int main( int argc, char * argv [] )
{
/*** Message structures and byte array ***/
igtl_header header;
void * body;
igtl_ndarray_info info;
size_t body_size;
igtl_uint16 size[3];
int i, j, k;
igtl_float64 * array;
int rh; /* Comparison result for header */
int rb; /* Comparison result for body */
int s;
/*** Generate test data ***/
igtl_ndarray_init_info(&info);
info.type = IGTL_NDARRAY_STYPE_TYPE_FLOAT64;
/* Array size is 5x4x3 */
info.dim = 3;
size[0] = 5;
size[1] = 4;
size[2] = 3;
if (igtl_ndarray_alloc_info(&info, size) == 0)
{
return EXIT_FAILURE;
}
/* Generate dummy array */
array = (igtl_float64 *) info.array;
for (i = 0; i < 5; i ++)
{
for (j = 0; j < 4; j ++)
{
for (k = 0; k < 3; k ++)
{
array[i*(4*3) + j*3 + k] = (igtl_float64) (i*(4*3) + j*3 + k);
}
}
}
/** Allocate memory for pack **/
body_size = (size_t)igtl_ndarray_get_size(&info, IGTL_TYPE_PREFIX_NONE);
body = malloc(body_size);
if (body == NULL)
{
igtl_ndarray_free_info(&info);
return EXIT_FAILURE;
}
igtl_ndarray_pack(&info, body, IGTL_TYPE_PREFIX_NONE);
/*** Set OpenIGTLink header ***/
header.version = 1;
strncpy( (char*)&(header.name), "NDARRAY", 12 );
strncpy( (char*)&(header.device_name), "DeviceName", 20 );
header.timestamp = 1234567892;
header.body_size = body_size;
header.crc = igtl_ndarray_get_crc(&info, IGTL_TYPE_PREFIX_NONE, body);
igtl_header_convert_byte_order( &(header) );
/* Dumping data -- for testing */
/*
FILE *fp;
fp = fopen("ndarray.bin", "w");
fwrite(&(header), IGTL_HEADER_SIZE, 1, fp);
fwrite(body, body_size, 1, fp);
fclose(fp);
*/
rh = memcmp((const void*)&header, (const void*)test_ndarray_message_header, IGTL_HEADER_SIZE);
rb = memcmp((const void*)body, (const void*)test_ndarray_message_body, body_size);
igtl_ndarray_free_info(&info);
free(body);
if (rh == 0 && rb == 0)
{
return EXIT_SUCCESS;
}
else
{
/* Print first 256 bytes as HEX values in STDERR for debug */
s = IGTL_HEADER_SIZE + body_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*)&header, s);
return EXIT_FAILURE;
}
}
int igtl_export igtl_ndarray_unpack(int type, void * byte_array, igtl_ndarray_info * info, igtl_uint64 pack_size)
{
char * ptr;
igtl_uint16 dim;
igtl_uint16 * size;
igtl_uint16 i;
igtl_uint64 len;
igtl_uint16 * ptr16_src;
igtl_uint16 * ptr16_src_end;
igtl_uint16 * ptr16_dst;
igtl_uint32 * ptr32_src;
igtl_uint32 * ptr32_src_end;
igtl_uint32 * ptr32_dst;
igtl_uint64 * ptr64_src;
igtl_uint64 * ptr64_src_end;
igtl_uint64 * ptr64_dst;
if (byte_array == NULL || info == NULL)
{
return 0;
}
igtl_ndarray_init_info(info);
ptr = (char *) byte_array;
/*** Type field ***/
info->type = * (igtl_uint8 *) ptr;
ptr ++;
/*** Dimension field ***/
info->dim = * (igtl_uint8 *) ptr;
ptr ++;
/*** Size array field ***/
size = (igtl_uint16 *) ptr;
dim = info->dim;
if (igtl_is_little_endian())
{
/* Change byte order -- this overwrites memory area for the pack !!*/
for (i = 0; i < dim; i ++)
{
size[i] = BYTE_SWAP_INT16(size[i]);
}
}
igtl_ndarray_alloc_info(info, size);
memcpy(info->size, size, sizeof(igtl_uint16) * dim);
if (igtl_is_little_endian())
{
/* Resotore the overwritten memory area */
/* Don't use size[] array after this !! */
for (i = 0; i < dim; i ++)
{
size[i] = BYTE_SWAP_INT16(size[i]);
}
}
ptr += sizeof(igtl_uint16) * dim;
/*** N-D array field ***/
/* Calculate number of elements in N-D array */
len = 1;
for (i = 0; i < dim; i ++)
{
len *= info->size[i];
}
/* Copy array */
if (igtl_ndarray_get_nbyte(info->type) == 1 || !igtl_is_little_endian())
{
/* If single-byte data type is used or the program runs on a big-endian machine,
just copy the array from the pack to the strucutre */
memcpy(info->array, ptr, (size_t)(len * igtl_ndarray_get_nbyte(info->type)));
}
else if (igtl_ndarray_get_nbyte(info->type) == 2) /* 16-bit */
{
ptr16_src = (igtl_uint16 *) ptr;
ptr16_src_end = ptr16_src + len;
ptr16_dst = (igtl_uint16 *) info->array;
while (ptr16_src < ptr16_src_end)
{
*ptr16_dst = BYTE_SWAP_INT16(*ptr16_src);
ptr16_dst ++;
ptr16_src ++;
}
}
else if (igtl_ndarray_get_nbyte(info->type) == 4) /* 32-bit */
{
ptr32_src = (igtl_uint32 *) ptr;
ptr32_src_end = ptr32_src + len;
ptr32_dst = (igtl_uint32 *) info->array;
while (ptr32_src < ptr32_src_end)
{
*ptr32_dst = BYTE_SWAP_INT32(*ptr32_src);
ptr32_dst ++;
ptr32_src ++;
}
}
else /* 64-bit or Complex type */
{
ptr64_src = (igtl_uint64 *) ptr;
/* Adding number of elements to the pointer -- 64-bit: len * 1; Complex: len * 2*/
ptr64_src_end = ptr64_src + len * igtl_ndarray_get_nbyte(info->type)/8;
ptr64_dst = (igtl_uint64 *) info->array;
while (ptr64_src < ptr64_src_end)
{
*ptr64_dst = BYTE_SWAP_INT64(*ptr64_src);
ptr64_dst ++;
ptr64_src ++;
}
}
/* TODO: check if the pack size is valid */
return 1;
}
