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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 "igtlPointMessage.h"
#include "igtlutil/igtl_test_data_point.h"
#include "igtl_point.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
igtl::PointMessage::Pointer pointSendMsg = igtl::PointMessage::New();
igtl::PointMessage::Pointer pointReceiveMsg = igtl::PointMessage::New();
igtl::PointElement::Pointer pointElement0 = igtl::PointElement::New();
igtl::PointElement::Pointer pointElement1 = igtl::PointElement::New();
igtl::PointElement::Pointer pointElement2 = igtl::PointElement::New();
void BuildUpElements()
{
pointElement0->SetName("POINT_DESCRIPTION_0");
pointElement0->SetGroupName("Landmark");
pointElement0->SetRGBA(255,0,0,255);
pointElement0->SetPosition(10.0, 15.0, 20.0);
pointElement0->SetRadius(5.0);
pointElement0->SetOwner("IMAGE_0");
pointElement1->SetName("POINT_DESCRIPTION_1");
pointElement1->SetGroupName("Landmark");
pointElement1->SetRGBA(0,255,0,255);
pointElement1->SetPosition(25.0, 30.0, 35.0);
pointElement1->SetRadius(3.0);
pointElement1->SetOwner("IMAGE_0");
pointElement2->SetName("POINT_DESCRIPTION_2");
pointElement2->SetGroupName("Landmark");
pointElement2->SetRGBA(0,0,255,255);
pointElement2->SetPosition(40.0, 45.0, 50.0);
pointElement2->SetRadius(1.0);
pointElement2->SetOwner("IMAGE_0");
pointSendMsg = igtl::PointMessage::New();
pointSendMsg->SetDeviceName("DeviceName");
pointSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
pointSendMsg->SetTimeStamp(0, 1234567892);
pointSendMsg->AddPointElement(pointElement0);
pointSendMsg->AddPointElement(pointElement1);
pointSendMsg->AddPointElement(pointElement2);
pointSendMsg->Pack();
}
TEST(PointMessageTest, Pack)
{
BuildUpElements();
int r = memcmp((const void*)pointSendMsg->GetPackPointer(), (const void*)test_point_message,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)pointSendMsg->GetPackBodyPointer(), (const void*)(test_point_message+(size_t)(IGTL_HEADER_SIZE)), IGTL_POINT_ELEMENT_SIZE*3 );
EXPECT_EQ(r, 0);
}
TEST(PointMessageTest, Unpack)
{
BuildUpElements();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), pointSendMsg->GetPackPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
pointReceiveMsg = igtl::PointMessage::New();
pointReceiveMsg->SetMessageHeader(headerMsg);
pointReceiveMsg->AllocatePack();
memcpy(pointReceiveMsg->GetPackBodyPointer(), pointSendMsg->GetPackBodyPointer(), IGTL_POINT_ELEMENT_SIZE*3);
pointReceiveMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)pointReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "POINT");
EXPECT_EQ(messageHeader->header_version, 1);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, IGTL_POINT_ELEMENT_SIZE*3);
std::vector<std::vector<igtlUint8> > groundTruthRGBA(3,std::vector<igtlUint8>(4));
igtlUint8 tempIni1[4] = {255,0,0,255};
groundTruthRGBA[0].assign(tempIni1,tempIni1+4);
igtlUint8 tempIni2[4] = {0,255,0,255};
groundTruthRGBA[1].assign(tempIni2,tempIni2+4);
igtlUint8 tempIni3[4] = {0,0,255,255};
groundTruthRGBA[2].assign(tempIni3,tempIni3+4);
std::vector<std::vector<igtlFloat32> > groundTruthPos(3,std::vector<igtlFloat32>(3));
igtlFloat32 tempFloat1[3] = {10.0,15.0,20.0};
groundTruthPos[0].assign(tempFloat1,tempFloat1+3);
igtlFloat32 tempFloat2[3] = {25.0,30.0,35.0};
groundTruthPos[1].assign(tempFloat2,tempFloat2+3);
igtlFloat32 tempFloat3[3] = {40.0,45.0,50.0};
groundTruthPos[2].assign(tempFloat3,tempFloat3+3);
igtlFloat32 groundTruthRadius[3] = {5.0,3.0,1.0};
std::vector<char*> pointDescription;
pointDescription.push_back((char*)"POINT_DESCRIPTION_0");
pointDescription.push_back((char*)"POINT_DESCRIPTION_1");
pointDescription.push_back((char*)"POINT_DESCRIPTION_2");
for (int i = 0; i<3;++i)
{
igtl::PointElement::Pointer elem = igtl::PointElement::New();
pointReceiveMsg->GetPointElement(i, elem);
EXPECT_EQ(strncmp((char*)(elem->GetName()), pointDescription[i], 19),0);
igtlUint8 returnedRGBA[4] ={0,0,0,0};
elem->GetRGBA(returnedRGBA);
EXPECT_THAT(returnedRGBA, testing::ElementsAreArray(groundTruthRGBA[i]));
igtlFloat32 returnedPosition[3] ={0,0,0};
elem->GetPosition(returnedPosition);
EXPECT_THAT(returnedPosition, testing::ElementsAreArray(groundTruthPos[i]));
EXPECT_EQ(elem->GetRadius(), groundTruthRadius[i]);
EXPECT_EQ(strncmp((char*)elem->GetOwner(), "IMAGE_0", 7),0);
}
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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