vtkPlusOpenIGTLinkServer Class Reference

This class provides a network interface for data acquired by Plus as an OpenIGTLink server. More...

#include <src/PlusServer/vtkPlusOpenIGTLinkServer.h>

Inheritance diagram for vtkPlusOpenIGTLinkServer:

Collaboration diagram for vtkPlusOpenIGTLinkServer:

Public Types
typedef vtkObject	Superclass

Public Member Functions
virtual const char *	GetClassName ()
virtual PlusStatus	GetClientInfo (unsigned int clientId, PlusIgtlClientInfo &outClientInfo) const
virtual int	GetIGTLHeaderVersion ()
virtual int	GetIGTLProtocolVersion ()
virtual unsigned int	GetNumberOfConnectedClients () const
virtual int	IsA (const char *type)
virtual void	PrintSelf (ostream &os, vtkIndent indent) VTK_OVERRIDE
int	ProcessPendingCommands ()
virtual PlusStatus	ReadConfiguration (vtkXMLDataElement *serverElement, const std::string &aFilename)
virtual void	SetDataCollector (vtkPlusDataCollector *)
virtual void	SetDefaultClientReceiveTimeoutSec (float)
virtual void	SetDefaultClientSendTimeoutSec (float)
virtual void	SetListeningPort (int)
virtual void	SetMaxTimeSpentWithProcessingMs (double)
virtual void	SetMissingInputGracePeriodSec (double)
virtual void	SetSendValidTransformsOnly (bool)
virtual void	SetTransformRepository (vtkIGSIOTransformRepository *)
PlusStatus	Start (vtkPlusDataCollector *dataCollector, vtkIGSIOTransformRepository *transformRepository, vtkXMLDataElement *serverElement, const std::string &configFilePath)
PlusStatus	StartOpenIGTLinkService ()
PlusStatus	Stop ()
PlusStatus	StopOpenIGTLinkService ()
	vtkGetMacroConst (ListeningPort, int)
	vtkGetMacroConst (MissingInputGracePeriodSec, double)
	vtkGetMacroConst (MaxTimeSpentWithProcessingMs, double)
	vtkGetMacroConst (SendValidTransformsOnly, bool)
	vtkGetMacroConst (DefaultClientSendTimeoutSec, float)
	vtkGetMacroConst (DefaultClientReceiveTimeoutSec, float)
	vtkGetMacroConst (DataCollector, vtkPlusDataCollector *)
	vtkGetMacroConst (TransformRepository, vtkIGSIOTransformRepository *)
	vtkGetStdStringMacro (OutputChannelId)
	vtkGetStdStringMacro (ConfigFilename)

Static Public Member Functions
static int	IsTypeOf (const char *type)
static vtkPlusOpenIGTLinkServer *	New ()
static vtkPlusOpenIGTLinkServer *	SafeDownCast (vtkObject *o)

Protected Member Functions
igtl::MessageBase::Pointer	CreateIgtlMessageFromCommandResponse (vtkPlusCommandResponse *response)
void	DisconnectClient (int clientId)
bool	HasGracePeriodExpired ()
virtual void	KeepAlive ()
PlusStatus	QueueMessageResponseForClient (int clientId, igtl::MessageBase::Pointer message)
virtual PlusStatus	SendTrackedFrame (igsioTrackedFrame &trackedFrame)
virtual void	SetDelayBetweenRetryAttemptsSec (double)
virtual void	SetIgtlMessageCrcCheckEnabled (bool)
virtual void	SetKeepAliveIntervalSec (double)
virtual void	SetLogWarningOnNoDataAvailable (bool)
virtual void	SetMaxNumberOfIgtlMessagesToSend (int)
virtual void	SetNumberOfRetryAttempts (int)
	vtkGetMacroConst (IgtlMessageCrcCheckEnabled, bool)
	vtkGetMacroConst (LogWarningOnNoDataAvailable, bool)
	vtkGetMacroConst (MaxNumberOfIgtlMessagesToSend, int)
	vtkGetMacroConst (NumberOfRetryAttempts, int)
	vtkGetMacroConst (DelayBetweenRetryAttemptsSec, double)
	vtkGetMacroConst (KeepAliveIntervalSec, double)
	vtkPlusOpenIGTLinkServer ()
	vtkSetStdStringMacro (OutputChannelId)
	vtkSetStdStringMacro (ConfigFilename)
virtual	~vtkPlusOpenIGTLinkServer ()

Static Protected Member Functions
static void *	ConnectionReceiverThread (vtkMultiThreader::ThreadInfo *data)
static void *	DataReceiverThread (vtkMultiThreader::ThreadInfo *data)
static void *	DataSenderThread (vtkMultiThreader::ThreadInfo *data)
static PlusStatus	SendCommandResponses (vtkPlusOpenIGTLinkServer &self)
static PlusStatus	SendLatestFramesToClients (vtkPlusOpenIGTLinkServer &self, double &elapsedTimeSinceLastPacketSentSec)
static PlusStatus	SendMessageResponses (vtkPlusOpenIGTLinkServer &self)

Detailed Description

This class provides a network interface for data acquired by Plus as an OpenIGTLink server.

