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/*=========================================================================
Program: OpenIGTLink -- Example for Point Server 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 "igtlServerSocket.h"
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 2) // check number of arguments
{
// If not correct, print usage
std::cerr << "Usage: " << argv[0] << " <port> <fps>" << std::endl;
std::cerr << " <port> : Port # (18944 in Slicer default)" << std::endl;
exit(0);
}
int port = atoi(argv[1]);
igtl::ServerSocket::Pointer serverSocket;
serverSocket = igtl::ServerSocket::New();
int r = serverSocket->CreateServer(port);
if (r < 0)
{
std::cerr << "Cannot create a server socket." << std::endl;
exit(0);
}
igtl::Socket::Pointer socket;
while (1)
{
//------------------------------------------------------------
// Waiting for Connection
socket = serverSocket->WaitForConnection(1000);
if (socket.IsNotNull()) // if client connected
{
std::cerr << "A client is connected." << std::endl;
// Create a message buffer to receive header
igtl::MessageHeader::Pointer headerMsg;
headerMsg = igtl::MessageHeader::New();
headerMsg->InitPack();
// Receive generic header from the socket
int rs = socket->Receive(headerMsg->GetPackPointer(), headerMsg->GetPackSize());
if (rs == headerMsg->GetPackSize())
{
headerMsg->Unpack();
int version = headerMsg->GetHeaderVersion();
if (strcmp(headerMsg->GetDeviceType(), "GET_POINT") == 0)
{
//------------------------------------------------------------
// loop
for (int i = 0; i < 100; i ++)
{
//---------------------------
// Create a point message
igtl::PointMessage::Pointer pointMsg;
pointMsg = igtl::PointMessage::New();
pointMsg->SetHeaderVersion(version);
pointMsg->SetDeviceName("PointSender");
//---------------------------
// Create 1st point
igtl::PointElement::Pointer point0;
point0 = igtl::PointElement::New();
point0->SetName("POINT_0");
point0->SetGroupName("GROUP_0");
point0->SetRGBA(0xFF, 0x00, 0x00, 0xFF);
point0->SetPosition(10.0, 20.0, 30.0);
point0->SetRadius(15.0);
point0->SetOwner("IMAGE_0");
//---------------------------
// Create 2nd point
igtl::PointElement::Pointer point1;
point1 = igtl::PointElement::New();
point1->SetName("POINT_1");
point1->SetGroupName("GROUP_0");
point1->SetRGBA(0x00, 0xFF, 0x00, 0xFF);
point1->SetPosition(40.0, 50.0, 60.0);
point1->SetRadius(45.0);
point1->SetOwner("IMAGE_0");
//---------------------------
// Create 3rd point
igtl::PointElement::Pointer point2;
point2 = igtl::PointElement::New();
point2->SetName("POINT_2");
point2->SetGroupName("GROUP_0");
point2->SetRGBA(0x00, 0x00, 0xFF, 0xFF);
point2->SetPosition(70.0, 80.0, 90.0);
point2->SetRadius(75.0);
point2->SetOwner("IMAGE_0");
//---------------------------
// Pack into the point message
pointMsg->AddPointElement(point0);
pointMsg->AddPointElement(point1);
pointMsg->AddPointElement(point2);
pointMsg->SetHeaderVersion(headerMsg->GetHeaderVersion());
#if OpenIGTLink_HEADER_VERSION >= 2
if (headerMsg->GetHeaderVersion() == IGTL_HEADER_VERSION_2)
{
pointMsg->SetMetaDataElement("First patient age", IANA_TYPE_US_ASCII, "22");
pointMsg->SetMetaDataElement("Second patient age", IANA_TYPE_US_ASCII, "25");
pointMsg->SetMessageID(i);
}
#endif
pointMsg->Pack();
//---------------------------
// Send
socket->Send(pointMsg->GetPackPointer(), pointMsg->GetPackSize());
}
}
}
}
//------------------------------------------------------------
// Close connection (The example code never reachs to this section ...)
}
socket->CloseSocket();
}
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