cxVideoConnection.cpp

Go to the documentation of this file.

/*=========================================================================
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.
=========================================================================*/
#include "cxVideoConnection.h"

#include <vtkDataSetMapper.h>
#include <vtkImageFlip.h>

#include "cxTrackingService.h"
#include "cxBasicVideoSource.h"
#include "cxVideoServiceBackend.h"
#include "cxNullDeleter.h"
#include "cxImageReceiverThread.h"
#include "cxImage.h"
#include "cxLogger.h"
#include <QApplication>
#include "boost/function.hpp"
#include "boost/bind.hpp"

typedef vtkSmartPointer<vtkDataSetMapper> vtkDataSetMapperPtr;
typedef vtkSmartPointer<vtkImageFlip> vtkImageFlipPtr;

namespace cx
{

VideoConnection::VideoConnection(VideoServiceBackendPtr backend)
{
        mBackend = backend;
        mUnusedProbeDefinitionVector.clear();

        connect(mBackend->tracking().get(), &TrackingService::stateChanged, this, &VideoConnection::connectVideoToProbe);
        connect(mBackend->tracking().get(), SIGNAL(activeToolChanged(QString)), this, SLOT(connectVideoToProbe()));
}

VideoConnection::~VideoConnection()
{
        this->stopClient();
        this->waitForClientFinished();
}

void VideoConnection::waitForClientFinished()
{
        if (mThread)
        {
                mThread->wait(2000);
                // NOTE: OpenCV requires a running event loop in the main thread to quit normally.
                // During system shutdown, this is not the case and we get this warning.
                // Attempts to solve using qApp->processEvents() has failed due to (lots of) side effects.
                // Seems to happen with other streamers as well.
//              CX_LOG_WARNING() << "Video thread finished: " << mThread->isFinished();
//              CX_LOG_WARNING() << "Video thread running: " << mThread->isRunning();
//              if (mThread->isRunning())
//                      CX_LOG_WARNING() << "Video thread did not quit normally - ignoring.";
        }
}

void VideoConnection::fpsSlot(QString source, double fpsNumber)
{
        mFPS = fpsNumber;
        emit fps(source, fpsNumber);
}

bool VideoConnection::isConnected() const
{
        return mThread;
}

StreamerServicePtr VideoConnection::getStreamerInterface()
{
        return mStreamerInterface;
}


namespace
{
class EventProcessingThread : public QThread
{
        virtual void run()
        {
                this->exec();
                qApp->processEvents(); // exec() docs doesn't guarantee that the posted events are processed. - do that here.
        }
};
}

void VideoConnection::runDirectLinkClient(StreamerServicePtr service)
{
        if (mClient)
        {
                // in this case we already have a working system: ignore
                CX_LOG_INFO() << "Video client already exists - cannot start";
                return;
        }
        if (mThread)
        {
                // in this case we have a thread but no client: probably shutting down: ignore
                CX_LOG_INFO() << "Video thread already exists (in shutdown?) - cannot start";
                return;
        }

    mStreamerInterface = service;
        mClient = new ImageReceiverThread(mStreamerInterface);

        connect(mClient.data(), &ImageReceiverThread::imageReceived, this, &VideoConnection::imageReceivedSlot); // thread-bridging connection
        connect(mClient.data(), &ImageReceiverThread::sonixStatusReceived, this, &VideoConnection::statusReceivedSlot); // thread-bridging connection
        connect(mClient.data(), &ImageReceiverThread::fps, this, &VideoConnection::fpsSlot); // thread-bridging connection

        mThread = new EventProcessingThread;
        mThread->setObjectName("org.custusx.core.video.imagereceiver");
        mClient->moveToThread(mThread);

    connect(mThread.data(), &QThread::started, this, &VideoConnection::onConnected);
    connect(mThread.data(), &QThread::started, mClient.data(), &ImageReceiverThread::initialize);

    connect(mClient.data(), &ImageReceiverThread::finished, mThread.data(), &QThread::quit);
    connect(mClient.data(), &ImageReceiverThread::finished, mClient.data(), &ImageReceiverThread::deleteLater);
    connect(mThread.data(), &QThread::finished, this, &VideoConnection::onDisconnected);
    connect(mThread.data(), &QThread::finished, mThread.data(), &QThread::deleteLater);

        mThread->start();
}

void VideoConnection::imageReceivedSlot()
{
        if (!mClient)
                return;
        this->updateImage(mClient->getLastImageMessage());
}

void VideoConnection::statusReceivedSlot()
{
        if (!mClient)
                return;
        this->updateStatus(mClient->getLastSonixStatusMessage());
}

void VideoConnection::stopClient()
{
        if (!mThread)
                return;

        if (mClient)
        {
                disconnect(mClient.data(), &ImageReceiverThread::imageReceived, this, &VideoConnection::imageReceivedSlot); // thread-bridging connection
                disconnect(mClient.data(), &ImageReceiverThread::sonixStatusReceived, this, &VideoConnection::statusReceivedSlot); // thread-bridging connection
                disconnect(mClient.data(), &ImageReceiverThread::fps, this, &VideoConnection::fpsSlot); // thread-bridging connection

                QMetaObject::invokeMethod(mClient, "shutdown", Qt::QueuedConnection);

                mClient = NULL;
        }
}

void VideoConnection::disconnectServer()
{
        this->stopClient();
}

void VideoConnection::onConnected()
{
        this->startAllSources();
        emit connected(true);
}

void VideoConnection::onDisconnected()
{
        mClient = NULL;
        mThread = NULL; // because this method listens to thread::finished

        this->resetProbe();

        this->stopAllSources();

        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->setInput(ImagePtr());

        ToolPtr tool = mBackend->tracking()->getFirstProbe();
        if (tool && tool->getProbe())
                this->removeSourceFromProbe(tool);

        mSources.clear();
        mStreamerInterface.reset();

        emit connected(false);
        emit videoSourcesChanged();
}

void VideoConnection::useUnusedProbeDefinitionSlot()
{
        disconnect(mBackend->tracking().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDefinitionSlot);

        std::vector<ProbeDefinitionPtr> unusedProbeDefinitionVector = mUnusedProbeDefinitionVector;
        mUnusedProbeDefinitionVector.clear();

        for (unsigned i = 0;  i < unusedProbeDefinitionVector.size(); ++i)
                this->updateStatus(unusedProbeDefinitionVector[i]);
}

void VideoConnection::resetProbe()
{
        ToolPtr tool = mBackend->tracking()->getFirstProbe();
        if (!tool || !tool->getProbe())
                return;
        ProbePtr probe = tool->getProbe();
        if (probe)
        {
                ProbeDefinition data = probe->getProbeDefinition();
                data.setUseDigitalVideo(false);
                probe->setProbeDefinition(data);
        }
}

void VideoConnection::updateStatus(ProbeDefinitionPtr msg)
{
        ToolPtr tool = mBackend->tracking()->getFirstProbe();
        if (!tool || !tool->getProbe())
        {
                //Don't throw away the ProbeDefinition. Save it until it can be used
                if (mUnusedProbeDefinitionVector.empty())
                        connect(mBackend->tracking().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDefinitionSlot);
                mUnusedProbeDefinitionVector.push_back(msg);
                return;
        }
        ProbePtr probe = tool->getProbe();

        // start with getting a valid data object from the probe, in order to keep
        // existing values (such as temporal calibration).
        // Note that the 'active' data is get while the 'uid' data is set.
        ProbeDefinition data = probe->getProbeDefinition();

        data.setUid(msg->getUid());
        data.setType(msg->getType());
        data.setSector(msg->getDepthStart(), msg->getDepthEnd(), msg->getWidth());
        data.setOrigin_p(msg->getOrigin_p());
        data.setSize(msg->getSize());
        data.setSpacing(msg->getSpacing());
        data.setClipRect_p(msg->getClipRect_p());
        data.setUseDigitalVideo(true);

        probe->setProbeDefinition(data);
        probe->setActiveStream(msg->getUid());
}

void VideoConnection::startAllSources()
{
        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->start();
}

void VideoConnection::stopAllSources()
{
        for (unsigned i=0; i<mSources.size(); ++i)
                mSources[i]->stop();
}

void VideoConnection::removeSourceFromProbe(ToolPtr tool)
{
        ProbePtr probe = tool->getProbe();
        for (unsigned i=0; i<mSources.size(); ++i)
                probe->removeRTSource(mSources[i]);
}

void VideoConnection::updateImage(ImagePtr message)
{
        BasicVideoSourcePtr source;

        // look for existing VideoSource
        for (unsigned i=0; i<mSources.size(); ++i)
        {
                if (message && message->getUid() == mSources[i]->getUid())
                        source = mSources[i];
        }

        bool newSource = false;
        // no existing found: create new
        if (!source)
        {
                source.reset(new BasicVideoSource());
                mSources.push_back(source);
                source->start();
                newSource = true;
        }
        // set input.
        source->setInput(message);

        QString info = mClient->hostDescription() + " - " + QString::number(mFPS, 'f', 1) + " fps";
        source->setInfoString(info);

        if (newSource)
        {
                this->connectVideoToProbe();
                emit videoSourcesChanged();
        }
}

std::vector<VideoSourcePtr> VideoConnection::getVideoSources()
{
        std::vector<VideoSourcePtr> retval;
        std::copy(mSources.begin(), mSources.end(), std::back_inserter(retval));
        return retval;
}

void VideoConnection::connectVideoToProbe()
{
        ToolPtr tool = mBackend->tracking()->getFirstProbe();
        if (!tool)
                return;

        ProbePtr probe = tool->getProbe();
        if (!probe)
                return;

        for (unsigned i=0; i<mSources.size(); ++i)
                probe->setRTSource(mSources[i]);
}

}