cxIGTLinkClientStreamer.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.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice,
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors
   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 "cxIGTLinkClientStreamer.h"

#include <QTcpSocket>
#include "igtlOSUtil.h"
#include "igtlMessageHeader.h"
#include "igtlTransformMessage.h"
#include "igtlPositionMessage.h"
#include "igtlImageMessage.h"
#include "igtlClientSocket.h"
#include "igtlStatusMessage.h"

#include "cxTypeConversions.h"
#include "cxLogger.h"
#include "cxIGTLinkConversion.h"
#include "cxCyclicActionLogger.h"
#include "cxUtilHelpers.h"
#include "cxSender.h"

namespace cx
{

IGTLinkClientStreamer::IGTLinkClientStreamer() :
        mHeadingReceived(false),
        mAddress(""),
        mPort(0)
{
}

IGTLinkClientStreamer::~IGTLinkClientStreamer()
{

}

void IGTLinkClientStreamer::setAddress(QString address, int port)
{
        mAddress = address;
        mPort = port;
}


void IGTLinkClientStreamer::startStreaming(SenderPtr sender)
{
        mSender = sender;
//      this->createSendTimer();
//      mTestTimer = new QTimer(this);
//      connect(mTestTimer, SIGNAL(timeout()), this, SLOT(myStreamSlot()));
//      std::cout << "IGTLinkClientStreamer::startStreaming " << std::endl;

        // Establish Connection
        mSocket.reset(new QTcpSocket());
        connect(mSocket.get(), SIGNAL(readyRead()), this, SLOT(readyReadSlot()), Qt::DirectConnection);
        connect(mSocket.get(), SIGNAL(hostFound()), this, SLOT(hostFoundSlot()), Qt::DirectConnection);
        connect(mSocket.get(), SIGNAL(connected()), this, SLOT(connectedSlot()), Qt::DirectConnection);
        connect(mSocket.get(), SIGNAL(disconnected()), this, SLOT(disconnectedSlot()), Qt::DirectConnection);
        connect(mSocket.get(), SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(errorSlot(QAbstractSocket::SocketError)),
                                        Qt::DirectConnection);

        if (!this->multipleTryConnectToHost())
        {
                reportError("IGTLinkClientStreamer: Failed to start streaming");
                mSocket.reset();
                return;
        }

        // Create a message buffer to receive header
        mHeaderMsg = igtl::MessageHeader::New();
}

bool IGTLinkClientStreamer::multipleTryConnectToHost()
{
        // hold here until all attempts are finished
        int numberOfConnectionAttempts = 5;
        int baseSleep = 300;
        for (int i=0; i<numberOfConnectionAttempts; ++i)
        {
                if (i>0)
                        report(QString("[%2] Attempt %1 to connect to host").arg(i+1).arg(this->hostDescription()));
                if (this->tryConnectToHost())
                        return true;
                sleep_ms(baseSleep*(i+1));
        }
        reportError(QString("[%1] Timeout connecting to host").arg(this->hostDescription()));
        return false;
}

bool IGTLinkClientStreamer::tryConnectToHost()
{
        mSocket->connectToHost(mAddress, mPort);

        int timeout = 5000;
        if (!mSocket->waitForConnected(timeout))
        {
                mSocket->disconnectFromHost();
                return false;
        }
        return true;
}

void IGTLinkClientStreamer::stopStreaming()
{
        if (mSocket)
        {
                mSocket->disconnectFromHost();
                mSocket.reset();
        }
        mSender.reset();
}

bool IGTLinkClientStreamer::isStreaming()
{
        return (mSocket && mSocket->isValid());
}

QString IGTLinkClientStreamer::hostDescription() const
{
        return mAddress + ":" + qstring_cast(mPort);
}

void IGTLinkClientStreamer::hostFoundSlot()
{
        report(QString("[%1] Found host").arg(this->hostDescription()));
//      report("Host found: " + this->hostDescription());
}
void IGTLinkClientStreamer::connectedSlot()
{
        reportSuccess(QString("[%1] Connected to host").arg(this->hostDescription()));
}
void IGTLinkClientStreamer::disconnectedSlot()
{
        report(QString("[%1] Disconnected from host").arg(this->hostDescription()));
//      report("Disconnected from host " + this->hostDescription());
}
void IGTLinkClientStreamer::errorSlot(QAbstractSocket::SocketError socketError)
{
        report(QString("[%1] Socket error [code=%2]: %3")
                   .arg(this->hostDescription())
                   .arg(QString::number(socketError))
                   .arg(mSocket->errorString()));
}

void IGTLinkClientStreamer::readyReadSlot()
{
        // read messages until one fails
        while (this->readOneMessage());
}

bool IGTLinkClientStreamer::readOneMessage()
{

//  std::cout << "tick " << std::endl;

        if (!mHeadingReceived)
        {
//    std::cout << "client::tick: received: " << mSocket->bytesAvailable() << ", head needed: " << mHeaderMsg->GetPackSize() << std::endl;
                // Initialize receive buffer
                mHeaderMsg->InitPack();

