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cxImageStreamerSonix.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
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31 =========================================================================*/
32 
33 #include "cxImageStreamerSonix.h"
34 
35 #include "cxVector3D.h"
36 
37 #ifdef CX_WIN32
38 
39 #include <QTimer>
40 #include <QTime>
41 #include <QHostAddress>
42 #include "igtlOSUtil.h"
43 #include "igtlImageMessage.h"
44 #include "igtlServerSocket.h"
45 #include "vtkImageData.h"
46 #include "vtkSmartPointer.h"
47 #include "vtkMetaImageReader.h"
48 #include "vtkImageImport.h"
49 #include "vtkLookupTable.h"
50 #include "vtkImageMapToColors.h"
51 #include "vtkMetaImageWriter.h"
52 #include "cxSonixProbeFileReader.h"
53 
54 #include "vtkSonixVideoSource.h"
55 
56 #include "cxDataLocations.h"
57 #include "cxSonixProbeFileReader.h"
58 //#include "cxTypeConversions.h"
59 
60 namespace cx
61 {
62 
63 ImageStreamerSonix::ImageStreamerSonix() :
64  mEmitStatusMessage(false),
65  mLastFrameTimestamp(0.0),
66  mCurrentFrameTimestamp(0.0),
67  mMaxqueueInfo(20),
68  mDroppedImages(0),
69  mSonixHelper(new SonixHelper())
70 {
71  mSendTimer = new QTimer;
72 }
73 
74 QString ImageStreamerSonix::getType()
75 {
76  return "Sonix";
77 }
78 
79 QStringList ImageStreamerSonix::getArgumentDescription()
80 {
81  QStringList retval;
82  retval << "--ipaddress: IP address to connect to, default=127.0.0.1 (localhost)";
83  retval << "--imagingmode: default=2 (0 = B-mode, 2 = Color)";//, 6 = Dual, 12 = RF)";
84  retval << "--datatype: Video type, default=0x008 (4 = gray, 8 = color)";
85  retval << "--buffersize: Grabber buffer size, default=500";
86  retval << "--properties: dump image properties";
87  retval << "--debug: Debug output";
88  retval << "--delay: Delay (sec) before connecting to Sonix (first time), default=80";
89  return retval;
90 }
91 
92 ImageStreamerSonix::~ImageStreamerSonix()
93 {
94  mSendTimer->stop();
95  if (mSonixGrabber)
96  {
97  mSonixGrabber->Stop();
98  std::cout << "Releasing Ultrasonix resources" << std::endl;
99  mSonixGrabber->ReleaseSystemResources();
100  }
101 }
102 
103 
104 void ImageStreamerSonix::initialize(StringMap arguments)
105 {
106  std::cout << "Creating sender type Sonix" << std::endl;
107 
109 
110 // mMaxBufferSize = 19200000; //800(width)*600(height)*4(bytes)*10(images)
111 
112  typedef cx::Frame Frame;
113  qRegisterMetaType<Frame>("Frame");
114 
115  connect(this, SIGNAL(imageOnQueue(int)), this, SLOT(sendOpenIGTLinkImageSlot(int)), Qt::QueuedConnection);
116  connect(this, SIGNAL(statusOnQueue(int)), this, SLOT(sendOpenIGTLinkStatusSlot(int)), Qt::QueuedConnection);//Do not work yet
117 
118  connect(mSendTimer, SIGNAL(timeout()), this, SLOT(initializeSonixSlot()));
119  this->setSendInterval(10000);
120  mSendTimer->setInterval(getSendInterval());
121  mSendTimer->start();
122 
123  this->initializeSonixGrabber();
124 }
125 
126 void ImageStreamerSonix::initializeSonixSlot()
127 {
128  if(!mSonixGrabber->IsInitialized())
129  {
130  mSonixGrabber->Initialize();
131  return;
132  }
133 
134  //Don't reinitialize if in freeze state
135  if(!mSonixGrabber->getFreezeState() && similar(mLastFrameTimestamp, mCurrentFrameTimestamp, 0.001))
136  {
137  std::cout << "initializeSonixSlot() Got no new frame. Reinitializing..." << std::endl;
138  // If sonix exam is closed we need to create a new mSonixGrabber
139  // Free resources. Do we need to delete?
