Common base class for a IGT Link connection. More...

#include <WIGTLinkRemote.h>

Inheritance diagram for WIGTLinkRemote:

Collaboration diagram for WIGTLinkRemote:

Public Member Functions
void	createSocketAndWaitForConnection (uint32_t port)
	Use this as a server that waits for client connections. More...

void	createSocketAndConnect (std::string server, uint32_t port)
	Use this as a client that connects to a remote server. More...

void	readDataLoop ()
	main loop for reading More...

void	receiveTransform (igtl::MessageHeader::Pointer headerMsg)
	Receive a transform. More...

WDataSetScalarSPtr	receiveImage (igtl::MessageHeader::Pointer headerMsg)
	Receive an image. More...

void	injectMessage ()
	TODO: inject a message in the send queue. More...

void	sendImageMetaData (const std::vector< WDataSetScalarSPtr > &dataSets)
	Send metadata of a list of data sets. More...

void	sendImageData (WDataSetScalarSPtr dataSetScalar)
	Send image data of a single data set. More...

void	sendTransform (const std::string &name, const WMatrix< double > &matrix)
	send a matrix as an igtl transform More...

std::shared_ptr< WValueSetBase >	createValueSet (const igtl::ImageMessage::Pointer &imgMsg)
	Internal helper to create a value set from a message. More...

void	setCheckCRC (bool doCheckCRC=true)
	Set whether we check the CRC. More...

void	listenLoop ()
	setup listening socket and listen More...

void	sendImageMetaData (std::vector< WDataSetScalarSPtr > dataSets)
	Send a message containing the metadata of the data sets. More...

Public Member Functions inherited from WThreadedRunner
	WThreadedRunner ()
	Default constructor. More...

virtual	~WThreadedRunner ()
	Destructor. More...

virtual void	run ()
	Run thread. More...

void	run (THREADFUNCTION f)
	Run thread. More...

void	wait (bool requestFinish=false)
	Wait for the thread to be finished. More...

virtual void	requestStop ()
	This method's purpose is to request a stop without waiting for it. More...

virtual boost::signals2::connection	subscribeSignal (THREAD_SIGNAL signal, t_ThreadErrorSignalHandlerType notifier)
	Connects a specified notify function with a signal this thread instance is offering. More...

const WBoolFlag &	isCrashed () const
	Checks whether this thread has been crashed. More...

const std::string &	getCrashMessage () const
	Get the message of the exception finally causing the crash. More...

void	setThreadName (std::string name)
	Set the name of the thread. More...

std::string	getThreadName () const
	Returns the current thread name. More...

Public Attributes
boost::mutex	receiversMutex
	mutex has to be locked during access to receiveQueue More...

std::shared_ptr< WCondition >	receiversCondition
	condition to notify receivers that new data is waiting More...

std::shared_ptr< WCondition >	statusCondition
	condition to notify a status change More...

std::queue< WDataSetScalarSPtr >	receiveQueue
	queue of received data sets that should be read by the module More...

Protected Member Functions
virtual void	threadMain ()
	the main thread doing passive connections or receiving data More...

Protected Member Functions inherited from WThreadedRunner
virtual void	notifyStop ()
	Gets called when the thread should be stopped. More...

void	yield () const
	Give remaining execution timeslice to another thread. More...

void	sleep (const int32_t t) const
	Sets thread asleep. More...

void	msleep (const int32_t t) const
	Sets thread asleep. More...

void	waitForStop ()
	Let the thread sleep until a stop request was given. More...

virtual void	onThreadException (const WException &e)
	This method is called if an exception was caught, which came from the custom thread code. More...

void	handleDeadlyException (const WException &e, std::string sender="WThreadedRunner")
	Handle the specified exception which was not caught in the thread, which basically means the thread has crashed. More...

Protected Attributes
bool	checkCRC
	true if we check CRC sums in incoming packets More...

uint32_t	port
	the port for listening connections More...

Protected Attributes inherited from WThreadedRunner
boost::thread	m_thread
	Thread instance. More...

WBoolFlag	m_shutdownFlag
	Condition getting fired whenever the thread should quit. More...

