Struct IgtlConnection 

pub struct IgtlConnection { /* private fields */ }

Represents an accepted client connection

Provides methods to send and receive OpenIGTLink messages over the connection.

Implementations

impl IgtlConnection

pub fn set_verify_crc(&mut self, verify: bool)

Enable or disable CRC verification for received messages

Arguments

• verify - true to enable CRC verification (default), false to disable

Safety

Disabling CRC verification should only be done in trusted environments where data corruption is unlikely (e.g., loopback, local network).

pub fn verify_crc(&self) -> bool

Get current CRC verification setting

Returns

true if CRC verification is enabled, false otherwise

pub fn send<T: Message>(&mut self, msg: &IgtlMessage<T>) -> Result<()>

Send a message to the connected client

Arguments

• msg - Message to send

Errors

• IgtlError::Io - Network write failed (connection lost, broken pipe, etc.)
• IgtlError::BodyTooLarge - Message exceeds maximum size

Examples

use openigtlink_rust::io::IgtlServer;
use openigtlink_rust::protocol::types::StatusMessage;
use openigtlink_rust::protocol::message::IgtlMessage;

let server = IgtlServer::bind("127.0.0.1:18944")?;
let mut conn = server.accept()?;

let status = StatusMessage::ok("Ready");
let msg = IgtlMessage::new(status, "Server")?;
conn.send(&msg)?;

pub fn receive<T: Message>(&mut self) -> Result<IgtlMessage<T>>

Receive a message from the connected client

Blocks until a complete message is received.

Errors

• IgtlError::Io - Network read failed (connection lost, timeout, etc.)
• IgtlError::InvalidHeader - Received malformed header
• IgtlError::CrcMismatch - Data corruption detected
• IgtlError::UnknownMessageType - Unsupported message type
• IgtlError::InvalidSize - Message size mismatch

Examples

use openigtlink_rust::io::IgtlServer;
use openigtlink_rust::protocol::types::TransformMessage;
use openigtlink_rust::protocol::message::IgtlMessage;

let server = IgtlServer::bind("127.0.0.1:18944")?;
let mut conn = server.accept()?;

let msg: IgtlMessage<TransformMessage> = conn.receive()?;

pub fn receive_any(&mut self) -> Result<AnyMessage>

Receive any message type dynamically

This method receives a message without knowing its type in advance, returning it as an AnyMessage enum that can be pattern matched.

Errors

• IgtlError::Io - Network read failed
• IgtlError::InvalidHeader - Malformed header
• IgtlError::CrcMismatch - Data corruption detected

Examples

use openigtlink_rust::io::IgtlServer;
use openigtlink_rust::protocol::AnyMessage;

let server = IgtlServer::bind("127.0.0.1:18944")?;
let mut conn = server.accept()?;

let msg = conn.receive_any()?;
match msg {
    AnyMessage::Transform(_) => println!("Received transform"),
    AnyMessage::Status(_) => println!("Received status"),
    _ => println!("Received other message"),
}

pub fn set_read_timeout(&mut self, timeout: Option<Duration>) -> Result<()>

Set read timeout for the underlying TCP stream

Arguments

• timeout - Timeout duration (None for infinite)

pub fn set_write_timeout(&mut self, timeout: Option<Duration>) -> Result<()>

Set write timeout for the underlying TCP stream

Arguments

• timeout - Timeout duration (None for infinite)

pub fn set_nodelay(&self, nodelay: bool) -> Result<()>

Enable or disable TCP_NODELAY (Nagle’s algorithm)

Wrapper around std::net::TcpStream::set_nodelay.

pub fn set_recv_buffer_size(&self, size: usize) -> Result<()>

Set the size of the TCP receive buffer (SO_RCVBUF)

pub fn set_send_buffer_size(&self, size: usize) -> Result<()>

Set the size of the TCP send buffer (SO_SNDBUF)

pub fn nodelay(&self) -> Result<bool>

Get the current TCP_NODELAY setting

pub fn peer_addr(&self) -> Result<SocketAddr>

Get the remote peer address