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/*=========================================================================
Program: OpenIGTLink Library
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 "igtlBindMessage.h"
#include "igtlutil/igtl_test_data_bind.h"
#include "igtlutil/igtl_test_data_image.h"
#include "igtlTransformMessage.h"
#include "igtlImageMessage.h"
#include "igtlSensorMessage.h"
#include "igtlMessageDebugFunction.h"
#include "igtlUnit.h"
#include "igtl_unit.h"
#include "igtl_header.h"
#include "igtl_image.h"
#include "igtl_transform.h"
#include "igtl_bind.h"
#include "igtlTestConfig.h"
#include "string.h"
#define MESSAGE_BIND_HEADER_SIZE 98
#define MESSAGE_BIND_BODY_SIZE 2678
#define TEST_IMAGE_MESSAGE_SIZE 2500
#define MESSAGE_SENSOR_BODY_SIZE 58
igtl::ImageMessage::Pointer imageSendMsg2 = igtl::ImageMessage::New();
igtl::ImageMessage::Pointer imageReceiveMsg2 = igtl::ImageMessage::New();
igtl::SensorMessage::Pointer sensorDataSendMsg = igtl::SensorMessage::New();
igtl::SensorMessage::Pointer sensorDataReceiveMsg = igtl::SensorMessage::New();
igtl::TransformMessage::Pointer transformSendMsg = igtl::TransformMessage::New();
igtl::TransformMessage::Pointer transformReceiveMsg = igtl::TransformMessage::New();
igtl::BindMessage::Pointer bindSendMsg = igtl::BindMessage::New();
igtl::BindMessage::Pointer bindReceiveMsg = igtl::BindMessage::New();
igtl::Unit::Pointer unit = igtl::Unit::New();
igtl::GetBindMessage::Pointer getBindSendMessage = igtl::GetBindMessage::New();
igtl::GetBindMessage::Pointer getBindReceiveMessage = igtl::GetBindMessage::New();
igtl::StartBindMessage::Pointer startBindSendMessage = igtl::StartBindMessage::New();
igtl::StartBindMessage::Pointer startBindReceiveMessage = igtl::StartBindMessage::New();
float inT[4] = {-0.954892f, 0.196632f, -0.222525f, 0.0};
float inS[4] = {-0.196632f, 0.142857f, 0.970014f, 0.0};
float inN[4] = {0.222525f, 0.970014f, -0.0977491f, 0.0};
float inOrigin[4] = {46.0531f,19.4709f,46.0531f, 1.0};
igtl::Matrix4x4 inMatrix = {{inT[0],inS[0],inN[0],inOrigin[0]},
{inT[1],inS[1],inN[1],inOrigin[1]},
{inT[2],inS[2],inN[2],inOrigin[2]},
{inT[3],inS[3],inN[3],inOrigin[3]}};
int size[3] = {50, 50, 1}; // image dimension
float spacing[3] = {1.0f, 1.0f, 1.0f}; // spacing (mm/pixel)
int svsize[3] = {50, 50, 1}; // sub-volume size
int svoffset[3] = {0, 0, 0}; // sub-volume offset
int scalarType = igtl::ImageMessage::TYPE_UINT8;// scalar type
igtlFloat64 sensorValues[6] = {123456.78,12345.678,1234.5678,123.45678,12.345678,1.2345678};
void BuildUpElements()
{
imageSendMsg2 = igtl::ImageMessage::New();
imageSendMsg2->SetHeaderVersion(IGTL_HEADER_VERSION_1);
imageSendMsg2->SetTimeStamp(0, 1234567892);
imageSendMsg2->SetDeviceName("ChildImage");
//Initialization of a image message
imageSendMsg2->SetDimensions(size);
imageSendMsg2->SetSpacing(spacing);
imageSendMsg2->SetScalarType(scalarType);
imageSendMsg2->SetSubVolume(svsize, svoffset);
imageSendMsg2->SetNumComponents(1);
imageSendMsg2->SetScalarType(IGTL_IMAGE_STYPE_TYPE_UINT8);
imageSendMsg2->SetEndian(IGTL_IMAGE_ENDIAN_LITTLE);
imageSendMsg2->SetCoordinateSystem(IGTL_IMAGE_COORD_RAS);
imageSendMsg2->SetMatrix(inMatrix);
//imageSendMsg2->AllocateBuffer(IGTL_IMAGE_HEADER_SIZE+TEST_IMAGE_MESSAGE_SIZE);
imageSendMsg2->AllocateScalars();
memcpy(imageSendMsg2->GetPackBodyPointer(), (const void*)(test_image_message+IGTL_HEADER_SIZE),
(size_t)(IGTL_IMAGE_HEADER_SIZE+TEST_IMAGE_MESSAGE_SIZE));//here m_Body is set.
