igtl_uint64 igtl_export igtl_ndarray_get_crc(igtl_ndarray_info * info, int type, void* data)
{
igtl_uint64 crc;
igtl_uint64 data_size;
data_size = igtl_ndarray_get_size(info, type);
crc = crc64(0, 0, 0);
crc = crc64((unsigned char*) data, data_size, crc);
return crc;
}
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;
}
}