140  mSonixGrabber->Stop();
141  std::cout << "Releasing Ultrasonix resources" << std::endl;
142  mSonixGrabber->ReleaseSystemResources();
143  disconnect(mSonixHelper, SIGNAL(frame(Frame&)), this, SLOT(receiveFrameSlot(Frame&)));
144 
145  this->initializeSonixGrabber();
146  }
147  else
148  {
149  mLastFrameTimestamp = mCurrentFrameTimestamp;
150  }
151 }
152 
153 void ImageStreamerSonix::initializeSonixGrabber()
154 {
155  if (!mArguments.count("ipaddress"))
156  mArguments["ipaddress"] = "127.0.0.1";
157  if (!mArguments.count("imagingmode"))
158  mArguments["imagingmode"] = "0";
159  if (!mArguments.count("datatype"))
160  mArguments["datatype"] = "0x00000008";
161  if (!mArguments.count("buffersize"))
162  mArguments["buffersize"] = "500";
163  if (!mArguments.count("delay"))
164  mArguments["buffersize"] = "80";
165 
166  QString ipaddress = mArguments["ipaddress"];
167  int imagingMode = convertStringWithDefault(mArguments["imagingmode"], 0);
168  int acquisitionDataType = convertStringWithDefault(mArguments["datatype"], 0x00000008);
169  int bufferSize = convertStringWithDefault(mArguments["buffersize"], 500);
170  int delay = convertStringWithDefault(mArguments["delay"], 80);
171  bool useSharedMemory = false;
172  if (ipaddress.contains("127.0.0.1"))
173  useSharedMemory = true;
174 
175  mSonixGrabber = vtkSonixVideoSource::New();
176  if (mArguments.count("debug"))
177  mSonixGrabber->setDebugOutput(true);
178  else
179  mSonixGrabber->setDebugOutput(false);
180  mSonixGrabber->setSonixConnectionDelay(delay);
181  mSonixGrabber->SetSonixIP(ipaddress.toStdString().c_str());
182  mSonixGrabber->SetImagingMode(imagingMode);
183  mSonixGrabber->SetAcquisitionDataType(acquisitionDataType);
184  mSonixGrabber->SetFrameBufferSize(bufferSize); // Number of image frames in buffer
185  mSonixGrabber->setUseSharedMemory(useSharedMemory);
186  mSonixGrabber->Initialize(); // Run initialize to set spacing and offset
187 
188  //TODO move to debug function OR DELETE!!! <jbake>
189  //std::cout << "imagingMode: " << imagingMode << std::endl;
190  //std::cout << "datatype: " << mArguments["datatype"].toStdString().c_str() << std::endl;
191  //std::cout << "acquisitionDataType: " << acquisitionDataType << " ";
192  //std::cout << "GetAcquisitionDataType: " << mSonixGrabber->GetAcquisitionDataType() << std::endl;
193 
194  mSonixGrabber->setSonixHelper(this->mSonixHelper);
195  connect(mSonixHelper, SIGNAL(frame(Frame&)), this, SLOT(receiveFrameSlot(Frame&)), Qt::DirectConnection);
196 }
197 
198 bool ImageStreamerSonix::startStreaming(SenderPtr sender)
199 {
200  mSender = sender;
201  mSonixGrabber->Record();
202  mEmitStatusMessage = true;
203  std::cout << "Started streaming from sonix device" << std::endl;
204  return true;
205 }
206 
207 void ImageStreamerSonix::stopStreaming()
208 {
209  mSonixGrabber->Stop();
210  mSender.reset();
211 }
212 
213 void ImageStreamerSonix::receiveFrameSlot(Frame& frame)
214 {
215  mCurrentFrameTimestamp = frame.mTimestamp;
216 
217  if (!mSender || !mSender->isReady())
218  return;
219 
220  //TODO: Get info like origin from frame and create a IGTLinkUSStatusMessage
221  if (frame.mNewStatus || mEmitStatusMessage)
222  {
