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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 "igtlCommandMessage.h"
#include "igtlutil/igtl_test_data_command.h"
#include "igtlMessageDebugFunction.h"
#include "igtl_command.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
igtl::CommandMessage::Pointer sendCommandMsg = igtl::CommandMessage::New();
igtl::CommandMessage::Pointer receiveCommandMsg = igtl::CommandMessage::New();
void BuildMessageFormat1()
{
sendCommandMsg = igtl::CommandMessage::New();
sendCommandMsg->SetHeaderVersion(1);
sendCommandMsg->SetCommandId(5);
sendCommandMsg->SetContentEncoding(3);
sendCommandMsg->SetCommandName("This is a test command");
sendCommandMsg->SetCommandContent("Start the tracking machine");
sendCommandMsg->Pack();
}
TEST(CommandMessageTest, Pack)
{
BuildMessageFormat1();
int r = memcmp((const void*)sendCommandMsg->GetBufferPointer(), (const void*)test_command_message,(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)sendCommandMsg->GetBufferBodyPointer(), (const void*)(test_command_message+(size_t)(IGTL_HEADER_SIZE)), sizeof(test_command_message)-IGTL_HEADER_SIZE);
EXPECT_EQ(r, 0);
}
TEST(CommandMessageTest, UnPack)
{
BuildMessageFormat1();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->InitBuffer();
memcpy(headerMsg->GetBufferPointer(), (const void*)sendCommandMsg->GetBufferPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
receiveCommandMsg->SetMessageHeader(headerMsg);
receiveCommandMsg->AllocatePack();
memcpy(receiveCommandMsg->GetBufferBodyPointer(), sendCommandMsg->GetBufferBodyPointer(), headerMsg->GetBodySizeToRead());
receiveCommandMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)receiveCommandMsg->GetBufferPointer();
EXPECT_STREQ(messageHeader->device_name, "");
EXPECT_STREQ(messageHeader->name, "COMMAND");
EXPECT_EQ(messageHeader->header_version, 1);
EXPECT_EQ(messageHeader->timestamp, 0);
EXPECT_EQ(messageHeader->body_size, sizeof(test_command_message)-IGTL_HEADER_SIZE);
igtl_uint64 crc;
memcpy(&crc, &test_command_message[IGTL_HEADER_SIZE-sizeof(igtl_uint64)], sizeof(igtl_uint64));
if(igtl_is_little_endian())
{
crc = BYTE_SWAP_INT64(crc);
}
EXPECT_EQ(messageHeader->crc, crc);
EXPECT_STREQ(receiveCommandMsg->GetCommandContent().c_str(), "Start the tracking machine");
}
#if OpenIGTLink_PROTOCOL_VERSION >= 3
#include "igtlutil/igtl_test_data_commandFormat2.h"
#include "igtlMessageFormat2TestMacro.h"
void BuildMessageFormat2()
{
sendCommandMsg = igtl::CommandMessage::New();
sendCommandMsg->SetHeaderVersion(2);
sendCommandMsg->SetCommandId(5);
sendCommandMsg->SetContentEncoding(3);
sendCommandMsg->SetCommandName("This is a test command");
sendCommandMsg->SetCommandContent("Start the tracking machine");
sendCommandMsg->SetDeviceName("OpticalTracker");
igtlMetaDataAddElementMacro(sendCommandMsg);
sendCommandMsg->Pack();
}
TEST(CommandMessageTest, PackFormatVersion2)
{
BuildMessageFormat2();
int r = memcmp((const void*)sendCommandMsg->GetBufferPointer(), (const void*)test_command_messageFormat2,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)sendCommandMsg->GetBufferBodyPointer(), (const void*)(test_command_messageFormat2+(size_t)(IGTL_HEADER_SIZE)), sizeof(test_command_messageFormat2)-IGTL_HEADER_SIZE);
EXPECT_EQ(r, 0);
}
TEST(CommandMessageTest, UnpackFormatVersion2)
{
BuildMessageFormat2();
igtlMetaDataAddElementMacro(sendCommandMsg);
sendCommandMsg->Pack();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);
headerMsg->InitBuffer();
memcpy(headerMsg->GetBufferPointer(), (const void*)sendCommandMsg->GetBufferPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
receiveCommandMsg->SetMessageHeader(headerMsg);
receiveCommandMsg->AllocatePack();
memcpy(receiveCommandMsg->GetBufferBodyPointer(), sendCommandMsg->GetBufferBodyPointer(), headerMsg->GetBodySizeToRead());
receiveCommandMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)receiveCommandMsg->GetBufferPointer();
EXPECT_STREQ(messageHeader->device_name, "OpticalTracker");
EXPECT_STREQ(messageHeader->name, "COMMAND");
EXPECT_EQ(messageHeader->header_version, 2);
EXPECT_EQ(messageHeader->timestamp, 0);
int size = sizeof(test_command_messageFormat2) - IGTL_HEADER_SIZE;
EXPECT_EQ(messageHeader->body_size, sizeof(test_command_messageFormat2)-IGTL_HEADER_SIZE);
igtl_uint64 crc;
memcpy(&crc, &test_command_messageFormat2[IGTL_HEADER_SIZE-sizeof(igtl_uint64)], sizeof(igtl_uint64));
if(igtl_is_little_endian())
{
crc = BYTE_SWAP_INT64(crc);
}
EXPECT_EQ(messageHeader->crc, crc);
EXPECT_STREQ(receiveCommandMsg->GetCommandContent().c_str(), "Start the tracking machine");
igtlMetaDataComparisonMacro(receiveCommandMsg);
}
#endif
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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