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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 "igtlTransformMessage.h"
#include "igtlutil/igtl_test_data_transform.h"
#include "igtlMessageDebugFunction.h"
#include "igtl_transform.h"
#include "igtl_header.h"
#include "igtlTestConfig.h"
#include "string.h"
igtl::TransformMessage::Pointer transformSendMsg = igtl::TransformMessage::New();
igtl::TransformMessage::Pointer transformReceiveMsg = igtl::TransformMessage::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]}};
TEST(TransformMessageTest, PackFormatVersion1)
{
transformSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_1);
transformSendMsg->AllocatePack();
transformSendMsg->SetTimeStamp(0, 1234567892);
transformSendMsg->SetDeviceName("DeviceName");
transformSendMsg->SetMatrix(inMatrix);
transformSendMsg->Pack();
int r = memcmp((const void*)transformSendMsg->GetPackPointer(), (const void*)test_transform_message,
(size_t)(IGTL_HEADER_SIZE));
EXPECT_EQ(r, 0);
r = memcmp((const void*)transformSendMsg->GetPackBodyPointer(), (const void*)(test_transform_message+IGTL_HEADER_SIZE), IGTL_TRANSFORM_SIZE);
EXPECT_EQ(r, 0);
}
TEST(TransformMessageTest, UnpackFormatVersion1)
{
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)test_transform_message, IGTL_HEADER_SIZE);
headerMsg->Unpack();
transformReceiveMsg->SetMessageHeader(headerMsg);
transformReceiveMsg->AllocatePack();
memcpy(transformReceiveMsg->GetPackBodyPointer(), transformSendMsg->GetPackBodyPointer(), transformReceiveMsg->GetPackBodySize());
transformReceiveMsg->Unpack();
igtl_header *messageHeader = (igtl_header *)transformReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "TRANSFORM");
EXPECT_EQ(messageHeader->header_version, 1);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, IGTL_TRANSFORM_SIZE);
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}};
transformReceiveMsg->GetMatrix(outMatrix);
EXPECT_TRUE(MatrixComparison(outMatrix, inMatrix, ABS_ERROR));
}
#if OpenIGTLink_PROTOCOL_VERSION >= 3
#include "igtlutil/igtl_test_data_transformFormat2.h"
#include "igtlMessageFormat2TestMacro.h"
TEST(TransformMessageTest, PackFormatVersion2)
{
transformSendMsg = igtl::TransformMessage::New();
transformSendMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);
transformSendMsg->AllocatePack();
transformSendMsg->SetTimeStamp(0, 1234567892);
transformSendMsg->SetDeviceName("DeviceName");
transformSendMsg->SetMatrix(inMatrix);
igtlMetaDataAddElementMacro(transformSendMsg);
transformSendMsg->Pack();
int r = memcmp((const void*)transformSendMsg->GetPackPointer(), (const void*)test_transform_message_Format2,
(size_t)(IGTL_HEADER_SIZE));
TestDebugCharArrayCmp(transformSendMsg->GetPackPointer(), test_transform_message_Format2, IGTL_HEADER_SIZE);
EXPECT_EQ(r, 0);
r = memcmp((const void*)transformSendMsg->GetPackBodyPointer(), (const void*)(test_transform_message_Format2+IGTL_HEADER_SIZE), IGTL_TRANSFORM_SIZE + EXTENDED_CONTENT_SIZE);
EXPECT_EQ(r, 0);
}
TEST(TransformMessageTest, UnpackFormatVersion2)
{
igtl::MessageHeader::Pointer headerMsg = igtl::MessageHeader::New();
headerMsg->AllocatePack();
memcpy(headerMsg->GetPackPointer(), (const void*)test_transform_message_Format2, IGTL_HEADER_SIZE);
headerMsg->Unpack();
transformReceiveMsg = igtl::TransformMessage::New();
transformReceiveMsg->SetMessageHeader(headerMsg);
transformReceiveMsg->AllocatePack();
memcpy(transformReceiveMsg->GetPackBodyPointer(), transformSendMsg->GetPackBodyPointer(), transformReceiveMsg->GetPackBodySize());
transformReceiveMsg->Unpack(1);
igtl_header *messageHeader = (igtl_header *)transformReceiveMsg->GetPackPointer();
EXPECT_STREQ(messageHeader->device_name, "DeviceName");
EXPECT_STREQ(messageHeader->name, "TRANSFORM");
EXPECT_EQ(messageHeader->header_version, 2);
EXPECT_EQ(messageHeader->timestamp, 1234567892);
EXPECT_EQ(messageHeader->body_size, IGTL_TRANSFORM_SIZE + EXTENDED_CONTENT_SIZE);
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}};
transformReceiveMsg->GetMatrix(outMatrix);
EXPECT_TRUE(MatrixComparison(outMatrix, inMatrix, ABS_ERROR));
igtlMetaDataComparisonMacro(transformReceiveMsg);
}
#endif
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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