ViconDataStreamSDK_CPPTest.cpp

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//
// Copyright (C) OMG Plc 2009.
// All rights reserved.  This software is protected by copyright
// law and international treaties.  No part of this software / document
// may be reproduced or distributed in any form or by any means,
// whether transiently or incidentally to some other use of this software,
// without the written permission of the copyright owner.
//
#include "Client.h"
#include <iostream>

#ifdef WIN32
  #include <conio.h>   // For _kbhit()
  #include <windows.h> // For Sleep()
#endif // WIN32

using namespace ViconDataStreamSDK::CPP;

namespace
{
  std::string Adapt( const bool i_Value )
  {
    return i_Value ? "True" : "False";
  }

  std::string Adapt( const Direction::Enum i_Direction )
  {
    switch( i_Direction )
    {
      case Direction::Forward:
        return "Forward";
      case Direction::Backward:
        return "Backward";
      case Direction::Left:
        return "Left";
      case Direction::Right:
        return "Right";
      case Direction::Up:
        return "Up";
      case Direction::Down:
        return "Down";
      default:
        return "Unknown";
    }
  }

  std::string Adapt( const DeviceType::Enum i_DeviceType )
  {
    switch( i_DeviceType )
    {
      case DeviceType::ForcePlate:
        return "ForcePlate";
      case DeviceType::Unknown:
      default:
        return "Unknown";
    }
  }

  std::string Adapt( const Unit::Enum i_Unit )
  {
    switch( i_Unit )
    {
      case Unit::Meter:
        return "Meter";
      case Unit::Volt:
        return "Volt";
      case Unit::NewtonMeter:
        return "NewtonMeter";
      case Unit::Newton:
        return "Newton";
      case Unit::Unknown:
      default:
        return "Unknown";
    }
  }
}

int main( int argc, char* argv[] )
{
  // Program options
  bool TransmitMulticast = false;
  
  std::string HostName = "192.168.0.12:801";
  if( argc == 2 )
  {
    HostName = argv[1];
  }

  // Make a new client
  Client MyClient;

  // Connect to a server
  std::cout << "Connecting to " << HostName << " ..." << std::flush;
  while( !MyClient.IsConnected().Connected )
  {
    // Direct connection
    MyClient.Connect( HostName );

    // Multicast connection
    // MyClient.ConnectToMulticast( HostName, "224.0.0.0" );

    std::cout << ".";
#ifdef WIN32
    Sleep( 200 );
#else
    sleep(1);
#endif
  }
  std::cout << std::endl;

  // Enable some different data types
  MyClient.EnableSegmentData();
  MyClient.EnableMarkerData();
  MyClient.EnableUnlabeledMarkerData();
  MyClient.EnableDeviceData();

  std::cout << "Segment Data Enabled: "          << Adapt( MyClient.IsSegmentDataEnabled().Enabled )         << std::endl;
  std::cout << "Marker Data Enabled: "           << Adapt( MyClient.IsMarkerDataEnabled().Enabled )          << std::endl;
  std::cout << "Unlabeled Marker Data Enabled: " << Adapt( MyClient.IsUnlabeledMarkerDataEnabled().Enabled ) << std::endl;
  std::cout << "Device Data Enabled: "           << Adapt( MyClient.IsDeviceDataEnabled().Enabled )          << std::endl;

  // Set the streaming mode
  MyClient.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ClientPull );
//   MyClient.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ClientPullPreFetch );
//   MyClient.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ServerPush );

  // Set the global up axis
  MyClient.SetAxisMapping( Direction::Forward, 
                           Direction::Left, 
                           Direction::Up ); // Z-up
  // MyClient.SetGlobalUpAxis( Direction::Forward, 
  //                           Direction::Up, 
  //                           Direction::Right ); // Y-up

  Output_GetAxisMapping _Output_GetAxisMapping = MyClient.GetAxisMapping();
  std::cout << "Axis Mapping: X-" << Adapt( _Output_GetAxisMapping.XAxis ) 
                         << " Y-" << Adapt( _Output_GetAxisMapping.YAxis ) 
                         << " Z-" << Adapt( _Output_GetAxisMapping.ZAxis ) << std::endl;

