igtl::TrackingDataMessage Class Reference

#include <igtlTrackingDataMessage.h>

Inheritance diagram for igtl::TrackingDataMessage:

Collaboration diagram for igtl::TrackingDataMessage:

Public Types
enum	{   UNPACK_UNDEF = 0x0000 ,   UNPACK_HEADER = 0x0001 ,   UNPACK_BODY = 0x0002 }
typedef SmartPointer< const Self >	ConstPointer
typedef SmartPointer< Self >	Pointer
typedef TrackingDataMessage	Self
typedef MessageBase	Superclass

Public Member Functions
int	AddTrackingDataElement (TrackingDataElement::Pointer &elem)
void	AllocateBuffer ()
void	AllocatePack ()
int	CalculateReceiveContentSize ()
void	ClearTrackingDataElements ()
virtual igtl::MessageBase::Pointer	Clone ()
int	Copy (const MessageBase *mb)
virtual LightObject::Pointer	CreateAnother () const
virtual void	DebugOff () const
virtual void	DebugOn () const
virtual void	Delete ()
int	GetBodySizeToRead ()
const char *	GetBodyType ()
void *	GetBufferBodyPointer ()
int	GetBufferBodySize ()
void *	GetBufferPointer ()
int	GetBufferSize ()
bool	GetDebug () const
const char *	GetDeviceName ()
std::string	GetDeviceName () const
const char *	GetDeviceType ()
unsigned short	GetHeaderVersion () const
std::string	GetMessageType () const
virtual const char *	GetNameOfClass () const
int	GetNumberOfTrackingDataElement ()
int	GetNumberOfTrackingDataElements ()
void *	GetPackBodyPointer ()
int	GetPackBodySize ()
void *	GetPackPointer ()
int	GetPackSize ()
virtual int	GetReferenceCount () const
void	GetTimeStamp (igtl::TimeStamp::Pointer &ts)
int	GetTimeStamp (unsigned int *sec, unsigned int *frac)
void	GetTrackingDataElement (int index, TrackingDataElement::Pointer &elem)
	igtlNewMacro (igtl::TrackingDataMessage)
	igtlTypeMacro (igtl::TrackingDataMessage, igtl::MessageBase)
	igtlTypeMacro (Object, LightObject)
void	InitBuffer ()
void	InitPack ()
virtual int	Pack ()
void	Print (std::ostream &os) const
virtual void	Register () const
void	SetDebug (bool debugFlag) const
void	SetDeviceName (const char *name)
void	SetDeviceName (const std::string &name)
void	SetDeviceType (const std::string &type)
void	SetHeaderVersion (unsigned short headerVersion)
virtual int	SetMessageHeader (const MessageHeader *mb)
virtual void	SetReferenceCount (int)
void	SetTimeStamp (igtl::TimeStamp::Pointer &ts)
int	SetTimeStamp (unsigned int sec, unsigned int frac)
int	Unpack (int crccheck=0)
virtual void	UnRegister () const

Static Public Member Functions
static void	BreakOnError ()
static Pointer	New ()

Protected Member Functions
virtual void	AllocateBuffer (int contentSize)
virtual void	AllocateUnpack (int bodySizeToRead)
virtual int	CalculateContentBufferSize ()
int	CopyBody (const MessageBase *mb)
int	CopyHeader (const MessageBase *mb)
virtual int	PackContent ()
	TrackingDataMessage ()
void	UnpackBody (int crccheck, int &r)
virtual int	UnpackContent ()
void	UnpackHeader (int &r)
	~TrackingDataMessage ()

