void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
int
nCurDevice,
nCurMarker,
nDevices,
nMarkersToActivate;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uChannelCnt,
uFrameNumber;
Position3d
*p3dData;
static int
puOdauData[ SAMPLE_NUM_CHANNELS + 1];
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
nDevices = 0;
nMarkersToActivate = 0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #19\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto ERROR_EXIT;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure ODAU Collection.
*/
fprintf( stdout, "...OdauSetupCollection\n" );
if( OdauSetupCollection( ODAU1,
SAMPLE_NUM_CHANNELS, /* Number of analog channels to collect. */
SAMPLE_ODAU_GAIN, /* Gain to use for the analog channels.*/
ODAU_DIGITAL_INPB_INPA, /* Mode for the Digital I/O port.*/
(float)100.0, /* Frequency to collect data frames at. */
(float)90000.0, /* Frequency to scan channels at. */
SAMPLE_STREAMDATA, /* Stream mode for the data buffers. */
(float)1.0, /* Number of seconds of data to collect. */
0.0, /* Number of seconds to pre-trigger data by. */
0 ) ) /* Flags. */
{
goto ERROR_EXIT;
} /* if */
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate markers.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* loop around until a device is plugged or unplugged
*/
while( 1 )
{
fprintf( stdout, "\nCHANGE THE STROBER CONFIGURATION OR PRESS SWITCH TO END THIS TEST\n\n" );
sleep( 1 );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "\nFrame Number: %8u\n", uFrameNumber );
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
/*
* check if the tool configuration has changed
*/
if( uFlags & OPTO_TOOL_CONFIG_CHANGED_FLAG )
{
/*
* exit the program loop
*/
fprintf( stdout, "\n\n\n...Tool Configuration Changed\n" );
break;
} /* if */
if( uFlags & OPTO_SWITCH_DATA_CHANGED_FLAG )
{
/*
* exit the program loop
*/
fprintf( stdout, "\n\n\n...Switch Data Changed\n" );
break;
} /* if */
/*
* Get a frame of ODAU raw data.
*/
fprintf( stdout, "\n" );
if( DataGetLatestOdauRaw( ODAU1, &uFrameNumber, &uElements, &uFlags, puOdauData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
for( uChannelCnt = 0; uChannelCnt < SAMPLE_NUM_CHANNELS; ++uChannelCnt )
{
fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
uChannelCnt + 1,
puOdauData[ uChannelCnt],
(float)( (int)( puOdauData[uChannelCnt])) * 0.000305175/(float)SAMPLE_ODAU_GAIN );
/*
* if you have an ODAUI unit, instead of an ODAUII unit,
* replace the above fprintf statement with:
* fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
* uChannelCnt + 1,
* puOdauData[ uChannelCnt ],
* (float)( (int)( puOdauData[ uChannelCnt] & 0x0FFF ) - 2048) *
* (10.0/2048.0)/(float)SAMPLE_ODAU_GAIN );
*/
} /* for */
fprintf( stdout, "Digital 0x%04x\n", puOdauData[SAMPLE_NUM_CHANNELS] );
} /* while */
sleep( 1 );
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString, MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1],
szProperty[32];
int
i,
nCurDevice,
nCurProperty,
nCurFrame,
nCurMarker,
nMarkersToActivate,
nDevices,
nDeviceMarkers;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
char
*pChar,
szInput[10];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
nMarkersToActivate = 0;
nDevices = 0;
nDeviceMarkers = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
EXECUTION_START:
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Retrieve the device properties again to verify that the changes took effect.
