Currently job artifacts in CI/CD pipelines on LRZ GitLab never expire. Starting from Wed 26.1.2022 the default expiration time will be 30 days (GitLab default). Currently existing artifacts in already completed jobs will not be affected by the change. The latest artifacts for all jobs in the latest successful pipelines will be kept. More information: https://gitlab.lrz.de/help/user/admin_area/settings/continuous_integration.html#default-artifacts-expiration

openigtlinkclient.cpp 18.6 KB
Newer Older
CAMP C++ Builder's avatar
CAMP C++ Builder committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
// ================================================================================================
// 
// This file is part of the CAMPVis Software Framework.
// 
// If not explicitly stated otherwise: Copyright (C) 2012-2014, all rights reserved,
//      Christian Schulte zu Berge <christian.szb@in.tum.de>
//      Chair for Computer Aided Medical Procedures
//      Technische Universitaet Muenchen
//      Boltzmannstr. 3, 85748 Garching b. Muenchen, Germany
// 
// For a full list of authors and contributors, please refer to the file "AUTHORS.txt".
// 
// Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file 
// except in compliance with the License. You may obtain a copy of the License at
// 
// http://www.apache.org/licenses/LICENSE-2.0
// 
// Unless required by applicable law or agreed to in writing, software distributed under the 
// License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, 
// either express or implied. See the License for the specific language governing permissions 
// and limitations under the License.
// 
// ================================================================================================

#include "openigtlinkclient.h"

27
28
#include "core/datastructures/transformdata.h"
#include "core/datastructures/positiondata.h"
CAMP C++ Builder's avatar
CAMP C++ Builder committed
29
30
31
32
33
34
35
36
37
38
39
40
41

#include <igtlTransformMessage.h>
#include <igtlPositionMessage.h>

#include "core/datastructures/imagedata.h"
#include "core/datastructures/genericimagerepresentationlocal.h"
#include "core/tools/stringutils.h"

namespace campvis {
    const std::string OpenIGTLinkClient::loggerCat_ = "CAMPVis.modules.openigtlink.client";

    OpenIGTLinkClient::OpenIGTLinkClient() 
        : AbstractProcessor()
42
        , p_address("ServerAddress", "Server Address", "127.0.0.1")
CAMP C++ Builder's avatar
CAMP C++ Builder committed
43
44
45
        , p_port("ServerPort", "Server Port", 18944, 1, 65535, 1)
        , p_deviceName("ServerDeviceName", "Device Name (empty to accept all)")
        , p_connect("Connect", "Connect to Server")
46
        , p_disconnect("Disconnect", "Disconnect from Server")
CAMP C++ Builder's avatar
CAMP C++ Builder committed
47
        , p_receiveImages("ReceiveImages", "Receive IMAGE Messages", false)
48
        , p_targetImagePrefix("targetImageName", "Target Image Prefix", "IGTL.image.")
CAMP C++ Builder's avatar
CAMP C++ Builder committed
49
        , p_receiveTransforms("ReceiveTransforms", "Receive TRANSFORM Messages", true)
50
        , p_targetTransformPrefix("targetTransformPrefix", "Target Transform Prefix", "IGTL.transform.")
CAMP C++ Builder's avatar
CAMP C++ Builder committed
51
52
        , p_imageOffset("ImageOffset", "Image Offset in mm", tgt::vec3(0.f), tgt::vec3(-10000.f), tgt::vec3(10000.f), tgt::vec3(0.1f))
        , p_voxelSize("VoxelSize", "Voxel Size in mm", tgt::vec3(1.f), tgt::vec3(-100.f), tgt::vec3(100.f), tgt::vec3(0.1f))
CAMP C++ Builder's avatar
CAMP C++ Builder committed
53
        , p_receivePositions("ReceivePositions", "Receive POSITION Messages", true)
54
        , p_targetPositionPrefix("targetPositionsPrefix", "Target Position Prefix", "IGTL.position.")
CAMP C++ Builder's avatar
CAMP C++ Builder committed
55
56
57
58
    {
        addProperty(p_address, VALID);
        addProperty(p_port, VALID);
        addProperty(p_deviceName, VALID);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
59
60

        addProperty(p_connect, VALID);
61
        addProperty(p_disconnect, VALID);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
62

