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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 "igtlPositionMessage.h"
#include "igtlutil/igtl_test_data_position.h"
#include "igtlMessageDebugFunction.h"
#include "igtl_position.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
#define PositionBodySize 28
igtl::PositionMessage::Pointer positionSendMsg = igtl::PositionMessage::New();
igtl::PositionMessage::Pointer positionReceiveMsg = igtl::PositionMessage::New();
TEST(PositionMessageTest, PackFormateVersion1)
{
positionSendMsg->AllocatePack();
positionSendMsg->SetTimeStamp(0, 1234567892);
positionSendMsg->SetDeviceName("DeviceName");
positionSendMsg->SetPosition(46.0531f, 19.4709f, 46.0531f);
positionSendMsg->SetQuaternion(0.0f, 0.5773502691f, 0.5773502692f, 0.3333333333f);
positionSendMsg->Pack();
int r = memcmp((const void*)positionSendMsg->GetPackPointer(), (const void*)test_position_message,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)positionSendMsg->GetPackBodyPointer(), (const void*)(test_position_message+IGTL_HEADER_SIZE), PositionBodySize);
EXPECT_EQ(r, 0);
}
TEST(PositionMessageTest, UnpackFormateVersion1)
{
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)test_position_message, IGTL_HEADER_SIZE);
headerMsg->Unpack();
positionReceiveMsg->SetMessageHeader(headerMsg);
positionReceiveMsg->AllocatePack();
memcpy(positionReceiveMsg->GetPackBodyPointer(), positionSendMsg->GetPackBodyPointer(), positionSendMsg->GetPackBodySize());
positionReceiveMsg->Unpack();
igtl_float32 position_Truth[3] = {46.0531f, 19.4709f, 46.0531f};
igtl_float32 position[3] = {0.0,0.0,0.0};
positionReceiveMsg->GetPosition(position);
EXPECT_THAT(position, ::testing::ElementsAreArray(position_Truth));
igtl_float32 quaternion_Truth[4] = {0.0f, 0.5773502691f, 0.5773502692f, 0.3333333333f};
igtl_float32 quaternion[4] = {0.0,0.0,0.0,0.0};
positionReceiveMsg->GetQuaternion(quaternion);
EXPECT_THAT(quaternion, ::testing::ElementsAreArray(quaternion_Truth));
}
#if OpenIGTLink_PROTOCOL_VERSION >= 3
#include "igtlutil/igtl_test_data_positionFormat2.h"
#include "igtlMessageFormat2TestMacro.h"
TEST(PositionMessageTest, PackFormatVersion2)
{
positionSendMsg = igtl::PositionMessage::New();
positionSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);
positionSendMsg->AllocatePack();
positionSendMsg->SetTimeStamp(0, 1234567892);
positionSendMsg->SetDeviceName("DeviceName");
positionSendMsg->SetPosition(46.0531f, 19.4709f, 46.0531f);
positionSendMsg->SetQuaternion(0.0f, 0.5773502691f, 0.5773502692f, 0.3333333333f);
igtlMetaDataAddElementMacro(positionSendMsg);
positionSendMsg->Pack();
/*FILE *fp;
fp = fopen("position.bin", "w");
fwrite(positionSendMsg->GetPackPointer(), positionSendMsg->GetPackBodySize()+IGTL_HEADER_SIZE, 1, fp);
fclose(fp);*/
int r = memcmp((const void*)positionSendMsg->GetPackPointer(), (const void*)test_position_messageFormat2,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)positionSendMsg->GetPackBodyPointer(), (const void*)(test_position_messageFormat2+IGTL_HEADER_SIZE),PositionBodySize + EXTENDED_CONTENT_SIZE);
EXPECT_EQ(r, 0);
}
TEST(PositionMessageTest, UnpackFormatVersion2)
{
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)test_position_messageFormat2, IGTL_HEADER_SIZE);
headerMsg->Unpack();
positionReceiveMsg = igtl::PositionMessage::New();
positionReceiveMsg->SetMessageHeader(headerMsg);
positionReceiveMsg->AllocatePack();
memcpy(positionReceiveMsg->GetPackBodyPointer(), positionSendMsg->GetPackBodyPointer(), positionSendMsg->GetPackBodySize());
positionReceiveMsg->Unpack(1);
igtl_float32 position_Truth[3] = {46.0531f, 19.4709f, 46.0531f};
igtl_float32 position[3] = {0.0,0.0,0.0};
positionReceiveMsg->GetPosition(position);
for(int i = 0; i<3 ; i++)
{
EXPECT_FLOAT_EQ(position_Truth[i], position[i]);
}
igtl_float32 quaternion_Truth[4] = {0.0f, 0.5773502691f, 0.5773502692f, 0.3333333333f};
igtl_float32 quaternion[4] = {0.0,0.0,0.0,0.0};
positionReceiveMsg->GetQuaternion(quaternion);
for(int i = 0; i<4 ; i++)
{
EXPECT_FLOAT_EQ(quaternion_Truth[i], quaternion[i]);
}
igtlMetaDataComparisonMacro(positionReceiveMsg);
}
#endif
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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