  // Discover the version number
  Output_GetVersion _Output_GetVersion = MyClient.GetVersion();
  std::cout << "Version: " << _Output_GetVersion.Major << "." 
                           << _Output_GetVersion.Minor << "." 
                           << _Output_GetVersion.Point << std::endl;

  if( TransmitMulticast )
  {
    MyClient.StartTransmittingMulticast( "localhost", "224.0.0.0" );
  }

  // Loop until a key is pressed
#ifdef WIN32
  while( !_kbhit() )
#else
  while( true)
#endif
  {
    // Get a frame
    std::cout << "Waiting for new frame...";
    while( MyClient.GetFrame().Result != Result::Success )
    {
      // Sleep a little so that we don't lumber the CPU with a busy poll
      #ifdef WIN32
        Sleep( 200 );
      #else
        sleep(1);
      #endif

      std::cout << ".";
    }
    std::cout << std::endl;

    // Get the frame number
    Output_GetFrameNumber _Output_GetFrameNumber = MyClient.GetFrameNumber();
    std::cout << "Frame Number: " << _Output_GetFrameNumber.FrameNumber << std::endl;

    // Get the timecode
    Output_GetTimecode _Output_GetTimecode  = MyClient.GetTimecode();

    std::cout << "Timecode: "
              << _Output_GetTimecode.Hours               << "h "
              << _Output_GetTimecode.Minutes             << "m " 
              << _Output_GetTimecode.Seconds             << "s "
              << _Output_GetTimecode.Frames              << "f "
              << _Output_GetTimecode.SubFrame            << "sf "
              << Adapt( _Output_GetTimecode.FieldFlag ) << " " 
              << _Output_GetTimecode.Standard            << " " 
              << _Output_GetTimecode.SubFramesPerFrame   << " " 
              << _Output_GetTimecode.UserBits            << std::endl << std::endl;

    // Get the latency
    std::cout << "Latency: " << MyClient.GetLatencyTotal().Total << "s" << std::endl;
    
    for( unsigned int LatencySampleIndex = 0 ; LatencySampleIndex < MyClient.GetLatencySampleCount().Count ; ++LatencySampleIndex )
    {
      std::string SampleName  = MyClient.GetLatencySampleName( LatencySampleIndex ).Name;
      double      SampleValue = MyClient.GetLatencySampleValue( SampleName ).Value;

      std::cout << "  " << SampleName << " " << SampleValue << "s" << std::endl;
    }
    std::cout << std::endl;

    // Count the number of subjects
    unsigned int SubjectCount = MyClient.GetSubjectCount().SubjectCount;
    std::cout << "Subjects (" << SubjectCount << "):" << std::endl;
    for( unsigned int SubjectIndex = 0 ; SubjectIndex < SubjectCount ; ++SubjectIndex )
    {
      std::cout << "  Subject #" << SubjectIndex << std::endl;

      // Get the subject name
      std::string SubjectName = MyClient.GetSubjectName( SubjectIndex ).SubjectName;
      std::cout << "            Name: " << SubjectName << std::endl;

      // Get the root segment
      std::string RootSegment = MyClient.GetSubjectRootSegmentName( SubjectName ).SegmentName;
      std::cout << "    Root Segment: " << RootSegment << std::endl;

      // Count the number of segments
      unsigned int SegmentCount = MyClient.GetSegmentCount( SubjectName ).SegmentCount;
      std::cout << "    Segments (" << SegmentCount << "):" << std::endl;
      for( unsigned int SegmentIndex = 0 ; SegmentIndex < SegmentCount ; ++SegmentIndex )
      {
        std::cout << "      Segment #" << SegmentIndex << std::endl;

        // Get the segment name
        std::string SegmentName = MyClient.GetSegmentName( SubjectName, SegmentIndex ).SegmentName;
        std::cout << "          Name: " << SegmentName << std::endl;

