Mac adjustments and update to latest SDK version 11.3.0

.gitignore

@@ -1,3 +1,8 @@
 .vscode
 *.pro.user
 
+/openigtlink/debug/
+/openigtlink/release/
+openigtlink/build/
+.DS_Store
+examples/solum_qt/CMakeLists.txt.user

README.md

@@ -42,3 +42,17 @@ How to obtain a probe certificate:
 ```
 curl -H "Authorization: OEM-API-Key <your key>" "https://cloud.clarius.com/api/public/v0/devices/oem/"
 ```
+
+
+## Deploy with all dependencies of QT
+
+[windeployqt](https://doc.qt.io/qt-6/windows-deployment.html) needs to be executed in order to copy all required QT dependencies into the directory of the executable:
+
+
+For example, open a terminal where the solum.exe was build and enter the following command:
+
+```
+C:\Qt\6.6.0\msvc2019_64\bin\windeployqt.exe solum.exe
+```
+
+This copies all required dependencies into the same folder. **The solum.dll file though needs to be copied manually in addition.**

examples/solum_qt/solum/CMakeLists.txt

@@ -32,7 +32,7 @@ qt_add_executable(solum_qt
 set_target_properties(solum_qt PROPERTIES
     WIN32_EXECUTABLE TRUE
     MACOSX_BUNDLE TRUE
-    MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/macos/Info.plist
+    MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../macos/Info.plist
     MACOSX_BUNDLE_GUI_IDENTIFIER "me.clarius.sdk.solum_qt"
 )
 

examples/solum_qt/solum/main.cpp

@@ -48,9 +48,9 @@ int main(int argc, char *argv[])
     }
 #endif
 
-    QCoreApplication::setOrganizationName(QStringLiteral("Clarius"));
-    QCoreApplication::setOrganizationDomain(QStringLiteral("clarius.com"));
-    QCoreApplication::setApplicationName(QStringLiteral("Solum Demo"));
+    QCoreApplication::setOrganizationName(QStringLiteral("Siemens Healthineers AG"));
+    QCoreApplication::setOrganizationDomain(QStringLiteral("healthineers.com"));
+    QCoreApplication::setApplicationName(QStringLiteral("Clarius Server"));
 
     const int width  = 640; // width of the rendered image
     const int height = 480; // height of the rendered image
@@ -139,6 +139,19 @@ int main(int argc, char *argv[])
             memcpy(_spectrum.data(), img, sz);
             QApplication::postEvent(_solum.get(), new event::SpectrumImage(_spectrum.data(), nfo->lines, nfo->samples, nfo->bitsPerSample));
         },
+        // new imu port callback
+        [](int port)
+        {
+            QApplication::postEvent(_solum.get(), new event::ImuPort(port));
+        },
+        // new imu data callback
+        [](const CusPosInfo* pos)
+        {
+            QQuaternion imu;
+            if (pos)
+                imu = QQuaternion(static_cast<float>(pos->qw), static_cast<float>(pos->qx), static_cast<float>(pos->qy), static_cast<float>(pos->qz));
+            QApplication::postEvent(_solum.get(), new event::Imu(IMU_EVENT, imu));
+        },
         // imaging state change callback
         [](CusImagingState state, int imaging)
         {

examples/solum_qt/solum/solumqt.cpp

@@ -60,7 +60,11 @@ Solum::Solum(QWidget *parent) : QMainWindow(parent), imaging_(false), teeConnect
     reflectMode(BMode);
     ui_._tabs->setTabEnabled(ui_._tabs->indexOf(ui_._3d), false);
 
