int main(){
// Function to retrieve OAPI version
size_t len = LEN;
size_t read;
char *line = malloc(len);
assert(line);
// return variables
char s0[1024];
int i0;
int nFrameOld = -1;
while ((read = getline(&line, &len, stdin)) != -1) {
//fprintf(stderr, "INFO: Retrieved line of length %zu (including NULL): %s", read, line);
if (cmp(line, "OAPIGetVersionString")){
i0 = OAPIGetVersionString(s0, len);
printf("'%s'\n", s0);
} else if (cmp(line, "OptoGetLastError")){
i0 = OptoGetLastError(s0, len);
printf("'%s'\n", s0);
} else if (cmp(line, "OptotrakGetErrorString")){
i0 = OptotrakGetErrorString(s0, len);
printf("'%s'\n", s0);
} else if (cmp(line, "OptoGetExtendedErrorCode")){
i0 = OptoGetExtendedErrorCode();
printf("%d\n", i0);
} else if (cmp(line, "TransputerLoadSystem")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
i0 = TransputerLoadSystem(s);
//i0 = TransputerLoadSystem("/opt/NDIoapi/ndigital/realtime/system.nif");
printf("%d\n", i0);
} else if (cmp(line, "TransputerInitializeSystem")){
i0 = TransputerInitializeSystem(OPTO_LOG_ERRORS_FLAG);
printf("%d\n", i0);
} else if (cmp(line, "TransputerShutdownSystem")){
i0 = TransputerShutdownSystem();
printf("%d\n", i0);
} else if (cmp(line, "TransputerDetermineSystemCfg")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
i0 = TransputerDetermineSystemCfg(s);
printf("%d\n", i0);
} else if (cmp(line, "OptotrakLoadCameraParameters")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
OptotrakLoadCameraParameters(s);
printf("%d\n", i0);
} else if (cmp(line, "OptotrakLoadAutoScale")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
OptotrakLoadAutoScale(s);
printf("%d\n", i0);
} else if (cmp(line, "OptotrakLockTemperatures")){
i0 = OptotrakLockTemperatures();
printf("%d\n", i0);
} else if (cmp(line, "OptotrakSetCollectionFile")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
OptotrakSetCollectionFile(s);
printf("%d\n", i0);
} else if (cmp(line, "OptotrakSetupCollectionFromFile")){
strtok(line, "\"");
char* s = strtok(NULL, "\""); // may be null
OptotrakSetupCollectionFromFile(s);
printf("%d\n", i0);
} else if (cmp(line, "OptotrakSetupCollection")){
float fFrameFrequency, fMarkerFrequency;
int nThreshold, nMinimumGain, nStreamData;
float fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime;
int nFlags;
strtok(line, "(");
char* s = strtok(NULL, ")");
int i = sscanf(s, "%d, %f, %f, %d, %d, %d, %f, %f, %f, %f, %d",
&nMarkers,
&fFrameFrequency, &fMarkerFrequency,
&nThreshold, &nMinimumGain, &nStreamData,
&fDutyCycle, &fVoltage, &fCollectionTime, &fPreTriggerTime,
&nFlags);
if(i==11){
i0 = OptotrakSetupCollection(nMarkers,
fFrameFrequency, fMarkerFrequency,
nThreshold, nMinimumGain, nStreamData,
fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime,
nFlags);
printf("%d\n", i0);
allocSpace(nMarkers);
} else
printf("ERROR: %d arguments read (11 expected)\n", i);
} else if (cmp(line, "OptotrakActivateMarkers")){
i0 = OptotrakActivateMarkers();
printf("%d\n", i0);
} else if (cmp(line, "OptotrakDeActivateMarkers")){
i0 = OptotrakDeActivateMarkers();
printf("%d\n", i0);
} else if (cmp(line, "OptotrakGetStatus")){
int nNumSensors, nNumOdaus, nNumRigidBodies, nMarkers;
float fFrameFrequency, fMarkerFrequency;
int nThreshold, nMinimumGain, nStreamData;
float fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime;
int nFlags;
i0 = OptotrakGetStatus(&nNumSensors, &nNumOdaus, &nNumRigidBodies, &nMarkers,
&fFrameFrequency, &fMarkerFrequency,
&nThreshold, &nMinimumGain, &nStreamData,
&fDutyCycle, &fVoltage, &fCollectionTime, &fPreTriggerTime,
&nFlags);
printf("(%d, %d, %d, %d, %f, %f, %d, %d, %d, %f, %f, %f, %f, 0x%x)\n",
nNumSensors, nNumOdaus, nNumRigidBodies, nMarkers,
fFrameFrequency, fMarkerFrequency,
