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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_transform.h"
#include "igtl_util.h"
#include <string.h>
#include <stdio.h>
#define EXIT_SUCCESS 0
#define EXIT_FAILURE 1
/* The decimal is rounded when it is converted to IEEE 754 floating point */
/* Include serialized test data (gold standard) */
#include "igtl_test_data_transform.h"
#pragma pack(1)
struct transform_message {
igtl_header header;
igtl_float32 transform[12];
};
#pragma pack()
int main( int argc, char * argv [] )
{
struct transform_message message;
int r;
/* Set dummy transform */
message.transform[0] = -0.954892f;
message.transform[1] = 0.196632f;
message.transform[2] = -0.222525f;
message.transform[3] = -0.196632f;
message.transform[4] = 0.142857f;
message.transform[5] = 0.970014f;
message.transform[6] = 0.222525f;
message.transform[7] = 0.970014f;
message.transform[8] = -0.0977491f;
message.transform[9] = 46.0531f;
message.transform[10] = 19.4709f;
message.transform[11] = 46.0531f;
igtl_transform_convert_byte_order(message.transform);
/* Set header */
message.header.header_version = 1;
strncpy( (char*)&(message.header.name), "TRANSFORM", 12 );
strncpy( (char*)&(message.header.device_name), "DeviceName", 20 );
message.header.timestamp = 1234567892;
message.header.body_size = IGTL_TRANSFORM_SIZE;
message.header.crc = igtl_transform_get_crc(message.transform);
igtl_header_convert_byte_order( &(message.header) );
/* Dumping data -- for testing */
/*
FILE *fp;
fp = fopen("transform.bin", "w");
fwrite(&(message.header), IGTL_HEADER_SIZE+IGTL_TRANSFORM_SIZE, 1, fp);
fclose(fp);
*/
/* Compare the serialized byte array with the gold standard */
r = memcmp((const void*)&message, (const void*)test_transform_message,
IGTL_HEADER_SIZE+IGTL_TRANSFORM_SIZE);
if (r == 0)
{
return EXIT_SUCCESS;
}
else
{
/* Print message as HEX values in STDERR for debug */
fprintf(stdout, "\n===== First %d bytes of the test message =====\n", IGTL_HEADER_SIZE+IGTL_TRANSFORM_SIZE);
igtl_message_dump_hex(stdout, (const void*)&message, IGTL_HEADER_SIZE+IGTL_TRANSFORM_SIZE);
return EXIT_FAILURE;
}
}
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