[IRC] Add checks/warnings at init stage (#178)

* fetch total number of potential beams

* add warnings

Author: fredroy

src/BeamAdapter/component/BeamInterpolation.h

@@ -202,7 +202,7 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
     void getMechanicalSampling(Real& dx, const Real x_localcurv_abs) override;
     void getCollisionSampling(Real &dx, const Real x_localcurv_abs) override;
     void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) override;
-
+    
     void setTransformBetweenDofAndNode(const sofa::Index beam, const Transform &DOF_H_Node, unsigned int zeroORone );
     void getSplineRestTransform(const EdgeID edgeInList, Transform &local_H_local0_rest, Transform &local_H_local1_rest) override;
 

src/BeamAdapter/component/BeamInterpolation.inl

@@ -446,7 +446,6 @@ void BeamInterpolation<DataTypes>::getNumberOfCollisionSegment(Real &dx, unsigne
     dx = getRestTotalLength()/numLines;
 }
 
-
 template<class DataTypes>
 void BeamInterpolation<DataTypes>::getInterpolationParameters(sofa::Index beamId, Real& _L, Real& _A, Real& _Iy,
     Real& _Iz, Real& _Asy, Real& _Asz, Real& _J)

src/BeamAdapter/component/WireBeamInterpolation.h

@@ -131,6 +131,12 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
     {
         this->m_restShape->getNumberOfCollisionSegment(dx,numLines);
     }
+    
+    // this is the number of beams which can be simulated according to the rest shape (and its sections)
+    sofa::Size getTotalNumberOfPossibleBeams() const
+    {
+        return this->m_restShape->getTotalNumberOfBeams();
+    }
 
 
     virtual void getRestTransform(const EdgeID edgeInList, Transform &local0_H_local1_rest);

src/BeamAdapter/component/WireBeamInterpolation.inl

@@ -57,7 +57,7 @@ void WireBeamInterpolation<DataTypes>::init()
         this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
         return;
     }
-
+        
     type::vector<Real> xP_noticeable;
     type::vector<sofa::Size> nbP_density;
 

src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

@@ -223,27 +223,35 @@ void InterventionalRadiologyController<DataTypes>::bwdInit()
     stPos.getOrientation().normalize();
     d_startingPos.setValue(stPos);
 
-    if (!this->mState) {
+    if (!this->mState)
+    {
         msg_error() << "No MechanicalState found. The component can not work and will be set to Invalid.";
         sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
         return;
     }
+    
+    // check if the provided mechanical state and topology can manage our tools
+    sofa::Size requiredNumberOfEdges = 0;
+    for (const auto* instrument : m_instrumentsList)
+    {
+        requiredNumberOfEdges += instrument->getTotalNumberOfPossibleBeams();
+    }
+    
+    if(requiredNumberOfEdges + 1 > this->mState->getSize())
+    {
+        msg_warning() << "The associated Mechanical Object does not contain enough nodes (" << this->mState->getSize()
+                      << ") whereas the provided tool(s) need(s) at least " << requiredNumberOfEdges + 1 << " nodes.";
+    }
+    if(requiredNumberOfEdges > this->l_mechanicalTopology->getNbEdges())
+    {
+        msg_warning() << "The associated Topology does not contain enough edges (" << this->l_mechanicalTopology->getNbEdges()
+                      << ") whereas the provided tool(s) need(s) at least " << requiredNumberOfEdges << " edges.";
+    }
 
     WriteAccessor<Data<VecCoord> > x = *this->mState->write(sofa::core::vec_id::write_access::position);
     for(unsigned int i=0; i<x.size(); i++)
         x[i] = d_startingPos.getValue();
 
-    sofa::Size nbrBeam = 0;
-    for (unsigned int i = 0; i < m_instrumentsList.size(); i++)
-    {
-        type::vector<Real> xP_noticeable_I;
-        type::vector<sofa::Size> density_I;
-        m_instrumentsList[i]->getSamplingParameters(xP_noticeable_I, density_I);
-
-        for (auto nb : density_I)
-            nbrBeam += nb;
-    }
-
     applyInterventionalRadiologyController();
 
     sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);

src/BeamAdapter/component/engine/WireRestShape.h

@@ -111,6 +111,8 @@ class WireRestShape : public core::objectmodel::BaseObject
     void getMechanicalSampling(Real& dx, const Real x_localcurv_abs);
     void getCollisionSampling(Real &dx, const Real x_curv);
     void getNumberOfCollisionSegment(Real &dx, sofa::Size& numLines);
+    sofa::Size getTotalNumberOfBeams() const;
+
 
      /////////////////////////// Deprecated Methods  ////////////////////////////////////////// 
 

src/BeamAdapter/component/engine/WireRestShape.inl

@@ -289,6 +289,17 @@ void WireRestShape<DataTypes>::getNumberOfCollisionSegment(Real &dx, sofa::Size&
     dx = getLength() / numLines;
 }
 
+template <class DataTypes>
+sofa::Size WireRestShape<DataTypes>::getTotalNumberOfBeams() const
+{
+    sofa::Size numBeams = 0;
+    for (sofa::Size i = 0; i < l_sectionMaterials.size(); ++i)
+    {
+        numBeams += l_sectionMaterials.get(i)->getNbBeams();
+    }
+    
+    return numBeams;
+}
 
 template <class DataTypes>
 void WireRestShape<DataTypes>::getRestTransformOnX(Transform &global_H_local, const Real x)