The NDI Protocol class provides building and parsing of command strings and answers to and from a NDI tracking device. More...

#include <mitkNDIProtocol.h>

Inheritance diagram for mitk::NDIProtocol:

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Collaboration diagram for mitk::NDIProtocol:

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Public Types
typedef mitk::SerialCommunication::PortNumber	PortNumber
	Port number of the serial connection. More...

typedef mitk::SerialCommunication::BaudRate	BaudRate
	Baud rate of the serial connection. More...

typedef mitk::SerialCommunication::DataBits	DataBits
	Number of data bits used in the serial connection. More...

typedef mitk::SerialCommunication::Parity	Parity
	Parity mode used in the serial connection. More...

typedef mitk::SerialCommunication::StopBits	StopBits
	Number of stop bits used in the serial connection. More...

typedef mitk::SerialCommunication::HardwareHandshake	HardwareHandshake
	Hardware handshake mode of the serial connection. More...

typedef mitk::NDIPassiveTool::TrackingPriority	TrackingPriority
	Tracking priority used for tracking a tool. More...

Public Member Functions
	mitkClassMacroItkParent (NDIProtocol, itk::Object)

Pointer	Clone () const

virtual void	SetTrackingDevice (NDITrackingDevice *_arg)

NDIErrorCode	APIREV (std::string *revision)
	Gives information about the tool which is assosiated with the port handle. Writes portInfo to the string. More...

NDIErrorCode	PHINF (std::string portHandle, std::string *portInfo)

NDIErrorCode	PSOUT (std::string portHandle, std::string state)
	Set GPIO Output (Aurora) More...

NDIErrorCode	COMM (mitk::SerialCommunication::BaudRate baudRate, mitk::SerialCommunication::DataBits dataBits, mitk::SerialCommunication::Parity parity, mitk::SerialCommunication::StopBits stopBits, mitk::SerialCommunication::HardwareHandshake hardwareHandshake)
	Change Serial Communication Parameters. More...

NDIErrorCode	INIT ()
	Initialize the Measurement System. More...

NDIErrorCode	DSTART ()
	Start the Diagnostic Mode. More...

NDIErrorCode	DSTOP ()
	Stop the Diagnostic Mode. More...

NDIErrorCode	IRINIT ()
	Initialize the System to Check for Infrared. More...

NDIErrorCode	IRCHK (bool *IRdetected)
	This version of IRCHK uses only the simple "presence of infrared light" call, that returns a binary "IR detected/no IR detected" answer. More...

NDIErrorCode	PHSR (PHSRQueryType queryType, std::string *portHandles)
	Port Handle Search. Will write returned port handles to the string portHandles. More...

NDIErrorCode	PHF (std::string *portHandle)
	Port Handle Free. Frees the port handle. More...

NDIErrorCode	PHRQ (std::string *portHandle)
	Port Handle Request. Will request a Port Handle for a wireless tool and return it in the string portHandle. More...

NDIErrorCode	PVWR (std::string portHandle, const unsigned char sromData, unsigned int sromDataLength)
	Port Virtual Write. Writes an SROM Image data to a tool. More...

NDIErrorCode	PINIT (std::string *portHandle)
	Port Initialize. Will initialize a Port that has been acquired with PHRQ and has been assigned a SROM File with PVWR. More...

NDIErrorCode	PENA (std::string *portHandle, TrackingPriority prio)
	Port Enable. Will enable a port that has been initialized with PINIT. More...

NDIErrorCode	PDIS (std::string *portHandle)
	Port Disable. Will disable a port that has been enabled with PENA. More...

NDIErrorCode	IRATE (IlluminationActivationRate rate)
	Setting the illuminator rate. Will set the refresh rate for the illuminator for wireless tools. More...

NDIErrorCode	BEEP (unsigned char count)
	Sounding the measurement system beeper. The tracking system will beep one to nine times. More...

NDIErrorCode	SFLIST (std::string *info)
	Returns information about the supported feature of the tracking system. More...

NDIErrorCode	TSTART (bool resetFrameCounter=false)
	Start Tracking Mode. The tracking system must be in setup mode and must be initialized. More...

NDIErrorCode	TSTOP ()
	Stop Tracking Mode. The tracking system must be in Tracking mode. More...

NDIErrorCode	TX (bool trackIndividualMarkers=false, MarkerPointContainerType *markerPositions=nullptr)
	Report transformations in text mode. Optionally, individual markers can be tracked. More...

NDIErrorCode	BX ()
	Report transformations in binary mode. More...

NDIErrorCode	POS3D (MarkerPointContainerType *markerPositions)
	Report 3D Positions of single markers. can only be used in diagnostics mode. More...

NDIErrorCode	VER (mitk::TrackingDeviceType &t)
	returns if the tracking device is a Polaris or an Aurora system More...

