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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 "igtlTrackingDataMessage.h"
#include "igtlutil/igtl_test_data_tdata.h"
#include "igtlMessageDebugFunction.h"
#include "igtl_tdata.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
igtl::TrackingDataMessage::Pointer trackingSendMsg = igtl::TrackingDataMessage::New();
igtl::TrackingDataMessage::Pointer trackingReceiveMsg = igtl::TrackingDataMessage::New();
igtl::TrackingDataElement::Pointer trackingElement0 = igtl::TrackingDataElement::New();
igtl::TrackingDataElement::Pointer trackingElement1 = igtl::TrackingDataElement::New();
igtl::TrackingDataElement::Pointer trackingElement2 = igtl::TrackingDataElement::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]}};
void BuildUpElements()
{
trackingElement0->SetName("Tracker0");
trackingElement0->SetType(IGTL_TDATA_TYPE_6D);
trackingElement0->SetMatrix(inMatrix);
trackingElement1->SetName("Tracker1");
trackingElement1->SetType(IGTL_TDATA_TYPE_6D);
trackingElement1->SetMatrix(inMatrix);
trackingElement2->SetName("Tracker2");
trackingElement2->SetType(IGTL_TDATA_TYPE_6D);
trackingElement2->SetMatrix(inMatrix);
trackingSendMsg = igtl::TrackingDataMessage::New();
trackingSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
trackingSendMsg->SetDeviceName("DeviceName");
trackingSendMsg->SetTimeStamp(0, 1234567892);
trackingSendMsg->AddTrackingDataElement(trackingElement0);
trackingSendMsg->AddTrackingDataElement(trackingElement1);
trackingSendMsg->AddTrackingDataElement(trackingElement2);
}
TEST(TrackingMessageTest, Pack)
{
BuildUpElements();
trackingSendMsg->Pack();
int r = memcmp((const void*)trackingSendMsg->GetPackPointer(), (const void*)test_tdata_message,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)trackingSendMsg->GetPackBodyPointer(), (const void*)(test_tdata_message+(size_t)(IGTL_HEADER_SIZE)), IGTL_TDATA_ELEMENT_SIZE*3 );
EXPECT_EQ(r, 0);
}
TEST(TrackingMessageTest, Unpack)
{
BuildUpElements();
trackingSendMsg->Pack();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)trackingSendMsg->GetPackPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
trackingReceiveMsg->SetMessageHeader(headerMsg);
trackingReceiveMsg->AllocatePack();
memcpy(trackingReceiveMsg->GetPackBodyPointer(), trackingSendMsg->GetPackBodyPointer(), IGTL_TDATA_ELEMENT_SIZE*3);
trackingReceiveMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)trackingReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "TDATA");
EXPECT_EQ(messageHeader->header_version, 1);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, IGTL_TDATA_ELEMENT_SIZE*3);
std::vector<char*> trackerDescription;
trackerDescription.push_back((char*)"Tracker0");
trackerDescription.push_back((char*)"Tracker1");
trackerDescription.push_back((char*)"Tracker2");
for (int i = 0; i<3;++i)
{
igtl::TrackingDataElement::Pointer elem = igtl::TrackingDataElement::New();
trackingReceiveMsg->GetTrackingDataElement(i, elem);
EXPECT_EQ(strncmp((char*)(elem->GetName()), trackerDescription[i], 8),0);
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}};
elem->GetMatrix(outMatrix);
EXPECT_TRUE(MatrixComparison(outMatrix, inMatrix, ABS_ERROR));
}
}
#if OpenIGTLink_PROTOCOL_VERSION >= 3
#include "igtlutil/igtl_test_data_tdataFormat2.h"
#include "igtlMessageFormat2TestMacro.h"
TEST(TrackingMessageTest, PackFormatVersion2)
{
BuildUpElements();
igtlMetaDataAddElementMacro(trackingSendMsg);
trackingSendMsg->Pack();
FILE *fp;
fp = fopen("TrackingData.bin", "w");
fwrite(trackingSendMsg->GetPackPointer(), trackingSendMsg->GetPackBodySize()+IGTL_HEADER_SIZE, 1, fp);
fclose(fp);
int r = memcmp((const void*)trackingSendMsg->GetPackPointer(), (const void*)test_tdata_messageFormat2,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)trackingSendMsg->GetPackBodyPointer(), (const void*)(test_tdata_messageFormat2+(size_t)(IGTL_HEADER_SIZE)), IGTL_TDATA_ELEMENT_SIZE*3+EXTENDED_CONTENT_SIZE);
EXPECT_EQ(r, 0);
}
TEST(TrackingMessageTest, UnpackFormatVersion2)
{
BuildUpElements();
igtlMetaDataAddElementMacro(trackingSendMsg);
trackingSendMsg->Pack();
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)trackingSendMsg->GetPackPointer(), IGTL_HEADER_SIZE);
headerMsg->Unpack();
trackingReceiveMsg->SetMessageHeader(headerMsg);
trackingReceiveMsg->AllocatePack();
memcpy(trackingReceiveMsg->GetPackBodyPointer(), trackingSendMsg->GetPackBodyPointer(), IGTL_TDATA_ELEMENT_SIZE*3 + EXTENDED_CONTENT_SIZE);
trackingReceiveMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)trackingReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "TDATA");
EXPECT_EQ(messageHeader->header_version, 2);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, IGTL_TDATA_ELEMENT_SIZE*3 + EXTENDED_CONTENT_SIZE);
std::vector<char*> trackerDescription;
trackerDescription.push_back((char*)"Tracker0");
trackerDescription.push_back((char*)"Tracker1");
trackerDescription.push_back((char*)"Tracker2");
for (int i = 0; i<3;++i)
{
igtl::TrackingDataElement::Pointer elem = igtl::TrackingDataElement::New();
trackingReceiveMsg->GetTrackingDataElement(i, elem);
EXPECT_EQ(strncmp((char*)(elem->GetName()), trackerDescription[i], 8),0);
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}};
elem->GetMatrix(outMatrix);
EXPECT_TRUE(MatrixComparison(outMatrix, inMatrix, ABS_ERROR));
}
igtlMetaDataComparisonMacro(trackingReceiveMsg);
}
#endif
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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