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cxIGTLinkClientStreamer.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
6 
7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
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18  may be used to endorse or promote products derived from this software
19  without specific prior written permission.
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21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
33 
34 #include <QTcpSocket>
35 #include "igtlOSUtil.h"
36 #include "igtlMessageHeader.h"
37 #include "igtlTransformMessage.h"
38 #include "igtlPositionMessage.h"
39 #include "igtlImageMessage.h"
40 #include "igtlClientSocket.h"
41 #include "igtlStatusMessage.h"
42 
43 #include "cxTypeConversions.h"
44 #include "cxLogger.h"
45 #include "cxIGTLinkConversion.h"
48 #include "cxCyclicActionLogger.h"
49 #include "cxUtilHelpers.h"
50 #include "cxTime.h"
51 #include "cxSender.h"
52 #include "vtkImageData.h"
53 
54 namespace cx
55 {
56 
58  mHeadingReceived(false),
59  mAddress(""),
60  mPort(0)
61 {
62 }
63 
65 {
66 
67 }
68 
69 void IGTLinkClientStreamer::setAddress(QString address, int port)
70 {
71  mAddress = address;
72  mPort = port;
73 }
74 
75 
77 {
78  mSender = sender;
79 // this->createSendTimer();
80 // mTestTimer = new QTimer(this);
81 // connect(mTestTimer, SIGNAL(timeout()), this, SLOT(myStreamSlot()));
82 // std::cout << "IGTLinkClientStreamer::startStreaming " << std::endl;
83 
84  // Establish Connection
85  mSocket.reset(new QTcpSocket());
86  connect(mSocket.get(), SIGNAL(readyRead()), this, SLOT(readyReadSlot()), Qt::DirectConnection);
87  connect(mSocket.get(), SIGNAL(hostFound()), this, SLOT(hostFoundSlot()), Qt::DirectConnection);
88  connect(mSocket.get(), SIGNAL(connected()), this, SLOT(connectedSlot()), Qt::DirectConnection);
89  connect(mSocket.get(), SIGNAL(disconnected()), this, SLOT(disconnectedSlot()), Qt::DirectConnection);
90  connect(mSocket.get(), SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(errorSlot(QAbstractSocket::SocketError)),
91  Qt::DirectConnection);
92 
93  if (!this->multipleTryConnectToHost())
94  {
95  reportError("IGTLinkClientStreamer: Failed to start streaming");
96  mSocket.reset();
97  return;
98  }
99 
100  // Create a message buffer to receive header
101  mHeaderMsg = igtl::MessageHeader::New();
102 }
103 
104 bool IGTLinkClientStreamer::multipleTryConnectToHost()
105 {
106  // hold here until all attempts are finished
107  int numberOfConnectionAttempts = 5;
108  int baseSleep = 300;
109  for (int i=0; i<numberOfConnectionAttempts; ++i)
110  {
111  if (i>0)
112  report(QString("[%2] Attempt %1 to connect to host").arg(i+1).arg(this->hostDescription()));
113  if (this->tryConnectToHost())
114  return true;
115  sleep_ms(baseSleep*(i+1));
116  }
117  reportError(QString("[%1] Timeout connecting to host").arg(this->hostDescription()));
118  return false;
119 }
120 
121 bool IGTLinkClientStreamer::tryConnectToHost()
122 {
123  mSocket->connectToHost(mAddress, mPort);
124 
125  int timeout = 5000;
126  if (!mSocket->waitForConnected(timeout))
127  {
128  mSocket->disconnectFromHost();
129  return false;
130  }
131  return true;
132 }
133 
135 {
136  if (mSocket)
137  {
138  mSocket->disconnectFromHost();
139  mSocket.reset();
140  }
141  mSender.reset();
142 }
143 
145 {
146  return (mSocket && mSocket->isValid());
147 }
148 
149 QString IGTLinkClientStreamer::hostDescription() const
150 {
151  return mAddress + ":" + qstring_cast(mPort);
152 }
153 
154 void IGTLinkClientStreamer::hostFoundSlot()
155 {
156  report(QString("[%1] Found host").arg(this->hostDescription()));
