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//! OpenIGTLink Sync Server Example
//!
//! This example demonstrates how to create a simple synchronous OpenIGTLink server
//! that accepts client connections and handles different message types dynamically (AnyMessage).
//!
//! # Usage
//!
//! ```bash
//! # Start server on default port 18944
//! cargo run --example server
//!
//! # Start server on custom port
//! cargo run --example server 12345
//! ```
use openigtlink_rust::error::Result;
use openigtlink_rust::io::{IgtlConnection, IgtlServer};
use openigtlink_rust::protocol::message::IgtlMessage;
use openigtlink_rust::protocol::types::{CapabilityMessage, StatusMessage};
use openigtlink_rust::protocol::AnyMessage;
use std::env;
fn main() {
if let Err(e) = run() {
eprintln!("[ERROR] {}", e);
std::process::exit(1);
}
}
fn run() -> Result<()> {
// Parse port from command line arguments (default: 18944)
let port = env::args().nth(1).unwrap_or_else(|| "18944".to_string());
let addr = format!("127.0.0.1:{}", port);
println!("=== OpenIGTLink Sync Server (AnyMessage) ===\n");
// Bind server to address
let server = IgtlServer::bind(&addr)?;
println!("[INFO] Server listening on {}", addr);
println!("[INFO] Press Ctrl+C to stop\n");
// Accept client connections in a loop
loop {
match server.accept() {
Ok(conn) => {
if let Err(e) = handle_client(conn) {
eprintln!("[ERROR] Client handler failed: {}", e);
}
}
Err(e) => {
eprintln!("[ERROR] Failed to accept connection: {}", e);
}
}
}
}
fn handle_client(mut conn: IgtlConnection) -> Result<()> {
let peer = conn.peer_addr()?;
println!("[CONNECT] Client connected: {}", peer);
// Handle messages in a loop until client disconnects or sends CAPABILITY
let mut message_count = 0;
loop {
// Receive any message type dynamically
match conn.receive_any() {
Ok(msg) => {
message_count += 1;
let msg_type = msg.message_type();
let device_name = msg.device_name().unwrap_or("Unknown");
println!(
"\n[RECV #{}] {} from '{}'",
message_count, msg_type, device_name
);
// Handle different message types
match msg {
AnyMessage::Transform(transform_msg) => {
println!(
" Matrix (first row): [{:.2}, {:.2}, {:.2}, {:.2}]",
transform_msg.content.matrix[0][0],
transform_msg.content.matrix[0][1],
transform_msg.content.matrix[0][2],
transform_msg.content.matrix[0][3]
);
// Respond with STATUS(OK)
let status = StatusMessage::ok("Transform received");
let response = IgtlMessage::new(status, "Server")?;
conn.send(&response)?;
println!("[SEND] STATUS (OK) response");
}
AnyMessage::Status(status_msg) => {
println!(
" Code: {}, Message: '{}'",
status_msg.content.code, status_msg.content.status_string
);
// Respond with CAPABILITY
let capability = CapabilityMessage::new(vec![
"TRANSFORM".to_string(),
"STATUS".to_string(),
"CAPABILITY".to_string(),
"IMAGE".to_string(),
"POSITION".to_string(),
]);
let response = IgtlMessage::new(capability, "Server")?;
conn.send(&response)?;
println!("[SEND] CAPABILITY response");
}
AnyMessage::Capability(cap_msg) => {
println!(
" Client capabilities ({} types):",
cap_msg.content.types.len()
);
for (i, typ) in cap_msg.content.types.iter().enumerate() {
println!(" {}. {}", i + 1, typ);
}
println!("\n[INFO] Session completed, closing connection");
break;
}
AnyMessage::Image(img_msg) => {
println!(
" Image: {}x{}x{}, {} bytes",
img_msg.content.size[0],
img_msg.content.size[1],
img_msg.content.size[2],
img_msg.content.data.len()
);
let status = StatusMessage::ok("Image received");
let response = IgtlMessage::new(status, "Server")?;
conn.send(&response)?;
println!("[SEND] STATUS (OK) response");
}
AnyMessage::Position(pos_msg) => {
println!(
" Position: ({:.2}, {:.2}, {:.2})",
pos_msg.content.position[0],
pos_msg.content.position[1],
pos_msg.content.position[2]
);
let status = StatusMessage::ok("Position received");
let response = IgtlMessage::new(status, "Server")?;
conn.send(&response)?;
println!("[SEND] STATUS (OK) response");
}
_ => {
println!(" (No specific handler, echoing acknowledgment)");
let status = StatusMessage::ok(&format!("{} received", msg_type));
let response = IgtlMessage::new(status, "Server")?;
conn.send(&response)?;
println!("[SEND] STATUS (OK) response");
}
}
}
Err(e) => {
eprintln!("\n[WARN] Connection closed or error: {}", e);
break;
}
}
}
println!("[DISCONNECT] Client disconnected: {}\n", peer);
Ok(())
}