63
64
        addProperty(p_receiveTransforms, INVALID_PROPERTIES);
        addProperty(p_receiveImages, INVALID_PROPERTIES);
65
66
        addProperty(p_targetTransformPrefix, VALID);
        addProperty(p_targetImagePrefix, VALID);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
67
68
        addProperty(p_imageOffset, VALID);
        addProperty(p_voxelSize, VALID);
69
        addProperty(p_receivePositions, INVALID_PROPERTIES);
70
        addProperty(p_targetPositionPrefix, VALID);
71
72

		invalidate(INVALID_PROPERTIES);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
73
74
75
76
77
78
79
    }

    OpenIGTLinkClient::~OpenIGTLinkClient() {

    }

    void OpenIGTLinkClient::init() {
80
        p_connect.s_clicked.connect(this, &OpenIGTLinkClient::connectToServer);
81
        p_disconnect.setVisible(false);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
82
83
84
85
86
87
88
89
90
91
92
    }

    void OpenIGTLinkClient::deinit() {
        p_connect.s_clicked.disconnect(this);
        stop(); //stop the receiving thread
    }

    void OpenIGTLinkClient::updateResult(DataContainer& data) {

        if(p_receiveTransforms.getValue()) 
        {
93
94
95
            _transformMutex.lock();
            for(auto it = _receivedTransforms.begin(), end = _receivedTransforms.end(); it != end; ++it) { 
                TransformData * td = new TransformData(it->second);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
96
        
97
                data.addData(p_targetTransformPrefix.getValue() + it->first, td);
98
#ifdef IGTL_CLIENT_DEBUGGING
CAMP C++ Builder's avatar
CAMP C++ Builder committed
99
                LDEBUG("Transform data put into container. ");
100
#endif
CAMP C++ Builder's avatar
CAMP C++ Builder committed
101
            }
102
103
            _receivedTransforms.clear();
            _transformMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
104
105
106
107
        }

        if(p_receiveImages.getValue()) 
        {
108
109
            _imageMutex.lock();
            for(auto it = _receivedImages.begin(), end = _receivedImages.end(); it != end; ++it)
CAMP C++ Builder's avatar
CAMP C++ Builder committed
110
            {
111
                igtl::ImageMessage::Pointer imageMessage = it->second;    
CAMP C++ Builder's avatar
CAMP C++ Builder committed
112
113
                WeaklyTypedPointer wtp;
                wtp._pointer = new uint8_t[imageMessage->GetImageSize()];
114
#ifdef IGTL_CLIENT_EBUGGING
CAMP C++ Builder's avatar
CAMP C++ Builder committed
115
                LDEBUG("Image has " << imageMessage->GetNumComponents() << " components and is of size " << imageMessage->GetImageSize());
116
#endif
CAMP C++ Builder's avatar
CAMP C++ Builder committed
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
                memcpy(wtp._pointer, imageMessage->GetScalarPointer(), imageMessage->GetImageSize());
                wtp._numChannels = imageMessage->GetNumComponents();

                switch (imageMessage->GetScalarType()) {
                case igtl::ImageMessage::TYPE_INT8:
                    wtp._baseType = WeaklyTypedPointer::INT8; break;
                case igtl::ImageMessage::TYPE_UINT8:
                    wtp._baseType = WeaklyTypedPointer::UINT8; break;
                case igtl::ImageMessage::TYPE_INT16:
                    wtp._baseType = WeaklyTypedPointer::INT16; break;
                case igtl::ImageMessage::TYPE_UINT16:
                    wtp._baseType = WeaklyTypedPointer::UINT16; break;
                case igtl::ImageMessage::TYPE_INT32:
                    wtp._baseType = WeaklyTypedPointer::INT32; break;
                case igtl::ImageMessage::TYPE_UINT32:
                    wtp._baseType = WeaklyTypedPointer::UINT32; break;
                case igtl::ImageMessage::TYPE_FLOAT32:
                    wtp._baseType = WeaklyTypedPointer::FLOAT; break;
                default:
                    LERROR("Error while receiving IGTL IMAGE message: unsupported type: " << imageMessage->GetScalarType());
                    return;
                }