        // Get the segment parent
        std::string SegmentParentName = MyClient.GetSegmentParentName( SubjectName, SegmentName ).SegmentName;
        std::cout << "        Parent: " << SegmentParentName << std::endl;

        // Get the segment's children
        unsigned int ChildCount = MyClient.GetSegmentChildCount( SubjectName, SegmentName ).SegmentCount;
        std::cout << "     Children (" << ChildCount << "):" << std::endl;
        for( unsigned int ChildIndex = 0 ; ChildIndex < ChildCount ; ++ChildIndex )
        {
          std::string ChildName = MyClient.GetSegmentChildName( SubjectName, SegmentName, ChildIndex ).SegmentName;
          std::cout << "       " << ChildName << std::endl;
        }

        // Get the static segment translation
        Output_GetSegmentStaticTranslation _Output_GetSegmentStaticTranslation = 
          MyClient.GetSegmentStaticTranslation( SubjectName, SegmentName );
        std::cout << "        Static Translation: (" << _Output_GetSegmentStaticTranslation.Translation[ 0 ]  << ", " 
                                                     << _Output_GetSegmentStaticTranslation.Translation[ 1 ]  << ", " 
                                                     << _Output_GetSegmentStaticTranslation.Translation[ 2 ]  << ") " << std::endl;

        // Get the static segment rotation in helical co-ordinates
        Output_GetSegmentStaticRotationHelical _Output_GetSegmentStaticRotationHelical = 
          MyClient.GetSegmentStaticRotationHelical( SubjectName, SegmentName );
        std::cout << "        Static Rotation Helical: (" << _Output_GetSegmentStaticRotationHelical.Rotation[ 0 ]     << ", " 
                                                          << _Output_GetSegmentStaticRotationHelical.Rotation[ 1 ]     << ", " 
                                                          << _Output_GetSegmentStaticRotationHelical.Rotation[ 2 ]     << ") " << std::endl;

        // Get the static segment rotation as a matrix
        Output_GetSegmentStaticRotationMatrix _Output_GetSegmentStaticRotationMatrix = 
          MyClient.GetSegmentStaticRotationMatrix( SubjectName, SegmentName );
        std::cout << "        Static Rotation Matrix: (" << _Output_GetSegmentStaticRotationMatrix.Rotation[ 0 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 1 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 2 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 3 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 4 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 5 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 6 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 7 ]     << ", " 
                                                         << _Output_GetSegmentStaticRotationMatrix.Rotation[ 8 ]     << ") " << std::endl;

        // Get the static segment rotation in quaternion co-ordinates
        Output_GetSegmentStaticRotationQuaternion _Output_GetSegmentStaticRotationQuaternion = 
          MyClient.GetSegmentStaticRotationQuaternion( SubjectName, SegmentName );
        std::cout << "        Static Rotation Quaternion: (" << _Output_GetSegmentStaticRotationQuaternion.Rotation[ 0 ]     << ", " 
                                                             << _Output_GetSegmentStaticRotationQuaternion.Rotation[ 1 ]     << ", " 
                                                             << _Output_GetSegmentStaticRotationQuaternion.Rotation[ 2 ]     << ", " 
                                                             << _Output_GetSegmentStaticRotationQuaternion.Rotation[ 3 ]     << ") " << std::endl;

        // Get the static segment rotation in EulerXYZ co-ordinates
        Output_GetSegmentStaticRotationEulerXYZ _Output_GetSegmentStaticRotationEulerXYZ = 
          MyClient.GetSegmentStaticRotationEulerXYZ( SubjectName, SegmentName );
        std::cout << "        Static Rotation EulerXYZ: (" << _Output_GetSegmentStaticRotationEulerXYZ.Rotation[ 0 ]     << ", " 
                                                           << _Output_GetSegmentStaticRotationEulerXYZ.Rotation[ 1 ]     << ", " 
                                                           << _Output_GetSegmentStaticRotationEulerXYZ.Rotation[ 2 ]     << ") " << std::endl;

