main.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, 
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, 
   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
=========================================================================*/

#include <iostream>
#include <string>
#include <vector>
#include <sstream>

#include <QtWidgets>

#include <boost/cstdint.hpp>
#include <limits>

#include "cxTransform3D.h"
#include "cxPositionStorageFile.h"
#include "cxUtilHelpers.h"
#include "cxTime.h"
#include "cxTypeConversions.h"

#define EVENT_DATE_FORMAT "yyyy:MM:dd-HH:mm:ss.zzz000"

int main(int argc, char **argv)
{
        QApplication app(argc, argv);
        int arg = 1;
        
        if (argc<2)
        {
                std::cout << "Usage: sscPositionFileReader [-v] <filename> <timestamp>\nTimestamp format " << EVENT_DATE_FORMAT << std::endl;
                return 0;
        }


        bool verbose = (QString(argv[1]) == "-v");
        if (verbose) arg++;
        QString posFile(argv[arg++]);
        cx::PositionStorageReader reader(posFile);
        QString startTS;
        if (argc == arg + 1)
        {
                startTS = QString(argv[arg++]);
        }
        else if (reader.version() == 1)
        {
                std::cout << "This is a version 1 of the record format, and requires a timestamp parameter.";
                return 0;
        }

  boost::uint64_t tsModifier = 0;
  if (reader.version() == 1)
  {
    QDateTime startTime = QDateTime::fromString(startTS, EVENT_DATE_FORMAT);
    boost::uint64_t ret64 = startTime.toTime_t();
    ret64 *= 1000;

    // workaround for compilling 32 bit version:
    tsModifier = ret64 & (std::numeric_limits<boost::uint64_t>::max() ^ 0xffffffff); // ffffffffffffffff XOR 00000000ffffffff = ffffffff00000000
    //boost::uint64_t tsModifier = ret64 & 0xffffffff00000000;
    std::cout << "Start time: " << startTS << ", converted to " << startTime.toString(EVENT_DATE_FORMAT) << std::endl;
  }

        
        cx::Transform3D T = cx::Transform3D::Identity();
        double timestamp;
        QString toolIndex;
        
//  QDateTime now = QDateTime::currentDateTime();
//  boost::uint64_t now_t64 = now.toTime_t();
//  now_t64 *= 1000;
//  now_t64 += now.time().msec();
//
//  std::cout << "now_t64 " << now_t64 << std::endl;
//  uint now_t = now.toTime_t()*1000 + now.time().msec(); //milliseconds
//  std::cout << "now.toTime_t() " << now.toTime_t() << std::endl;
//  std::cout << "now.toTime_t()*1000 + now.time().msec() " << now_t << std::endl;
//  std::cout << "test dir: " << PositionStorageReader::timestampToString(now_t64) << std::endl;
//      std::cout << "test now: " << PositionStorageReader::timestampToString(getMilliSecondsSinceEpoch()) << std::endl;
//  std::cout << "test now: " << PositionStorageReader::timestampToString(getMicroSecondsSinceEpoch()/1000) << std::endl;


        std::cout << "reading file [" << posFile.toStdString() << "]" << std::endl;
        if (!verbose)
                std::cout << "[index]\ttimestamp\tmatrix\ttoolIndex" << std::endl;
        int index = 0;
        while (!reader.atEnd())
        {
    if (reader.version() == 1)
    {
      int index = 0;
      if (!reader.read(&T, &timestamp, &index))
        break;
      toolIndex = QString(index);
    }
    else
    {
      if (!reader.read(&T, &timestamp, &toolIndex))
        break;
    }

                boost::uint64_t ts64 = (boost::uint64_t)timestamp;
                if (reader.version() == 1)
                {
                        ts64 |= tsModifier;
                }

                if (verbose)
                {
                        std::cout 
                                << "index:\t"<< index << '\t'
                                << "tool id:\t" << toolIndex.toStdString() << '\t'
//                              << "timestamp:\t" << timestamp << '\n'
                                << "timestamp:\t" << cx::PositionStorageReader::timestampToString((double)ts64).toStdString() << '\n'
                                << "matrix:\n" << T << '\n' 
                                << std::endl;                   
                }
                else
                {               
      std::cout << "[" << index << "]" << '\t';
          std::cout << cx::PositionStorageReader::timestampToString((double)ts64).toStdString() << '\t';
                        boost::array<double, 16>  val = T.flatten();
                        cx::stream_range(std::cout, val.begin(), val.end(), ' ');
      std::cout << '\t' << toolIndex.toStdString();
                        std::cout << std::endl;
                }

                ++index;
        }

        return 0;
}