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
if( GetDevicePropertiesFromSystem( &(pdtDeviceHandlesInfo[nCurDevice]) ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
if( ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Display all the property values
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
fprintf( stdout, "...Device %d properties:\n", nCurDevice );
for( nCurProperty = 0; nCurProperty < pdtDeviceHandlesInfo[nCurDevice].nProperties; nCurProperty++ )
{
/*
* Determine the property
*/
switch( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID )
{
case DH_PROPERTY_NAME:
sprintf( szProperty, "Device Name " );
break;
case DH_PROPERTY_MARKERSTOFIRE:
sprintf( szProperty, "Markers To Activate " );
/*
* add to the number of total markers being fired
*/
dtSettings.nMarkers += pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData;
break;
case DH_PROPERTY_MAXMARKERS:
sprintf( szProperty, "MaxDeviceMarkers " );
break;
case DH_PROPERTY_STARTMARKERPERIOD:
sprintf( szProperty, "Start Marker Period " );
break;
case DH_PROPERTY_SWITCHES:
sprintf( szProperty, "Device Switches " );
break;
case DH_PROPERTY_VLEDS:
sprintf( szProperty, "Device VLEDs " );
break;
case DH_PROPERTY_PORT:
sprintf( szProperty, "Strober Port " );
break;
case DH_PROPERTY_ORDER:
sprintf( szProperty, "Strober Port Order " );
break;
case DH_PROPERTY_SUBPORT:
sprintf( szProperty, "Strober SubPort " );
break;
case DH_PROPERTY_FIRINGSEQUENCE:
sprintf( szProperty, "Activation Sequence " );
break;
case DH_PROPERTY_HAS_ROM:
sprintf( szProperty, "Has Rom? " );
break;
case DH_PROPERTY_TOOLPORTS:
sprintf( szProperty, "Num ToolPorts " );
break;
case DH_PROPERTY_3020_CAPABILITY:
sprintf( szProperty, "3020 Capability " );
break;
case DH_PROPERTY_3020_MARKERSTOFIRE:
sprintf( szProperty, "3020 MrkrsToActivate " );
/*
* add to the number of total markers being fired
*/
dtSettings.nMarkers += pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData;
break;
case DH_PROPERTY_3020_STARTMARKERPERIOD:
sprintf( szProperty, "3020 StartMarkerPrd " );
break;
case DH_PROPERTY_STATUS:
sprintf( szProperty, "Status " );
break;
case DH_PROPERTY_UNKNOWN:
default:
sprintf( szProperty, "Unknown Property %d ", pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID );
break;
} /* switch */
/*
* Determine the property's data type before displaying it
*/
switch( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtPropertyType )
{
case DH_PROPERTY_TYPE_INT:
fprintf( stdout, "......Property_%.2d - %s = %d\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData );
break;
case DH_PROPERTY_TYPE_FLOAT:
fprintf( stdout, "......Property_%.2d - %s = %f\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.fData );
break;
case DH_PROPERTY_TYPE_DOUBLE:
fprintf( stdout, "......Property_%.2d - %s = %f\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.dData );
break;
case DH_PROPERTY_TYPE_CHAR:
fprintf( stdout, "......Property_%.2d - %s = %s\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.cData );
break;
case DH_PROPERTY_TYPE_STRING:
if( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID == DH_PROPERTY_FIRINGSEQUENCE )
{
fprintf( stdout, "......Property_%.2d - %s = ", nCurProperty, szProperty );
for( pChar = pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.szData; ( pChar != '\0' ) && ( *pChar != 0 ); pChar++ )
{
fprintf( stdout, "%.3d, ", *pChar );
} /* for */
fprintf( stdout, "\n" );
}
else
{
fprintf( stdout, "......Property_%.2d - %s = %s\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.szData );
} /* if */
break;
default:
fprintf( stdout, "......Property_%.2d = UNKNOWN PROPERTY TYPE\n", nCurDevice );
break;
} /* switch */
} /* for */
fprintf( stdout, "\n" );
} /* for */
fprintf( stdout, "Continue? or determine strober configuration Again? [c|a] : " );
gets( szInput );
if( szInput[0] == 'a' )
{
goto EXECUTION_START;
} /* if */
/*
* Retrieve Optotrak Data
*/
fprintf( stdout, "\n" );
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected.\n" );
fprintf( stdout, "Quit program? [y|n] : " );
gets( szInput );
if( szInput[0] == 'y' )
{
goto PROGRAM_COMPLETE;
} /* if */
fprintf( stdout, "...restarting program execution\n\n" );
goto EXECUTION_START;
} /* if */
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* Get and display five frames of 3D data.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "\n\n3D Data Display\n" );
for( nCurFrame = 0; nCurFrame < 5; nCurFrame++ )
{
/*
* Get a frame of data.
*/
fprintf( stdout, "\n" );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
} /* for */
fprintf( stdout, "\n" );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Stop the collection.
