Interface for all OpenIGTLink Devices. More...

#include <mitkIGTLDevice.h>

Inheritance diagram for mitk::IGTLDevice:

Collaboration diagram for mitk::IGTLDevice:

Public Types
enum	IGTLDeviceState { Setup, Ready, Running }
	Type for state variable. The IGTLDevice is always in one of these states. More...

Public Member Functions
	mitkClassMacroItkParent (IGTLDevice, itk::Object) IGTLDevice(bool ReadFully)

virtual bool	OpenConnection ()=0
	Opens a connection to the device. More...

virtual bool	CloseConnection ()
	Closes the connection to the device. More...

virtual bool	StopCommunication ()
	Stops the communication between the two devices. More...

bool	StartCommunication ()
	Starts the communication between the two devices. More...

void	RunCommunication (void(IGTLDevice::ComFunction)(void), itk::FastMutexLock mutex)
	Continuously calls the given function. More...

void	SendMessage (igtl::MessageBase::Pointer msg)
	Adds the given message to the sending queue. More...

void	SendMessage (const IGTLMessage *msg)
	Adds the given message to the sending queue. More...

IGTLDeviceState	GetState () const
	Returns current object state (Setup, Ready or Running) More...

igtl::MessageBase::Pointer	GetNextCommand ()
	Returns the oldest message in the command queue. More...

igtl::ImageMessage::Pointer	GetNextImage2dMessage ()
	Returns the oldest message in the receive queue. More...

igtl::ImageMessage::Pointer	GetNextImage3dMessage ()

igtl::TransformMessage::Pointer	GetNextTransformMessage ()

igtl::TrackingDataMessage::Pointer	GetNextTrackingDataMessage ()

igtl::StringMessage::Pointer	GetNextStringMessage ()

igtl::MessageBase::Pointer	GetNextMiscMessage ()

virtual void	SetPortNumber (int _arg)
	Sets the port number of the device. More...

virtual int	GetPortNumber ()
	Returns the port number of the device. More...

virtual void	SetHostname (std::string _arg)
	Sets the ip/hostname of the device. More...

virtual std::string	GetHostname ()
	Returns the ip/hostname of the device. More...

virtual std::string	GetName () const
	Returns the name of this device. More...

virtual void	SetName (std::string _arg)
	Sets the name of this device. More...

virtual void	SetReadFully (bool _arg)
	Advises this IGTL Device to always block until the whole message is read. More...

virtual mitk::IGTLMessageQueue::Pointer	GetMessageQueue () const
	Returns a const reference to the receive queue. More...

virtual mitk::IGTLMessageFactory::Pointer	GetMessageFactory ()
	Returns the message factory. More...

virtual bool	TestConnection ()
	TestConnection() tries to connect to a IGTL device on the current ip and port. More...

bool	SendRTSMessage (const char *type)
	Send RTS message of given type. More...

void	EnableInfiniteBufferingMode (mitk::IGTLMessageQueue::Pointer queue, bool enable=true)
	Sets the buffering mode of the given queue. More...

virtual unsigned int	GetNumberOfConnections ()=0
	Returns the number of connections of this device. More...

Static Public Member Functions
static ITK_THREAD_RETURN_TYPE	ThreadStartSending (void *data)
	static start method for the sending thread. More...

static ITK_THREAD_RETURN_TYPE	ThreadStartReceiving (void *data)
	static start method for the receiving thread. More...

static ITK_THREAD_RETURN_TYPE	ThreadStartConnecting (void *data)
	static start method for the connection thread. More...

Protected Member Functions
unsigned int	SendMessagePrivate (igtl::MessageBase::Pointer msg, igtl::Socket::Pointer socket)
	Sends a message. More...

virtual void	Receive ()=0
	Call this method to receive a message. More...

unsigned int	ReceivePrivate (igtl::Socket *device)
	Call this method to receive a message from the given device. More...

virtual void	Send ()=0
	Call this method to send a message. The message will be read from the queue. More...

virtual void	Connect ()
	Call this method to check for other devices that want to connect to this one. More...

virtual void	StopCommunicationWithSocket (igtl::Socket *socket)=0
	Stops the communication with the given socket. More...

void	SetState (IGTLDeviceState state)
	change object state More...