                tgt::vec3 imageOffset(0.f);
                tgt::vec3 voxelSize(1.f);
                tgt::ivec3 size_i(1);
143
144

                imageMessage->GetSpacing(voxelSize.elem);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
145
                imageMessage->GetDimensions(size_i.elem);
146
147
                tgt::svec3 size(size_i);                
                imageMessage->GetOrigin(imageOffset.elem);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
148
149
150
151

                size_t dimensionality = (size_i[2] == 1) ? ((size_i[1] == 1) ? 1 : 2) : 3;
                ImageData* image = new ImageData(dimensionality, size, wtp._numChannels);
                ImageRepresentationLocal::create(image, wtp);
152

CAMP C++ Builder's avatar
CAMP C++ Builder committed
153
                image->setMappingInformation(ImageMappingInformation(size, p_imageOffset.getValue(), voxelSize * p_voxelSize.getValue()));
154
                data.addData(p_targetImagePrefix.getValue() + it->first, image);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
155
            }
156
157
            _receivedImages.clear();
            _imageMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
158
159
        }

CAMP C++ Builder's avatar
CAMP C++ Builder committed
160
161
        if(p_receivePositions.getValue())
        {
162
163
164
165
166
167
168
169
            _positionMutex.lock();
            for(auto it = _receivedPositions.begin(), end = _receivedPositions.end(); it != end; ++it) 
            {
                PositionData * pd = new PositionData(it->second._position, it->second._quaternion);
                data.addData(p_targetPositionPrefix.getValue() + it->first, pd);
            }
            _receivedPositions.clear();
            _positionMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
170
171
        }

CAMP C++ Builder's avatar
CAMP C++ Builder committed
172
173
174
175
        validate(INVALID_RESULT);
    }

    void OpenIGTLinkClient::updateProperties(DataContainer& dataContainer) {
176
        p_targetImagePrefix.setVisible(p_receiveImages.getValue());
CAMP C++ Builder's avatar
CAMP C++ Builder committed
177
178
179

        p_imageOffset.setVisible(p_receiveImages.getValue());
        p_voxelSize.setVisible(p_receiveImages.getValue());
180
        p_targetTransformPrefix.setVisible(p_receiveImages.getValue() || p_receiveTransforms.getValue());
181
		p_targetPositionPrefix.setVisible(p_receivePositions.getValue());
182
183

        validate(INVALID_PROPERTIES);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
184
185
    }

186
    void OpenIGTLinkClient::connectToServer() {
CAMP C++ Builder's avatar
CAMP C++ Builder committed
187
188
189
190
191
192
193
194
195
196
197
198

        if(_socket && _socket->GetConnected()) {
            LWARNING("Already connected!");
            return;
        }


        _socket = igtl::ClientSocket::New();
        int r = _socket->ConnectToServer(p_address.getValue().c_str(), p_port.getValue());

        if (r != 0)
        {
199
200
            LERROR("Cannot connect to the server " << p_address.getValue() << ":" << p_port.getValue());
            _socket = nullptr;
CAMP C++ Builder's avatar
CAMP C++ Builder committed
201
202
203
            return;
        }

204
        LINFO("Connected to server " << p_address.getValue() << ":" << p_port.getValue());
CAMP C++ Builder's avatar
CAMP C++ Builder committed
205