NDIErrorCode	VSEL (mitk::TrackingDeviceData deviceData)
	Sets the tracking volume to the given type. Check available tracking volumes with SFLIST first. More...

NDIErrorCode	TX1000 (MarkerPointContainerType *markerPositions)
	Report transformations in text mode. More...

unsigned int	ByteToNbBitsOn (char &c) const

virtual bool	GetUseCRC () const

virtual void	SetUseCRC (bool _arg)
	Get whether to append a CRC16 checksum to each message. More...

virtual void	UseCRCOn ()
	Set whether to append a CRC16 checksum to each message. More...

virtual void	UseCRCOff ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	NDIProtocol ()
	Set whether to append a CRC16 checksum to each message. More...

virtual	~NDIProtocol ()

NDIErrorCode	ParseOkayError ()

NDIErrorCode	GenericCommand (const std::string command, const std::string *parameter=nullptr)

NDIErrorCode	GetErrorCode (const std::string *input)
	returns the error code for an Error String returned from the NDI tracking device More...

Protected Attributes
NDITrackingDevice *	m_TrackingDevice
	tracking device to which the commands will be send More...

bool	m_UseCRC
	whether to append a CRC16 checksum to each message More...

Detailed Description

The NDI Protocol class provides building and parsing of command strings and answers to and from a NDI tracking device.

Documentation

Definition at line 90 of file mitkNDIProtocol.h.

Member Typedef Documentation

typedef mitk::SerialCommunication::BaudRate mitk::NDIProtocol::BaudRate

Baud rate of the serial connection.

Definition at line 100 of file mitkNDIProtocol.h.

typedef mitk::SerialCommunication::DataBits mitk::NDIProtocol::DataBits

Number of data bits used in the serial connection.

Definition at line 101 of file mitkNDIProtocol.h.

typedef mitk::SerialCommunication::HardwareHandshake mitk::NDIProtocol::HardwareHandshake

Hardware handshake mode of the serial connection.

Definition at line 104 of file mitkNDIProtocol.h.

typedef mitk::SerialCommunication::Parity mitk::NDIProtocol::Parity

Parity mode used in the serial connection.

Definition at line 102 of file mitkNDIProtocol.h.

typedef mitk::SerialCommunication::PortNumber mitk::NDIProtocol::PortNumber

Port number of the serial connection.

Definition at line 97 of file mitkNDIProtocol.h.

typedef mitk::SerialCommunication::StopBits mitk::NDIProtocol::StopBits

Number of stop bits used in the serial connection.

Definition at line 103 of file mitkNDIProtocol.h.

typedef mitk::NDIPassiveTool::TrackingPriority mitk::NDIProtocol::TrackingPriority

Tracking priority used for tracking a tool.

Definition at line 105 of file mitkNDIProtocol.h.

Constructor & Destructor Documentation

mitk::NDIProtocol::NDIProtocol ( )

protected

Set whether to append a CRC16 checksum to each message.

Definition at line 28 of file mitkNDIProtocol.cpp.

mitk::NDIProtocol::~NDIProtocol ( )

protectedvirtual

Definition at line 34 of file mitkNDIProtocol.cpp.

Member Function Documentation

mitk::NDIErrorCode mitk::NDIProtocol::APIREV ( std::string * revision )

Gives information about the tool which is assosiated with the port handle. Writes portInfo to the string.

Definition at line 1589 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::BEEP ( unsigned char count )

Sounding the measurement system beeper. The tracking system will beep one to nine times.

Definition at line 556 of file mitkNDIProtocol.cpp.

References mitk::NDICOMMANDPARAMETEROUTOFRANGE, mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNEXPECTEDREPLY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::BX ( )

Report transformations in binary mode.

Definition at line 1173 of file mitkNDIProtocol.cpp.

References mitk::TX.

unsigned int mitk::NDIProtocol::ByteToNbBitsOn ( char & c ) const

Definition at line 1451 of file mitkNDIProtocol.cpp.

Pointer mitk::NDIProtocol::Clone ( ) const

mitk::NDIErrorCode mitk::NDIProtocol::COMM	(	mitk::SerialCommunication::BaudRate	baudRate,
		mitk::SerialCommunication::DataBits	dataBits,
		mitk::SerialCommunication::Parity	parity,
		mitk::SerialCommunication::StopBits	stopBits,
		mitk::SerialCommunication::HardwareHandshake	hardwareHandshake
	)

Change Serial Communication Parameters.

Definition at line 39 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::DSTART ( )

Start the Diagnostic Mode.

Definition at line 118 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::DSTOP ( )

Stop the Diagnostic Mode.

Definition at line 124 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::GenericCommand	(	const std::string	command,
		const std::string *	parameter = `nullptr`
	)

protected

Documentation Sends the command command to the tracking system and checks for OKAY and ERROR as replies This is used by commands like INIT, DSTART, DSTOP,... that do not need parameters or special parsing of replies

Definition at line 1408 of file mitkNDIProtocol.cpp.

References mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::GetErrorCode ( const std::string * input )

protected

returns the error code for an Error String returned from the NDI tracking device

Documentation

Definition at line 1518 of file mitkNDIProtocol.cpp.

References mitk::NDICANTINITIRDIAGNOSTICS, mitk::NDICANTSTARTDIAGNOSTICMODE, mitk::NDICOMMANDINVALIDINCURRENTMODE, mitk::NDICOMMANDPARAMETEROUTOFRANGE, mitk::NDICOMMANDTOOLONG, mitk::NDICOMMANDTOOSHORT, mitk::NDICRCDOESNOTMATCH, mitk::NDIENABLEDTOOLSNOTSUPPORTED, mitk::NDIFAILURETOWRITESROM, mitk::NDIINCOMPATIBLEFIRMWAREVERSIONS, mitk::NDIINCORRECTNUMBEROFPARAMETERS, mitk::NDIINITIALIZATIONFAILED, mitk::NDIINVALIDCOMMAND, mitk::NDIINVALIDLED, mitk::NDIINVALIDLEDSTATE, mitk::NDIINVALIDOPERATIONFORDEVICE, mitk::NDIINVALIDPORTDESCRIPTION, mitk::NDIINVALIDPORTHANDLE, mitk::NDIINVALIDTRACKINGPRIORITY, mitk::NDIINVALIDVOLUMEPARAMETERS, mitk::NDINOMEMORYAVAILABLE, mitk::NDINOTOOLFORPORT, mitk::NDIOUTOFHANDLES, mitk::NDIPORTHANDLENOTALLOCATED, mitk::NDIPORTHASBECOMEUNOCCUPIED, mitk::NDIPORTNOTINITIALIZED, mitk::NDISYSTEMNOTINITIALIZED, mitk::NDITIMEOUT, mitk::NDIUNABLETOSETNEWCOMMPARAMETERS, mitk::NDIUNABLETOSTARTTRACKING, mitk::NDIUNABLETOSTOPTRACKING, and mitk::NDIUNKNOWNERROR.

virtual bool mitk::NDIProtocol::GetUseCRC ( ) const

virtual

mitk::NDIErrorCode mitk::NDIProtocol::INIT ( )

Initialize the Measurement System.

Definition at line 112 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::IRATE ( IlluminationActivationRate rate )

Setting the illuminator rate. Will set the refresh rate for the illuminator for wireless tools.

Definition at line 536 of file mitkNDIProtocol.cpp.

References mitk::Hz20, mitk::Hz30, and mitk::Hz60.

mitk::NDIErrorCode mitk::NDIProtocol::IRCHK ( bool * IRdetected )

This version of IRCHK uses only the simple "presence of infrared light" call, that returns a binary "IR detected/no IR detected" answer.

Definition at line 136 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNEXPECTEDREPLY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::IRINIT ( )

Initialize the System to Check for Infrared.

Definition at line 130 of file mitkNDIProtocol.cpp.

mitk::NDIProtocol::mitkClassMacroItkParent	(	NDIProtocol	,
		itk::Object
	)

static Pointer mitk::NDIProtocol::New ( )

static

Referenced by mitk::NDITrackingDevice::NDITrackingDevice().

mitk::NDIErrorCode mitk::NDIProtocol::ParseOkayError ( )

protected

Documentation Reads the reply from the tracking device and checks if it is either "OKAY" or "ERROR##". if it reads an error, it returns the equivalent NDIErrorCode Replies other than OKAY or ERROR result in an NDIUNEXPECTEDREPLY

Definition at line 1468 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNEXPECTEDREPLY, and mitk::NDIUNKNOWNERROR.

mitk::NDIErrorCode mitk::NDIProtocol::PDIS ( std::string * portHandle )

Port Disable. Will disable a port that has been enabled with PENA.

Definition at line 524 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::PENA	(	std::string *	portHandle,
		TrackingPriority	prio
	)

Port Enable. Will enable a port that has been initialized with PINIT.

Definition at line 496 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::PHF ( std::string * portHandle )

Port Handle Free. Frees the port handle.

Definition at line 530 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::PHINF	(	std::string	portHandle,
		std::string *	portInfo
	)

Definition at line 507 of file mitkNDIProtocol.cpp.

References mitk::NDIOKAY.

mitk::NDIErrorCode mitk::NDIProtocol::PHRQ ( std::string * portHandle )

Port Handle Request. Will request a Port Handle for a wireless tool and return it in the string portHandle.

Definition at line 301 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::PHSR	(	PHSRQueryType	queryType,
		std::string *	portHandles
	)

Port Handle Search. Will write returned port handles to the string portHandles.