//imageSendMsg2->SetScalarPointer((void*)test_image);
imageSendMsg2->Pack();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)imageSendMsg2->GetPackPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
imageReceiveMsg2->SetMessageHeader(headerMsg);
imageReceiveMsg2->AllocatePack();
sensorDataSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
sensorDataSendMsg->AllocatePack();
sensorDataSendMsg->SetLength(6);
sensorDataSendMsg->SetDeviceName("ChildSensor");
sensorDataSendMsg->SetTimeStamp(0, 1234567892);
unit->Init();
unit->SetPrefix(IGTL_UNIT_PREFIX_NONE);
unit->Append(IGTL_UNIT_SI_BASE_METER, (igtl_int8) 1);
unit->Append(IGTL_UNIT_SI_BASE_SECOND, (igtl_int8) -2);
unit->Pack();
sensorDataSendMsg->SetUnit(unit);
for (int i =0; i < 6; i++)
{
sensorDataSendMsg->SetValue(i, sensorValues[i]);
}
sensorDataSendMsg->Pack();
sensorDataReceiveMsg->AllocatePack();
sensorDataReceiveMsg->SetLength(6);
transformSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
transformSendMsg->AllocatePack();
transformSendMsg->SetTimeStamp(0, 1234567892);
transformSendMsg->SetDeviceName("ChildTrans");
transformSendMsg->SetMatrix(inMatrix);
transformSendMsg->Pack();
transformReceiveMsg->AllocatePack();
bindSendMsg->Init();
bindSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
bindSendMsg->SetTimeStamp(0, 1234567892);
bindSendMsg->SetDeviceName("DeviceName");
bindSendMsg->AppendChildMessage(transformSendMsg);
bindSendMsg->AppendChildMessage(imageSendMsg2);
bindSendMsg->AppendChildMessage(sensorDataSendMsg);
bindSendMsg->Pack();
}
TEST(BindMessageTest, Pack)
{
BuildUpElements();
char * messageBody = (char*)bindSendMsg->GetPackBodyPointer() + MESSAGE_BIND_HEADER_SIZE;
int r = memcmp((const void*)bindSendMsg->GetPackPointer(), (const void*)test_bind_message_header,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)bindSendMsg->GetPackBodyPointer(), (const void*)test_bind_message_bind_header, MESSAGE_BIND_HEADER_SIZE);
EXPECT_EQ(r, 0);
messageBody = (char*)bindSendMsg->GetPackBodyPointer() + MESSAGE_BIND_HEADER_SIZE;
r = memcmp((const void*)(messageBody), (const void*)test_bind_message_bind_body, MESSAGE_BIND_BODY_SIZE);
EXPECT_EQ(r, 0);
}
TEST(BindMessageTest, Unpack)
{
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), bindSendMsg->GetPackPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
bindReceiveMsg->SetMessageHeader(headerMsg);
bindReceiveMsg->AllocatePack();
memcpy(bindReceiveMsg->GetPackBodyPointer(), bindSendMsg->GetPackBodyPointer(),MESSAGE_BIND_HEADER_SIZE + MESSAGE_BIND_BODY_SIZE);
bindReceiveMsg->Unpack(1);
bindReceiveMsg->GetChildMessage(0, transformReceiveMsg);
bindReceiveMsg->GetChildMessage(1, imageReceiveMsg2);
bindReceiveMsg->GetChildMessage(2, sensorDataReceiveMsg);
igtl_header *messageHeader = (igtl_header *)bindReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "BIND");
EXPECT_EQ(messageHeader->header_version, 1);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, MESSAGE_BIND_HEADER_SIZE + MESSAGE_BIND_BODY_SIZE);
int r = memcmp(bindReceiveMsg->GetPackBodyPointer(), test_bind_message_bind_header, MESSAGE_BIND_HEADER_SIZE);
EXPECT_EQ(r, 0);
igtl_header *imageHeader = (igtl_header *)imageReceiveMsg2->GetPackPointer();
EXPECT_STREQ(imageHeader->device_name, "ChildImage");
EXPECT_STREQ(imageHeader->name, "IMAGE");
EXPECT_EQ(imageHeader->header_version, 1);
EXPECT_EQ(imageHeader->timestamp, 1234567892);
EXPECT_EQ(imageHeader->body_size, IGTL_IMAGE_HEADER_SIZE+TEST_IMAGE_MESSAGE_SIZE);
int returnSize[3] = {0,0,0};
imageReceiveMsg2->GetDimensions(returnSize);
EXPECT_THAT(returnSize,testing::ElementsAreArray(size));
float returnSpacing[3] = {0.0f,0.0f,0.0f};
imageReceiveMsg2->GetSpacing(returnSpacing);
EXPECT_TRUE(ArrayFloatComparison(returnSpacing, spacing, 3, ABS_ERROR));
int returnSvsize[3] = {0,0,0}, returnSvoffset[3] = {0,0,0};
imageReceiveMsg2->GetSubVolume(returnSvsize, returnSvoffset);
EXPECT_THAT(returnSvsize,testing::ElementsAreArray(svsize));
EXPECT_THAT(returnSvoffset,testing::ElementsAreArray(svoffset));
EXPECT_EQ(imageReceiveMsg2->GetScalarType(), IGTL_IMAGE_STYPE_TYPE_UINT8);
EXPECT_EQ(imageReceiveMsg2->GetEndian(), IGTL_IMAGE_ENDIAN_LITTLE);
EXPECT_EQ(imageReceiveMsg2->GetCoordinateSystem(), IGTL_IMAGE_COORD_RAS);
r = memcmp((const char*)imageReceiveMsg2->GetPackBodyPointer()+IGTL_IMAGE_HEADER_SIZE, test_image, TEST_IMAGE_MESSAGE_SIZE);
EXPECT_EQ(r, 0);
igtl_header *transformHeader = (igtl_header *)transformReceiveMsg->GetPackPointer();
EXPECT_STREQ(transformHeader->device_name, "ChildTrans");
EXPECT_STREQ(transformHeader->name, "TRANSFORM");
EXPECT_EQ(transformHeader->header_version, 1);
EXPECT_EQ(transformHeader->timestamp, 1234567892);
EXPECT_EQ(transformHeader->body_size, IGTL_TRANSFORM_SIZE);
igtl::Matrix4x4 outMatrix = {{0.0,0.0,0.0,0.0},
{0.0,0.0,0.0,0.0},
{0.0,0.0,0.0,0.0},
{0.0,0.0,0.0,0.0}};
transformReceiveMsg->GetMatrix(outMatrix);
EXPECT_TRUE(MatrixComparison(outMatrix, inMatrix, ABS_ERROR));
igtl_header *sensorHeader = (igtl_header *)sensorDataReceiveMsg->GetPackPointer();
EXPECT_STREQ(sensorHeader->device_name, "ChildSensor");
EXPECT_STREQ(sensorHeader->name, "SENSOR");
EXPECT_EQ(sensorHeader->header_version, 1);
EXPECT_EQ(sensorHeader->timestamp, 1234567892);
EXPECT_EQ(sensorHeader->body_size, MESSAGE_SENSOR_BODY_SIZE);
igtl::igtlUnit unitTruth = 0x443E0000000000;
EXPECT_EQ(sensorDataReceiveMsg->GetUnit(), unitTruth);
EXPECT_EQ(sensorDataReceiveMsg->GetLength(),6);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(0),123456.78);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(1),12345.678);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(2),1234.5678);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(3),123.45678);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(4),12.345678);
EXPECT_FLOAT_EQ(sensorDataReceiveMsg->GetValue(5),1.2345678);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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