As soon as a client connects to the server, the server start streaming those image and tracking information that are defined in the server's default client information (DefaultClientInfo element in the device set configuration file).

A connected client any time can change what information the server sends to it by sending a CLIENTINFO message. The CLIENTINFO message is encoded the same way as an OpenIGTLink STRING message, the only difference is that the message type is CLIENTINFO (implemented in igtl::PlusClientInfoMessage). The contents of the message is an XML string, describing the requested image and tracking information in the same format as in the DefaultClientInfo element in the device set configuration file.

Definition at line 88 of file vtkPlusOpenIGTLinkServer.h.

Member Typedef Documentation

Superclass

typedef vtkObject vtkPlusOpenIGTLinkServer::Superclass

Definition at line 94 of file vtkPlusOpenIGTLinkServer.h.

Constructor & Destructor Documentation

vtkPlusOpenIGTLinkServer()

vtkPlusOpenIGTLinkServer::vtkPlusOpenIGTLinkServer ( )

protected

Definition at line 79 of file vtkPlusOpenIGTLinkServer.cxx.

~vtkPlusOpenIGTLinkServer()

vtkPlusOpenIGTLinkServer::~vtkPlusOpenIGTLinkServer ( )

protectedvirtual

Definition at line 115 of file vtkPlusOpenIGTLinkServer.cxx.

Member Function Documentation

ConnectionReceiverThread()

void * vtkPlusOpenIGTLinkServer::ConnectionReceiverThread ( vtkMultiThreader::ThreadInfo *  data )

staticprotected

Thread for client connection handling

Definition at line 237 of file vtkPlusOpenIGTLinkServer.cxx.

CreateIgtlMessageFromCommandResponse()

igtl::MessageBase::Pointer vtkPlusOpenIGTLinkServer::CreateIgtlMessageFromCommandResponse ( vtkPlusCommandResponse *  response )

protected

Converts a command response to an OpenIGTLink message that can be sent to the client

Definition at line 1363 of file vtkPlusOpenIGTLinkServer.cxx.

DataReceiverThread()

void * vtkPlusOpenIGTLinkServer::DataReceiverThread ( vtkMultiThreader::ThreadInfo *  data )

staticprotected

Thread for receiving control data from clients

Store the IDs of recent commands to be able to detect duplicate command IDs

Definition at line 573 of file vtkPlusOpenIGTLinkServer.cxx.

DataSenderThread()

void * vtkPlusOpenIGTLinkServer::DataSenderThread ( vtkMultiThreader::ThreadInfo *  data )

staticprotected

Thread for sending data to clients

Definition at line 318 of file vtkPlusOpenIGTLinkServer.cxx.

DisconnectClient()

void vtkPlusOpenIGTLinkServer::DisconnectClient ( int  clientId )

protected

Stops client's data receiving thread, closes the socket, and removes the client from the client list

Definition at line 1111 of file vtkPlusOpenIGTLinkServer.cxx.

GetClassName()

virtual const char* vtkPlusOpenIGTLinkServer::GetClassName ( )

virtual

GetClientInfo()

PlusStatus vtkPlusOpenIGTLinkServer::GetClientInfo ( unsigned int  clientId, PlusIgtlClientInfo &  outClientInfo  ) const

virtual

Retrieve a COPY of client info for a given clientId Locks access to the client info for the duration of the function

Definition at line 1245 of file vtkPlusOpenIGTLinkServer.cxx.

GetIGTLHeaderVersion()

virtual int vtkPlusOpenIGTLinkServer::GetIGTLHeaderVersion ( )

virtual

GetIGTLProtocolVersion()

virtual int vtkPlusOpenIGTLinkServer::GetIGTLProtocolVersion ( )

virtual

GetNumberOfConnectedClients()

unsigned int vtkPlusOpenIGTLinkServer::GetNumberOfConnectedClients ( ) const

virtual

Get number of connected clients

Definition at line 1237 of file vtkPlusOpenIGTLinkServer.cxx.

HasGracePeriodExpired()

bool vtkPlusOpenIGTLinkServer::HasGracePeriodExpired ( )

protected

Definition at line 1314 of file vtkPlusOpenIGTLinkServer.cxx.