Definition at line 217 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::PINIT ( std::string * portHandle )

Port Initialize. Will initialize a Port that has been acquired with PHRQ and has been assigned a SROM File with PVWR.

Definition at line 416 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNEXPECTEDREPLY, mitk::NDIUNKNOWNERROR, mitk::NDIWARNING, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::POS3D ( MarkerPointContainerType * markerPositions )

Report 3D Positions of single markers. can only be used in diagnostics mode.

Definition at line 1242 of file mitkNDIProtocol.cpp.

References mitk::NDIPassiveTool::GetPortHandle(), mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::PSOUT	(	std::string	portHandle,
		std::string	state
	)

Set GPIO Output (Aurora)

Definition at line 647 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::PVWR	(	std::string *	portHandle,
		const unsigned char *	sromData,
		unsigned int	sromDataLength
	)

Port Virtual Write. Writes an SROM Image data to a tool.

Definition at line 363 of file mitkNDIProtocol.cpp.

References mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, mitk::SROMFILETOOLARGE, mitk::SROMFILETOOSMALL, and mitk::TRACKINGDEVICENOTSET.

virtual void mitk::NDIProtocol::SetTrackingDevice ( NDITrackingDevice * _arg )

virtual

virtual void mitk::NDIProtocol::SetUseCRC ( bool _arg )

virtual

Get whether to append a CRC16 checksum to each message.

mitk::NDIErrorCode mitk::NDIProtocol::SFLIST ( std::string * info )

Returns information about the supported feature of the tracking system.

Definition at line 1660 of file mitkNDIProtocol.cpp.

References mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarCube(), mitk::NDIAuroraTypeInformation::GetDeviceDataAuroraPlanarDome(), mitk::NDIPolarisTypeInformation::GetDeviceDataPolarisOldModel(), mitk::NDIPolarisTypeInformation::GetDeviceDataPolarisSpectra(), mitk::NDIPolarisTypeInformation::GetDeviceDataPolarisVicra(), mitk::NDIPolarisTypeInformation::GetDeviceDataSpectraExtendedPyramid(), mitk::TrackingDeviceData::HardwareCode, MITK_INFO, MITK_WARN, mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::TSTART ( bool resetFrameCounter = false )

Start Tracking Mode. The tracking system must be in setup mode and must be initialized.

Definition at line 631 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::TSTOP ( )

Stop Tracking Mode. The tracking system must be in Tracking mode.

Definition at line 641 of file mitkNDIProtocol.cpp.

mitk::NDIErrorCode mitk::NDIProtocol::TX	(	bool	trackIndividualMarkers = `false`,
		MarkerPointContainerType *	markerPositions = `nullptr`
	)

Report transformations in text mode. Optionally, individual markers can be tracked.

Definition at line 654 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, mitk::TrackingDevice::RotationTransposed, mitk::TRACKINGDEVICENOTSET, and mitk::UNKNOWNHANDLERETURNED.

mitk::NDIErrorCode mitk::NDIProtocol::TX1000 ( MarkerPointContainerType * markerPositions )

Report transformations in text mode.

Definition at line 927 of file mitkNDIProtocol.cpp.

References mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, mitk::TRACKINGDEVICENOTSET, and mitk::UNKNOWNHANDLERETURNED.

virtual void mitk::NDIProtocol::UseCRCOff ( )

virtual

virtual void mitk::NDIProtocol::UseCRCOn ( )

virtual

Set whether to append a CRC16 checksum to each message.

mitk::NDIErrorCode mitk::NDIProtocol::VER ( mitk::TrackingDeviceType & t )

returns if the tracking device is a Polaris or an Aurora system

Definition at line 1180 of file mitkNDIProtocol.cpp.

References mitk::NDIPolarisTypeInformation::GetTrackingDeviceName(), mitk::NDIAuroraTypeInformation::GetTrackingDeviceName(), mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName(), mitk::NDICRCERROR, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

mitk::NDIErrorCode mitk::NDIProtocol::VSEL ( mitk::TrackingDeviceData deviceData )

Sets the tracking volume to the given type. Check available tracking volumes with SFLIST first.

Definition at line 1799 of file mitkNDIProtocol.cpp.

References MITK_INFO, mitk::TrackingDeviceData::Model, mitk::NDICRCERROR, mitk::NDIINVALIDOPERATIONFORDEVICE, mitk::NDIOKAY, mitk::NDIUNKNOWNERROR, and mitk::TRACKINGDEVICENOTSET.

Member Data Documentation

NDITrackingDevice* mitk::NDIProtocol::m_TrackingDevice

protected

tracking device to which the commands will be send

Definition at line 163 of file mitkNDIProtocol.h.

bool mitk::NDIProtocol::m_UseCRC

protected

whether to append a CRC16 checksum to each message

Definition at line 164 of file mitkNDIProtocol.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation