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/*=========================================================================
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 "igtlPointMessage.h"
#include "igtlClientSocket.h"
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 5) // check number of arguments
{
// If not correct, print usage
std::cerr << "Usage: " << argv[0] << " <hostname> <port> <fps> <imgdir>" << 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;
std::cerr << " Version : Version number send to the server" << std::endl;
exit(0);
}
char* hostname = argv[1];
int port = atoi(argv[2]);
double fps = atof(argv[3]);
int version = atoi(argv[4]);
int interval = (int) (1000.0 / fps);
//------------------------------------------------------------
// Establish Connection
igtl::ClientSocket::Pointer socket;
socket = igtl::ClientSocket::New();
int r = socket->ConnectToServer(hostname, port);
if (version > IGTL_HEADER_VERSION_2 || version < IGTL_HEADER_VERSION_1)
{
std::cerr << "Invalid version number" << std::endl;
exit(0);
}
if (r != 0)
{
std::cerr << "Cannot connect to the server." << std::endl;
exit(0);
}
//------------------------------------------------------------
// Ask the server to start pushing tracking data
std::cerr << "Sending GET_POINT message....." << std::endl;
igtl::GetPointMessage::Pointer getPointMsg;
getPointMsg = igtl::GetPointMessage::New();
getPointMsg->SetDeviceName("PointClient");
getPointMsg->SetHeaderVersion(version);
getPointMsg->Pack();
socket->Send(getPointMsg->GetPackPointer(), getPointMsg->GetPackSize());
int loop = 0;
while (1)
{
//------------------------------------------------------------
// Wait for a reply
igtl::MessageHeader::Pointer headerMsg;
headerMsg = igtl::MessageHeader::New();
headerMsg->InitPack();
int rs = socket->Receive(headerMsg->GetPackPointer(), headerMsg->GetPackSize());
if (rs == 0)
{
std::cerr << "Connection closed." << std::endl;
socket->CloseSocket();
exit(0);
}
if (rs != headerMsg->GetPackSize())
{
std::cerr << "Message size information and actual data size don't match." << std::endl;
socket->CloseSocket();
exit(0);
}
headerMsg->Unpack();
if (headerMsg->GetHeaderVersion() != version)
{
std::cerr << "Version of the client and server don't match." << std::endl;
socket->CloseSocket();
exit(0);
}
if (strcmp(headerMsg->GetDeviceName(), "PointSender") == 0)
{
std::cerr << "Receiving Point data type." << std::endl;
//------------------------------------------------------------
// Allocate Point Data Message Class
igtl::PointMessage::Pointer pointData;
pointData = igtl::PointMessage::New();
pointData->SetMessageHeader(headerMsg);//Here the version is also set
pointData->AllocatePack();
// Receive body from the socket
socket->Receive(pointData->GetPackBodyPointer(), pointData->GetPackBodySize());
// Deserialize the transform data
// If you want to skip CRC check, call Unpack() without argument.
int c = pointData->Unpack(1);
if (c & igtl::MessageHeader::UNPACK_BODY) // if CRC check is OK
{
if (pointData->GetHeaderVersion() >= IGTL_HEADER_VERSION_2)
{
#if OpenIGTLink_HEADER_VERSION >= 2
int i = 0;
for (std::map<std::string, std::pair<IANA_ENCODING_TYPE, std::string> >::const_iterator it = pointData->GetMetaData().begin(); it != pointData->GetMetaData().end(); ++it, ++i)
{
std::cerr<<"The message ID is:"<< " " << pointData->GetMessageID() << std::endl;
std::cerr<< it->first << " coding scheme: " << it->second.first << " " << it->second.second << std::endl;
}
#endif
}
}
igtl::PointElement::Pointer point;
for (int i = 0;i < pointData->GetNumberOfPointElement(); i++)
{
point = igtl::PointElement::New();
pointData->GetPointElement(i, point);
igtlFloat32 x,y,z;
point->GetPosition(x,y,z);
const char * groupName = point->GetGroupName();
const char * ownerName = point->GetOwner();
std::cerr<<"point position: "<<x<< " " << y << " "<< z << " " << std::endl;
std::cerr<<"groupName: "<< groupName << std::endl;
std::cerr<<"ownerName: "<< ownerName << std::endl;
}
igtl::Sleep(interval);
}
else
{
std::cerr << "Receiving : " << headerMsg->GetDeviceType() << std::endl;
socket->Skip(headerMsg->GetBodySizeToRead(), 0);
}
}
}
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