IsA()

virtual int vtkPlusOpenIGTLinkServer::IsA ( const char *  type )

virtual

IsTypeOf()

static int vtkPlusOpenIGTLinkServer::IsTypeOf ( const char *  type )

static

KeepAlive()

void vtkPlusOpenIGTLinkServer::KeepAlive ( )

protectedvirtual

Send status message to clients to keep alive the connection

Definition at line 1197 of file vtkPlusOpenIGTLinkServer.cxx.

New()

static vtkPlusOpenIGTLinkServer* vtkPlusOpenIGTLinkServer::New ( )

static

PrintSelf()

void vtkPlusOpenIGTLinkServer::PrintSelf ( ostream &  os, vtkIndent  indent  )

virtual

Definition at line 152 of file vtkPlusOpenIGTLinkServer.cxx.

ProcessPendingCommands()

int vtkPlusOpenIGTLinkServer::ProcessPendingCommands

(

)

Execute all commands in the queue from the current thread (useful if commands should be executed from the main thread)

Returns

Number of executed commands

Definition at line 1308 of file vtkPlusOpenIGTLinkServer.cxx.

QueueMessageResponseForClient()

PlusStatus vtkPlusOpenIGTLinkServer::QueueMessageResponseForClient ( int  clientId, igtl::MessageBase::Pointer  message  )

protected

Add a response to the queue for sending to the client

Definition at line 124 of file vtkPlusOpenIGTLinkServer.cxx.

ReadConfiguration()

PlusStatus vtkPlusOpenIGTLinkServer::ReadConfiguration ( vtkXMLDataElement *  serverElement, const std::string &  aFilename  )

virtual

Read the configuration file in XML format and set up the devices

Definition at line 1261 of file vtkPlusOpenIGTLinkServer.cxx.

SafeDownCast()

static vtkPlusOpenIGTLinkServer* vtkPlusOpenIGTLinkServer::SafeDownCast ( vtkObject *  o )

static

SendCommandResponses()

PlusStatus vtkPlusOpenIGTLinkServer::SendCommandResponses ( vtkPlusOpenIGTLinkServer &  self )

staticprotected

Process the command replies queue and send messages

Definition at line 531 of file vtkPlusOpenIGTLinkServer.cxx.

SendLatestFramesToClients()

PlusStatus vtkPlusOpenIGTLinkServer::SendLatestFramesToClients ( vtkPlusOpenIGTLinkServer &  self, double &  elapsedTimeSinceLastPacketSentSec  )

staticprotected

Attempt to send any unsent frames to clients, if unsuccessful, accumulate an elapsed time

Definition at line 416 of file vtkPlusOpenIGTLinkServer.cxx.

SendMessageResponses()

PlusStatus vtkPlusOpenIGTLinkServer::SendMessageResponses ( vtkPlusOpenIGTLinkServer &  self )

staticprotected

Process the message replies queue and send messages

Definition at line 495 of file vtkPlusOpenIGTLinkServer.cxx.

SendTrackedFrame()

PlusStatus vtkPlusOpenIGTLinkServer::SendTrackedFrame ( igsioTrackedFrame &  trackedFrame )

protectedvirtual

Tracked frame interface, sends the selected message type and data to all clients

Definition at line 1018 of file vtkPlusOpenIGTLinkServer.cxx.

SetDataCollector()

virtual void vtkPlusOpenIGTLinkServer::SetDataCollector ( vtkPlusDataCollector *  )

virtual

Set data collector instance

SetDefaultClientReceiveTimeoutSec()

virtual void vtkPlusOpenIGTLinkServer::SetDefaultClientReceiveTimeoutSec ( float  )

virtual

SetDefaultClientSendTimeoutSec()

virtual void vtkPlusOpenIGTLinkServer::SetDefaultClientSendTimeoutSec ( float  )

virtual

SetDelayBetweenRetryAttemptsSec()

virtual void vtkPlusOpenIGTLinkServer::SetDelayBetweenRetryAttemptsSec ( double  )

protectedvirtual

SetIgtlMessageCrcCheckEnabled()

virtual void vtkPlusOpenIGTLinkServer::SetIgtlMessageCrcCheckEnabled ( bool  )

protectedvirtual

Set IGTL CRC check flag (0: disabled, 1: enabled)

