cxVideoConnection.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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modification, are permitted provided that the following conditions are met:

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   this list of conditions and the following disclaimer.

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   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

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   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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=========================================================================*/
#include "cxVideoConnection.h"

#include <vtkDataSetMapper.h>
#include <vtkImageFlip.h>

#include "cxTrackingService.h"
#include "cxBasicVideoSource.h"
#include "cxVideoServiceBackend.h"
#include "cxNullDeleter.h"
#include "cxImageReceiverThread.h"
#include "cxImage.h"
#include "cxLogger.h"
#include <QApplication>
#include "boost/function.hpp"
#include "boost/bind.hpp"

typedef vtkSmartPointer<vtkDataSetMapper> vtkDataSetMapperPtr;
typedef vtkSmartPointer<vtkImageFlip> vtkImageFlipPtr;

namespace cx
{

VideoConnection::VideoConnection(VideoServiceBackendPtr backend)
{
        mBackend = backend;
        mUnsusedProbeDataVector.clear();

        connect(mBackend->getToolManager().get(), &TrackingService::stateChanged, this, &VideoConnection::connectVideoToProbe);
        connect(mBackend->getToolManager().get(), SIGNAL(activeToolChanged(QString)), this, SLOT(connectVideoToProbe()));
}

VideoConnection::~VideoConnection()
{
        this->stopClient();
        this->waitForClientFinished();
}

void VideoConnection::waitForClientFinished()
{
        if (mThread)
        {
                mThread->wait(2000);
                // NOTE: OpenCV requires a running event loop in the main thread to quit normally.
                // During system shutdown, this is not the case and we get this warning.
                // Attempts to solve using qApp->processEvents() has failed due to (lots of) side effects.
                // Seems to happen with other streamers as well.
//              CX_LOG_WARNING() << "Video thread finished: " << mThread->isFinished();
//              CX_LOG_WARNING() << "Video thread running: " << mThread->isRunning();
//              if (mThread->isRunning())
//                      CX_LOG_WARNING() << "Video thread did not quit normally - ignoring.";
        }
}

void VideoConnection::fpsSlot(QString source, double fpsNumber)
{
        mFPS = fpsNumber;
        emit fps(source, fpsNumber);
}

bool VideoConnection::isConnected() const
{
        return mThread;
}

StreamerServicePtr VideoConnection::getStreamerInterface()
{
        return mStreamerInterface;
}


namespace
{
class EventProcessingThread : public QThread
{
        virtual void run()
        {
                this->exec();
                qApp->processEvents(); // exec() docs doesn't guarantee that the posted events are processed. - do that here.
        }
};
}

void VideoConnection::runDirectLinkClient(StreamerService* service)
{
        if (mClient)
        {
                // in this case we already have a working system: ignore
                CX_LOG_INFO() << "Video client already exists - cannot start";
                return;
        }
        if (mThread)
        {
                // in this case we have a thread but no client: probably shutting down: ignore
                CX_LOG_INFO() << "Video thread already exists (in shutdown?) - cannot start";
                return;
        }

        mStreamerInterface.reset(service, null_deleter());//Can't allow boost to delete service
        mClient = new ImageReceiverThread(mStreamerInterface);

        connect(mClient, SIGNAL(imageReceived()), this, SLOT(imageReceivedSlot())); // thread-bridging connection
        connect(mClient, SIGNAL(sonixStatusReceived()), this, SLOT(statusReceivedSlot())); // thread-bridging connection
        connect(mClient, SIGNAL(fps(QString, double)), this, SLOT(fpsSlot(QString, double))); // thread-bridging connection

        mThread = new EventProcessingThread;
        mThread->setObjectName("org.custusx.core.video.imagereceiver");
        mClient->moveToThread(mThread);

    connect(mThread.data(), &QThread::started, this, &VideoConnection::onConnected);
    connect(mThread.data(), &QThread::started, mClient.data(), &ImageReceiverThread::initialize);

    connect(mClient.data(), &ImageReceiverThread::finished, mThread.data(), &QThread::quit);
    connect(mClient.data(), &ImageReceiverThread::finished, mClient.data(), &ImageReceiverThread::deleteLater);
    connect(mThread.data(), &QThread::finished, this, &VideoConnection::onDisconnected);
    connect(mThread.data(), &QThread::finished, mThread.data(), &QThread::deleteLater);

        mThread->start();
}

void VideoConnection::imageReceivedSlot()
{
        if (!mClient)
                return;
        this->updateImage(mClient->getLastImageMessage());
}

void VideoConnection::statusReceivedSlot()
{
        if (!mClient)
                return;
        this->updateStatus(mClient->getLastSonixStatusMessage());
}

void VideoConnection::stopClient()
{
        if (!mThread)
                return;

        if (mClient)
        {
                disconnect(mClient, SIGNAL(imageReceived()), this, SLOT(imageReceivedSlot())); // thread-bridging connection
                disconnect(mClient, SIGNAL(sonixStatusReceived()), this, SLOT(statusReceivedSlot())); // thread-bridging connection
                disconnect(mClient, SIGNAL(fps(QString, double)), this, SLOT(fpsSlot(QString, double))); // thread-bridging connection