*/
fprintf( stdout, "...OptotrakStopCollection\n" );
if( OptotrakStopCollection( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "Run again? [y|n] : " );
gets( szInput );
if( szInput[0] == 'y' )
{
goto EXECUTION_START;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString, MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
int
i,
nIterations,
nCurDevice,
nCurMarker,
nDevices,
nMarkersToActivate;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
nDevices = 0;
nMarkersToActivate = 0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #2\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto ERROR_EXIT;
} /* if */
nIterations = 2;
for( i = 0; i < nIterations; i++ )
{
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* for */
fprintf( stdout, "\n" );
/*
* If there are strobers with tool capabilities, but no tools,
* then set up the strobers to fire some markers
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
if( pdtDevices[nCurDevice].nToolPorts > 0 )
{
/*
* set the markers to activate for this device
* this will be 0 if there are tools plugged into the
* device, or CERTUS_SAMPLE_STROBER_MARKERSTOFIRE if there
* are no tools plugged in
*/
nMarkersToActivate = CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForToolDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate, pdtDevices, nDevices );
} /* if */
} /* for */
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* loop around until a device is plugged or unplugged
*/
while( 1 )
{
fprintf( stdout, "\nCHANGE THE STROBER CONFIGURATION TO END THIS TEST\n\n" );
sleep( 1 );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
/*
* check if the tool configuration has changed
*/
if( uFlags & OPTO_TOOL_CONFIG_CHANGED_FLAG )
{
fprintf( stdout, "\n\n\n...Tool Configuration Changed\n" );
sleep( 3 );
break;
} /* if */
} /* while */
sleep( 1 );
/*
* stop the collection since we are finished at this point
*/
fprintf( stdout, "...OptotrakStopCollection\n\n\n" );
if( OptotrakStopCollection( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
/*
* Exiting the loop above means that the tool configuration has changed
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString, MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
int
i,
nVLED,
nMarkersToActivate,
nCurDevice,
nDevices;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
nDevices = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #11\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
fprintf( stdout, "...waiting for 2 seconds\n" );
sleep( 2 );
/*
* Look through all devices to find visible LEDs
*/
fprintf( stdout, "\nProgram Results:\n" );
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
fprintf( stdout, "...Device %d has no LEDs. skipping...\n", i + 1 );
continue;
} /* if */
/*
* Turn every visible LED in the device on, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
fprintf( stdout, "...Device %d has only 1 LED. skipping...\n", i + 1 );
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_ON ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be ON\n\n" );
sleep( 5 );
/*
* now make all the LEDs blink
*/
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
continue;
} /* if */
/*
* Make every visible LED in the device blink, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_BLINK ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be BLINKING\n\n" );
sleep( 5 );
/*
* finally, turn all LEDs off
*/
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
continue;
} /* if */
/*
* Turn every visible LED in the device off, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_OFF ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be OFF\n\n" );
sleep( 5 );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString, MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
int
i,
nCurDevice,
nCurMarker,
nMarkersToActivate,
nDevices,
nDeviceMarkers,
nNumSensors,
nCurSensor;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
float
*pfCurSensor,
*pCentroidData;
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
nMarkersToActivate = 0;
nDevices = 0;
nDeviceMarkers = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #16\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for all data
*/
if( OptotrakGetStatus( &nNumSensors, NULL, NULL, NULL,
NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
pCentroidData = (float*)malloc( dtSettings.nMarkers * nNumSensors * sizeof( float ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
fprintf( stdout, "\n\nSample Program Results:\n\n" );
/*
* Retrieve a frame of Centroid data.
* Use the non-block 'RequestNext'/'ReceiveLatest' call to
* retrieve a frame of data.
* Add the data retrieval functions return status information in
* the uFlags field.
* All the data retrieval functions return status information in
* the uFlags field.
* If the flags indicate that the system configuration has changed,
* all processing should stop and the application should re-query
* the system for all device information.
* NOTE: The re-initialization is not done here in order to
* simplify the sample program.
*/
if( RequestNextCentroid( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
while( !DataIsReady( ) );
if( DataReceiveLatestCentroid( &uFrameNumber, &uElements, &uFlags, pCentroidData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the Centroid data
*/
fprintf( stdout, "Centroid Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0, pfCurSensor = pCentroidData; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
fprintf( stdout, "Marker_%.3d:\n", nCurMarker + 1 );
for( nCurSensor = 0; nCurSensor < nNumSensors; nCurSensor++, pfCurSensor++ )
{
fprintf( stdout, " sensor_%.2d: %10.4f\n", nCurSensor, *pfCurSensor );
} /* for */
} /* for */
fprintf( stdout, "\n\n" );
/*
* Retrieve a frame of 3D data.
* Use the blocking 'GetLatest' call to retrieve a frame of data.
*/
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker, p3dData[nCurMarker] );
} /* for */
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
free( pCentroidData );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString, MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
free( pCentroidData );
exit( 1 );
} /* main */