	IGTLDevice ()

virtual	~IGTLDevice ()

Protected Attributes
IGTLDeviceState	m_State

std::string	m_Name

bool	m_StopCommunication

itk::FastMutexLock::Pointer	m_StopCommunicationMutex

itk::FastMutexLock::Pointer	m_SendingFinishedMutex

itk::FastMutexLock::Pointer	m_ReceivingFinishedMutex

itk::FastMutexLock::Pointer	m_ConnectingFinishedMutex

itk::FastMutexLock::Pointer	m_StateMutex

std::string	m_Hostname

int	m_PortNumber

igtl::Socket::Pointer	m_Socket

mitk::IGTLMessageQueue::Pointer	m_MessageQueue

mitk::IGTLMessageFactory::Pointer	m_MessageFactory

Detailed Description

Interface for all OpenIGTLink Devices.

Defines the methods that are common for all devices using OpenIGTLink. It can open/close a connection, start/stop a communication and send/receive messages.

It uses message queues to store the incoming and outgoing mails. They are configurable, you can set buffering on and off.

The device is in one of three different states: Setup, Ready or Running. Setup is the initial state. From this state on you can call OpenConnection() and arrive in the Ready state. From the Ready state you call StartCommunication() to arrive in the Running state. Now the device is continuosly checking for new connections, receiving messages and sending messages. This runs in a seperate thread. To stop the communication call StopCommunication() (to arrive in Ready state) or CloseConnection() (to arrive in the Setup state).

Definition at line 61 of file mitkIGTLDevice.h.

Member Enumeration Documentation

enum mitk::IGTLDevice::IGTLDeviceState

Type for state variable. The IGTLDevice is always in one of these states.

Enumerator
Setup
Ready
Running

Definition at line 73 of file mitkIGTLDevice.h.

Constructor & Destructor Documentation

mitk::IGTLDevice::IGTLDevice ( )

protected

Definition at line 36 of file mitkIGTLDevice.cpp.

References m_ConnectingFinishedMutex, m_MessageFactory, m_MessageQueue, m_ReceivingFinishedMutex, m_SendingFinishedMutex, m_StateMutex, m_StopCommunicationMutex, and mitk::New().

mitk::IGTLDevice::~IGTLDevice ( )

protectedvirtual

Definition at line 64 of file mitkIGTLDevice.cpp.

Member Function Documentation

bool mitk::IGTLDevice::CloseConnection ( )

virtual

Closes the connection to the device.

This may only be called if there is currently a connection to the device, but device is not running (e.g. object is in Ready state)

Reimplemented in mitk::IGTLServer.

Definition at line 405 of file mitkIGTLDevice.cpp.

References Setup().

Referenced by mitk::IGTLServer::CloseConnection().

void mitk::IGTLDevice::Connect ( )

protectedvirtual

Call this method to check for other devices that want to connect to this one.

In case of a client this method is doing nothing. In case of a server it is checking for other devices and if there is one it establishes a connection.

Reimplemented in mitk::IGTLServer.

Definition at line 448 of file mitkIGTLDevice.cpp.

References MITK_DEBUG.

Referenced by ThreadStartConnecting().

void mitk::IGTLDevice::EnableInfiniteBufferingMode	(	mitk::IGTLMessageQueue::Pointer	queue,
		bool	enable = `true`
	)

Sets the buffering mode of the given queue.