223  IGTLinkUSStatusMessage::Pointer statMsg = getFrameStatus(frame);
224  //double spacing[3];
225  //statMsg->GetSpacing(spacing);
226  //std::cout << "Spacing3: " << spacing[0] << ", " << spacing[1] << ", " << spacing[2] << std::endl;
227  this->addStatusMessageToQueue(statMsg);
228  // Pack (serialize) and send
229 // statMsg->Pack();
230 // mSocket->write(reinterpret_cast<const char*>(statMsg->GetPackPointer()), statMsg->GetPackSize());
231  mEmitStatusMessage = false;
232  }
233 
234  IGTLinkImageMessage::Pointer imgMsg = convertFrame(frame);
235 // std::cout << "Socket bytesToWrite: " << mSocket->bytesToWrite() << std::endl;
236 // std::cout << "Socket readBufferSize: " << mSocket->readBufferSize() << std::endl;
237  this->addImageToQueue(imgMsg);
238 
239 
240  //------------------------------------------------------------
241  // Pack (serialize) and send
242 // imgMsg->Pack();
243 // mSocket->write(reinterpret_cast<const char*>(imgMsg->GetPackPointer()), imgMsg->GetPackSize());
244 }
245 
246 IGTLinkUSStatusMessage::Pointer ImageStreamerSonix::getFrameStatus(Frame& frame)
247 {
248  IGTLinkUSStatusMessage::Pointer retval = IGTLinkUSStatusMessage::New();
249 
250  retval->SetOrigin(frame.mOrigin[0], frame.mOrigin[1], 0);
251 
252  //std::cout << "Received probe name: " << frame.probeName << std::endl;
253 
254  //Path to probes.xml on on ultrasonix scanner:
255  QString probeFile = "C:/Program Files/Ultrasonix/Exam/config/probes.xml";
256  cx::SonixProbeFileReader reader(probeFile);
257  if(!reader.init())
258  {
259  std::cout << "Failed to initialize probe xml reader" << std::endl;
260  return retval;
261  }
262  QDomNode probeNode = reader.getProbeNode(frame.probeName.c_str());
263  long radius = reader.getProbeParam(probeNode, "radius") / 1000; //microns -> mm
264  long probeLenght = reader.getProbeLenght(probeNode) / 1000; //microns -> mm
265  double probeWidth;
266 
267  if(frame.mSectorSizeInPercent <= 100)
268  {
269  double widthReductionFactor = 0.98;
270  probeWidth = probeLenght * frame.mSectorSizeInPercent / 100.0 * widthReductionFactor;
271  }
272  else
273  probeWidth = probeLenght;
274 
275  if(reader.isProbeLinear(probeNode))
276  {
277  retval->SetProbeType(2);
278  retval->SetDepthStart((frame.uly-frame.mOrigin[1]) * frame.mSpacing[1]);// Start of sector in mm from origin
279  retval->SetDepthEnd((frame.bly-frame.mOrigin[1]) * frame.mSpacing[1]); // End of sector in mm from origin
280  retval->SetWidth(probeWidth);
281  }
282  else // sector
283  {
284  retval->SetProbeType(1);
285  retval->SetWidth(probeWidth/radius);
286  double depthStart = radius;
287  double depthStartIncreaseFactor = 1.01;
288  double depthEndReductionFactor = 0.99;
289  retval->SetDepthStart(depthStart * depthStartIncreaseFactor);
290  retval->SetDepthEnd((depthStart + frame.mImagingDepth) * depthEndReductionFactor);
291  }
292 
293  retval->SetDeviceName(createDeviceName().c_str());
294  return retval;
295 }
296 
297 std::string ImageStreamerSonix::createDeviceName()
298 {
299  std::string retval = "Sonix[BGRX]";
300  return retval;
301 }
302 
303 IGTLinkImageMessage::Pointer ImageStreamerSonix::convertFrame(Frame& frame)
304 {
305  IGTLinkImageMessage::Pointer retval = IGTLinkImageMessage::New();
