vtkPlusOpenIGTLinkClient.h

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/*=Plus=header=begin======================================================
  Program: Plus
  Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
  See License.txt for details.
=========================================================Plus=header=end*/

#ifndef __VTKPLUSOPENIGTLINKCLIENT_H
#define __VTKPLUSOPENIGTLINKCLIENT_H

#include "vtkPlusServerExport.h"

// Local includes
#include "vtkPlusCommand.h"
#include "vtkPlusIgtlMessageFactory.h"

// OpenIGTLink includes
#include <igtlClientSocket.h>
#include <igtlCommandMessage.h>
#include <igtlMessageHeader.h>
#include <igtlOSUtil.h>

// VTK includes
#include <vtkObject.h>

// STL includes
#include <deque>
#include <string>

class vtkMultiThreader;
class vtkIGSIORecursiveCriticalSection;

class vtkPlusServerExport vtkPlusOpenIGTLinkClient : public vtkObject
{
public:
  static vtkPlusOpenIGTLinkClient* New();
  vtkTypeMacro(vtkPlusOpenIGTLinkClient, vtkObject);
  virtual void PrintSelf(ostream& os, vtkIndent indent);

  vtkSetMacro(ServerPort, int);
  vtkGetMacroConst(ServerPort, int);

  vtkGetStdStringMacro(ServerHost);
  vtkSetStdStringMacro(ServerHost);

  vtkSetMacro(ServerIGTLVersion, int);
  vtkGetMacroConst(ServerIGTLVersion, int);

  PlusStatus Connect(double timeoutSec = -1);

  PlusStatus Disconnect();

  PlusStatus SendCommand(vtkPlusCommand* command);

  PlusStatus SendMessage(igtl::MessageBase::Pointer packedMessage);

  PlusStatus ReceiveReply(PlusStatus& result,
                          int32_t& outOriginalCommandId,
                          std::string& outErrorString,
                          std::string& outContent,
                          igtl::MessageBase::MetaDataMap& outParameters,
                          std::string& outCommandName,
                          double timeoutSec = 0);

  void Lock();
  void Unlock();

  virtual bool OnMessageReceived(igtl::MessageHeader::Pointer messageHeader)
  {
    return false;
  }

protected:
  vtkPlusOpenIGTLinkClient();
  virtual ~vtkPlusOpenIGTLinkClient();

  igtlUint64 SocketReceive(void* data, igtlUint64 length);

  static void* DataReceiverThread(vtkMultiThreader::ThreadInfo* data);

protected:
  vtkSmartPointer<vtkPlusIgtlMessageFactory>        IgtlMessageFactory;

  std::pair<bool, bool>                             DataReceiverActive;

  int                                               DataReceiverThreadId;

  vtkSmartPointer<vtkMultiThreader>                 Threader;

  vtkSmartPointer<vtkIGSIORecursiveCriticalSection>  Mutex;
  vtkSmartPointer<vtkIGSIORecursiveCriticalSection>  SocketMutex;

  igtl::ClientSocket::Pointer                       ClientSocket;

  igtlUint32                                        LastGeneratedCommandId;

  std::deque<igtl::MessageBase::Pointer>            Replies;

  int                                               ServerPort;
  std::string                                       ServerHost;

  // IGTL protocol version of the server
  int                                               ServerIGTLVersion;

  static const float                                CLIENT_SOCKET_TIMEOUT_SEC;

private:
  vtkPlusOpenIGTLinkClient(const vtkPlusOpenIGTLinkClient&);
  void operator=(const vtkPlusOpenIGTLinkClient&);
};

#endif