157 // report("Host found: " + this->hostDescription());
158 }
159 void IGTLinkClientStreamer::connectedSlot()
160 {
161  reportSuccess(QString("[%1] Connected to host").arg(this->hostDescription()));
162 }
163 void IGTLinkClientStreamer::disconnectedSlot()
164 {
165  report(QString("[%1] Disconnected from host").arg(this->hostDescription()));
166 // report("Disconnected from host " + this->hostDescription());
167 }
168 void IGTLinkClientStreamer::errorSlot(QAbstractSocket::SocketError socketError)
169 {
170  report(QString("[%1] Socket error [code=%2]: %3")
171  .arg(this->hostDescription())
172  .arg(QString::number(socketError))
173  .arg(mSocket->errorString()));
174 }
175 
176 void IGTLinkClientStreamer::readyReadSlot()
177 {
178  // read messages until one fails
179  while (this->readOneMessage());
180 }
181 
186 bool IGTLinkClientStreamer::readOneMessage()
187 {
188 
189 // std::cout << "tick " << std::endl;
190 
191  if (!mHeadingReceived)
192  {
193 // std::cout << "client::tick: received: " << mSocket->bytesAvailable() << ", head needed: " << mHeaderMsg->GetPackSize() << std::endl;
194  // Initialize receive buffer
195  mHeaderMsg->InitPack();
196 
197  // ignore if not enough data (yet)
198  if (mSocket->bytesAvailable() < mHeaderMsg->GetPackSize())
199  {
200  //std::cout << "Incomplete heading received, ignoring. " << std::endl;
201  //std::cout << "available: " << mSocket->bytesAvailable() << ", needed " << mHeaderMsg->GetPackSize() << std::endl;
202  return false;
203  }
204 
205  // after peek: read to increase pos
206  mSocket->read(reinterpret_cast<char*>(mHeaderMsg->GetPackPointer()), mHeaderMsg->GetPackSize());
207  mHeadingReceived = true;
208 
209  // Deserialize the header
210  mHeaderMsg->Unpack();
211  }
212 
213  if (mHeadingReceived)
214  {
215 // std::cout << "client::tick: received: " << mSocket->bytesAvailable() << ", body needed: " << mHeaderMsg->GetBodySizeToRead() << std::endl;
216  bool success = false;
217  // Check data type and receive data body
218 // if (QString(mHeaderMsg->GetDeviceType()) == "TRANSFORM")
219 // {
220 // ReceiveTransform(mSocket, mHeaderMsg);
221 // }
222 // else if (QString(mHeaderMsg->GetDeviceType() == "POSITION")
223 // {
224 // ReceivePosition(mSocket, mHeaderMsg);
225 // }
226  if (QString(mHeaderMsg->GetDeviceType()) == "IMAGE")
227  {
228  success = this->ReceiveImage(mSocket.get(), mHeaderMsg);
229  }
230  else if (QString(mHeaderMsg->GetDeviceType()) == "CX_US_ST")
231  {
232  success = this->ReceiveSonixStatus(mSocket.get(), mHeaderMsg);
233  }
234 // else if (QString(mHeaderMsg->GetDeviceType() == "STATUS")
235 // {
236 // ReceiveStatus(mSocket, mHeaderMsg);
237 // }
238  else
239  {
240  std::cerr << "Receiving : " << mHeaderMsg->GetDeviceType() << std::endl;
241  mSocket->read(mHeaderMsg->GetBodySizeToRead());
242  }
243 
244  if (success)
245  mHeadingReceived = false; // restart
246  else
247  return false;
248  }
249 // std::cout << " tock " << std::endl;
250  return true;
251 }
252 
253 bool IGTLinkClientStreamer::ReceiveSonixStatus(QTcpSocket* socket, igtl::MessageHeader::Pointer& header)
254 {
256  msg = IGTLinkUSStatusMessage::New();
257  msg->SetMessageHeader(header);
258  msg->AllocatePack();
259 
260  if (socket->bytesAvailable() < msg->GetPackBodySize())
261  {
262  //std::cout << "Incomplete body received, ignoring. " << std::endl;
263  return false;
264  }
265  socket->read(reinterpret_cast<char*>(msg->GetPackBodyPointer()), msg->GetPackBodySize());
266  // Deserialize the transform data
267  // If you want to do a CRC check, call Unpack(1).
268  // If you want to skip CRC check, call Unpack() without argument.