WBoolFlag	m_isCrashed
	True whenever an exception is thrown during threadMain. More...

std::string	m_crashMessage
	The crash message. More...

Private Attributes
igtl::ClientSocket::Pointer	socket
	Points to the socket used by this connection. More...

Additional Inherited Members
Public Types inherited from WThreadedRunner
typedef std::shared_ptr< WThreadedRunner >	SPtr
	Abbreviation to a shared_ptr to this type. More...

typedef std::shared_ptr< const WThreadedRunner >	ConstSPtr
	Abbreviation to a const shared_ptr to this type. More...

typedef boost::function< void(void) >	THREADFUNCTION
	Type used for simple thread functions. More...

Static Public Member Functions inherited from WThreadedRunner
static void	setThisThreadName (std::string name)
	Static function to set the name of the calling thread. More...

Detailed Description

Common base class for a IGT Link connection.

Provides some helper functions to handle and convert OW data.

Definition at line 53 of file WIGTLinkRemote.h.

Member Function Documentation

◆ createSocketAndConnect()

void WIGTLinkRemote::createSocketAndConnect	(	std::string	server,
		uint32_t	port
	)

Use this as a client that connects to a remote server.

Parameters

server	Name of the remote server.
port	Port number for the connection.

Definition at line 67 of file WIGTLinkRemote.cpp.

References port, socket, and statusCondition.

◆ createSocketAndWaitForConnection()

void WIGTLinkRemote::createSocketAndWaitForConnection ( uint32_t port )

Use this as a server that waits for client connections.

Parameters

port	Port number for the connection

Definition at line 62 of file WIGTLinkRemote.cpp.

References port.

◆ createValueSet()

std::shared_ptr< WValueSetBase > WIGTLinkRemote::createValueSet ( const igtl::ImageMessage::Pointer & imgMsg )

Internal helper to create a value set from a message.

Parameters

imgMsg The image behind this pointer is used to create the dataset

Returns: Created value set.

Definition at line 514 of file WIGTLinkRemote.cpp.

Referenced by receiveImage().

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◆ injectMessage()

void WIGTLinkRemote::injectMessage ( )

TODO: inject a message in the send queue.

Definition at line 270 of file WIGTLinkRemote.cpp.

◆ listenLoop()

void WIGTLinkRemote::listenLoop ( )

setup listening socket and listen

Definition at line 86 of file WIGTLinkRemote.cpp.

References WThreadedRunner::m_shutdownFlag, port, socket, and statusCondition.

Referenced by readDataLoop().

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◆ readDataLoop()

void WIGTLinkRemote::readDataLoop ( )

main loop for reading

Definition at line 103 of file WIGTLinkRemote.cpp.

References checkCRC, listenLoop(), WThreadedRunner::m_shutdownFlag, port, receiveImage(), receiveQueue, receiversCondition, receiversMutex, receiveTransform(), and socket.

Referenced by threadMain().

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◆ receiveImage()

WDataSetScalarSPtr WIGTLinkRemote::receiveImage ( igtl::MessageHeader::Pointer headerMsg )

Receive an image.

Parameters

headerMsg The image in this message is used to create a dataset

Returns: Dataset created from message.

Definition at line 217 of file WIGTLinkRemote.cpp.

References checkCRC, createValueSet(), and socket.

Referenced by readDataLoop().

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◆ receiveTransform()

void WIGTLinkRemote::receiveTransform ( igtl::MessageHeader::Pointer headerMsg )

Receive a transform.

Parameters

headerMsg The message conatining the transform.

Definition at line 192 of file WIGTLinkRemote.cpp.

References checkCRC, and socket.

Referenced by readDataLoop().

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◆ sendImageData()

void WIGTLinkRemote::sendImageData ( WDataSetScalarSPtr dataSetScalar )

Send image data of a single data set.

Parameters

dataSetScalar Pointer to the dataset we want to send

Definition at line 425 of file WIGTLinkRemote.cpp.

◆ sendImageMetaData() [1/2]

void WIGTLinkRemote::sendImageMetaData ( const std::vector< WDataSetScalarSPtr > & dataSets )

Send metadata of a list of data sets.

