void mitk::IGTLDeviceSource::SetIGTLDevice( mitk::IGTLDevice* igtlDevice )
{
MITK_DEBUG << "Setting IGTLDevice to " << igtlDevice;
if (this->m_IGTLDevice.GetPointer() != igtlDevice)
{
this->m_IGTLDevice = igtlDevice;
this->CreateOutputs();
std::stringstream name; // create a human readable name for the source
name << "OIGTL Device Source ( " << igtlDevice->GetName() << " )";
this->SetName(name.str());
//setup a observer that listens to new messages and new commands
typedef itk::SimpleMemberCommand<mitk::IGTLDeviceSource> CurCommandType;
CurCommandType::Pointer msgReceivedCommand = CurCommandType::New();
msgReceivedCommand->SetCallbackFunction(
this, &IGTLDeviceSource::OnIncomingMessage );
this->m_IGTLDevice->AddObserver(mitk::MessageReceivedEvent(),
msgReceivedCommand);
CurCommandType::Pointer cmdReceivedCommand = CurCommandType::New();
cmdReceivedCommand->SetCallbackFunction(
this, &IGTLDeviceSource::OnIncomingCommand );
this->m_IGTLDevice->AddObserver(mitk::CommandReceivedEvent(),
cmdReceivedCommand);
}
}
bool mitk::OpenIGTLinkTrackingDevice::StartTracking()
{
//check tracking state
if (this->GetState() != Ready)
{
MITK_WARN << "Cannot start tracking, device is not ready!";
return false;
}
try
{
m_IGTLDeviceSource->StartCommunication();
//send a message to the server: start tracking stream
mitk::IGTLMessageFactory::Pointer msgFactory = m_OpenIGTLinkClient->GetMessageFactory();
std::string message = "STT_TDATA";
//m_OpenIGTLinkClient->SendMessage(msgFactory->CreateInstance(message));
}
catch (std::runtime_error &e)
{
MITK_WARN << "Open IGT Link device retruned an error while starting communication: " << e.what();
return false;
}
//create internal igtl pipeline
m_IGTLMsgToNavDataFilter = mitk::IGTLMessageToNavigationDataFilter::New();
m_IGTLMsgToNavDataFilter->SetNumberOfExpectedOutputs(this->GetToolCount());
m_IGTLMsgToNavDataFilter->ConnectTo(m_IGTLDeviceSource);
//connect itk events
typedef itk::SimpleMemberCommand< mitk::OpenIGTLinkTrackingDevice > CurCommandType;
CurCommandType::Pointer messageReceivedCommand = CurCommandType::New();
messageReceivedCommand->SetCallbackFunction(this, &mitk::OpenIGTLinkTrackingDevice::UpdateTools);
m_MessageReceivedObserverTag = m_OpenIGTLinkClient->AddObserver(mitk::MessageReceivedEvent(), messageReceivedCommand);
m_OpenIGTLinkClient->EnableNoBufferingMode(true);
this->SetState(Tracking);
return true;
}
void QmitkIGTLDeviceSourceManagementWidget::LoadSource(
mitk::IGTLDeviceSource::Pointer sourceToLoad)
{
//reset the GUI
DisableSourceControls();
//reset the observers
if ( this->m_IGTLDevice.IsNotNull() )
{
this->m_IGTLDevice->RemoveObserver(m_MessageReceivedObserverTag);
this->m_IGTLDevice->RemoveObserver(m_CommandReceivedObserverTag);
this->m_IGTLDevice->RemoveObserver(m_LostConnectionObserverTag);
this->m_IGTLDevice->RemoveObserver(m_NewConnectionObserverTag);
this->m_IGTLDevice->RemoveObserver(m_StateModifiedObserverTag);
}
if(sourceToLoad.IsNotNull())
{
this->m_IGTLDeviceSource = sourceToLoad;
//get the device
this->m_IGTLDevice = this->m_IGTLDeviceSource->GetIGTLDevice();
//initialize the other GUI elements
this->m_Controls->connectionSetupWidget->Initialize(this->m_IGTLDevice);
this->m_Controls->commandWidget->Initialize(this->m_IGTLDevice);
//check if the device is a server or a client
if ( dynamic_cast<mitk::IGTLClient*>(
this->m_IGTLDeviceSource->GetIGTLDevice()) == NULL )
{
m_IsClient = false;
}
else
{
m_IsClient = true;
}
typedef itk::SimpleMemberCommand< QmitkIGTLDeviceSourceManagementWidget > CurCommandType;
CurCommandType::Pointer messageReceivedCommand = CurCommandType::New();
messageReceivedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSourceManagementWidget::OnMessageReceived );
this->m_MessageReceivedObserverTag =
this->m_IGTLDevice->AddObserver(mitk::MessageReceivedEvent(), messageReceivedCommand);
CurCommandType::Pointer commandReceivedCommand = CurCommandType::New();
commandReceivedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSourceManagementWidget::OnCommandReceived );
this->m_CommandReceivedObserverTag =
this->m_IGTLDevice->AddObserver(mitk::CommandReceivedEvent(), commandReceivedCommand);
CurCommandType::Pointer connectionLostCommand = CurCommandType::New();
connectionLostCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSourceManagementWidget::OnLostConnection );
this->m_LostConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::LostConnectionEvent(), connectionLostCommand);
CurCommandType::Pointer newConnectionCommand = CurCommandType::New();
newConnectionCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSourceManagementWidget::OnNewConnection );
this->m_NewConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::NewClientConnectionEvent(), newConnectionCommand);
CurCommandType::Pointer stateModifiedCommand = CurCommandType::New();
stateModifiedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSourceManagementWidget::OnDeviceStateChanged );
this->m_StateModifiedObserverTag = this->m_IGTLDevice->AddObserver(
itk::ModifiedEvent(), stateModifiedCommand);
}
else
{
m_IGTLDeviceSource = NULL;
}
this->AdaptGUIToState();
}
void QmitkIGTLStreamingManagementWidget::LoadSource(
mitk::IGTLMessageProvider::Pointer provider)
{
//reset the GUI
DisableSourceControls();
if ( provider.IsNull() )
return;
//reset the observers
this->RemoveObserver();
this->m_IGTLMsgProvider = provider;
//get the device
this->m_IGTLDevice = this->m_IGTLMsgProvider->GetIGTLDevice();
//check if the device is a server or a client
if ( dynamic_cast<mitk::IGTLClient*>(
this->m_IGTLDevice.GetPointer()) == NULL )
{
m_IsClient = false;
}
else
{
m_IsClient = true;
}
typedef itk::SimpleMemberCommand< QmitkIGTLStreamingManagementWidget > CurCommandType;
// CurCommandType::Pointer messageReceivedCommand = CurCommandType::New();
// messageReceivedCommand->SetCallbackFunction(
// this, &QmitkIGTLStreamingManagementWidget::OnMessageReceived );
// this->m_MessageReceivedObserverTag =
// this->m_IGTLDevice->AddObserver(mitk::MessageReceivedEvent(), messageReceivedCommand);
// CurCommandType::Pointer commandReceivedCommand = CurCommandType::New();
// commandReceivedCommand->SetCallbackFunction(
// this, &QmitkIGTLStreamingManagementWidget::OnCommandReceived );
// this->m_CommandReceivedObserverTag =
// this->m_IGTLDevice->AddObserver(mitk::CommandReceivedEvent(), commandReceivedCommand);
CurCommandType::Pointer connectionLostCommand = CurCommandType::New();
connectionLostCommand->SetCallbackFunction(
this, &QmitkIGTLStreamingManagementWidget::OnLostConnection );
this->m_LostConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::LostConnectionEvent(), connectionLostCommand);
CurCommandType::Pointer newConnectionCommand = CurCommandType::New();
newConnectionCommand->SetCallbackFunction(
this, &QmitkIGTLStreamingManagementWidget::OnNewConnection );
this->m_NewConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::NewClientConnectionEvent(), newConnectionCommand);
CurCommandType::Pointer stateModifiedCommand = CurCommandType::New();
stateModifiedCommand->SetCallbackFunction(
this, &QmitkIGTLStreamingManagementWidget::OnDeviceStateChanged );
this->m_StateModifiedObserverTag = this->m_IGTLDevice->AddObserver(
itk::ModifiedEvent(), stateModifiedCommand);
this->AdaptGUIToState();
}
void QmitkIGTLDeviceSetupConnectionWidget::Initialize(
mitk::IGTLDevice::Pointer device)
{
//reset the GUI
DisableSourceControls();
//reset the observers
this->RemoveObserver();
if(device.IsNotNull())
{
this->m_IGTLDevice = device;
//check if the device is a server or a client
if ( dynamic_cast<mitk::IGTLClient*>(
this->m_IGTLDevice.GetPointer()) == NULL )
{
m_IsClient = false;
}
else
{
m_IsClient = true;
}
this->AdaptGUIToState();
typedef itk::SimpleMemberCommand< QmitkIGTLDeviceSetupConnectionWidget > CurCommandType;
CurCommandType::Pointer messageSentCommand = CurCommandType::New();
messageSentCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnMessageSent);
this->m_MessageSentObserverTag = this->m_IGTLDevice->AddObserver(
mitk::MessageSentEvent(), messageSentCommand);
CurCommandType::Pointer messageReceivedCommand = CurCommandType::New();
messageReceivedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnMessageReceived);
this->m_MessageReceivedObserverTag = this->m_IGTLDevice->AddObserver(
mitk::MessageReceivedEvent(), messageReceivedCommand);
CurCommandType::Pointer commandReceivedCommand = CurCommandType::New();
commandReceivedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnCommandReceived );
this->m_CommandReceivedObserverTag = this->m_IGTLDevice->AddObserver(
mitk::CommandReceivedEvent(), commandReceivedCommand);
CurCommandType::Pointer connectionLostCommand = CurCommandType::New();
connectionLostCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnLostConnection );
this->m_LostConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::LostConnectionEvent(), connectionLostCommand);
CurCommandType::Pointer newConnectionCommand = CurCommandType::New();
newConnectionCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnNewConnection );
this->m_NewConnectionObserverTag = this->m_IGTLDevice->AddObserver(
mitk::NewClientConnectionEvent(), newConnectionCommand);
CurCommandType::Pointer stateModifiedCommand = CurCommandType::New();
stateModifiedCommand->SetCallbackFunction(
this, &QmitkIGTLDeviceSetupConnectionWidget::OnDeviceStateChanged );
this->m_StateModifiedObserverTag = this->m_IGTLDevice->AddObserver(
itk::ModifiedEvent(), stateModifiedCommand);
OnBufferIncomingMessages(m_Controls->bufferInMsgCheckBox->isChecked());
OnBufferOutgoingMessages(m_Controls->bufferOutMsgCheckBox->isChecked());
}
else
{
m_IGTLDevice = NULL;
}
}