        // Get the global segment translation
        Output_GetSegmentGlobalTranslation _Output_GetSegmentGlobalTranslation = 
          MyClient.GetSegmentGlobalTranslation( SubjectName, SegmentName );
        std::cout << "        Global Translation: (" << _Output_GetSegmentGlobalTranslation.Translation[ 0 ]  << ", " 
                                                     << _Output_GetSegmentGlobalTranslation.Translation[ 1 ]  << ", " 
                                                     << _Output_GetSegmentGlobalTranslation.Translation[ 2 ]  << ") " 
                                                     << Adapt( _Output_GetSegmentGlobalTranslation.Occluded ) << std::endl;

        // Get the global segment rotation in helical co-ordinates
        Output_GetSegmentGlobalRotationHelical _Output_GetSegmentGlobalRotationHelical = 
          MyClient.GetSegmentGlobalRotationHelical( SubjectName, SegmentName );
        std::cout << "        Global Rotation Helical: (" << _Output_GetSegmentGlobalRotationHelical.Rotation[ 0 ]     << ", " 
                                                          << _Output_GetSegmentGlobalRotationHelical.Rotation[ 1 ]     << ", " 
                                                          << _Output_GetSegmentGlobalRotationHelical.Rotation[ 2 ]     << ") " 
                                                          << Adapt( _Output_GetSegmentGlobalRotationHelical.Occluded ) << std::endl;

        // Get the global segment rotation as a matrix
        Output_GetSegmentGlobalRotationMatrix _Output_GetSegmentGlobalRotationMatrix = 
          MyClient.GetSegmentGlobalRotationMatrix( SubjectName, SegmentName );
        std::cout << "        Global Rotation Matrix: (" << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 0 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 1 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 2 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 3 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 4 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 5 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 6 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 7 ]     << ", " 
                                                         << _Output_GetSegmentGlobalRotationMatrix.Rotation[ 8 ]     << ") " 
                                                         << Adapt( _Output_GetSegmentGlobalRotationMatrix.Occluded ) << std::endl;

        // Get the global segment rotation in quaternion co-ordinates
        Output_GetSegmentGlobalRotationQuaternion _Output_GetSegmentGlobalRotationQuaternion = 
          MyClient.GetSegmentGlobalRotationQuaternion( SubjectName, SegmentName );
        std::cout << "        Global Rotation Quaternion: (" << _Output_GetSegmentGlobalRotationQuaternion.Rotation[ 0 ]     << ", " 
                                                             << _Output_GetSegmentGlobalRotationQuaternion.Rotation[ 1 ]     << ", " 
                                                             << _Output_GetSegmentGlobalRotationQuaternion.Rotation[ 2 ]     << ", " 
                                                             << _Output_GetSegmentGlobalRotationQuaternion.Rotation[ 3 ]     << ") " 
                                                             << Adapt( _Output_GetSegmentGlobalRotationQuaternion.Occluded ) << std::endl;

        // Get the global segment rotation in EulerXYZ co-ordinates
        Output_GetSegmentGlobalRotationEulerXYZ _Output_GetSegmentGlobalRotationEulerXYZ = 
          MyClient.GetSegmentGlobalRotationEulerXYZ( SubjectName, SegmentName );
        std::cout << "        Global Rotation EulerXYZ: (" << _Output_GetSegmentGlobalRotationEulerXYZ.Rotation[ 0 ]     << ", " 
                                                           << _Output_GetSegmentGlobalRotationEulerXYZ.Rotation[ 1 ]     << ", " 
                                                           << _Output_GetSegmentGlobalRotationEulerXYZ.Rotation[ 2 ]     << ") " 
                                                           << Adapt( _Output_GetSegmentGlobalRotationEulerXYZ.Occluded ) << std::endl;

