igtl_uint64 igtl_export igtl_polydata_get_crc(igtl_polydata_info * info, int type, void* polydata_message)
{
igtl_uint64 crc;
igtl_uint64 polydata_length;
/*igtl_uint16 i;*/
/*igtl_uint16 nc;*/
polydata_length = (igtl_uint32)igtl_polydata_get_size(info, type);
crc = crc64(0, 0, 0);
crc = crc64((unsigned char*) polydata_message, (int)polydata_length, crc);
return crc;
}
int main( int argc, char * argv [] )
{
/*** Message structures and byte array ***/
igtl_header header;
void * body;
igtl_polydata_info info;
int rh; /* Comparison result for header */
int rb; /* Comparison result for body */
unsigned int i;
int s;
igtl_float32 * ptr_f;
igtl_uint32 * ptr_i;
igtl_uint64 body_size;
static igtl_float32 points[8][3]={{0,0,0}, {1,0,0}, {1,1,0}, {0,1,0},
{0,0,1}, {1,0,1}, {1,1,1}, {0,1,1}};
static igtl_uint32 poly[6][4]={{0,1,2,3}, {4,5,6,7}, {0,1,5,4},
{1,2,6,5}, {2,3,7,6}, {3,0,4,7}};
static igtl_float32 attribute[8]={0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0};
/*** Generate test data ***/
/* Note that the size of polygon data (or other cell data) is calculated by
* number of polygons * (number of points + 1)
* '+ 1' is required because of the number of points in the polygon (uint32)
* is stored at the begining of polygon data.
*/
igtl_polydata_init_info(&info);
info.header.npoints = 8;
info.header.nvertices = 0;
info.header.size_vertices = 0;
info.header.nlines = 0;
info.header.size_lines = 0;
info.header.npolygons = 6;
info.header.size_polygons = 6 * ((4+1) * sizeof(igtl_float32));
info.header.ntriangle_strips = 0;
info.header.size_triangle_strips = 0;
info.header.nattributes = 1;
if (igtl_polydata_alloc_info(&info) == 0)
{
return EXIT_FAILURE;
}
/*** Substitute cube point data ***/
if (info.points)
{
ptr_f = info.points;
for (i = 0; i < info.header.npoints; i ++)
{
*(ptr_f++) = points[i][0];
*(ptr_f++) = points[i][1];
*(ptr_f++) = points[i][2];
}
}
else
{
return EXIT_FAILURE;
}
/*** Substitute polygon data ***/
if (info.polygons)
{
ptr_i = info.polygons;
for (i = 0; i < info.header.npolygons; i ++)
{
*(ptr_i++) = 4; /* Number of points in the polygon */
*(ptr_i++) = poly[i][0];
*(ptr_i++) = poly[i][1];
*(ptr_i++) = poly[i][2];
*(ptr_i++) = poly[i][3];
}
}
/*** Substitute attribute data ***/
if (info.attributes)
{
info.attributes[0].type = IGTL_POLY_ATTR_TYPE_SCALAR;
info.attributes[0].ncomponents = 1;
info.attributes[0].n = 8;
info.attributes[0].name = malloc(5);
strcpy(info.attributes[0].name, "attr");
info.attributes[0].data = malloc(sizeof(igtl_float32) * 8);
ptr_f = info.attributes[0].data;
for (i = 0; i < 8; i ++)
{
*(ptr_f++) = attribute[i];
}
}
/** Allocate memory for pack **/
body_size = igtl_polydata_get_size(&info, IGTL_TYPE_PREFIX_NONE);
body = malloc((igtl_uint32)body_size);
if (body == NULL)
{
igtl_polydata_free_info(&info);
return EXIT_FAILURE;
}
igtl_polydata_pack(&info, body, IGTL_TYPE_PREFIX_NONE);
/*** Set OpenIGTLink header ***/
header.version = 1;
strncpy( (char*)&(header.name), "POLYDATA", 12 );
strncpy( (char*)&(header.device_name), "DeviceName", 20 );
header.timestamp = 1234567890;
header.body_size = body_size;
header.crc = igtl_polydata_get_crc(&info, IGTL_TYPE_PREFIX_NONE, body);
igtl_header_convert_byte_order( &(header) );
/* Dumping data -- for testing */
/*
FILE *fp;
fp = fopen("polydata.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_polydata_message_header, IGTL_HEADER_SIZE);
rb = memcmp((const void*)body, (const void*)test_polydata_message_body, (size_t) body_size);
igtl_polydata_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 + (int)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;
}
}