Definition at line 489 of file mitkIGTLDevice.cpp.

virtual std::string mitk::IGTLDevice::GetHostname ( )

virtual

Returns the ip/hostname of the device.

virtual mitk::IGTLMessageFactory::Pointer mitk::IGTLDevice::GetMessageFactory ( )

virtual

Returns the message factory.

virtual mitk::IGTLMessageQueue::Pointer mitk::IGTLDevice::GetMessageQueue ( ) const

virtual

Returns a const reference to the receive queue.

virtual std::string mitk::IGTLDevice::GetName ( ) const

virtual

Returns the name of this device.

igtl::MessageBase::Pointer mitk::IGTLDevice::GetNextCommand ( )

Returns the oldest message in the command queue.

Returns: The oldest message from the command queue.

Definition at line 484 of file mitkIGTLDevice.cpp.

igtl::ImageMessage::Pointer mitk::IGTLDevice::GetNextImage2dMessage ( )

Returns the oldest message in the receive queue.

Returns: The oldest message from the receive queue

Definition at line 453 of file mitkIGTLDevice.cpp.

igtl::ImageMessage::Pointer mitk::IGTLDevice::GetNextImage3dMessage ( )

Definition at line 458 of file mitkIGTLDevice.cpp.

igtl::MessageBase::Pointer mitk::IGTLDevice::GetNextMiscMessage ( )

Definition at line 479 of file mitkIGTLDevice.cpp.

igtl::StringMessage::Pointer mitk::IGTLDevice::GetNextStringMessage ( )

Definition at line 474 of file mitkIGTLDevice.cpp.

igtl::TrackingDataMessage::Pointer mitk::IGTLDevice::GetNextTrackingDataMessage ( )

Definition at line 468 of file mitkIGTLDevice.cpp.

igtl::TransformMessage::Pointer mitk::IGTLDevice::GetNextTransformMessage ( )

Definition at line 463 of file mitkIGTLDevice.cpp.

virtual unsigned int mitk::IGTLDevice::GetNumberOfConnections ( )

pure virtual

Returns the number of connections of this device.

Implemented in mitk::IGTLServer, and mitk::IGTLClient.

virtual int mitk::IGTLDevice::GetPortNumber ( )

virtual

Returns the port number of the device.

mitk::IGTLDevice::IGTLDeviceState mitk::IGTLDevice::GetState ( ) const

Returns current object state (Setup, Ready or Running)

Definition at line 95 of file mitkIGTLDevice.cpp.

mitk::IGTLDevice::mitkClassMacroItkParent	(	IGTLDevice	,
		itk::Object
	)

virtual bool mitk::IGTLDevice::OpenConnection ( )

pure virtual

Opens a connection to the device.

This may only be called if there is currently no connection to the device. If OpenConnection() is successful, the object will change from Setup state to Ready state.

Implemented in mitk::IGTLServer, and mitk::IGTLClient.

virtual void mitk::IGTLDevice::Receive ( )

protectedpure virtual

Call this method to receive a message.

The message will be saved in the receive queue.

Implemented in mitk::IGTLServer, and mitk::IGTLClient.

Referenced by ThreadStartReceiving().

unsigned int mitk::IGTLDevice::ReceivePrivate ( igtl::Socket * device )

protected

Call this method to receive a message from the given device.

The message will be saved in the receive queue.

Parameters

device the socket that connects this device with the other one.

Return values

IGTL_STATUS_OK	a message or a command was received
IGTL_STATUS_NOT_PRESENT	the socket is not connected anymore
IGTL_STATUS_TIME_OUT	the socket timed out
IGTL_STATUS_CHECKSUM_ERROR	the checksum of the received msg was incorrect
IGTL_STATUS_UNKNOWN_ERROR	an unknown error occurred

Definition at line 123 of file mitkIGTLDevice.cpp.

References MITK_ERROR, MITK_INFO, and mitk::New().

void mitk::IGTLDevice::RunCommunication	(	void(IGTLDevice::*)(void)	ComFunction,
		itk::FastMutexLock *	mutex
	)

Continuously calls the given function.