306 
307  //extract data needed variables from the frame
308  int size[] = {frame.mWidth, frame.mHeight, 1};
309  int offset[] = {0, 0, 0};
310 
311  // Create a new IMAGE type message
312  retval->SetDimensions(size);
313  retval->SetSpacing(frame.mSpacing[0], frame.mSpacing[1],1);
314  //std::cout << "Frame spacing: " << frame.mSpacing[0] << " " << frame.mSpacing[1] << std::endl;
315  retval->SetScalarType(frame.mPixelFormat); //Use frame.mPixelFormat directly
316  retval->SetDeviceName(createDeviceName().c_str());
317 
318  retval->SetSubVolume(size,offset);
319  retval->AllocateScalars();
320 
321  igtl::TimeStamp::Pointer ts;
322  ts = igtl::TimeStamp::New();
323  double seconds = frame.mTimestamp;
324  ts->SetTime(seconds); //in seconds
325  retval->SetTimeStamp(ts);
326 
327  igtl::Matrix4x4 matrix;
328  matrix[0][0] = 1.0; matrix[1][0] = 0.0; matrix[2][0] = 0.0; matrix[3][0] = 0.0;
329  matrix[0][1] = 0.0; matrix[1][1] = 1.0; matrix[2][1] = 0.0; matrix[3][1] = 0.0;
330  matrix[0][2] = 0.0; matrix[1][2] = 0.0; matrix[2][2] = 1.0; matrix[3][2] = 0.0;
331  matrix[0][3] = 0.0; matrix[1][3] = 0.0; matrix[2][3] = 0.0; matrix[3][3] = 1.0;
332  retval->SetMatrix(matrix);
333 
334  retval->SetOrigin(frame.mOrigin[0], frame.mOrigin[1], 0);//Set origin after frame is set
335  // Set image data
336  int fsize = retval->GetImageSize();
337  memcpy(retval->GetScalarPointer(), frame.mFirstPixel, fsize); // not sure if we need to copy
338 
339  //float origin[3];
340  //retval->GetOrigin(origin);
341  //std::cout << "origin3: " << origin[0] << " " << origin[1] << " " << origin[2] << " " << std::endl;
342  //float spacing[3];
343  //retval->GetSpacing(spacing);
344  //std::cout << "spacing: " << spacing[0] << " " << spacing[1] << " " << spacing[2] << " " << std::endl;
345 
346  //int dimensions[3];
347  //retval->GetDimensions(dimensions);
348  //std::cout << "dimensions: " << dimensions[0] << " " << dimensions[1] << " " << dimensions[2] << " " << std::endl;
349  return retval;
350 }
351 void ImageStreamerSonix::sendOpenIGTLinkImageSlot(int sendNumberOfMessages)
352 {
353  if (!mSender || !mSender->isReady())
354  return;
355 
356 // if(!mSocket)
357 // return;
358 // if(mSocket->bytesToWrite() > mMaxBufferSize)
359 // return;
360 
361  for(int i=0; i<sendNumberOfMessages; ++i)
362  {
363  IGTLinkImageMessage::Pointer message = this->getLastImageMessageFromQueue();
364  if(!message)
365  break;
366  PackagePtr package(new Package());
367  package->mIgtLinkImageMessage = message;
368  mSender->send(package);
369 // message->Pack();
370 // mSocket->write(reinterpret_cast<const char*>(message->GetPackPointer()), message->GetPackSize());
371  }
372 }
373 void ImageStreamerSonix::sendOpenIGTLinkStatusSlot(int sendNumberOfMessage)
374 {
375  if (!this->isReadyToSend())
376  return;
377 
378 // if(!mSocket)
379 // return;
380  //std::cout << "ImageStreamerSonix::sendOpenIGTLinkStatusSlot" << std::endl;
381 // if(mSocket->bytesToWrite() > mMaxBufferSize)
382 // return;
383 
384  for(int i=0; i<sendNumberOfMessage; ++i)
385  {
386  IGTLinkUSStatusMessage::Pointer message = this->getLastStatusMessageFromQueue();
387  if(!message)
388  break;
389 
390  PackagePtr package(new Package());