                // ignore if not enough data (yet)
                if (mSocket->bytesAvailable() < mHeaderMsg->GetPackSize())
                {
                        //std::cout << "Incomplete heading received, ignoring. " << std::endl;
                        //std::cout << "available: " << mSocket->bytesAvailable() << ", needed " << mHeaderMsg->GetPackSize() << std::endl;
                        return false;
                }

                // after peek: read to increase pos
                mSocket->read(reinterpret_cast<char*>(mHeaderMsg->GetPackPointer()), mHeaderMsg->GetPackSize());
                mHeadingReceived = true;

                // Deserialize the header
                mHeaderMsg->Unpack();
        }

        if (mHeadingReceived)
        {
//    std::cout << "client::tick: received: " << mSocket->bytesAvailable() << ", body needed: " << mHeaderMsg->GetBodySizeToRead() << std::endl;
                bool success = false;
                // Check data type and receive data body
//    if (QString(mHeaderMsg->GetDeviceType()) == "TRANSFORM")
//    {
//      ReceiveTransform(mSocket, mHeaderMsg);
//    }
//    else if (QString(mHeaderMsg->GetDeviceType() == "POSITION")
//    {
//      ReceivePosition(mSocket, mHeaderMsg);
//    }
                if (QString(mHeaderMsg->GetDeviceType()) == "IMAGE")
                {
                        success = this->ReceiveImage(mSocket.get(), mHeaderMsg);
                }
                else if (QString(mHeaderMsg->GetDeviceType()) == "CX_US_ST")
                {
                        success = this->ReceiveSonixStatus(mSocket.get(), mHeaderMsg);
                }
//    else if (QString(mHeaderMsg->GetDeviceType() == "STATUS")
//    {
//      ReceiveStatus(mSocket, mHeaderMsg);
//    }
                else
                {
                        std::cerr << "Receiving : " << mHeaderMsg->GetDeviceType() << std::endl;
                        mSocket->read(mHeaderMsg->GetBodySizeToRead());
                }

                if (success)
                        mHeadingReceived = false; // restart
                else
                        return false;
        }
//  std::cout << "  tock " << std::endl;
        return true;
}

bool IGTLinkClientStreamer::ReceiveSonixStatus(QTcpSocket* socket, igtl::MessageHeader::Pointer& header)
{
        IGTLinkUSStatusMessage::Pointer msg;
        msg = IGTLinkUSStatusMessage::New();
        msg->SetMessageHeader(header);
        msg->AllocatePack();

        if (socket->bytesAvailable() < msg->GetPackBodySize())
        {
                //std::cout << "Incomplete body received, ignoring. " << std::endl;
                return false;
        }
        socket->read(reinterpret_cast<char*>(msg->GetPackBodyPointer()), msg->GetPackBodySize());
        // Deserialize the transform data
        // If you want to do a CRC check, call Unpack(1).
        // If you want to skip CRC check, call Unpack() without argument.
        int c = msg->Unpack();
        if (c & (igtl::MessageHeader::UNPACK_BODY | igtl::MessageHeader::UNPACK_UNDEF)) // if CRC check is OK or skipped
        {
                this->addToQueue(msg);

                return true;
        }

        std::cout << "body crc failed!" << std::endl;
        return true;
}

bool IGTLinkClientStreamer::ReceiveImage(QTcpSocket* socket, igtl::MessageHeader::Pointer& header)
{
        // Create a message buffer to receive transform data
        IGTLinkImageMessage::Pointer imgMsg;
        imgMsg = IGTLinkImageMessage::New();
        imgMsg->SetMessageHeader(header);
        imgMsg->AllocatePack();

        // Receive transform data from the socket
        // ignore if not enough data (yet)
        if (socket->bytesAvailable() < imgMsg->GetPackBodySize())
        {
                //std::cout << "Incomplete body received, ignoring. " << std::endl;
                return false;
        }

        socket->read(reinterpret_cast<char*>(imgMsg->GetPackBodyPointer()), imgMsg->GetPackBodySize());
        // Deserialize the transform data
        // If you want to do a CRC check, call Unpack(1).
        // If you want to skip CRC check, call Unpack() without argument.
        int c = imgMsg->Unpack();

        if (c & (igtl::MessageHeader::UNPACK_BODY | igtl::MessageHeader::UNPACK_UNDEF)) // if CRC check is OK or skipped
        {
                this->addToQueue(imgMsg);
                return true;
        }

        std::cout << "body crc failed!" << std::endl;
        return true;
}

void IGTLinkClientStreamer::addToQueue(IGTLinkUSStatusMessage::Pointer msg)
{
        // set temporary, then assume the image adder will pass this message on.
        mUnsentUSStatusMessage = msg;
}

void IGTLinkClientStreamer::addToQueue(IGTLinkImageMessage::Pointer msg)
{
        IGTLinkConversion converter;

        PackagePtr package(new Package());
        package->mIgtLinkImageMessage = msg;

        // if us status not sent, do it here
        if (mUnsentUSStatusMessage)
        {
                package->mIgtLinkUSStatusMessage = mUnsentUSStatusMessage;
                mUnsentUSStatusMessage = IGTLinkUSStatusMessage::Pointer();
        }

        mSender->send(package);
}


} // namespace cx