cxNetworkHandler.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#ifndef CX_NETWORKHANDLER_H_
#define CX_NETWORKHANDLER_H_

#include "org_custusx_core_openigtlink3_Export.h"
#include "igtlioLogic.h"
#include "igtlioSession.h"

#include "cxTransform3D.h"
#include "cxImage.h"
#include "cxMesh.h"
#include "cxProbeDefinitionFromStringMessages.h"

#include "ctkVTKObject.h"

namespace cx
{

typedef boost::shared_ptr<class NetworkHandler> NetworkHandlerPtr;

class org_custusx_core_openigtlink3_EXPORT NetworkHandler : public QObject
{
        Q_OBJECT
        QVTK_OBJECT

public:
        NetworkHandler(igtlioLogicPointer logic);
        ~NetworkHandler();

        igtlioSessionPointer requestConnectToServer(std::string serverHost, int serverPort=-1, IGTLIO_SYNCHRONIZATION_TYPE sync=IGTLIO_BLOCKING, double timeout_s=5);
        void disconnectFromServer();

        void clearTimestampSynchronization();

signals:
        void connected();
        void disconnected();

        void transform(QString devicename, Transform3D transform, double timestamp);
        void image(ImagePtr image);
        void commandRespons(QString devicename, QString xml);
        void string_message(QString message);
        //void mesh(MeshPtr image);
        void probedefinition(QString devicename, ProbeDefinitionPtr definition);
        //void calibration(QString devicename, Transform3D calibration);

private slots:
        void onConnectionEvent(vtkObject* caller, void* connector, unsigned long event, void*);
        void onDeviceAddedOrRemoved(vtkObject* caller, void* connector, unsigned long event, void*callData);
        void onDeviceReceived(vtkObject * caller_device, void * unknown, unsigned long event, void *);
        void periodicProcess();

protected:
        void connectToConnectionEvents();
        void connectToDeviceEvents();
        void processImageAndEmitProbeDefinition(ImagePtr cximage, QString deviceName);
        bool emitProbeDefinitionIfChanged(QString deviceName);
        bool convertZeroesInsideSectorToOnes(ImagePtr cximage, int threshold = 0, int newValue = 1);
        bool createMask();
        double synchronizedTimestamp(double receivedTimestampSec);
        bool verifyTimestamp(double &timestampMS);

        igtlioLogicPointer mLogic;
        igtlioSessionPointer mSession;
        QTimer *mTimer;
        ProbeDefinitionFromStringMessagesPtr mProbeDefinitionFromStringMessages;

        bool mGotTimeOffset;
        bool mGotMoreThanOneImage;
        double mTimestampOffsetMS;

        ProbeDefinitionPtr mProbeDefinition;
        bool mZeroesInImage;
        vtkImageDataPtr mUSMask;
        int mSkippedImages;
};

} // namespace cx

#endif /* CX_NETWORKHANDLER_H_ */