExcessiveForceAdjust(self):
         session = ses.Session()
-        excessive_force_adjust = [session.GetConfig("excessive_force_adjust"), session.GetConfig("excessive_force_adjust_value"), session.GetConfig("force_centering_on")]
-        Publisher.sendMessage('Neuronavigation to Robot: Update excessive force adjustment', data=excessive_force_adjust)
+        excessive_force_adjust = [
+            session.GetConfig("excessive_force_adjust"),
+            session.GetConfig("excessive_force_adjust_value"),
+            session.GetConfig("force_centering_on"),
+        ]
+        Publisher.sendMessage(
+            "Neuronavigation to Robot: Update excessive force adjustment",
+            data=excessive_force_adjust,
+        )
 
     def CoilAtTarget(self, state):
         self.coil_at_target = state