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
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
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
143
144
145
146
147
148
|
/*=========================================================================
Program: OpenIGTLink -- Example for Tracker Client Program
Language: C++
Copyright (c) Insight Software Consortium. All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#include <iostream>
#include <math.h>
#include <cstdlib>
#include "igtlOSUtil.h"
#include "igtlBindMessage.h"
#include "igtlStringMessage.h"
#include "igtlTransformMessage.h"
#include "igtlClientSocket.h"
#define N_STRINGS 5
const char * testString[N_STRINGS] = {
"OpenIGTLink",
"Network",
"Communication",
"Protocol",
"Image Guided Therapy",
};
void GetRandomTestMatrix(igtl::Matrix4x4& matrix);
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 4) // check number of arguments
{
// If not correct, print usage
std::cerr << "Usage: " << argv[0] << " <hostname> <port> <fps>" << std::endl;
std::cerr << " <hostname> : IP or host name" << std::endl;
std::cerr << " <port> : Port # (18944 in Slicer default)" << std::endl;
std::cerr << " <fps> : Frequency (fps) to send coordinate" << std::endl;
exit(0);
}
char* hostname = argv[1];
int port = atoi(argv[2]);
double fps = atof(argv[3]);
int interval = (int) (1000.0 / fps);
//------------------------------------------------------------
// Establish Connection
igtl::ClientSocket::Pointer socket;
socket = igtl::ClientSocket::New();
int r = socket->ConnectToServer(hostname, port);
if (r != 0)
{
std::cerr << "Cannot connect to the server." << std::endl;
exit(0);
}
//------------------------------------------------------------
// Allocate Child Message Classes (String and Transform)
igtl::StringMessage::Pointer stringMsg;
stringMsg = igtl::StringMessage::New();
igtl::TransformMessage::Pointer transMsg;
transMsg = igtl::TransformMessage::New();
//------------------------------------------------------------
// Allocate Bind message class
igtl::BindMessage::Pointer bindMsg;
bindMsg = igtl::BindMessage::New();
//------------------------------------------------------------
// loop
int i = 0;
while (1)
{
stringMsg->SetDeviceName("StringMessage");
stringMsg->SetString(testString[i]);
stringMsg->Pack();
transMsg->SetDeviceName("Tracker");
igtl::Matrix4x4 matrix;
GetRandomTestMatrix(matrix);
transMsg->SetMatrix(matrix);
transMsg->Pack();
bindMsg->Init();
bindMsg->SetDeviceName("BindMessage");
bindMsg->AppendChildMessage(stringMsg);
bindMsg->AppendChildMessage(transMsg);
bindMsg->Pack();
socket->Send(bindMsg->GetPackPointer(), bindMsg->GetPackSize());
igtl::Sleep(interval); // wait
}
//------------------------------------------------------------
// Close connection
socket->CloseSocket();
}
//------------------------------------------------------------
// Function to generate random matrix.
void GetRandomTestMatrix(igtl::Matrix4x4& matrix)
{
float position[3];
float orientation[4];
// random position
static float phi = 0.0;
position[0] = 50.0 * cos(phi);
position[1] = 50.0 * sin(phi);
position[2] = 50.0 * cos(phi);
phi = phi + 0.2;
// random orientation
static float theta = 0.0;
orientation[0]=0.0;
orientation[1]=0.6666666666*cos(theta);
orientation[2]=0.577350269189626;
orientation[3]=0.6666666666*sin(theta);
theta = theta + 0.1;
//igtl::Matrix4x4 matrix;
igtl::QuaternionToMatrix(orientation, matrix);
matrix[0][3] = position[0];
matrix[1][3] = position[1];
matrix[2][3] = position[2];
igtl::PrintMatrix(matrix);
}
|
