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/*=========================================================================
Program: OpenIGTLink -- Example for Trajectory message
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 "igtlTrajectoryMessage.h"
#include "igtlServerSocket.h"
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> <fps>" << 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
{
//---------------------------
// Create a trajectory message
igtl::TrajectoryMessage::Pointer trajectoryMsg;
trajectoryMsg = igtl::TrajectoryMessage::New();
trajectoryMsg->SetDeviceName("TrajectorySender");
//---------------------------
// Create 1st trajectory
igtl::TrajectoryElement::Pointer trajectory0;
trajectory0 = igtl::TrajectoryElement::New();
trajectory0->SetName("TRAJECTORY_0");
trajectory0->SetGroupName("GROUP_0");
trajectory0->SetRGBA(0xFF, 0x00, 0x00, 0xFF);
trajectory0->SetEntryPosition(10.0, 20.0, 30.0);
trajectory0->SetTargetPosition(20.0, 20.0, 40.0);
trajectory0->SetRadius(15.0);
trajectory0->SetOwner("IMAGE_0");
//---------------------------
// Create 2nd trajectory
igtl::TrajectoryElement::Pointer trajectory1;
trajectory1 = igtl::TrajectoryElement::New();
trajectory1->SetName("TRAJECTORY_1");
trajectory1->SetGroupName("GROUP_0");
trajectory1->SetRGBA(0x00, 0xFF, 0x00, 0xFF);
trajectory1->SetEntryPosition(40.0, 50.0, 60.0);
trajectory1->SetTargetPosition(20.0, 30.0, 10.0);
trajectory1->SetRadius(45.0);
trajectory1->SetOwner("IMAGE_0");
//---------------------------
// Create 3rd trajectory
igtl::TrajectoryElement::Pointer trajectory2;
trajectory2 = igtl::TrajectoryElement::New();
trajectory2->SetName("TRAJECTORY_2");
trajectory2->SetGroupName("GROUP_0");
trajectory2->SetRGBA(0x00, 0x00, 0xFF, 0xFF);
trajectory2->SetEntryPosition(70.0, 80.0, 90.0);
trajectory2->SetTargetPosition(10.0, 40.0, 20.0);
trajectory2->SetRadius(75.0);
trajectory2->SetOwner("IMAGE_0");
//---------------------------
// Pack into the trajectory message
trajectoryMsg->AddTrajectoryElement(trajectory0);
trajectoryMsg->AddTrajectoryElement(trajectory1);
trajectoryMsg->AddTrajectoryElement(trajectory2);
trajectoryMsg->Pack();
//---------------------------
// Send
socket->Send(trajectoryMsg->GetPackPointer(), trajectoryMsg->GetPackSize());
}
//------------------------------------------------------------
// Close connection (The example code never reachs to this section ...)
}
socket->CloseSocket();
}
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