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/*=========================================================================
Program: OpenIGTLink -- Example for Data Receiving 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 <iomanip>
#include <math.h>
#include <cstdlib>
#include <cstring>
#include "igtlOSUtil.h"
#include "igtlMessageHeader.h"
#include "igtlMessageHandler.h"
#include "igtlMessageHandlerMacro.h"
#include "igtlSessionManager.h"
#include "igtlTransformMessage.h"
#include "igtlPositionMessage.h"
#include "igtlImageMessage.h"
//------------------------------------------------------------
// Define a structure type to share data between message
// handler classes and main() function.
// It can be any types e.g. C++ class, array, etc.
// In this example, the shared structure is only used for
// passing the message type and the device name from the
// handler to main() function.
typedef struct {
std::string messagetype;
std::string devicename;
} MyData;
//------------------------------------------------------------
// Define message handler classes for TransformMessage,
// PositionMessage and ImageMessage.
// igtlMessageHandlerClassMacro() defines a child class of
// igtl::MessageHandler to handle OpenIGTLink messages for
// the message type specified as the first argument. The
// second argument will be used for the name of this
// message handler class, while the third argument specifies
// a type of data that will be shared with the message functions
// of this handler class.
igtlMessageHandlerClassMacro(igtl::TransformMessage, TransformHandler, MyData);
igtlMessageHandlerClassMacro(igtl::PositionMessage, PositionHandler, MyData);
igtlMessageHandlerClassMacro(igtl::ImageMessage, ImageHandler, MyData);
//------------------------------------------------------------
// You need to describe how the received message is processed
// in Process() function of the message handler class.
// When Process() is called, pointers to the received message
// and the shared data are passed as the arguments.
// -- Transform message
int TransformHandler::Process(igtl::TransformMessage * transMsg, MyData* data)
{
// Retrive the transform data
igtl::Matrix4x4 matrix;
transMsg->GetMatrix(matrix);
igtl::PrintMatrix(matrix);
data->messagetype = transMsg->GetDeviceType();
data->devicename = transMsg->GetDeviceName();
return 1;
}
// -- Position message
int PositionHandler::Process(igtl::PositionMessage * positionMsg, MyData* data)
{
// Retrive the transform data
float position[3];
float quaternion[4];
positionMsg->GetPosition(position);
positionMsg->GetQuaternion(quaternion);
std::cerr << "position = (" << position[0] << ", " << position[1] << ", " << position[2] << ")" << std::endl;
std::cerr << "quaternion = (" << quaternion[0] << ", " << quaternion[1] << ", "
<< quaternion[2] << ", " << quaternion[3] << ")" << std::endl << std::endl;
data->messagetype = positionMsg->GetDeviceType();
data->devicename = positionMsg->GetDeviceName();
return 1;
}
// -- Image message
int ImageHandler::Process(igtl::ImageMessage * imgMsg, MyData *data)
{
// Retrive the image data
int size[3]; // image dimension
float spacing[3]; // spacing (mm/pixel)
int svsize[3]; // sub-volume size
int svoffset[3]; // sub-volume offset
int scalarType; // scalar type
int endian; // endian
scalarType = imgMsg->GetScalarType();
endian = imgMsg->GetEndian();
imgMsg->GetDimensions(size);
imgMsg->GetSpacing(spacing);
imgMsg->GetSubVolume(svsize, svoffset);
std::cerr << "Device Name : " << imgMsg->GetDeviceName() << std::endl;
std::cerr << "Scalar Type : " << scalarType << std::endl;
std::cerr << "Endian : " << endian << std::endl;
std::cerr << "Dimensions : ("
<< size[0] << ", " << size[1] << ", " << size[2] << ")" << std::endl;
std::cerr << "Spacing : ("
<< spacing[0] << ", " << spacing[1] << ", " << spacing[2] << ")" << std::endl;
std::cerr << "Sub-Volume dimensions : ("
<< svsize[0] << ", " << svsize[1] << ", " << svsize[2] << ")" << std::endl;
std::cerr << "Sub-Volume offset : ("
<< svoffset[0] << ", " << svoffset[1] << ", " << svoffset[2] << ")" << std::endl;
data->messagetype = imgMsg->GetDeviceType();
data->devicename = imgMsg->GetDeviceName();
return 1;
}
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 2) // check number of arguments
{
// If not correct, print usage
std::cerr << " <port> : Port # (18944 in Slicer default)" << std::endl;
exit(0);
}
int port = atoi(argv[1]);
//------------------------------------------------------------
// Create a session manager
igtl::SessionManager::Pointer sm;
sm = igtl::SessionManager::New();
sm->SetMode(igtl::SessionManager::MODE_SERVER);
sm->SetPort(port);
//------------------------------------------------------------
// Create message handlers
TransformHandler::Pointer tmh = TransformHandler::New();
PositionHandler::Pointer pmh = PositionHandler::New();
ImageHandler::Pointer imh = ImageHandler::New();
MyData mydata;
tmh->SetData(&mydata);
pmh->SetData(&mydata);
imh->SetData(&mydata);
//------------------------------------------------------------
// Register the message handlers to the session manager
sm->AddMessageHandler(tmh);
sm->AddMessageHandler(pmh);
sm->AddMessageHandler(imh);
//------------------------------------------------------------
// Start session
if (sm->Connect())
{
while (1)
{
int r = sm->ProcessMessage();
if (r == 0) // Disconnected
{
break;
}
std::cerr << "Message Type: " << tmh->GetData()->messagetype << std::endl;
std::cerr << "Device Name: " << tmh->GetData()->devicename << std::endl;
}
// Stop session
sm->Disconnect();
}
}
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