        // Get the local segment translation
        Output_GetSegmentLocalTranslation _Output_GetSegmentLocalTranslation = 
          MyClient.GetSegmentLocalTranslation( SubjectName, SegmentName );
        std::cout << "        Local Translation: (" << _Output_GetSegmentLocalTranslation.Translation[ 0 ]  << ", " 
                                                    << _Output_GetSegmentLocalTranslation.Translation[ 1 ]  << ", " 
                                                    << _Output_GetSegmentLocalTranslation.Translation[ 2 ]  << ") " 
                                                    << Adapt( _Output_GetSegmentLocalTranslation.Occluded ) << std::endl;

        // Get the local segment rotation in helical co-ordinates
        Output_GetSegmentLocalRotationHelical _Output_GetSegmentLocalRotationHelical = 
          MyClient.GetSegmentLocalRotationHelical( SubjectName, SegmentName );
        std::cout << "        Local Rotation Helical: (" << _Output_GetSegmentLocalRotationHelical.Rotation[ 0 ]     << ", " 
                                                         << _Output_GetSegmentLocalRotationHelical.Rotation[ 1 ]     << ", " 
                                                         << _Output_GetSegmentLocalRotationHelical.Rotation[ 2 ]     << ") " 
                                                         << Adapt( _Output_GetSegmentLocalRotationHelical.Occluded ) << std::endl;

        // Get the local segment rotation as a matrix
        Output_GetSegmentLocalRotationMatrix _Output_GetSegmentLocalRotationMatrix = 
          MyClient.GetSegmentLocalRotationMatrix( SubjectName, SegmentName );
        std::cout << "        Local Rotation Matrix: (" << _Output_GetSegmentLocalRotationMatrix.Rotation[ 0 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 1 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 2 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 3 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 4 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 5 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 6 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 7 ]     << ", " 
                                                        << _Output_GetSegmentLocalRotationMatrix.Rotation[ 8 ]     << ") " 
                                                        << Adapt( _Output_GetSegmentLocalRotationMatrix.Occluded ) << std::endl;

        // Get the local segment rotation in quaternion co-ordinates
        Output_GetSegmentLocalRotationQuaternion _Output_GetSegmentLocalRotationQuaternion = 
          MyClient.GetSegmentLocalRotationQuaternion( SubjectName, SegmentName );
        std::cout << "        Local Rotation Quaternion: (" << _Output_GetSegmentLocalRotationQuaternion.Rotation[ 0 ]     << ", " 
                                                            << _Output_GetSegmentLocalRotationQuaternion.Rotation[ 1 ]     << ", " 
                                                            << _Output_GetSegmentLocalRotationQuaternion.Rotation[ 2 ]     << ", " 
                                                            << _Output_GetSegmentLocalRotationQuaternion.Rotation[ 3 ]     << ") " 
                                                            << Adapt( _Output_GetSegmentLocalRotationQuaternion.Occluded ) << std::endl;

        // Get the local segment rotation in EulerXYZ co-ordinates
        Output_GetSegmentLocalRotationEulerXYZ _Output_GetSegmentLocalRotationEulerXYZ = 
          MyClient.GetSegmentLocalRotationEulerXYZ( SubjectName, SegmentName );
        std::cout << "        Local Rotation EulerXYZ: (" << _Output_GetSegmentLocalRotationEulerXYZ.Rotation[ 0 ]     << ", " 
                                                          << _Output_GetSegmentLocalRotationEulerXYZ.Rotation[ 1 ]     << ", " 
                                                          << _Output_GetSegmentLocalRotationEulerXYZ.Rotation[ 2 ]     << ") " 
                                                          << Adapt( _Output_GetSegmentLocalRotationEulerXYZ.Occluded ) << std::endl;
      }

      // Count the number of markers
      unsigned int MarkerCount = MyClient.GetMarkerCount( SubjectName ).MarkerCount;
      std::cout << "    Markers (" << MarkerCount << "):" << std::endl;
      for( unsigned int MarkerIndex = 0 ; MarkerIndex < MarkerCount ; ++MarkerIndex )
      {
        // Get the marker name
        std::string MarkerName = MyClient.GetMarkerName( SubjectName, MarkerIndex ).MarkerName;

        // Get the marker parent
        std::string MarkerParentName = MyClient.GetMarkerParentName( SubjectName, MarkerName ).SegmentName;

