Broadcasting tracker data through network

[kenavolic]

Hi,

In the same spirit as #871, I had to test the broadcasting of tracker data through network with OpenIGTLinkTracker device.

Here is setup:

• PC1 with a server built from re #881: Add initial support for generic sensor data retrieval #882 streaming accelerometer data

<PlusConfiguration version="2.1">
    <DataCollection StartupDelaySec="1.0">
        <DeviceSet Name="PlusServer: Generic sensor" Description="Broadcasting available sensors tracking data through OpenIGTLink" />
        <Device Id="TrackerDevice" Type="GenericSensor" ToolReferenceFrame="Tracker">
            <DataSources>
                <DataSource Type="Tool" Id="Accelerometer" PortName="Accelerometer" />
            </DataSources>
            <OutputChannels>
                <OutputChannel Id="TrackerStream">
                    <DataSource Id="Accelerometer"/>
                </OutputChannel>
            </OutputChannels>
        </Device>
        <Device Id="CaptureDevice" Type="VirtualCapture" BaseFilename="RecordingTest.igs.mha" EnableCapturingOnStart="FALSE">
            <InputChannels>
                <InputChannel Id="TrackerStream" />
            </InputChannels>
        </Device>
    </DataCollection>
    <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18944" OutputChannelId="TrackerStream">
        <DefaultClientInfo>
            <MessageTypes>
                <Message Type="TRANSFORM" />
            </MessageTypes>
            <TransformNames>
                <Transform Name="AccelerometerToTracker" />
            </TransformNames>
        </DefaultClientInfo>
    </PlusOpenIGTLinkServer>
</PlusConfiguration>

• PC2 with a server collecting data from a OpenIGTLinkTracker device taken

 <PlusConfiguration version="2.4">
   <DataCollection StartupDelaySec="1.0">
     <DeviceSet Name="PlusServer: Generic sensor" Description="Broadcasting available sensors tracking data through OpenIGTLink" />
     <Device
       Id="TrackerDevice"
       Type="OpenIGTLinkTracker"
       MessageType="TRANSFORM"
       ToolReferenceFrame="Tracker"
       ServerAddress="172.19.11.210"
       ServerPort="18944"
       IgtlMessageCrcCheckEnabled="true"
       UseReceivedTimestamps="false"
       AcquisitionRate="20"
       ReconnectOnReceiveTimeout="false">
       <DataSources>
         <DataSource Type="Tool" Id="Accelerometer" />
       </DataSources>
       <OutputChannels>
         <OutputChannel Id="TrackerStream">
           <DataSource Id="Accelerometer" />
         </OutputChannel>
       </OutputChannels>
     </Device>
   </DataCollection>
   <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18944" SendValidTransformsOnly="true" OutputChannelId="TrackerStream">
     <DefaultClientInfo>
       <MessageTypes>
         <Message Type="TRANSFORM" />
       </MessageTypes>
       <TransformNames>
         <Transform Name="AccelerometerToTracker" />
       </TransformNames>
     </DefaultClientInfo>
   </PlusOpenIGTLinkServer>
 </PlusConfiguration>

When I run the server on PC2, I get the following errors:

|WARNING|005.301800| Incoming TRANSFORM message was received without a tool status. Defaulting to TOOL_OK.| in /home/user/.conan/data/PlusLib/2.9.0/latim/stable/build/88131246a5a853bdb23bd09d9d3d766a01f9b668/source_subfolder/src/PlusOpenIGTLink/vtkPlusIgtlMessageCommon.cxx(845)
|INFO|005.301911| ToolTimeStampedUpdate failed for tool: AccelerometerToTrack with timestamp: 5.301888| in /home/user/.conan/data/PlusLib/2.9.0/latim/stable/build/88131246a5a853bdb23bd09d9d3d766a01f9b668/source_subfolder/src/PlusDataCollection/OpenIGTLink/vtkPlusOpenIGTLinkTracker.cxx(362)

IMPORTANT NOTE: Collecting the data by mean of a direct client connection from PC2 works perfectly.

This looks like the same issue related in #367 .

Attached: Debug logs
PlusLog.txt

[lassoan]

This error indicates that the message name is truncated (AccelerometerToTrack instead of AccelerometerToTracker):

010322_171334.099|ERROR|000.163510| TrackerDevice: Failed to update tool - unable to find tool: AccelerometerToTrack| in /home/user/.conan/data/PlusLib/2.9.0/latim/stable/build/88131246a5a853bdb23bd09d9d3d766a01f9b668/source_subfolder/src/PlusDataCollection/vtkPlusDevice.cxx(1632)

In earlier OpenIGTLink versions device name was limited to 20 characters. Current Plus clients should be able to use longer device names but for some reason OpenIGTLink v1 messages are used:

010322_171334.993|DEBUG|001.057899| Data sent by default: IGTL version: 1Message types: TRANSFORM. TDATARequested: FALSE. LastTDATASentTimeStamp: -1. TDATAResolution: 0. . Transforms: AccelerometerToTracker. Strings: (none). Images: (none)| in /home/user/.conan/data/PlusLib/2.9.0/latim/stable/build/88131246a5a853bdb23bd09d9d3d766a01f9b668/source_subfolder/src/PlusServer/vtkPlusOpenIGTLinkServer.cxx(192)

To verify that this is indeed the root cause of the problem, you could shorten the Device ToolReferenceFrame or DataSource Id names. Then we could improve the error message and fix the OpenIGTLink sender/receiver to make sure they can switch to OpenIGTLink protocol version that supports long device names.

[kenavolic]

Thanks for the answer. I can confirm that shortening the name solves the error. I can now receive the transform. There is still warning messages in my logs though:

|WARNING|010.851490| Incoming TRANSFORM message was received without a tool status. Defaulting to TOOL_OK.| in /home/user/.conan/data/PlusLib/2.9.0/latim/stable/build/88131246a5a853bdb23bd09d9d3d766a01f9b668/source_subfolder/src/PlusOpenIGTLink/vtkPlusIgtlMessageCommon.cxx(845)