SetKeepAliveIntervalSec()

virtual void vtkPlusOpenIGTLinkServer::SetKeepAliveIntervalSec ( double  )

protectedvirtual

SetListeningPort()

virtual void vtkPlusOpenIGTLinkServer::SetListeningPort ( int  )

virtual

Set server listening port

SetLogWarningOnNoDataAvailable()

virtual void vtkPlusOpenIGTLinkServer::SetLogWarningOnNoDataAvailable ( bool  )

protectedvirtual

SetMaxNumberOfIgtlMessagesToSend()

virtual void vtkPlusOpenIGTLinkServer::SetMaxNumberOfIgtlMessagesToSend ( int  )

protectedvirtual

SetMaxTimeSpentWithProcessingMs()

virtual void vtkPlusOpenIGTLinkServer::SetMaxTimeSpentWithProcessingMs ( double  )

virtual

SetMissingInputGracePeriodSec()

virtual void vtkPlusOpenIGTLinkServer::SetMissingInputGracePeriodSec ( double  )

virtual

SetNumberOfRetryAttempts()

virtual void vtkPlusOpenIGTLinkServer::SetNumberOfRetryAttempts ( int  )

protectedvirtual

SetSendValidTransformsOnly()

virtual void vtkPlusOpenIGTLinkServer::SetSendValidTransformsOnly ( bool  )

virtual

SetTransformRepository()

virtual void vtkPlusOpenIGTLinkServer::SetTransformRepository ( vtkIGSIOTransformRepository *  )

virtual

Set transform repository instance

Start()

PlusStatus vtkPlusOpenIGTLinkServer::Start	(	vtkPlusDataCollector *	dataCollector,
		vtkIGSIOTransformRepository *	transformRepository,
		vtkXMLDataElement *	serverElement,
		const std::string &	configFilePath
	)

Configures and starts the server from the provided PlusOpenIGTLinkServer XML element

Definition at line 1320 of file vtkPlusOpenIGTLinkServer.cxx.

StartOpenIGTLinkService()

PlusStatus vtkPlusOpenIGTLinkServer::StartOpenIGTLinkService

(

)

Start server

Definition at line 158 of file vtkPlusOpenIGTLinkServer.cxx.

Stop()

PlusStatus vtkPlusOpenIGTLinkServer::Stop

(

)

Configures and starts the server from the provided device set configuration file

Definition at line 1346 of file vtkPlusOpenIGTLinkServer.cxx.

StopOpenIGTLinkService()

PlusStatus vtkPlusOpenIGTLinkServer::StopOpenIGTLinkService

(

)

Stop server

Definition at line 201 of file vtkPlusOpenIGTLinkServer.cxx.

vtkGetMacroConst() [1/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	ListeningPort	,
		int
	)

Get server listening port

vtkGetMacroConst() [2/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	MissingInputGracePeriodSec	,
		double
	)

vtkGetMacroConst() [3/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	MaxTimeSpentWithProcessingMs	,
		double
	)

vtkGetMacroConst() [4/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	SendValidTransformsOnly	,
		bool
	)

vtkGetMacroConst() [5/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	DefaultClientSendTimeoutSec	,
		float
	)

vtkGetMacroConst() [6/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	DefaultClientReceiveTimeoutSec	,
		float
	)

vtkGetMacroConst() [7/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	DataCollector	,
		vtkPlusDataCollector *
	)

vtkGetMacroConst() [8/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst	(	TransformRepository	,
		vtkIGSIOTransformRepository *
	)

vtkGetMacroConst() [9/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( IgtlMessageCrcCheckEnabled  , bool    )

protected

Get IGTL CRC check flag (0: disabled, 1: enabled)

vtkGetMacroConst() [10/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( LogWarningOnNoDataAvailable  , bool    )

protected

vtkGetMacroConst() [11/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( MaxNumberOfIgtlMessagesToSend  , int    )

protected

vtkGetMacroConst() [12/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( NumberOfRetryAttempts  , int    )

protected

vtkGetMacroConst() [13/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( DelayBetweenRetryAttemptsSec  , double    )

protected

vtkGetMacroConst() [14/14]

vtkPlusOpenIGTLinkServer::vtkGetMacroConst ( KeepAliveIntervalSec  , double    )

protected

vtkGetStdStringMacro() [1/2]

vtkPlusOpenIGTLinkServer::vtkGetStdStringMacro

(

OutputChannelId

)

vtkGetStdStringMacro() [2/2]

vtkPlusOpenIGTLinkServer::vtkGetStdStringMacro

(

ConfigFilename

)

vtkSetStdStringMacro() [1/2]

vtkPlusOpenIGTLinkServer::vtkSetStdStringMacro ( OutputChannelId  )

protected

vtkSetStdStringMacro() [2/2]

vtkPlusOpenIGTLinkServer::vtkSetStdStringMacro ( ConfigFilename  )

protected

---

The documentation for this class was generated from the following files:

• src/PlusServer/vtkPlusOpenIGTLinkServer.h
• src/PlusServer/vtkPlusOpenIGTLinkServer.cxx