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/*=========================================================================
Program: OpenIGTLink -- Example for Image Meta Data Server
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 <cstring>
#include "igtlOSUtil.h"
#include "igtlMessageHeader.h"
#include "igtlServerSocket.h"
#include "igtlPolyDataMessage.h"
int SendPolyData(igtl::Socket::Pointer& socket, const char* name);
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>" << 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();
//------------------------------------------------------------
// loop
for (int i = 0; i < 100; i ++)
{
// Initialize receive buffer
headerMsg->InitPack();
// Receive generic header from the socket
int rs = socket->Receive(headerMsg->GetPackPointer(), headerMsg->GetPackSize());
if (rs == 0)
{
socket->CloseSocket();
}
if (rs != headerMsg->GetPackSize())
{
continue;
}
// Deserialize the header
headerMsg->Unpack();
// Check data type and receive data body
if (strcmp(headerMsg->GetDeviceType(), "GET_POLYDATA") == 0)
{
std::cerr << "Received a GET_POLYDATA message." << std::endl;
//socket->Skip(headerMsg->GetBodySizeToRead(), 0);
SendPolyData(socket, headerMsg->GetDeviceName());
}
else
{
// if the data type is unknown, skip reading.
std::cerr << "Receiving : " << headerMsg->GetDeviceType() << std::endl;
socket->Skip(headerMsg->GetBodySizeToRead(), 0);
}
}
}
}
//------------------------------------------------------------
// Close connection (The example code never reaches to this section ...)
socket->CloseSocket();
}
int SendPolyData(igtl::Socket::Pointer& socket, const char* name)
{
//------------------------------------------------------------
// Allocate Status Message Class
igtl::PolyDataMessage::Pointer polyDataMsg;
polyDataMsg = igtl::PolyDataMessage::New();
// NOTE: the server should send a message with the same device name
// as the received query message.
polyDataMsg->SetDeviceName(name);
// Geometry data
static igtlFloat32 pointsData[8][3]={{0,0,0}, {1,0,0}, {1,1,0}, {0,1,0},
{0,0,1}, {1,0,1}, {1,1,1}, {0,1,1}};
static igtlUint32 polyData[6][4]={{0,3,2,1}, {4,5,6,7}, {0,1,5,4},
{1,2,6,5}, {2,3,7,6}, {3,0,4,7}};
static igtlFloat32 attributeData[8]={0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0};
// Create point array
igtl::PolyDataPointArray::Pointer pointArray;
pointArray = igtl::PolyDataPointArray::New();
for (unsigned int i = 0; i < 8; i ++)
{
pointArray->AddPoint(pointsData[i]);
}
polyDataMsg->SetPoints(pointArray);
// Create polygon array
igtl::PolyDataCellArray::Pointer polyArray;
polyArray = igtl::PolyDataCellArray::New();
for (unsigned int i = 0; i < 6; i ++)
{
polyArray->AddCell(4, polyData[i]);
}
polyDataMsg->SetPolygons(polyArray);
// Create attribute array
igtl::PolyDataAttribute::Pointer attribute;
attribute = igtl::PolyDataAttribute::New();
attribute->SetType(igtl::PolyDataAttribute::POINT_SCALAR);
attribute->SetName("attr");
attribute->SetSize(8);
attribute->SetData(attributeData);
polyDataMsg->ClearAttributes();
polyDataMsg->AddAttribute(attribute);
polyDataMsg->Pack();
std::cerr << "Size of pack: " << polyDataMsg->GetPackSize() << std::endl;
std::cerr << "Name of type: " << polyDataMsg->GetDeviceType() << std::endl;
std::cerr << "Sending a POLYDATA message..." << std::endl;
socket->Send(polyDataMsg->GetPackPointer(), polyDataMsg->GetPackSize());
return 1;
}
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