391  package->mIgtLinkUSStatusMessage = message;
392  mSender->send(package);
393 
394 // message->Pack();
395 // mSocket->write(reinterpret_cast<const char*>(message->GetPackPointer()), message->GetPackSize());
396  }
397 }
400 void ImageStreamerSonix::addImageToQueue(IGTLinkImageMessage::Pointer msg)
401 {
402  QMutexLocker sentry(&mImageMutex);
403  if(mMutexedImageMessageQueue.size() > mMaxqueueInfo)
404  {
405  mMutexedImageMessageQueue.pop_front();
406  mDroppedImages++;
407  }
408 
409  mMutexedImageMessageQueue.push_back(msg);
410  int size = mMutexedImageMessageQueue.size();
411  sentry.unlock();
412 
413  emit queueInfo(size, mDroppedImages);
414  emit imageOnQueue(size); // emit signal outside lock, catch possibly in another thread
415 }
416 
419 IGTLinkImageMessage::Pointer ImageStreamerSonix::getLastImageMessageFromQueue()
420 {
421  QMutexLocker sentry(&mImageMutex);
422  if (mMutexedImageMessageQueue.empty())
423  return IGTLinkImageMessage::Pointer();
424  IGTLinkImageMessage::Pointer retval = mMutexedImageMessageQueue.front();
425  mMutexedImageMessageQueue.pop_front();
426  return retval;
427 }
428 
431 void ImageStreamerSonix::addStatusMessageToQueue(IGTLinkUSStatusMessage::Pointer msg)
432 {
433  QMutexLocker sentry(&mStatusMutex);
434  if(mMutexedStatusMessageQueue.size() > mMaxqueueInfo)
435  {
436  mMutexedStatusMessageQueue.pop_front();
437  }
438 
439  mMutexedStatusMessageQueue.push_back(msg);
440  int size = mMutexedStatusMessageQueue.size();
441  sentry.unlock();
442  emit statusOnQueue(size); // emit signal outside lock, catch possibly in another thread
443 }
444 
447 IGTLinkUSStatusMessage::Pointer ImageStreamerSonix::getLastStatusMessageFromQueue()
448 {
449  QMutexLocker sentry(&mStatusMutex);
450  if (mMutexedStatusMessageQueue.empty())
452  IGTLinkUSStatusMessage::Pointer retval = mMutexedStatusMessageQueue.front();
453  mMutexedStatusMessageQueue.pop_front();
454  return retval;
455 }
456 
457 }
458 
459 #endif // CX_WIN32
460 
int mImagingDepth
Definition: cxFrame.h:64
double mTimestamp
Timestamp in seconds since 1/1/1970 (epoch)
Definition: cxFrame.h:48
Support Qt support for vtkSonixVideoSource.
Definition: SonixHelper.h:57
double mSpacing[2]
Definition: cxFrame.h:53
int mHeight
Height in pixels.
Definition: cxFrame.h:50
std::string probeName
Definition: cxFrame.h:63
bool similar(const DoubleBoundingBox3D &a, const DoubleBoundingBox3D &b, double tol)
int mSectorSizeInPercent
Definition: cxFrame.h:65
std::map< QString, QString > StringMap
int bly
Definition: cxFrame.h:62
int mWidth
Width in pixels.
Definition: cxFrame.h:49
cx::Frame Frame
Definition: SonixHelper.h:42
int uly
Definition: cxFrame.h:56
int mPixelFormat
Pixel format in OSType (FourCC)
Definition: cxFrame.h:51
boost::shared_ptr< struct Package > PackagePtr
unsigned char * mFirstPixel
Pointer to first pixel in frame.
Definition: cxFrame.h:52
QTimer * mSendTimer
Definition: cxStreamer.h:87
int convertStringWithDefault(QString text, int def)
boost::shared_ptr< Sender > SenderPtr
Definition: cxSender.h:85
float mOrigin[2]
Definition: cxFrame.h:54
virtual void initialize(StringMap arguments)
Definition: cxStreamer.cpp:80
static vtkSonixVideoSource * New()
bool mNewStatus
Definition: cxFrame.h:47