206
207


CAMP C++ Builder's avatar
CAMP C++ Builder committed
208
209
210
211
212
        start(); //start receiving data in a new thread

        validate(INVALID_RESULT);
    }

213
214
215
216
217
218
    void OpenIGTLinkClient::disconnect() {
        stop();
        _socket = nullptr;
        LINFO("Disconnected.");
    }

CAMP C++ Builder's avatar
CAMP C++ Builder committed
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
    int OpenIGTLinkClient::ReceiveTransform(igtl::Socket * socket, igtl::MessageHeader::Pointer& header)
    {
        LDEBUG("Receiving TRANSFORM data type.");

        // Create a message buffer to receive transform data
        igtl::TransformMessage::Pointer transMsg;
        transMsg = igtl::TransformMessage::New();
        transMsg->SetMessageHeader(header);
        transMsg->AllocatePack();

        // Receive transform data from the socket
        socket->Receive(transMsg->GetPackBodyPointer(), transMsg->GetPackBodySize());

        // Deserialize the transform data
        // If you want to skip CRC check, call Unpack() without argument.
        int c = transMsg->Unpack(1);

        if (c & igtl::MessageHeader::UNPACK_BODY) // if CRC check is OK
        {
238
239
240
241
            tgt::mat4 mtx;
            // Retrieve the transform data (this cast is a bit dubious but should be ok judging from the respective class internals)
            transMsg->GetMatrix(*reinterpret_cast<igtl::Matrix4x4*>(mtx.elem));
            igtl::PrintMatrix(*reinterpret_cast<igtl::Matrix4x4*>(mtx.elem));
CAMP C++ Builder's avatar
CAMP C++ Builder committed
242
243
            std::cerr << std::endl;

244
245
246
            _transformMutex.lock();
            _receivedTransforms[transMsg->GetDeviceName()] = mtx;
            _transformMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273

            invalidate(INVALID_RESULT);
            return 1;
        }

        return 0;
    }

    int OpenIGTLinkClient::ReceivePosition(igtl::Socket * socket, igtl::MessageHeader::Pointer& header)
    {
        LDEBUG("Receiving POSITION data type.");

        // Create a message buffer to receive position data
        igtl::PositionMessage::Pointer positionMsg;
        positionMsg = igtl::PositionMessage::New();
        positionMsg->SetMessageHeader(header);
        positionMsg->AllocatePack();

        // Receive position position data from the socket
        socket->Receive(positionMsg->GetPackBodyPointer(), positionMsg->GetPackBodySize());

        // Deserialize the transform data
        // If you want to skip CRC check, call Unpack() without argument.
        int c = positionMsg->Unpack(1);

        if (c & igtl::MessageHeader::UNPACK_BODY) // if CRC check is OK
        {
274
275
276
277
278
            PositionMessageData pmd;

            positionMsg->GetPosition(pmd._position.elem);
            positionMsg->GetQuaternion(pmd._quaternion.elem);
            
CAMP C++ Builder's avatar
CAMP C++ Builder committed
279

280
281
282
283
284
285
286
            _positionMutex.lock();
            _receivedPositions[positionMsg->GetDeviceName()] = pmd;
            _positionMutex.unlock();

            std::cerr << "position   = (" << pmd._position[0] << ", " << pmd._position[1] << ", " << pmd._position[2] << ")" << std::endl;
            std::cerr << "quaternion = (" << pmd._quaternion[0] << ", " << pmd._quaternion[1] << ", "
                << pmd._quaternion[2] << ", " << pmd._quaternion[3] << ")" << std::endl << std::endl;
CAMP C++ Builder's avatar
CAMP C++ Builder committed
287

CAMP C++ Builder's avatar
CAMP C++ Builder committed
288
            invalidate(INVALID_RESULT);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
            return 1;
        }

        return 0;
    }

    int OpenIGTLinkClient::ReceiveImage(igtl::Socket * socket, igtl::MessageHeader::Pointer& header)
    {
        LDEBUG("Receiving IMAGE data type.");