                QMetaObject::invokeMethod(mClient, "shutdown", Qt::QueuedConnection);

                mClient = NULL;
        }
}

void VideoConnection::disconnectServer()
{
        this->stopClient();
}

void VideoConnection::onConnected()
{
        this->startAllSources();
        emit connected(true);
}

void VideoConnection::onDisconnected()
{
        mClient = NULL;
        mThread = NULL; // because this method listens to thread::finished

        this->resetProbe();

        this->stopAllSources();

        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->setInput(ImagePtr());

        ToolPtr tool = mBackend->getToolManager()->getFirstProbe();
        if (tool && tool->getProbe())
                this->removeSourceFromProbe(tool);

        mSources.clear();
        mStreamerInterface.reset();

        emit connected(false);
        emit videoSourcesChanged();
}

void VideoConnection::useUnusedProbeDataSlot()
{
        disconnect(mBackend->getToolManager().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDataSlot);
        for (std::vector<ProbeDefinitionPtr>::const_iterator citer = mUnsusedProbeDataVector.begin(); citer != mUnsusedProbeDataVector.end(); ++citer)
                this->updateStatus(*citer);
        mUnsusedProbeDataVector.clear();
}

void VideoConnection::resetProbe()
{
        ToolPtr tool = mBackend->getToolManager()->getFirstProbe();
        if (!tool || !tool->getProbe())
                return;
        ProbePtr probe = tool->getProbe();
        if (probe)
        {
                ProbeDefinition data = probe->getProbeData();
                data.setUseDigitalVideo(false);
                probe->setProbeSector(data);
        }
}

void VideoConnection::updateStatus(ProbeDefinitionPtr msg)
{
        ToolPtr tool = mBackend->getToolManager()->getFirstProbe();
        if (!tool || !tool->getProbe())
        {
                //Don't throw away the ProbeData. Save it until it can be used
                if (mUnsusedProbeDataVector.empty())
                        connect(mBackend->getToolManager().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDataSlot);
                mUnsusedProbeDataVector.push_back(msg);
                return;
        }
        ProbePtr probe = tool->getProbe();

        // start with getting a valid data object from the probe, in order to keep
        // existing values (such as temporal calibration).
        // Note that the 'active' data is get while the 'uid' data is set.
        ProbeDefinition data = probe->getProbeData();

        data.setUid(msg->getUid());
        data.setType(msg->getType());
        data.setSector(msg->getDepthStart(), msg->getDepthEnd(), msg->getWidth());
        data.setOrigin_p(msg->getOrigin_p());
        data.setSize(msg->getSize());
        data.setSpacing(msg->getSpacing());
        data.setClipRect_p(msg->getClipRect_p());
        data.setUseDigitalVideo(true);

        probe->setProbeSector(data);
        probe->setActiveStream(msg->getUid());
}

void VideoConnection::startAllSources()
{
        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->start();
}

void VideoConnection::stopAllSources()
{
        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->stop();
}

void VideoConnection::removeSourceFromProbe(ToolPtr tool)
{
        ProbePtr probe = tool->getProbe();
        for (unsigned i=0; i<mSources.size(); ++i)
                probe->removeRTSource(mSources[i]);
}

void VideoConnection::updateImage(ImagePtr message)
{
        BasicVideoSourcePtr source;

        // look for existing VideoSource
        for (unsigned i=0; i<mSources.size(); ++i)
        {
                if (message && message->getUid() == mSources[i]->getUid())
                        source = mSources[i];
        }

        bool newSource = false;
        // no existing found: create new
        if (!source)
        {
                source.reset(new BasicVideoSource());
                mSources.push_back(source);
                source->start();
                newSource = true;
        }
        // set input.
        source->setInput(message);

        QString info = mClient->hostDescription() + " - " + QString::number(mFPS, 'f', 1) + " fps";
        source->setInfoString(info);

        if (newSource)
        {
                this->connectVideoToProbe();
                emit videoSourcesChanged();
        }
}

std::vector<VideoSourcePtr> VideoConnection::getVideoSources()
{
        std::vector<VideoSourcePtr> retval;
        std::copy(mSources.begin(), mSources.end(), std::back_inserter(retval));
        return retval;
}

void VideoConnection::connectVideoToProbe()
{
        ToolPtr tool = mBackend->getToolManager()->getFirstProbe();
        if (!tool)
                return;

        ProbePtr probe = tool->getProbe();
        if (!probe)
                return;

        for (unsigned i=0; i<mSources.size(); ++i)
                probe->setRTSource(mSources[i]);
}

}