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/*=========================================================================
Program: OpenIGTLink Library
Module: $RCSfile: $
Language: C
Date: $Date: $
Version: $Revision: $
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 "igtl_types.h"
#include "igtl_header.h"
#include "igtl_sensor.h"
#include "igtl_util.h"
#include <string.h>
#include <stdio.h>
#define EXIT_SUCCESS 0
#define EXIT_FAILURE 1
/* Include serialized test data (gold standard) */
#include "igtl_test_data_sensor.h"
#pragma pack(1)
/* Test sensor message data (6-ch 64-bit float data, m/s^2) */
struct sensor_message {
igtl_header header;
igtl_sensor_header sensor;
igtl_float64 value[6];
};
#pragma pack()
int main( int argc, char * argv [] )
{
struct sensor_message message;
igtl_unit_data unit_data;
/*igtl_uint64 crc;*/
unsigned int value_size;
int r;
int s;
// Test structure size
if (sizeof(message) != IGTL_HEADER_SIZE+IGTL_SENSOR_HEADER_SIZE+sizeof(igtl_float64)*6)
{
fprintf(stdout, "Invalid size of sensor message structure.\n");
return EXIT_FAILURE;
}
/* Create unit (m/s^2) */
igtl_unit_init(&unit_data);
unit_data.prefix = IGTL_UNIT_PREFIX_NONE;
unit_data.unit[0] = IGTL_UNIT_SI_BASE_METER;
unit_data.exp[0] = (igtl_int8) 1;
unit_data.unit[1] = IGTL_UNIT_SI_BASE_SECOND;
unit_data.exp[1] = (igtl_int8) -2;
/* Set dummy sensor header and values */
message.sensor.larray = 6;
message.sensor.status = 0;
message.sensor.unit = igtl_unit_pack(&(unit_data));
message.value[0] = 123456.78;
message.value[1] = 12345.678;
message.value[2] = 1234.5678;
message.value[3] = 123.45678;
message.value[4] = 12.345678;
message.value[5] = 1.2345678;
value_size = igtl_sensor_get_data_size(&(message.sensor));
igtl_sensor_convert_byte_order(&(message.sensor), message.value);
/* Set header */
message.header.header_version = 1;
strncpy( (char*)&(message.header.name), "SENSOR", 12 );
strncpy( (char*)&(message.header.device_name), "DeviceName", 20 );
message.header.timestamp = 1234567892;
message.header.body_size = IGTL_SENSOR_HEADER_SIZE + value_size;
message.header.crc = igtl_sensor_get_crc(&(message.sensor), message.value);
igtl_header_convert_byte_order( &(message.header) );
/* Dumping data -- for testing */
/*
FILE *fp;
fp = fopen("sensor.bin", "w");
fwrite(&(message.header), IGTL_HEADER_SIZE+IGTL_SENSOR_HEADER_SIZE + value_size, 1, fp);
fclose(fp);
*/
/* Compare the serialized byte array with the gold standard */
r = memcmp((const void*)&message, (const void*)test_sensor_message,
IGTL_HEADER_SIZE+IGTL_SENSOR_HEADER_SIZE+value_size);
if (r == 0)
{
return EXIT_SUCCESS;
}
else
{
/* Print first 256 bytes as HEX values in STDERR for debug */
s = IGTL_HEADER_SIZE+IGTL_SENSOR_HEADER_SIZE+value_size;
if (s > 256)
{
s = 256;
}
fprintf(stdout, "\n===== First %d bytes of the test message =====\n", s);
igtl_message_dump_hex(stdout, (const void*)&message, s);
return EXIT_FAILURE;
}
}
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