-    settings_ = std::make_unique<QSettings>(QStringLiteral("settings.ini"), QSettings::IniFormat);
+    // settings.ini file needs to be at a location the application can write to.
+    // Writing directly into the application directory (using 'settings.ini') does not work on some systems (e.g. macos).
+    QString p = QStandardPaths::writableLocation(QStandardPaths::AppLocalDataLocation);
+    settings_ = std::make_unique<QSettings>(p + "/settings.ini", QSettings::IniFormat);
+
     ui_.token->setText(settings_->value("token").toString());
     settings_->beginGroup("Probes");
     for (const auto& probe: settings_->childGroups())
@@ -296,6 +300,7 @@ Solum::Solum(QWidget *parent) : QMainWindow(parent), imaging_(false), teeConnect
             if (f.size())
             {
                 ret = f[0];
+                ret = ret.replace("\"", QString{});
                 ret.replace(field + QStringLiteral(" "), QString{});
             }
             return ret;
@@ -335,8 +340,28 @@ Solum::Solum(QWidget *parent) : QMainWindow(parent), imaging_(false), teeConnect
 
     imagingState(ImagingNotReady, false);
 
-    // Automatically trigger a BLE search at startup
-    ui_.blesearch->click();
+#if QT_CONFIG(permissions)
+    QBluetoothPermission bluetoothPermission;
+    switch (qApp->checkPermission(bluetoothPermission)) {
+    case Qt::PermissionStatus::Undetermined:
+        qApp->requestPermission(bluetoothPermission, this, [this]()
+                                {
+                                    qDebug() << "bluetooth permission granted";
+                                    ui_.blesearch->setEnabled(true);
+                                    // Automatically trigger a BLE search at startup
+                                    ui_.blesearch->click();
+                                });
+        return;
+    case Qt::PermissionStatus::Denied:
+        qDebug() << "bluetooth permission was denied";
+        return;
+    case Qt::PermissionStatus::Granted:
+        // Automatically trigger a BLE search at startup
+        ui_.blesearch->setEnabled(true);
+        ui_.blesearch->click();
+        break; // Proceed
+    }
+#endif
 }
 
 /// destructor

examples/solum_qt/solum/solumqt.h

@@ -11,20 +11,25 @@ class RfSignal;
 class Prescan;
 class ProbeRender;
 
-#define CONNECT_EVENT   static_cast<QEvent::Type>(QEvent::User + 1)
-#define CERT_EVENT      static_cast<QEvent::Type>(QEvent::User + 2)
-#define POWER_EVENT     static_cast<QEvent::Type>(QEvent::User + 3)
-#define SWUPDATE_EVENT  static_cast<QEvent::Type>(QEvent::User + 4)
-#define LIST_EVENT      static_cast<QEvent::Type>(QEvent::User + 5)
-#define IMAGE_EVENT     static_cast<QEvent::Type>(QEvent::User + 6)
-#define PRESCAN_EVENT   static_cast<QEvent::Type>(QEvent::User + 7)
-#define SPECTRUM_EVENT  static_cast<QEvent::Type>(QEvent::User + 8)
-#define RF_EVENT        static_cast<QEvent::Type>(QEvent::User + 9)
-#define IMAGING_EVENT   static_cast<QEvent::Type>(QEvent::User + 10)
-#define BUTTON_EVENT    static_cast<QEvent::Type>(QEvent::User + 11)
-#define ERROR_EVENT     static_cast<QEvent::Type>(QEvent::User + 12)
-#define PROGRESS_EVENT  static_cast<QEvent::Type>(QEvent::User + 13)
-#define TEE_EVENT       static_cast<QEvent::Type>(QEvent::User + 14)
+#define CONNECT_EVENT       static_cast<QEvent::Type>(QEvent::User + 1)
+#define CERT_EVENT          static_cast<QEvent::Type>(QEvent::User + 2)
+#define POWER_EVENT         static_cast<QEvent::Type>(QEvent::User + 3)
+#define SWUPDATE_EVENT      static_cast<QEvent::Type>(QEvent::User + 4)
+#define LIST_EVENT          static_cast<QEvent::Type>(QEvent::User + 5)
+#define IMAGE_EVENT         static_cast<QEvent::Type>(QEvent::User + 6)
+#define PRESCAN_EVENT       static_cast<QEvent::Type>(QEvent::User + 7)
+#define SPECTRUM_EVENT      static_cast<QEvent::Type>(QEvent::User + 8)
+#define RF_EVENT            static_cast<QEvent::Type>(QEvent::User + 9)
+#define IMAGING_EVENT       static_cast<QEvent::Type>(QEvent::User + 10)
+#define BUTTON_EVENT        static_cast<QEvent::Type>(QEvent::User + 11)
+#define ERROR_EVENT         static_cast<QEvent::Type>(QEvent::User + 12)
+#define PROGRESS_EVENT      static_cast<QEvent::Type>(QEvent::User + 13)
+#define TEE_EVENT           static_cast<QEvent::Type>(QEvent::User + 14)
+#define IMU_EVENT           static_cast<QEvent::Type>(QEvent::User + 15)
+#define RAWAVAIL_EVENT      static_cast<QEvent::Type>(QEvent::User + 16)
+#define RAWREADY_EVENT      static_cast<QEvent::Type>(QEvent::User + 17)
+#define RAWDOWNLOADED_EVENT static_cast<QEvent::Type>(QEvent::User + 18)
+#define IMU_PORT_EVENT      static_cast<QEvent::Type>(QEvent::User + 19)
 
 namespace event
 {
@@ -211,6 +216,29 @@ namespace event
         QString exam_;          ///< exam id
     };
 
+    /// wrapper for new imu data events that can be posted from the api callbacks
+    class ImuPort : public QEvent
+    {
+    public:
+        /// default constructor
+        /// @param[in] port latest imu port
+        explicit ImuPort(int port) : QEvent(IMU_PORT_EVENT), port_(port) { }
+
+        int port_;   ///< latest imu port
+    };
+
+    /// wrapper for new imu data events that can be posted from the api callbacks
+    class Imu : public QEvent
+    {
+    public:
+        /// default constructor
+        /// @param[in] evt the event type
+        /// @param[in] imu latest imu data
+        Imu(QEvent::Type evt, const QQuaternion& imu) : QEvent(evt), imu_(imu) { }
+
+        QQuaternion imu_;   ///< latest imu position
+    };
+
     /// wrapper for error events that can be posted from the api callbacks
     class Error : public QEvent
     {

examples/solum_qt/solum/solumqt.ui

@@ -11,7 +11,7 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Solum Tester</string>
+   <string>Clarius Server</string>
   </property>
   <widget class="QWidget" name="_central">
    <layout class="QVBoxLayout" name="verticalLayout">
@@ -41,7 +41,7 @@
     <item>
      <widget class="QTabWidget" name="_tabs">
       <property name="currentIndex">
-       <number>0</number>
+       <number>1</number>
       </property>
       <widget class="QWidget" name="_certs">
        <attribute name="title">
@@ -141,6 +141,9 @@
          <layout class="QHBoxLayout" name="horizontalLayout_5">
           <item>
            <widget class="JobButton" name="blesearch">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
             <property name="maximumSize">
              <size>
               <width>100</width>

include/solum/solum.h

@@ -14,6 +14,8 @@ extern "C"
     /// @param[in] newProcessedImage new processed image callback (scan-converted image)
     /// @param[in] newRawImage new raw image callback - (pre scan-converted image)
     /// @param[in] newSpectralImage new processed spectral image callback
+    /// @param[in] newImuPort new imu UDP port callback
+    /// @param[in] newImuData new imu data callback
     /// @param[in] imaging imaging state callback
     /// @param[in] btn button press callback
     /// @param[in] err error message callback
@@ -26,9 +28,27 @@ extern "C"
     SOLUM_EXPORT int solumInit(int argc, char** argv, const char* dir,
         CusConnectFn connect, CusCertFn cert, CusPowerDownFn power,
         CusNewProcessedImageFn newProcessedImage, CusNewRawImageFn newRawImage,
-        CusNewSpectralImageFn newSpectralImage, CusImagingFn imaging, CusButtonFn btn, CusErrorFn err,
+        CusNewSpectralImageFn newSpectralImage, CusNewImuPortFn newImuPort, CusNewImuDataFn newImuData,
+        CusImagingFn imaging, CusButtonFn btn, CusErrorFn err,
         int width, int height);
 
+    /// initializes the solum module with a minimal set of callbacks
+    /// @param[in] connect connection status callback
+    /// @param[in] cert certificate status callback
+    /// @param[in] power probe power down callback
+    /// @param[in] imaging imaging state callback
+    /// @param[in] btn button press callback
+    /// @param[in] err error message callback
+    /// @param[in] newProcessedImage new processed image callback (scan-converted image)
+    /// @param[in] width the width of the output buffer
+    /// @param[in] height the height of the output buffer
+    /// @return success of the call
+    /// @retval 0 the initialization was successful
+    /// @retval -1 the initialization was not successful
+    /// @note must be called before any other functions will succeed
+    SOLUM_EXPORT int solumInitMinimal(CusConnectFn connect, CusCertFn cert, CusPowerDownFn power, CusImagingFn imaging, CusButtonFn btn, CusErrorFn err,
+        CusNewProcessedImageFn newProcessedImage, int width, int height);
+
     /// cleans up memory allocated by the solum module
     /// @retval 0 the destroy attempt was successful
     /// @retval -1 the destroy attempt was not successful
@@ -43,6 +63,8 @@ extern "C"
     SOLUM_EXPORT int solumSetTeeFn(CusTeeConnectFn tee);
 
     /// retrieves the firmware version for a given platform
+    /// @note this is the version supported by the sdk, not the version of any connected probe,
+    ///       use this string to download the firmware binary from clarius cloud and update the probe
     /// @param[in] platform the platform to retrieve the firmware version for
     /// @param[out] version holds the firmware version for the given platform
     /// @param[in] sz size of the version string buffer, suggest at least 32 bytes allocated
@@ -203,6 +225,14 @@ extern "C"
     /// @retval -1 tgc set request could not be made
     SOLUM_EXPORT int solumGetTgc(CusTgc* tgc);
 
+    /// retrieves the active region for the grayscale image
+    /// @param[out] points holds a vector of points in x/y format
+    /// @param[in] count the number of points to generate (points buffer must be count x 2 or larger)
+    /// @return success of the call
+    /// @retval 0 roi was retrieved
+    /// @retval -1 roi could not be retrieved
+    SOLUM_EXPORT int solumGetActiveRegion(double* points, int count);
+
     /// retrieves the roi for the current mode if valid
     /// @param[out] points holds a vector of points in x/y format
     /// @param[in] count the number of points to generate (points buffer must be count x 2 or larger)
@@ -284,26 +314,35 @@ extern "C"
     /// @retval -1 the reset could not be performed
     SOLUM_EXPORT int solumResetProbe(CusProbeReset reset);
 
+    /// makes a request to return the availability of all the raw data currently buffered on the probe
+    /// @param[in] fn result callback function that will return all the timestamps of the data blocks that are buffered
+    /// @return success of the call
+    /// @retval 0 the request was successfully made
+    /// @retval -1 the request could not be made
+    /// @note the probe must be frozen with raw data buffering enabled prior to calling the function
+    SOLUM_EXPORT int solumRawDataAvailability(CusRawAvailabilityFn fn);
+
     /// makes a request for raw data from the probe
     /// @param[in] start the first frame to request, as determined by timestamp in nanoseconds, set to 0 along with end to requests all data in buffer
     /// @param[in] end the last frame to request, as determined by timestamp in nanoseconds, set to 0 along with start to requests all data in buffer
-    /// @param[in] res result callback function, will return size of buffer required upon success, 0 if no raw data was buffered, or -1 if request could not be made,
+    /// @param[in] lzo flag to specify a tarball with lzo compressed raw data inside (default) vs no compression of raw data
+    /// @param[in] fn result callback function, will return size of buffer required upon success, 0 if no raw data was buffered, or -1 if request could not be made
     /// @return success of the call
     /// @retval 0 the request was successfully made
     /// @retval -1 the request could not be made
     /// @note the probe must be frozen and in a raw data buffering mode in order for the call to succeed
-    SOLUM_EXPORT int solumRequestRawData(long long int start, long long int end, CusRawFn res);
+    SOLUM_EXPORT int solumRequestRawData(long long int start, long long int end, int lzo, CusRawRequestFn fn);
 
     /// retrieves raw data from a previous request
     /// @param[out] data a pointer to a buffer that has been allocated to read the raw data into, this must be pre-allocated with
     ///             the size returned from a previous call to solumRequestRawData
-    /// @param[in] res result callback function, will return size of buffer required upon success, 0 if no raw data was buffered, or -1 if request could not be made,
+    /// @param[in] fn result callback function, will return size of buffer required upon success, 0 if no raw data was buffered, or -1 if request could not be made,
     /// @param[in] progress download progress callback function that outputs the progress in percent
     /// @return success of the call
     /// @retval 0 the read request was successfully made
     /// @retval -1 the read request could not be made
     /// @note the probe must be frozen and a successful call to solumRequestRawData must have taken place in order for the call to succeed
-    SOLUM_EXPORT int solumReadRawData(void** data, CusRawFn res, CusProgressFn progress);
+    SOLUM_EXPORT int solumReadRawData(void** data, CusRawFn fn, CusProgressFn progress);
 
     /// sets a low level parameter to a specific value to gain access to lower level device control
     /// @param[in] prm the parameter to change
@@ -312,6 +351,7 @@ extern "C"
     /// @retval 0 the call was successful
     /// @retval -1 the call was not successful
     /// @note see external documentation for supported parameters
+    /// @warning changing parameters through this function may result in unstable operation, degradation of image quality, or operation outside of the safety limits that clarius tests to
     SOLUM_EXPORT int solumSetLowLevelParam(const char* prm, double val);
 
     /// enables or disables a low level parameter to gain access to lower device control
@@ -321,6 +361,7 @@ extern "C"
     /// @retval 0 the call was successful
     /// @retval -1 the call was not successful
     /// @note see external documentation for supported parameters
+    /// @warning changing parameters through this function may result in unstable operation, degradation of image quality, or operation outside of the safety limits that clarius tests to
     SOLUM_EXPORT int solumEnableLowLevelParam(const char* prm, int en);
 
     /// sets a pulse shape parameter to a specific value to gain access to lower level device control
@@ -330,6 +371,7 @@ extern "C"
     /// @retval 0 the call was successful
     /// @retval -1 the call was not successful
     /// @note see external documentation for supported parameters
+    /// @warning changing parameters through this function may result in unstable operation, degradation of image quality, or operation outside of the safety limits that clarius tests to
     SOLUM_EXPORT int solumSetLowLevelPulse(const char* prm, const char* shape);
 
     /// retrieves a low level parameter value
@@ -338,6 +380,13 @@ extern "C"
     /// @retval -1 if the parameter value retrieval could not be made
     SOLUM_EXPORT double solumGetLowLevelParam(const char* prm);
 
+    /// retrieves the acoustic indices for the loaded application, imaging mode, and parameter settings
+    /// @param[out] indices the acoustic index values
+    /// @return success of the call
+    /// @retval 0 the call was successful
+    /// @retval -1 the call was not successful
+    SOLUM_EXPORT int solumGetAcousticIndices(CusAcoustic* indices);
+
     /// set the tee exam info for a connected probe
     /// @param[in] id the patient id
     /// @param[in] name the patient name