This may only be called if the device is in Running state and only from a seperate thread.

Parameters

ComFunction	function pointer that specifies the method to be executed
mutex	the mutex that corresponds to the function pointer

Definition at line 304 of file mitkIGTLDevice.cpp.

References MITK_DEBUG, and MITK_ERROR.

Referenced by ThreadStartConnecting(), ThreadStartReceiving(), and ThreadStartSending().

virtual void mitk::IGTLDevice::Send ( )

protectedpure virtual

Call this method to send a message. The message will be read from the queue.

Implemented in mitk::IGTLServer, and mitk::IGTLClient.

Referenced by ThreadStartSending().

void mitk::IGTLDevice::SendMessage ( igtl::MessageBase::Pointer msg )

Adds the given message to the sending queue.

This may only be called after the connection to the device has been established with a call to OpenConnection(). Note that the message is not send directly. This method just adds it to the send queue.

Parameters

msg	The message to be added to the sending queue

Definition at line 268 of file mitkIGTLDevice.cpp.

void mitk::IGTLDevice::SendMessage ( const IGTLMessage * msg )

Adds the given message to the sending queue.

Convenience function to work with mitk::IGTLMessage directly.

Parameters

msg	The message to be added to the sending queue

Definition at line 263 of file mitkIGTLDevice.cpp.

References mitk::IGTLMessage::GetMessage().

unsigned int mitk::IGTLDevice::SendMessagePrivate	(	igtl::MessageBase::Pointer	msg,
		igtl::Socket::Pointer	socket
	)

protected

Sends a message.

This may only be called after the connection to the device has been established with a call to OpenConnection(). This method uses the given socket to send the given MessageReceivedEvent

Parameters

msg	the message to be sent
socket	the socket used to communicate with the other device

Return values

IGTL_STATUS_OK	the message was sent
IGTL_STATUS_UNKONWN_ERROR	the message was not sent because an unknown error occurred

Definition at line 274 of file mitkIGTLDevice.cpp.

References GetName(), and MITK_ERROR.

bool mitk::IGTLDevice::SendRTSMessage ( const char * type )

Send RTS message of given type.

Definition at line 426 of file mitkIGTLDevice.cpp.

virtual void mitk::IGTLDevice::SetHostname ( std::string _arg )

virtual

Sets the ip/hostname of the device.

virtual void mitk::IGTLDevice::SetName ( std::string _arg )

virtual

Sets the name of this device.

virtual void mitk::IGTLDevice::SetPortNumber ( int _arg )

virtual

Sets the port number of the device.

virtual void mitk::IGTLDevice::SetReadFully ( bool _arg )

virtual

Advises this IGTL Device to always block until the whole message is read.

void mitk::IGTLDevice::SetState ( IGTLDeviceState state )

protected

change object state

Definition at line 101 of file mitkIGTLDevice.cpp.

bool mitk::IGTLDevice::StartCommunication ( )

Starts the communication between the two devices.

This may only be called if the device is in Ready state.

Definition at line 351 of file mitkIGTLDevice.cpp.

References SOCKET_SEND_RECEIVE_TIMEOUT_MSEC.

bool mitk::IGTLDevice::StopCommunication ( )

virtual

Stops the communication between the two devices.

This may only be called if the device is in Running state.

Definition at line 383 of file mitkIGTLDevice.cpp.

virtual void mitk::IGTLDevice::StopCommunicationWithSocket ( igtl::Socket * socket )

protectedpure virtual

Stops the communication with the given socket.

Implemented in mitk::IGTLServer, and mitk::IGTLClient.

bool mitk::IGTLDevice::TestConnection ( )

virtual

TestConnection() tries to connect to a IGTL device on the current ip and port.

TestConnection() tries to connect to a IGTL server on the current ip and port and returns which device it has found.

Returns: It returns the type of the device that answers. Throws an exception if no device is available on that ip/port.

Exceptions

mitk::Exception Throws an exception if there are errors while connecting to the device.