        // Get the global marker translation
        Output_GetMarkerGlobalTranslation _Output_GetMarkerGlobalTranslation =
          MyClient.GetMarkerGlobalTranslation( SubjectName, MarkerName );

        std::cout << "      Marker #" << MarkerIndex            << ": "
                                      << MarkerName             << " ("
                                      << _Output_GetMarkerGlobalTranslation.Translation[ 0 ]  << ", "
                                      << _Output_GetMarkerGlobalTranslation.Translation[ 1 ]  << ", "
                                      << _Output_GetMarkerGlobalTranslation.Translation[ 2 ]  << ") "
                                      << Adapt( _Output_GetMarkerGlobalTranslation.Occluded ) << std::endl;
      }
    }

    // Get the unlabeled markers
    unsigned int UnlabeledMarkerCount = MyClient.GetUnlabeledMarkerCount().MarkerCount;
    std::cout << "  Unlabeled Markers (" << UnlabeledMarkerCount << "):" << std::endl;
    for( unsigned int UnlabeledMarkerIndex = 0 ; UnlabeledMarkerIndex < UnlabeledMarkerCount ; ++UnlabeledMarkerIndex )
    { 
      // Get the global marker translation
      Output_GetUnlabeledMarkerGlobalTranslation _Output_GetUnlabeledMarkerGlobalTranslation =
        MyClient.GetUnlabeledMarkerGlobalTranslation( UnlabeledMarkerIndex );

      std::cout << "      Marker #" << UnlabeledMarkerIndex   << ": ("
                                    << _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 0 ] << ", "
                                    << _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 1 ] << ", "
                                    << _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 2 ] << ") " << std::endl;
    }

    // Count the number of devices
    unsigned int DeviceCount = MyClient.GetDeviceCount().DeviceCount;
    std::cout << "  Devices (" << DeviceCount << "):" << std::endl;
    for( unsigned int DeviceIndex = 0 ; DeviceIndex < DeviceCount ; ++DeviceIndex )
    {
      std::cout << "    Device #" << DeviceIndex << ":" << std::endl;

      // Get the device name and type
      Output_GetDeviceName _Output_GetDeviceName = MyClient.GetDeviceName( DeviceIndex );
      std::cout << "      Name: " << _Output_GetDeviceName.DeviceName << std::endl;
      std::cout << "      Type: " << Adapt( _Output_GetDeviceName.DeviceType ) << std::endl;

      // Count the number of device outputs
      unsigned int DeviceOutputCount = MyClient.GetDeviceOutputCount( _Output_GetDeviceName.DeviceName ).DeviceOutputCount;
      std::cout << "      Device Outputs (" << DeviceOutputCount << "):" << std::endl;
      for( unsigned int DeviceOutputIndex = 0 ; DeviceOutputIndex < DeviceOutputCount ; ++DeviceOutputIndex )
      {
        // Get the device output name and unit
        Output_GetDeviceOutputName _Output_GetDeviceOutputName = 
          MyClient.GetDeviceOutputName( _Output_GetDeviceName.DeviceName, DeviceOutputIndex );

        // Get the device output value
        Output_GetDeviceOutputValue _Output_GetDeviceOutputValue = 
          MyClient.GetDeviceOutputValue( _Output_GetDeviceName.DeviceName, _Output_GetDeviceOutputName.DeviceOutputName );

        std::cout << "        Device Output #" << DeviceOutputIndex                                     << ": "
                                               << _Output_GetDeviceOutputName.DeviceOutputName          << " "
                                               << _Output_GetDeviceOutputValue.Value                    << " " 
                                               << Adapt( _Output_GetDeviceOutputName.DeviceOutputUnit ) << " " 
                                               << Adapt( _Output_GetDeviceOutputValue.Occluded )        << std::endl;
      }
    }
  }

  if( TransmitMulticast )
  {
    MyClient.StopTransmittingMulticast();
  }

  // Disconnect and dispose
  MyClient.Disconnect();
}