Protected Attributes
unsigned char *	m_Body
int	m_BodySizeToRead
unsigned char *	m_Content
std::string	m_DeviceName
unsigned char *	m_Header
unsigned short	m_HeaderVersion
bool	m_IsBodyPacked
bool	m_IsBodyUnpacked
bool	m_IsHeaderUnpacked
int	m_MessageSize
std::string	m_ReceiveMessageType
std::string	m_SendMessageType
unsigned int	m_TimeStampSec
unsigned int	m_TimeStampSecFraction
std::vector< TrackingDataElement::Pointer >	m_TrackingDataList
volatile int	m_ReferenceCount
SimpleFastMutexLock	m_ReferenceCountLock
virtual void	PrintHeader (std::ostream &os) const
virtual void	PrintTrailer (std::ostream &os) const
virtual void	PrintSelf (std::ostream &os) const
static void	SetGlobalWarningDisplay (bool flag)
static bool	GetGlobalWarningDisplay ()
static void	GlobalWarningDisplayOn ()
static void	GlobalWarningDisplayOff ()

Detailed Description

The TDATA message type is intended for transferring 3D positions of surgical tools, markers etc. Those positions are often measured by optical, electromagnetic or other type of 3D position sensor continuously and transferred as series of messages. Since it is important for software that receives TDATA to control data flow, STT_TDATA query data type has interval field to control the frame rate of consecutive messages.

Definition at line 216 of file igtlTrackingDataMessage.h.

Member Typedef Documentation

ConstPointer

typedef SmartPointer<const Self> igtl::TrackingDataMessage::ConstPointer

Definition at line 222 of file igtlTrackingDataMessage.h.

Pointer

typedef SmartPointer<Self> igtl::TrackingDataMessage::Pointer

Definition at line 221 of file igtlTrackingDataMessage.h.

Self

typedef TrackingDataMessage igtl::TrackingDataMessage::Self

Definition at line 219 of file igtlTrackingDataMessage.h.

Superclass

typedef MessageBase igtl::TrackingDataMessage::Superclass

Definition at line 220 of file igtlTrackingDataMessage.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

inherited

Unpack status. They are returned by the Unpack() function.

Enumerator
UNPACK_UNDEF
UNPACK_HEADER
UNPACK_BODY

Definition at line 95 of file igtlMessageBase.h.

Constructor & Destructor Documentation

TrackingDataMessage()

igtl::TrackingDataMessage::TrackingDataMessage ( )

protected

~TrackingDataMessage()

igtl::TrackingDataMessage::~TrackingDataMessage ( )

protected

Member Function Documentation

AddTrackingDataElement()

int igtl::TrackingDataMessage::AddTrackingDataElement

(

TrackingDataElement::Pointer &

elem

)

Adds tracking data element.

AllocateBuffer() [1/2]

void igtl::MessageBase::AllocateBuffer ( )

inherited

AllocatePack() allocates memory for underlying buffer If m_BodySizeToRead > 0, we are allocating for receiving a message

AllocateBuffer() [2/2]

virtual void igtl::MessageBase::AllocateBuffer ( int  contentSize )

protectedvirtualinherited

Allocates memory specifying the content size. Implicitly allocates extended header, metadata header and metadata in addition to content

Reimplemented in igtl::ImageMessage2.

AllocatePack()

void igtl::MessageBase::AllocatePack ( )

inlineinherited

Definition at line 242 of file igtlMessageBase.h.

AllocateUnpack()

virtual void igtl::MessageBase::AllocateUnpack ( int  bodySizeToRead )

protectedvirtualinherited

Allocates memory specifying the unpack content size Size of body to allocate is determined from v1 message header field 'body_size'

BreakOnError()

static void igtl::LightObject::BreakOnError ( )

staticinherited

This method is called when igtlExceptionMacro executes. It allows the debugger to break on error.

CalculateContentBufferSize()

virtual int igtl::TrackingDataMessage::CalculateContentBufferSize ( )

protectedvirtual

Gets the size of the serialized content.

Reimplemented from igtl::MessageBase.