Definition at line 118 of file mitkIGTLDevice.cpp.

ITK_THREAD_RETURN_TYPE mitk::IGTLDevice::ThreadStartConnecting ( void * data )

static

static start method for the connection thread.

Parameters

data	a void pointer to the IGTLDevice object.

Definition at line 541 of file mitkIGTLDevice.cpp.

References Connect(), m_ConnectingFinishedMutex, and RunCommunication().

ITK_THREAD_RETURN_TYPE mitk::IGTLDevice::ThreadStartReceiving ( void * data )

static

static start method for the receiving thread.

Parameters

data	a void pointer to the IGTLDevice object.

Definition at line 518 of file mitkIGTLDevice.cpp.

References m_ReceivingFinishedMutex, Receive(), and RunCommunication().

ITK_THREAD_RETURN_TYPE mitk::IGTLDevice::ThreadStartSending ( void * data )

static

static start method for the sending thread.

Parameters

data	a void pointer to the IGTLDevice object.

Definition at line 496 of file mitkIGTLDevice.cpp.

References m_SendingFinishedMutex, RunCommunication(), and Send().

Member Data Documentation

itk::FastMutexLock::Pointer mitk::IGTLDevice::m_ConnectingFinishedMutex

protected

mutex used to make sure that the connect thread is just started once

Definition at line 342 of file mitkIGTLDevice.h.

Referenced by IGTLDevice(), and ThreadStartConnecting().

std::string mitk::IGTLDevice::m_Hostname

protected

the hostname or ip of the device

Definition at line 347 of file mitkIGTLDevice.h.

mitk::IGTLMessageFactory::Pointer mitk::IGTLDevice::m_MessageFactory

protected

A message factory that provides the New() method for all msg types

Definition at line 357 of file mitkIGTLDevice.h.

Referenced by IGTLDevice().

mitk::IGTLMessageQueue::Pointer mitk::IGTLDevice::m_MessageQueue

protected

The message receive queue

Definition at line 354 of file mitkIGTLDevice.h.

Referenced by IGTLDevice().

std::string mitk::IGTLDevice::m_Name

protected

the name of this device

Definition at line 331 of file mitkIGTLDevice.h.

int mitk::IGTLDevice::m_PortNumber

protected

the port number of the device

Definition at line 349 of file mitkIGTLDevice.h.

itk::FastMutexLock::Pointer mitk::IGTLDevice::m_ReceivingFinishedMutex

protected

mutex used to make sure that the receive thread is just started once

Definition at line 340 of file mitkIGTLDevice.h.

Referenced by IGTLDevice(), and ThreadStartReceiving().

itk::FastMutexLock::Pointer mitk::IGTLDevice::m_SendingFinishedMutex

protected

mutex used to make sure that the send thread is just started once

Definition at line 338 of file mitkIGTLDevice.h.

Referenced by IGTLDevice(), and ThreadStartSending().

igtl::Socket::Pointer mitk::IGTLDevice::m_Socket

protected

the socket used to communicate with other IGTL devices

Definition at line 351 of file mitkIGTLDevice.h.

IGTLDeviceState mitk::IGTLDevice::m_State

protected

current object state (Setup, Ready or Running)

Definition at line 329 of file mitkIGTLDevice.h.

itk::FastMutexLock::Pointer mitk::IGTLDevice::m_StateMutex

protected

mutex to control access to m_State

Definition at line 344 of file mitkIGTLDevice.h.

Referenced by IGTLDevice().

bool mitk::IGTLDevice::m_StopCommunication

protected

signal used to stop the thread

Definition at line 334 of file mitkIGTLDevice.h.

itk::FastMutexLock::Pointer mitk::IGTLDevice::m_StopCommunicationMutex

protected

mutex to control access to m_StopCommunication

Definition at line 336 of file mitkIGTLDevice.h.

Referenced by IGTLDevice().

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation