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ENH: Adds an option to build an OpenIGTLink server for RF data
This has been created as an alternative to the Plus implementation, which currently does not return all of the RF data
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‎CMakeLists.txt‎

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@@ -31,6 +31,7 @@ include( CTest )
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# Options
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option( BUILD_APPLICATIONS "Build applications" OFF )
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option( BUILD_SERVERS "Build OpenIGTLink Servers" OFF)
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# External dependencies
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find_path( IntersonArraySDK_DIR
@@ -73,6 +74,10 @@ if( BUILD_APPLICATIONS )
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add_subdirectory( app )
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endif()
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if( BUILD_SERVERS )
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add_subdirectory( openigtlink )
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endif()
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# Install Interson libraries
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install( FILES ${IntersonArraySDK_LIBRARY}
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DESTINATION ${INSTALL_BIN_DIR} COMPONENT Runtime

‎openigtlink/CMakeLists.txt‎

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##############################################################################
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#
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# Library: IntersonArraySDK
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#
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# Copyright Kitware Inc. 28 Corporate Drive,
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# Clifton Park, NY, 12065, USA.
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#
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# All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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##############################################################################
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find_package( SlicerExecutionModel REQUIRED )
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include( ${SlicerExecutionModel_USE_FILE} )
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find_package(OpenIGTLink REQUIRED)
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include(${OpenIGTLink_USE_FILE})
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SEMMacroBuildCLI(
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NAME IntersonArrayServerRF
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TARGET_LIBRARIES ${ITK_LIBRARIES}
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IntersonArrayCxx
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OpenIGTLink
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INCLUDE_DIRECTORIES ${PROJECT_SOURCE_DIR}/include
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${PROJECT_BINARY_DIR}/include
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)
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‎openigtlink/IntersonArrayServerRF.cxx‎

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/*=========================================================================
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Library: IntersonArray
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Copyright Kitware Inc. 28 Corporate Drive,
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Clifton Park, NY, 12065, USA.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 ( the "License" );
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=========================================================================*/
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#include <Windows.h> // Sleep
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#include "IntersonArrayCxxImagingContainer.h"
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#include "IntersonArrayCxxControlsHWControls.h"
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#include "igtlImageMessage.h"
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#include "igtlServerSocket.h"
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#include "IntersonArrayServerRFCLP.h"
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typedef IntersonArrayCxx::Imaging::Container ContainerType;
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typedef ContainerType::RFImagePixelType PixelType;
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bool running;
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BOOL WINAPI consoleHandler(DWORD signal) {
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if (signal == CTRL_C_EVENT)
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{
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running = false;
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}
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return TRUE;
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}
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struct CallbackClientData
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{
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int FrameIndex;
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igtl::Socket * socket;
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igtl::ImageMessage * imgMsg;
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igtl::TimeStamp * ts;
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};
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void __stdcall pasteIntoImage( PixelType * buffer, void * clientData )
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{
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CallbackClientData * callbackClientData =
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static_cast< CallbackClientData * >( clientData );
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igtl::ImageMessage * message = callbackClientData->imgMsg;
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igtl::Socket * socket = callbackClientData->socket;
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igtl::TimeStamp * ts = callbackClientData->ts;
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const int framePixels = ContainerType::MAX_RFSAMPLES * ContainerType::NBOFLINES;
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++(callbackClientData->FrameIndex);
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message->SetMessageID(callbackClientData->FrameIndex);
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ts->GetTime();
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igtlUint32 sec;
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igtlUint32 nsec;
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ts->GetTimeStamp(&sec, &nsec);
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message->SetTimeStamp(sec, nsec);
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std::memcpy(message->GetScalarPointer(), buffer, framePixels * sizeof(PixelType));
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if (!socket)
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{
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return;
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}
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message->Pack();
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socket->Send(message->GetPackPointer(), message->GetPackSize());
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}
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int main( int argc, char * argv[] )
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{
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PARSE_ARGS;
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typedef IntersonArrayCxx::Controls::HWControls HWControlsType;
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IntersonArrayCxx::Controls::HWControls hwControls;
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int ret = EXIT_SUCCESS;
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int steering = 0;
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typedef HWControlsType::FoundProbesType FoundProbesType;
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FoundProbesType foundProbes;
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hwControls.FindAllProbes( foundProbes );
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if( foundProbes.empty() )
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{
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std::cerr << "Could not find the probe." << std::endl;
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return EXIT_FAILURE;
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}
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hwControls.FindMyProbe( 0 );
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const unsigned int probeId = hwControls.GetProbeID();
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if( probeId == 0 )
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{
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std::cerr << "Could not find the probe." << std::endl;
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return EXIT_FAILURE;
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}
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HWControlsType::FrequenciesType frequencies;
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hwControls.GetFrequency( frequencies );
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HWControlsType::FocusType focuses;
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hwControls.GetFocus(focuses);
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if( !hwControls.SetFrequencyAndFocus( frequencyIndex, focusIndex,
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steering ) )
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{
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std::cerr << "Could not set the frequency and focus." << std::endl;
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return EXIT_FAILURE;
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}
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if( !hwControls.SendHighVoltage( highVoltage, highVoltage ) )
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{
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std::cerr << "Could not set the high voltage." << std::endl;
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return EXIT_FAILURE;
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}
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if( !hwControls.EnableHighVoltage() )
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{
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std::cerr << "Could not enable high voltage." << std::endl;
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return EXIT_FAILURE;
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}
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hwControls.DisableHardButton();
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ContainerType container;
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container.SetHWControls(&hwControls);
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const int height_lines = hwControls.GetLinesPerArray();
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std::cout << "Lines per array: " << height_lines << std::endl;
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const int width_samples = ContainerType::MAX_RFSAMPLES;
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std::cout << "Max RF samples: " << width_samples << std::endl;
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const double ns = ContainerType::MAX_RFSAMPLES; // number of samples
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const double fs = 30000; // [kHz]=[samples/ms] - sampling frequency
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const double depth = sos * ( ns - 1 ) / ( 2 * fs );
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const double depthCfm = depth/2;
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std::cout << "Depth: " << depth << "mm" << std::endl;
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std::cout << std::endl;
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container.SetRFData( true );
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container.IdleInitScanConverter( depth, width_samples, height_lines, probeId,
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steering, depthCfm, false, false, 0, false );
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container.HardInitScanConverter( depth, width_samples, height_lines, steering,
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depthCfm );
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CallbackClientData clientData;
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clientData.FrameIndex = 0;
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// size parameters
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const short frameRate = hwControls.GetProbeFrameRate();
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int size[] = { ContainerType::MAX_RFSAMPLES, ContainerType::NBOFLINES, 1 }; // image dimension
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float spacing[] = { sos / (2 * fs), 38.0 / (height_lines - 1), 1.0 / frameRate }; // spacing (mm/pixel)
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int svsize[] = { ContainerType::MAX_RFSAMPLES, ContainerType::NBOFLINES, 1 }; // sub-volume size
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int svoffset[] = { 0, 0, 0 }; // sub-volume offset
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int scalarType = igtl::ImageMessage::TYPE_INT16;// scalar type
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//------------------------------------------------------------
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// Create a new IMAGE type message
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igtl::ImageMessage::Pointer imgMsg = igtl::ImageMessage::New();
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imgMsg->SetDimensions(size);
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imgMsg->SetSpacing(spacing);
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imgMsg->SetScalarType(scalarType);
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imgMsg->SetDeviceName("IntersonRF");
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imgMsg->SetSubVolume(svsize, svoffset);
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imgMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);
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IANA_ENCODING_TYPE codingScheme = IANA_TYPE_US_ASCII;
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//Add meta data here
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imgMsg->SetMetaDataElement("Frequency (MHz)", codingScheme, std::to_string(frequencies[frequencyIndex]));
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imgMsg->SetMetaDataElement("Focus (mm)", codingScheme, std::to_string(focuses[focusIndex]));
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imgMsg->SetMetaDataElement("High voltage", codingScheme, std::to_string(highVoltage));
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imgMsg->SetMetaDataElement("SOS", codingScheme, std::to_string(sos));
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imgMsg->SetMetaDataElement("FPS", codingScheme, std::to_string(frameRate));
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imgMsg->SetMetaDataElement("Steering", codingScheme, std::to_string(steering));
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imgMsg->SetMetaDataElement("Image Type", codingScheme, "RF");
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imgMsg->SetMetaDataElement("Timestamp seconds", codingScheme, "0");
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imgMsg->SetMetaDataElement("Timestamp nseconds", codingScheme, "0");
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imgMsg->AllocateScalars();
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imgMsg->SetEndian(igtl::ImageMessage::ENDIAN_LITTLE);
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igtl::Matrix4x4 matrix;
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matrix[0][0] = 0.0; matrix[1][0] = -1.0; matrix[2][0] = 0.0; matrix[3][0] = 0.0;
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matrix[0][1] = 1.0; matrix[1][1] = 0.0; matrix[2][1] = 0.0; matrix[3][1] = 0.0;
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matrix[0][2] = 0.0; matrix[1][2] = 0.0; matrix[2][2] = 1.0; matrix[3][2] = 0.0;
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matrix[0][3] = 0.0; matrix[1][3] = 0.0; matrix[2][3] = 0.0; matrix[3][3] = 1.0;
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imgMsg->SetMatrix(matrix);
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igtl::TimeStamp::Pointer ts = igtl::TimeStamp::New();
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clientData.ts = ts.GetPointer();
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clientData.imgMsg = imgMsg.GetPointer();
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//socket setup
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igtl::ServerSocket::Pointer serverSocket;
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serverSocket = igtl::ServerSocket::New();
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int r = serverSocket->CreateServer(port);
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if (r < 0)
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{
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std::cerr << "Cannot create a server socket." << std::endl;
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exit(0);
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}
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std::cerr << "Created Server socket." << std::endl;
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igtl::Socket::Pointer socket;
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clientData.socket = socket;
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container.SetNewRFImageCallback( &pasteIntoImage, &clientData );
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std::cout << "StartRFReadScan" << std::endl;
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container.StartRFReadScan();
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Sleep( 100 ); // "time to start"
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std::cout << "StartRFmode" << std::endl;
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if( !hwControls.StartRFmode() )
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{
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std::cerr << "Could not start RF collection." << std::endl;
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return EXIT_FAILURE;
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}
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if (!SetConsoleCtrlHandler(consoleHandler, TRUE))
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{
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std::cout << "Could not set control handler" << std::endl;
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return 1;
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}
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running = true;
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std::cout << "Server is running, use Ctrl-C to stop" << std::endl;
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while( running )
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{
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//------------------------------------------------------------
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// Waiting for Connection
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socket = serverSocket->WaitForConnection(1000);
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clientData.socket = socket.GetPointer();
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if (socket.IsNotNull()) // if client connected
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{
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Sleep(10000); //chill for a bit
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}
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}
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std::cout << "Shutting down" << std::endl;
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hwControls.StopAcquisition();
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container.StopReadScan();
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if (socket)
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{
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socket->CloseSocket();
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}
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Sleep( 100 ); // "time to stop"
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return ret;
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}

‎openigtlink/IntersonArrayServerRF.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<executable>
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<category>Ultrasound</category>
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<title>Interson RF OpenIGTLink Server</title>
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<description>Braodcast RF images over OpenIGTLink.</description>
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<version>0.1.0</version>
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<license>Apache 2.0</license>
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<contributor>Sam Horvath (Kitware), Matt McCormick (Kitware)</contributor>
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<acknowledgements>This work is funded in part by a grant with InnerOptic/Kitware</acknowledgements>
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<parameters>
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<integer>
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<name>port</name>
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<label>Port Number</label>
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<description>Port for OpenIGTLink Server.</description>
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<longflag>port</longflag>
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<flag>p</flag>
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<default>18944</default>
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</integer>
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<integer>
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<name>frequencyIndex</name>
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<label>Frequency Index</label>
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<description>Index of the frequency to examine. See the output of PrintIntersonProbeInfo.</description>
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<longflag>frequencyIndex</longflag>
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<flag>f</flag>
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<default>1</default>
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</integer>
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<integer>
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<name>focusIndex</name>
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<label>Focus Index</label>
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<description>Index of the focus to examine. See the output of PrintIntersonProbeInfo.</description>
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<longflag>focusIndex</longflag>
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<flag>F</flag>
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<default>1</default>
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</integer>
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<integer>
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<name>highVoltage</name>
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<label>High Voltage</label>
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<description>Percentage of the high voltage for transducer excitation.</description>
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<longflag>highVoltage</longflag>
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<flag>z</flag>
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<default>50</default>
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<minimum>0</minimum>
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<maximum>100</maximum>
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</integer>
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<double>
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<name>sos</name>
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<label>Speed of sound</label>
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<description> Assumed speed of sound in the crossed medium in mm/ms.</description>
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<longflag>sos</longflag>
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<default>1540</default>
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</double>
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</parameters>
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</executable>

‎src/CMakeLists.txt‎

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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/app/bin"
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)
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endif()
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if( BUILD_SERVERS )
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add_custom_command( TARGET IntersonArrayCxx
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "${IntersonArraySDK_DIR}/Libraries/IntersonArray.dll" "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "${IntersonArraySDK_DIR}/Libraries/IntersonArray.dll" "${PROJECT_BINARY_DIR}/openigtlink/bin"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/openigtlink/bin"
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)
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endif()

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