CalculateReceiveContentSize()

int igtl::MessageBase::CalculateReceiveContentSize ( )

inherited

Calculate the size of the received content data Returns -1 if the extended header has not been properly initialized (meta data size, meta data header size, etc...) Used when receiving data, not sending

ClearTrackingDataElements()

void igtl::TrackingDataMessage::ClearTrackingDataElements

(

)

Clears the all tracking data element in the list.

Clone()

virtual igtl::MessageBase::Pointer igtl::MessageBase::Clone ( )

virtualinherited

Create a clone of this message, new memory but all internals are preserved.

Copy()

int igtl::MessageBase::Copy ( const MessageBase *  mb )

inherited

Copy() copies contents from the specified Massage class. If the type of the specified class is the same as this class, general header and body are copied.

CopyBody()

int igtl::MessageBase::CopyBody ( const MessageBase *  mb )

protectedinherited

Copies the serialized body data.

CopyHeader()

int igtl::MessageBase::CopyHeader ( const MessageBase *  mb )

protectedinherited

Copies a header from given message.

CreateAnother()

virtual LightObject::Pointer igtl::Object::CreateAnother ( ) const

virtualinherited

Create an object from an instance, potentially deferring to a factory. This method allows you to create an instance of an object that is exactly the same type as the referring object. This is useful in cases where an object has been cast back to a base class.

Reimplemented from igtl::LightObject.

DebugOff()

virtual void igtl::Object::DebugOff ( ) const

virtualinherited

Turn debugging output off.

DebugOn()

virtual void igtl::Object::DebugOn ( ) const

virtualinherited

Turn debugging output on.

Delete()

virtual void igtl::LightObject::Delete ( )

virtualinherited

Delete an igtl object. This method should always be used to delete an object when the new operator was used to create it. Using the C delete method will not work with reference counting.

GetBodySizeToRead()

int igtl::MessageBase::GetBodySizeToRead ( )

inherited

GetBodySizeToRead() returns the size of the body to be read. This function must be called after the message header is set.

GetBodyType()

const char * igtl::MessageBase::GetBodyType ( )

inherited

Gets the type of the body.

GetBufferBodyPointer()

void * igtl::MessageBase::GetBufferBodyPointer ( )

inherited

Gets a pointer to the raw byte array for the serialized body data.

GetBufferBodySize()

int igtl::MessageBase::GetBufferBodySize ( )

inherited

Gets the size of the serialized body data.

GetBufferPointer()

void * igtl::MessageBase::GetBufferPointer ( )

inherited

Gets a pointer to the raw byte array for the serialized data including the header and the body.

GetBufferSize()

int igtl::MessageBase::GetBufferSize ( )

inherited

Gets the size of the serialized message data.

GetDebug()

bool igtl::Object::GetDebug ( ) const

inherited

Get the value of the debug flag.

GetDeviceName() [1/2]

const char * igtl::MessageBase::GetDeviceName ( )

inherited

Gets the device name.

GetDeviceName() [2/2]

std::string igtl::MessageBase::GetDeviceName ( ) const

inherited

Gets the device name.

GetDeviceType()

const char * igtl::MessageBase::GetDeviceType ( )

inherited

Gets the device (message) type.

GetGlobalWarningDisplay()

static bool igtl::Object::GetGlobalWarningDisplay ( )

staticinherited

Methods invoked by Print() to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

GetHeaderVersion()

unsigned short igtl::MessageBase::GetHeaderVersion ( ) const

inherited

Gets the message version number.

GetMessageType()

std::string igtl::MessageBase::GetMessageType ( ) const

inherited

Gets the message type.

GetNameOfClass()

virtual const char * igtl::LightObject::GetNameOfClass ( ) const

inlinevirtualinherited

Return the name of this class as a string. Used by the object factory (implemented in New()) to instantiate objects of a named type. Also used for debugging and other output information.

Definition at line 84 of file igtlLightObject.h.

GetNumberOfTrackingDataElement()

int igtl::TrackingDataMessage::GetNumberOfTrackingDataElement ( )

inline

Definition at line 238 of file igtlTrackingDataMessage.h.

GetNumberOfTrackingDataElements()

int igtl::TrackingDataMessage::GetNumberOfTrackingDataElements

(

)

Gets the number of tracking data elements in the list.

GetPackBodyPointer()

void * igtl::MessageBase::GetPackBodyPointer ( )

inlineinherited

Definition at line 218 of file igtlMessageBase.h.

GetPackBodySize()

int igtl::MessageBase::GetPackBodySize ( )

inlineinherited

Definition at line 226 of file igtlMessageBase.h.

GetPackPointer()

void * igtl::MessageBase::GetPackPointer ( )

inlineinherited

Definition at line 214 of file igtlMessageBase.h.

GetPackSize()

int igtl::MessageBase::GetPackSize ( )

inlineinherited

Definition at line 222 of file igtlMessageBase.h.

GetReferenceCount()

virtual int igtl::LightObject::GetReferenceCount ( ) const

inlinevirtualinherited

Gets the reference count on this object.

Definition at line 110 of file igtlLightObject.h.

GetTimeStamp() [1/2]

void igtl::MessageBase::GetTimeStamp ( igtl::TimeStamp::Pointer &  ts )

inherited

Gets time of message creation.

GetTimeStamp() [2/2]

int igtl::MessageBase::GetTimeStamp ( unsigned int *  sec, unsigned int *  frac  )

inherited

Gets time of message creation. 'sec' and 'frac' are seconds and fractions of a second respectively.

GetTrackingDataElement()

void igtl::TrackingDataMessage::GetTrackingDataElement	(	int	index,
		TrackingDataElement::Pointer &	elem
	)

Gets the tracking data element specified by 'index'.

GlobalWarningDisplayOff()

static void igtl::Object::GlobalWarningDisplayOff ( )

inlinestaticinherited

Methods invoked by Print() to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Definition at line 116 of file igtlObject.h.

GlobalWarningDisplayOn()

static void igtl::Object::GlobalWarningDisplayOn ( )

inlinestaticinherited

Methods invoked by Print() to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Definition at line 114 of file igtlObject.h.

igtlNewMacro()

igtl::TrackingDataMessage::igtlNewMacro

(

igtl::TrackingDataMessage

)

igtlTypeMacro() [1/2]

igtl::TrackingDataMessage::igtlTypeMacro	(	igtl::TrackingDataMessage	,
		igtl::MessageBase
	)

igtlTypeMacro() [2/2]

igtl::Object::igtlTypeMacro ( Object  , LightObject    )

inherited

Standard part of all igtl objects.

InitBuffer()

void igtl::MessageBase::InitBuffer ( )

inherited

Call InitPack() before receive header. This function simply resets the Unpacked flag for both the header and body pack Only allocate the original 58 byte header

InitPack()

void igtl::MessageBase::InitPack ( )

inlineinherited

Definition at line 249 of file igtlMessageBase.h.

New()

static Pointer igtl::Object::New ( )

staticinherited

Method for creation through the object factory.

Pack()

virtual int igtl::MessageBase::Pack ( )

virtualinherited

Pack() serializes the header and body based on the member variables. PackContent() must be implemented in the child class.

Reimplemented in igtl::ImageMessage2.

PackContent()

virtual int igtl::TrackingDataMessage::PackContent ( )

protectedvirtual

Packs (serialize) the content. Must be implemented in all child classes.

Reimplemented from igtl::MessageBase.

Print()

void igtl::LightObject::Print ( std::ostream &  os ) const

inherited

Cause the object to print itself out.

PrintHeader()

virtual void igtl::LightObject::PrintHeader ( std::ostream &  os ) const

protectedvirtualinherited

Number of uses of this object by other objects.

PrintSelf()

virtual void igtl::Object::PrintSelf ( std::ostream &  os ) const

protectedvirtualinherited

Methods invoked by Print() to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Reimplemented from igtl::LightObject.

Reimplemented in igtl::ClientSocket, igtl::FastMutexLock, igtl::MultiThreader, igtl::MutexLock, igtl::ObjectFactoryBase, igtl::ServerSocket, igtl::Socket, and igtl::TimeStamp.

PrintTrailer()

virtual void igtl::LightObject::PrintTrailer ( std::ostream &  os ) const

protectedvirtualinherited

Number of uses of this object by other objects.

Register()

virtual void igtl::Object::Register ( ) const

virtualinherited

Return this objects modified time.
Update the modification time for this object. Many filters rely on the modification time to determine if they need to recompute their data.
Increase the reference count (mark as used by another object).

Reimplemented from igtl::LightObject.

SetDebug()

void igtl::Object::SetDebug ( bool  debugFlag ) const

inherited

Set the value of the debug flag. A non-zero value turns debugging on.

SetDeviceName() [1/2]

void igtl::MessageBase::SetDeviceName ( const char *  name )

inherited

Sets the device name.

SetDeviceName() [2/2]

void igtl::MessageBase::SetDeviceName ( const std::string &  name )

inherited

Sets the device name.

SetDeviceType()

void igtl::MessageBase::SetDeviceType ( const std::string &  type )

inherited

Sets the device (message) type.

SetGlobalWarningDisplay()

static void igtl::Object::SetGlobalWarningDisplay ( bool  flag )

staticinherited

This is a global flag that controls whether any debug, warning or error messages are displayed.

SetHeaderVersion()

void igtl::MessageBase::SetHeaderVersion ( unsigned short  headerVersion )

inherited

Sets the message version number.

SetMessageHeader()

virtual int igtl::MessageBase::SetMessageHeader ( const MessageHeader *  mb )

virtualinherited

Sets the message header.

Reimplemented in igtl::PositionMessage.

SetReferenceCount()

virtual void igtl::Object::SetReferenceCount ( int  )

virtualinherited

Sets the reference count (use with care)

Reimplemented from igtl::LightObject.

SetTimeStamp() [1/2]

void igtl::MessageBase::SetTimeStamp ( igtl::TimeStamp::Pointer &  ts )

inherited

Sets time of message creation.

SetTimeStamp() [2/2]

int igtl::MessageBase::SetTimeStamp ( unsigned int  sec, unsigned int  frac  )

inherited

Sets time of message creation. 'sec' and 'frac' are seconds and fractions of a second respectively.

Unpack()

int igtl::MessageBase::Unpack ( int  crccheck = 0 )

inherited

Unpack() deserializes the header and/or body, extracting data from the byte stream. If the header has already been deserilized, Unpack() deserializes only the body part. UnpackBody() must be implemented to deserialize the body part. Unpack() performs 64-bit CRC check, when crccheck = 1. It returns:

UNPACK_UNDEF : Nothing deserialized UNPACK_HEADER : The header has been deserialized. UNPACK_BODY : The body has been deserialized. If CRC check fails, Unpack() doesn't deserialize the body, thus it doesn't return UNPACK_BODY flag. UNPACK_HEADER|UNPACK_BODY: Both the header and body have been deserialized

UnpackBody()

void igtl::MessageBase::UnpackBody ( int  crccheck, int &  r  )

protectedinherited

Unpack the body If it's a v3 message, body is ext header + content + metadataheader + metadata<optional>

UnpackContent()

virtual int igtl::TrackingDataMessage::UnpackContent ( )

protectedvirtual

Unpacks (deserialize) the content. Must be implemented in all child classes.

Reimplemented from igtl::MessageBase.

UnpackHeader()

void igtl::MessageBase::UnpackHeader ( int &  r )

protectedinherited

Unpack the first 58 bytes.

UnRegister()

virtual void igtl::Object::UnRegister ( ) const

virtualinherited

Decrease the reference count (release by another object).

Reimplemented from igtl::LightObject.