        // Create a message buffer to receive transform data
        igtl::ImageMessage::Pointer imgMsg;
        imgMsg = igtl::ImageMessage::New();
        imgMsg->SetMessageHeader(header);
        imgMsg->AllocatePack();

        // Receive image data from the socket
        socket->Receive(imgMsg->GetPackBodyPointer(), imgMsg->GetPackBodySize());

        // Deserialize the transform data
        // If you want to skip CRC check, call Unpack() without argument.
        int c = imgMsg->Unpack(1);

        if (c & igtl::MessageHeader::UNPACK_BODY) // if CRC check is OK
        {
            // put the message pointer into our locked buffer
315
316
317
            _imageMutex.lock();
            _receivedImages[imgMsg->GetDeviceName()] = imgMsg;
            _imageMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
318
319
320
321
322
323
324
325
326
327
328
329
330

            // Retrieve the image data
            int   size[3];          // image dimension
            float spacing[3];       // spacing (mm/pixel)
            int   svsize[3];        // sub-volume size
            int   svoffset[3];      // sub-volume offset
            int   scalarType;       // scalar type

            scalarType = imgMsg->GetScalarType();
            imgMsg->GetDimensions(size);
            imgMsg->GetSpacing(spacing);
            imgMsg->GetSubVolume(svsize, svoffset);

331
            tgt::mat4 mtx;
CAMP C++ Builder's avatar
CAMP C++ Builder committed
332
            // Retrieve the transform data (this cast is a bit dubious but should be ok judging from the class internals)
333
334
335
336
337
            imgMsg->GetMatrix(*reinterpret_cast<igtl::Matrix4x4*>(mtx.elem));
            
            _transformMutex.lock();
            _receivedTransforms[imgMsg->GetDeviceName()] = mtx;
            _transformMutex.unlock();
CAMP C++ Builder's avatar
CAMP C++ Builder committed
338
339
340
341
342
343
344
345
346
347
348
349

            std::cerr << "Device Name           : " << imgMsg->GetDeviceName() << std::endl;
            std::cerr << "Scalar Type           : " << scalarType << std::endl;
            std::cerr << "Dimensions            : ("
                << size[0] << ", " << size[1] << ", " << size[2] << ")" << std::endl;
            std::cerr << "Spacing               : ("
                << spacing[0] << ", " << spacing[1] << ", " << spacing[2] << ")" << std::endl;
            std::cerr << "Sub-Volume dimensions : ("
                << svsize[0] << ", " << svsize[1] << ", " << svsize[2] << ")" << std::endl;
            std::cerr << "Sub-Volume offset     : ("
                << svoffset[0] << ", " << svoffset[1] << ", " << svoffset[2] << ")" << std::endl << std::endl;

350
351
            igtl::PrintMatrix(*reinterpret_cast<igtl::Matrix4x4*>(mtx.elem));
            std::cout << std::endl;
CAMP C++ Builder's avatar
CAMP C++ Builder committed
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368

            invalidate(INVALID_RESULT);
            return 1;
        }

        return 0;

    }

    void OpenIGTLinkClient::run()
    {
        igtl::MessageHeader::Pointer headerMsg;
        igtl::TimeStamp::Pointer ts;

        headerMsg = igtl::MessageHeader::New();
        ts = igtl::TimeStamp::New();

369
370
371
        p_connect.setVisible(false);
        p_disconnect.setVisible(true);

372
        while (!_stopExecution && _socket)
CAMP C++ Builder's avatar
CAMP C++ Builder committed
373
374
375
376
377
378
379
380
381
        {
            // Initialize receive buffer
            headerMsg->InitPack();

            // Receive generic header from the socket
            int r = _socket->Receive(headerMsg->GetPackPointer(), headerMsg->GetPackSize());
            if (r == 0)
            {
                _socket->CloseSocket();
382
                _socket = nullptr;
CAMP C++ Builder's avatar
CAMP C++ Builder committed
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
                LINFO("Socket Connection closed.");
                break;
            }
            if (r != headerMsg->GetPackSize())
            {
                continue;
            }

