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/*=========================================================================
Program: OpenIGTLink -- Example for Quaternion Tracking Data Client
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 "igtlQuaternionTrackingDataMessage.h"
#include "igtlClientSocket.h"
int ReceiveQuaternionTrackingData(igtl::ClientSocket::Pointer& socket, igtl::MessageHeader::Pointer& header);
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);
}
//------------------------------------------------------------
// Ask the server to start pushing quaternion tracking data
std::cerr << "Sending STT_QTDATA message....." << std::endl;
igtl::StartQuaternionTrackingDataMessage::Pointer startQuaternionTrackingMsg;
startQuaternionTrackingMsg = igtl::StartQuaternionTrackingDataMessage::New();
startQuaternionTrackingMsg->SetDeviceName("QTDataClient");
startQuaternionTrackingMsg->SetResolution(interval);
startQuaternionTrackingMsg->SetCoordinateName("Patient");
startQuaternionTrackingMsg->Pack();
socket->Send(startQuaternionTrackingMsg->GetPackPointer(), startQuaternionTrackingMsg->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 (strcmp(headerMsg->GetDeviceType(), "QTDATA") == 0)
{
ReceiveQuaternionTrackingData(socket, headerMsg);
}
else
{
std::cerr << "Receiving : " << headerMsg->GetDeviceType() << std::endl;
socket->Skip(headerMsg->GetBodySizeToRead(), 0);
}
if (++loop >= 10) // if received 100 times
{
//------------------------------------------------------------
// Ask the server to stop pushing quaternion tracking data
std::cerr << "Sending STP_QTDATA message....." << std::endl;
igtl::StopQuaternionTrackingDataMessage::Pointer stopQuaternionTrackingMsg;
stopQuaternionTrackingMsg = igtl::StopQuaternionTrackingDataMessage::New();
stopQuaternionTrackingMsg->SetDeviceName("QTDataClient");
stopQuaternionTrackingMsg->Pack();
socket->Send(stopQuaternionTrackingMsg->GetPackPointer(), stopQuaternionTrackingMsg->GetPackSize());
loop = 0;
}
}
}
int ReceiveQuaternionTrackingData(igtl::ClientSocket::Pointer& socket, igtl::MessageHeader::Pointer& header)
{
std::cerr << "Receiving QTDATA data type." << std::endl;
//------------------------------------------------------------
// Allocate QuaternionTrackingData Message Class
igtl::QuaternionTrackingDataMessage::Pointer quaternionTrackingData;
quaternionTrackingData = igtl::QuaternionTrackingDataMessage::New();
quaternionTrackingData->SetMessageHeader(header);
quaternionTrackingData->AllocatePack();
// Receive body from the socket
socket->Receive(quaternionTrackingData->GetPackBodyPointer(), quaternionTrackingData->GetPackBodySize());
// Deserialize position and quaternion (orientation) data
// If you want to skip CRC check, call Unpack() without argument.
int c = quaternionTrackingData->Unpack(1);
if (c & igtl::MessageHeader::UNPACK_BODY) // if CRC check is OK
{
int nElements = quaternionTrackingData->GetNumberOfQuaternionTrackingDataElements();
for (int i = 0; i < nElements; i ++)
{
igtl::QuaternionTrackingDataElement::Pointer quaternionTrackingElement;
quaternionTrackingData->GetQuaternionTrackingDataElement(i, quaternionTrackingElement);
float position[3];
float quaternion[4];
quaternionTrackingElement->GetPosition(position);
quaternionTrackingElement->GetQuaternion(quaternion);
std::cerr << "========== Element #" << i << " ==========" << std::endl;
std::cerr << " Name : " << quaternionTrackingElement->GetName() << std::endl;
std::cerr << " Type : " << (int) quaternionTrackingElement->GetType() << std::endl;
std::cerr << " Position : "; igtl::PrintVector3(position);
std::cerr << " Quaternion : "; igtl::PrintVector4(quaternion);
std::cerr << "================================" << std::endl;
}
return 1;
}
return 0;
}
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