Member Data Documentation

m_Body

unsigned char* igtl::MessageBase::m_Body

protectedinherited

A pointer to the byte array for the serialized body. To prevent large copy of the byte array in the Pack() function, header byte array is concatenated to the byte array for the header.

Definition at line 308 of file igtlMessageBase.h.

m_BodySizeToRead

int igtl::MessageBase::m_BodySizeToRead

protectedinherited

The size of the body to be read. This function must be called after the message header is set.

Definition at line 315 of file igtlMessageBase.h.

m_Content

unsigned char* igtl::MessageBase::m_Content

protectedinherited

A pointer to the underlying content of a message.

Definition at line 311 of file igtlMessageBase.h.

m_DeviceName

std::string igtl::MessageBase::m_DeviceName

protectedinherited

A character string for the device name (message name).

Definition at line 328 of file igtlMessageBase.h.

m_Header

unsigned char* igtl::MessageBase::m_Header

protectedinherited

A pointer to the byte array for the serialized header. To prevent large copy of the byte array in the Pack() function, header byte array is concatenated to the byte array for the body.

Definition at line 303 of file igtlMessageBase.h.

m_HeaderVersion

unsigned short igtl::MessageBase::m_HeaderVersion

protectedinherited

An unsigned short for the message format version.

Definition at line 325 of file igtlMessageBase.h.

m_IsBodyPacked

bool igtl::MessageBase::m_IsBodyPacked

protectedinherited

Packing (serialization) status for the body.

Definition at line 345 of file igtlMessageBase.h.

m_IsBodyUnpacked

bool igtl::MessageBase::m_IsBodyUnpacked

protectedinherited

Unpacking (deserialization) status for the body.

Definition at line 342 of file igtlMessageBase.h.

m_IsHeaderUnpacked

bool igtl::MessageBase::m_IsHeaderUnpacked

protectedinherited

Unpacking (deserialization) status for the header.

Definition at line 339 of file igtlMessageBase.h.

m_MessageSize

int igtl::MessageBase::m_MessageSize

protectedinherited

Definition at line 298 of file igtlMessageBase.h.

m_ReceiveMessageType

std::string igtl::MessageBase::m_ReceiveMessageType

protectedinherited

A character string for the device type (message type). This will be used when the header is deserialized from a byte stream received from the network.

Definition at line 322 of file igtlMessageBase.h.

m_ReferenceCount

volatile int igtl::LightObject::m_ReferenceCount

mutableprotectedinherited

Number of uses of this object by other objects.

Definition at line 131 of file igtlLightObject.h.

m_ReferenceCountLock

SimpleFastMutexLock igtl::LightObject::m_ReferenceCountLock

mutableprotectedinherited

Mutex lock to protect modification to the reference count

Definition at line 134 of file igtlLightObject.h.

m_SendMessageType

std::string igtl::MessageBase::m_SendMessageType

protectedinherited

A character string for the send device type (message type).

Definition at line 318 of file igtlMessageBase.h.

m_TimeStampSec

unsigned int igtl::MessageBase::m_TimeStampSec

protectedinherited

A time stamp (second) for message creation. It consists of fields for seconds (m_TimeStampSec)and fractions of a second (m_TimeStampSecFraction).

Definition at line 332 of file igtlMessageBase.h.

m_TimeStampSecFraction

unsigned int igtl::MessageBase::m_TimeStampSecFraction

protectedinherited

A time stamp (second) for message creation. It consists of fields for seconds (m_TimeStampSec)and fractions of a second (m_TimeStampSecFraction).

Definition at line 336 of file igtlMessageBase.h.

m_TrackingDataList

std::vector<TrackingDataElement::Pointer> igtl::TrackingDataMessage::m_TrackingDataList

protected

The list of tracking data elements.

Definition at line 255 of file igtlTrackingDataMessage.h.

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

• igtlTrackingDataMessage.h