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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 "igtlSensorMessage.h"
#include "igtlutil/igtl_test_data_sensor.h"
#include "igtlUnit.h"
#include "igtl_sensor.h"
#include "igtl_unit.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
igtl::SensorMessage::Pointer sensorDataSendMsg = igtl::SensorMessage::New();
igtl::SensorMessage::Pointer sensorDataReceiveMsg = igtl::SensorMessage::New();
igtlFloat64 sensorValues[6] = {123456.78,12345.678,1234.5678,123.45678,12.345678,1.2345678};
igtl::Unit::Pointer unit = igtl::Unit::New();
void UnitInitization()
{
unit = igtl::Unit::New();
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();
}
TEST(SensorMessageTest, Pack)
{
UnitInitization();
sensorDataSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
sensorDataSendMsg->AllocatePack();
sensorDataSendMsg->SetLength(6);
sensorDataSendMsg->SetDeviceName("DeviceName");
sensorDataSendMsg->SetTimeStamp(0, 1234567892);
sensorDataSendMsg->SetUnit(unit);
for (int i =0; i < 6; i++)
{
sensorDataSendMsg->SetValue(i, sensorValues[i]);
}
sensorDataSendMsg->Pack();
int r = memcmp((const void*)sensorDataSendMsg->GetPackPointer(), (const void*)test_sensor_message,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)sensorDataSendMsg->GetPackBodyPointer(), (const void*)(test_sensor_message+IGTL_HEADER_SIZE),sensorDataSendMsg->GetPackBodySize());
EXPECT_EQ(r, 0);
}
TEST(SensorMessageTest, Unpack)
{
UnitInitization();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)test_sensor_message, IGTL_HEADER_SIZE);
headerMsg->Unpack();
sensorDataReceiveMsg = igtl::SensorMessage::New();
sensorDataReceiveMsg->SetMessageHeader(headerMsg);
sensorDataReceiveMsg->AllocatePack();
memcpy(sensorDataReceiveMsg->GetPackBodyPointer(), sensorDataSendMsg->GetPackBodyPointer(), 58);
sensorDataReceiveMsg->Unpack();
igtl::igtlUnit unitTruth = 0x443E0000000000;
EXPECT_EQ(sensorDataReceiveMsg->GetUnit(), unitTruth);
EXPECT_EQ(sensorDataReceiveMsg->GetLength(),6);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(0),123456.78);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(1),12345.678);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(2),1234.5678);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(3),123.45678);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(4),12.345678);
EXPECT_EQ(sensorDataReceiveMsg->GetValue(5),1.2345678);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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