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/*=========================================================================
Program: The OpenIGTLink Library
Language: C++
Web page: http://openigtlink.org/
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 "igtlSensorMessage.h"
#include "igtl_header.h"
#include "igtl_sensor.h"
// Disable warning C4996 (strncpy() may be unsafe) in Windows.
#define _CRT_SECURE_NO_WARNINGS
#include <string.h>
namespace igtl {
SensorMessage::SensorMessage():
MessageBase()
{
m_SendMessageType = "SENSOR";
this->m_Length = 0;
this->m_Status = 0;
this->m_Unit = 0;
this->m_Array.clear();
}
SensorMessage::~SensorMessage()
{
}
int SensorMessage::SetLength(unsigned int n)
{
if (n <= 256)
{
this->m_Length = n;
this->m_Array.resize(n);
}
return (int) this->m_Length;
}
unsigned int SensorMessage::GetLength()
{
return this->m_Length;
}
int SensorMessage::SetUnit(igtlUnit unit)
{
this->m_Unit = unit;
return 1;
}
int SensorMessage::SetUnit(igtl::Unit * unit)
{
this->m_Unit = unit->Pack();
return 1;
}
igtlUnit SensorMessage::GetUnit()
{
return this->m_Unit;
}
int SensorMessage::GetUnit(igtl::Unit * unit)
{
return unit->Unpack(this->m_Unit);
}
int SensorMessage::SetValue(igtlFloat64 * data)
{
for (int i = 0; i < this->m_Length; i ++)
{
this->m_Array[i] = data[i];
}
return 1;
}
int SensorMessage::SetValue(unsigned int i, igtlFloat64 value)
{
if (i < this->m_Length)
{
this->m_Array[i] = value;
return 1;
}
return 0;
}
igtlFloat64 SensorMessage::GetValue(unsigned int i)
{
if (i < this->m_Length)
{
return this->m_Array[i];
}
else
{
return 0.0;
}
}
int SensorMessage::CalculateContentBufferSize()
{
// Body pack size is the sum of LARRAY, STATUS, UNIT and DATA
return sizeof(igtlUint8)*2 + sizeof(igtlUnit) + sizeof(igtlFloat64)*this->m_Length;
}
int SensorMessage::PackContent()
{
// Allocate buffer
AllocateBuffer();
// Set pointers
igtl_sensor_header * sensor_header;
igtl_float64 * data;
sensor_header = (igtl_sensor_header *) (this->m_Content);
data = (igtl_float64 *) (this->m_Content + sizeof(igtl_sensor_header));
// Copy data
sensor_header->larray = this->m_Length;
sensor_header->status = this->m_Status;
sensor_header->unit = this->m_Unit;
for (int i = 0; i < this->m_Length; i ++)
{
data[i] = this->m_Array[i];
}
// Convert byte order from local to network
igtl_sensor_convert_byte_order(sensor_header, data);
return 1;
}
int SensorMessage::UnpackContent()
{
// Set pointers
igtl_sensor_header * sensor_header;
igtl_float64 * data;
sensor_header = (igtl_sensor_header *) (this->m_Content);
data = (igtl_float64 *) (this->m_Content + sizeof(igtl_sensor_header));
// Convert byte order from local to network
igtl_sensor_convert_byte_order(sensor_header, data);
// Copy data
this->m_Length = sensor_header->larray;
this->m_Status = sensor_header->status;
this->m_Unit = sensor_header->unit;
this->m_Array.resize(this->m_Length);
for (int i = 0; i < this->m_Length; i ++)
{
this->m_Array[i] = data[i];
}
return 1;
}
} // namespace igtl
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