            // Deserialize the header
            headerMsg->Unpack();

            // Get time stamp
            igtlUint32 sec;
            igtlUint32 nanosec;

            headerMsg->GetTimeStamp(ts);
            ts->GetTimeStamp(&sec, &nanosec);

            /*std::cerr << "Time stamp: "
                << sec << "." << std::setw(9) << std::setfill('0') 
                << nanosec << std::endl;*/

            std::string acceptedName = p_deviceName.getValue();
            
            if (!acceptedName.empty() && strcmp(acceptedName.c_str(), headerMsg->GetDeviceName()) ) 
            {
                _socket->Skip(headerMsg->GetBodySizeToRead(), 0);
                LDEBUG("Ignoring Message from device " << headerMsg->GetDeviceName() << ". Does not match " << acceptedName);
            }
            // Check data type and receive data body
            else if (strcmp(headerMsg->GetDeviceType(), "TRANSFORM") == 0)
            {
                if(p_receiveTransforms.getValue())
                    ReceiveTransform(_socket, headerMsg);
                else
                    _socket->Skip(headerMsg->GetBodySizeToRead(), 0);
            }
CAMP C++ Builder's avatar
CAMP C++ Builder committed
420
            else if (strcmp(headerMsg->GetDeviceType(), "POSITION") == 0)
CAMP C++ Builder's avatar
CAMP C++ Builder committed
421
            {
CAMP C++ Builder's avatar
CAMP C++ Builder committed
422
423
424
425
426
                if(p_receivePositions.getValue())
                    ReceivePosition(_socket, headerMsg);
                else
                    _socket->Skip(headerMsg->GetBodySizeToRead(), 0);
            }
CAMP C++ Builder's avatar
CAMP C++ Builder committed
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
            else if (strcmp(headerMsg->GetDeviceType(), "IMAGE") == 0)
            {
                if(p_receiveImages.getValue())
                    ReceiveImage(_socket, headerMsg);
                else
                    _socket->Skip(headerMsg->GetBodySizeToRead(), 0);
            }
//            else if (strcmp(headerMsg->GetDeviceType(), "STATUS") == 0)
//            {
//                ReceiveStatus(socket, headerMsg);
//            }
//#if OpenIGTLink_PROTOCOL_VERSION >= 2
//            else if (strcmp(headerMsg->GetDeviceType(), "POINT") == 0)
//            {
//                ReceivePoint(socket, headerMsg);
//            }
//            else if (strcmp(headerMsg->GetDeviceType(), "TRAJ") == 0)
//            {
//                ReceiveTrajectory(socket, headerMsg);
//            }
//            else if (strcmp(headerMsg->GetDeviceType(), "STRING") == 0)
//            {
//                ReceiveString(socket, headerMsg);
//            }
//            else if (strcmp(headerMsg->GetDeviceType(), "TDATA") == 0)
//            {
//                ReceiveTrackingData(socket, headerMsg);
//            }
//            else if (strcmp(headerMsg->GetDeviceType(), "QTDATA") == 0)
//            {
//                ReceiveQuaternionTrackingData(socket, headerMsg);
//            }
//            else if (strcmp(headerMsg->GetDeviceType(), "CAPABILITY") == 0)
//            {
//                ReceiveCapability(socket, headerMsg);;
//            }
//#endif //OpenIGTLink_PROTOCOL_VERSION >= 2
            else
            {
                LDEBUG("Receiving : " << headerMsg->GetDeviceType() << " which is not Handled!");
                _socket->Skip(headerMsg->GetBodySizeToRead(), 0);
            }
        }
470
471
472
        if(_socket)       
            _socket->CloseSocket();
        _socket = nullptr;
473
474
        p_disconnect.setVisible(false);
        p_connect.setVisible(true);
CAMP C++ Builder's avatar
CAMP C++ Builder committed
475
476
    }
}