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/*=========================================================================
Program: OpenIGTLink -- Example for Tracker 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 "igtlTransformMessage.h"
#include "igtlServerSocket.h"
void GetRandomTestMatrix(igtl::Matrix4x4& matrix);
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 3) // 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;
std::cerr << " <fps> : Frequency (fps) to send coordinate" << std::endl;
exit(0);
}
int port = atoi(argv[1]);
double fps = atof(argv[2]);
int interval = (int) (1000.0 / fps);
igtl::TransformMessage::Pointer transMsg;
transMsg = igtl::TransformMessage::New();
transMsg->SetDeviceName("Tracker");
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
{
//------------------------------------------------------------
// loop
for (int i = 0; i < 100; i ++)
{
igtl::Matrix4x4 matrix;
GetRandomTestMatrix(matrix);
transMsg->SetDeviceName("Tracker");
transMsg->SetMatrix(matrix);
transMsg->Pack();
socket->Send(transMsg->GetPackPointer(), transMsg->GetPackSize());
igtl::Sleep(interval); // wait
}
}
}
//------------------------------------------------------------
// Close connection (The example code never reachs to this section ...)
socket->CloseSocket();
}
void GetRandomTestMatrix(igtl::Matrix4x4& matrix)
{
float position[3];
float orientation[4];
// 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;
orientation[0]=0.0;
orientation[1]=0.6666666666*cos(theta);
orientation[2]=0.577350269189626;
orientation[3]=0.6666666666*sin(theta);
theta = theta + 0.1;
//igtl::Matrix4x4 matrix;
igtl::QuaternionToMatrix(orientation, matrix);
matrix[0][3] = position[0];
matrix[1][3] = position[1];
matrix[2][3] = position[2];
igtl::PrintMatrix(matrix);
}
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