Parameters

dataSets A vector containing pointer to the datasets whose metadata we want to send.

Definition at line 322 of file WIGTLinkRemote.cpp.

References socket.

◆ sendImageMetaData() [2/2]

void WIGTLinkRemote::sendImageMetaData ( std::vector< WDataSetScalarSPtr > dataSets )

Send a message containing the metadata of the data sets.

Parameters

dataSets A vector containing pointers to the datasets whose metadata we want to send.

◆ sendTransform()

void WIGTLinkRemote::sendTransform	(	const std::string &	name,
		const WMatrix< double > &	matrix
	)

send a matrix as an igtl transform

Parameters

name	the name to use for the transform
matrix	the matrix that will be send

Precondition: : socket is valid. If not, nothing will be sent and no error will be reported.

Definition at line 274 of file WIGTLinkRemote.cpp.

References socket.

◆ setCheckCRC()

void WIGTLinkRemote::setCheckCRC ( bool doCheckCRC = true )

inline

Set whether we check the CRC.

Otherwise, we just ignore it while unpacking the data. The default for checkCRC is false, so there is no CRC checking when this function has not been called.

Parameters

doCheckCRC Should CRC of the data be checked?

Definition at line 137 of file WIGTLinkRemote.h.

References checkCRC.

◆ threadMain()

void WIGTLinkRemote::threadMain ( )

protectedvirtual

the main thread doing passive connections or receiving data

Reimplemented from WThreadedRunner.

Definition at line 81 of file WIGTLinkRemote.cpp.

References readDataLoop().

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Member Data Documentation

◆ checkCRC

bool WIGTLinkRemote::checkCRC

protected

true if we check CRC sums in incoming packets

Definition at line 181 of file WIGTLinkRemote.h.

Referenced by readDataLoop(), receiveImage(), receiveTransform(), and setCheckCRC().

◆ port

uint32_t WIGTLinkRemote::port

protected

the port for listening connections

Definition at line 184 of file WIGTLinkRemote.h.

Referenced by createSocketAndConnect(), createSocketAndWaitForConnection(), listenLoop(), and readDataLoop().

◆ receiveQueue

std::queue< WDataSetScalarSPtr > WIGTLinkRemote::receiveQueue

queue of received data sets that should be read by the module

Definition at line 172 of file WIGTLinkRemote.h.

Referenced by readDataLoop().

◆ receiversCondition

std::shared_ptr< WCondition > WIGTLinkRemote::receiversCondition

condition to notify receivers that new data is waiting

Definition at line 162 of file WIGTLinkRemote.h.

Referenced by readDataLoop().

◆ receiversMutex

boost::mutex WIGTLinkRemote::receiversMutex

mutex has to be locked during access to receiveQueue

Definition at line 157 of file WIGTLinkRemote.h.

Referenced by readDataLoop().

◆ socket

igtl::ClientSocket::Pointer WIGTLinkRemote::socket

private

Points to the socket used by this connection.

Definition at line 189 of file WIGTLinkRemote.h.

Referenced by createSocketAndConnect(), listenLoop(), readDataLoop(), receiveImage(), receiveTransform(), sendImageMetaData(), and sendTransform().

◆ statusCondition

std::shared_ptr< WCondition > WIGTLinkRemote::statusCondition

condition to notify a status change

Definition at line 167 of file WIGTLinkRemote.h.

Referenced by createSocketAndConnect(), and listenLoop().

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createSocketAndConnect()

◆ createSocketAndWaitForConnection()

◆ createValueSet()

◆ injectMessage()

◆ listenLoop()

◆ readDataLoop()

◆ receiveImage()

◆ receiveTransform()

◆ sendImageData()

◆ sendImageMetaData() [1/2]

◆ sendImageMetaData() [2/2]

◆ sendTransform()

◆ setCheckCRC()

◆ threadMain()

Member Data Documentation

◆ checkCRC

◆ port

◆ receiveQueue

◆ receiversCondition

◆ receiversMutex

◆ socket

◆ statusCondition