269  int c = msg->Unpack();
270  if (c & (igtl::MessageHeader::UNPACK_BODY | igtl::MessageHeader::UNPACK_UNDEF)) // if CRC check is OK or skipped
271  {
272  this->addToQueue(msg);
273 
274  return true;
275  }
276 
277  std::cout << "body crc failed!" << std::endl;
278  return true;
279 }
280 
281 namespace
282 {
283 QDateTime my_decode_timestamp(igtl::MessageBase* msg)
284 {
285  // get timestamp from igtl second-format:
286  igtl::TimeStamp::Pointer timestamp = igtl::TimeStamp::New();
287  msg->GetTimeStamp(timestamp);
288  double timestampMS = timestamp->GetTimeStamp() * 1000;
289  return QDateTime::fromMSecsSinceEpoch(timestampMS);
290 }
291 
292 void write_time_info(igtl::ImageMessage::Pointer imgMsg)
293 {
294  int kb = imgMsg->GetPackSize()/1024;
295 // CX_LOG_CHANNEL_DEBUG("igtl_rec_test") << "unpacked: , " << kb << " kByte, name=" << imgMsg->GetDeviceName();
296  QDateTime org_ts = my_decode_timestamp(imgMsg.GetPointer());
297  QDateTime now_ts = QDateTime::currentDateTime();
298  QString format = timestampMilliSecondsFormatNice();
299  CX_LOG_CHANNEL_DEBUG("igtl_rec_test") << "received " << kb << "kByte"
300  << ", time=(" << org_ts.toString(format) << "->" << now_ts.toString(format) << ")"
301  << ", lag=" << org_ts.msecsTo(now_ts) << "ms";
302 }
303 }
304 
305 bool IGTLinkClientStreamer::ReceiveImage(QTcpSocket* socket, igtl::MessageHeader::Pointer& header)
306 {
307  // Create a message buffer to receive transform data
308  igtl::ImageMessage::Pointer imgMsg = igtl::ImageMessage::New();
309  imgMsg->SetMessageHeader(header);
310  imgMsg->AllocatePack();
311 
312  // Receive transform data from the socket
313  // ignore if not enough data (yet)
314  if (socket->bytesAvailable() < imgMsg->GetPackBodySize())
315  {
316  //std::cout << "Incomplete body received, ignoring. " << std::endl;
317  return false;
318  }
319 
320  socket->read(reinterpret_cast<char*>(imgMsg->GetPackBodyPointer()), imgMsg->GetPackBodySize());
321  // Deserialize the transform data
322  // If you want to do a CRC check, call Unpack(1).
323  // If you want to skip CRC check, call Unpack() without argument.
324  int c = imgMsg->Unpack();
325 
326 // write_time_info(imgMsg);
327 
328  if (c & (igtl::MessageHeader::UNPACK_BODY | igtl::MessageHeader::UNPACK_UNDEF)) // if CRC check is OK or skipped
329  {
330  this->addToQueue(imgMsg);
331  return true;
332  }
333 
334  std::cout << "body crc failed!" << std::endl;
335  return true;
336 }
337 
338 void IGTLinkClientStreamer::addToQueue(IGTLinkUSStatusMessage::Pointer msg)
339 {
340  // set temporary, then assume the image adder will pass this message on.
341  mUnsentUSStatusMessage = msg;
342 }
343 
344 void IGTLinkClientStreamer::addToQueue(igtl::ImageMessage::Pointer msg)
345 {
346  IGTLinkConversion converter;
347  IGTLinkConversionImage imageconverter;
348  IGTLinkConversionSonixCXLegacy cxconverter;
349 
350  PackagePtr package(new Package());
351 
352  if (cxconverter.guessIsSonixLegacyFormat(msg->GetDeviceName()))
353  {
354  package->mImage = cxconverter.decode(msg);
355  }
356  else
357  {
358  package->mImage = imageconverter.decode(msg);
359  }
360 
361  // if us status not sent, do it here
362  if (mUnsentUSStatusMessage)
363  {
364  package->mProbe = converter.decode(mUnsentUSStatusMessage, msg, ProbeDefinitionPtr());
365 
366  if (cxconverter.guessIsSonixLegacyFormat(mUnsentUSStatusMessage->GetDeviceName()))
367  {
368  package->mProbe = cxconverter.decode(package->mProbe);
369  }
370 
371  mUnsentUSStatusMessage = IGTLinkUSStatusMessage::Pointer();
372  }
373 
374  //Should only be needed if time stamp is set on another computer that is
375  //not synched with the one running this code: e.g. The Ultrasonix scanner
376  mStreamSynchronizer.syncToCurrentTime(package->mImage);
377 
378  mSender->send(package);
379 }
380 
381 
382 } // namespace cx
383 
384 
QString qstring_cast(const T &val)
void reportError(QString msg)
Definition: cxLogger.cpp:92
#define CX_LOG_CHANNEL_DEBUG(channel)
Definition: cxLogger.h:122
void reportSuccess(QString msg)
Definition: cxLogger.cpp:93
boost::shared_ptr< struct Package > PackagePtr
void report(QString msg)
Definition: cxLogger.cpp:90
boost::shared_ptr< Sender > SenderPtr
Definition: cxSender.h:85
QString timestampMilliSecondsFormatNice()
Definition: cxTime.cpp:51
void sleep_ms(int ms)
boost::shared_ptr< class ProbeDefinition > ProbeDefinitionPtr