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/*=========================================================================
Program: OpenIGTLink -- Example for Tracker Client Program II
(POSITION data type)
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 "igtlPositionMessage.h"
#include "igtlClientSocket.h"
void GetRandomTestVectors(float* position, float* quaternion);
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);
}
//------------------------------------------------------------
// Allocate Transform Message Class
igtl::PositionMessage::Pointer positionMsg;
positionMsg = igtl::PositionMessage::New();
positionMsg->SetDeviceName("Tracker");
positionMsg->SetPackType(igtl::PositionMessage::ALL); // default
//------------------------------------------------------------
// loop
while (1)
{
float position[3];
float quaternion[4];
GetRandomTestVectors(position, quaternion);
positionMsg->SetPosition(position);
positionMsg->SetQuaternion(quaternion);
positionMsg->Pack();
socket->Send(positionMsg->GetPackPointer(), positionMsg->GetPackSize());
igtl::Sleep(interval); // wait
}
//------------------------------------------------------------
// Close connection
socket->CloseSocket();
}
//------------------------------------------------------------
// Function to generate random matrix.
void GetRandomTestVectors(float* position, float* quaternion)
{
// random position
static float phi = 0.0;
position[0] = 50.0 * cos(phi);
position[1] = 50.0 * sin(phi);
position[2] = 50.0 * cos(phi);
phi = phi + 0.2;
// random orientation
static float theta = 0.0;
quaternion[0]=0.0;
quaternion[1]=0.6666666666*cos(theta);
quaternion[2]=0.577350269189626;
quaternion[3]=0.6666666666*sin(theta);
theta = theta + 0.1;
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;
}
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