nThreshold, nMinimumGain, nStreamData,
fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime,
nFlags);
} else if (cmp(line, "OptotrakSetStroberPortTable")){
int nPort1, nPort2, nPort3, nPort4;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %d, %d, %d", &nPort1, &nPort2, &nPort3, &nPort4) == 4){
i0 = OptotrakSetStroberPortTable(nPort1, nPort2, nPort3, nPort4);
printf("%d\n", i0);
} else
printf("ERROR: reading 4 arguments\n");
} else if (cmp(line, "OptotrakSaveCollectionToFile")){
strtok(line, "\"");
char* s = strtok(NULL, "\"");
if (s)
i0 = OptotrakSaveCollectionToFile(s);
else
i0 = OptotrakSaveCollectionToFile("");
printf("%d\n", i0);
} else if (cmp(line, "OptotrakSetCameraParameters")){
int nMarkerType, nWaveLength, nModelType;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %d, %d", &nMarkerType, &nWaveLength, &nModelType) == 3){
i0 = OptotrakSetCameraParameters(nMarkerType, nWaveLength, nModelType);
printf("%d\n", i0);
} else
printf("ERROR: reading 3 arguments\n");
} else if (cmp(line, "OptotrakGetCameraParameterStatus")){
int curMarkerType, nCurWaveLength, nCurModelType;
char szStatus[len];
i0 = OptotrakGetCameraParameterStatus(&curMarkerType, &nCurWaveLength, &nCurModelType, szStatus, len);
printf("(%d, %d, %d, '%s')\n", curMarkerType, nCurWaveLength, nCurModelType, szStatus);
} else if (cmp(line, "OdauSaveCollectionToFile")){
strtok(line, "\"");
char* s = strtok(NULL, "\"");
if (s){
i0 = OptotrakSaveCollectionToFile(s);
printf("%d\n", i0);
} else
printf("ERROR: reading filename\n");
} else if (cmp(line, "OdauSetupCollectionFromFile")){
strtok(line, "\"");
char* s = strtok(NULL, "\"");
if (s){
i0 = OdauSetupCollectionFromFile(s);
printf("%d\n", i0);
} else
printf("ERROR: reading filename\n");
} else if (cmp(line, "OdauSetTimer")){
//int OdauSetTimer( int nOdauId, unsigned uTimer, unsigned uMode, unsigned long ulVal );
int nOdauId;
unsigned uTimer, uMode;
unsigned long ulVal;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %u, %u, %lu", &nOdauId, &uTimer, &uMode, &ulVal) == 4){
i0 = OdauSetTimer(ODAU1+nOdauId-1, uMode, uTimer, ulVal);
printf("%d\n", i0);
} else
printf("ERROR: reading 4 arguments\n");
} else if (cmp(line, "OdauSetAnalogOutputs")){
//int OdauSetAnalogOutputs( int nOdauId, float *pfVoltage1, float *pfVoltage2, unsigned uChangeMask );
int nOdauId; // 1-4 -> ODAU1-ODAU4
float fVoltage1;
float fVoltage2;
unsigned uChangeMask;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %f, %f, %u", &nOdauId, &fVoltage1, &fVoltage2, &uChangeMask) == 4){
i0 = OdauSetAnalogOutputs(ODAU1+nOdauId-1, &fVoltage1, &fVoltage2, uChangeMask);
printf("(%f, %f)\n", fVoltage1, fVoltage1);
} else
printf("ERROR: reading 4 arguments\n");
} else if (cmp(line, "OdauSetDigitalOutputs")){
//int OdauSetDigitalOutputs( int nOdauId, unsigned *puDigitalOut, unsigned uUpdateMask );
int nOdauId; // 1-4 -> ODAU1-ODAU4
unsigned uDigitalOut, uUpdateMask;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %u, %u", &nOdauId, &uDigitalOut, &uUpdateMask) == 4){
i0 = OdauSetDigitalOutputs(ODAU1+nOdauId-1, &uDigitalOut, uUpdateMask);
printf("0x%x\n", uDigitalOut);
} else
printf("ERROR: reading 3 arguments\n");
} else if (cmp(line, "OdauSetupCollection")){
//OdauSetupCollection( int nOdauId, int nChannels, int nGain, int nDigitalMode, float fFrameFreq, float fScanFreq, int nStreamData, float fCollectionTime, float fPreTriggerTime, unsigned uFlags );
int nOdauId, nChannels, nGain, nDigitalMode;
float fFrameFreq, fScanFreq;
int nStreamData;
float fCollectionTime, fPreTriggerTime;
unsigned uFlags;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %d, %d, %d, %f, %f, %d, %f, %f, %u",
&nOdauId, &nChannels, &nGain, &nDigitalMode,
&fFrameFreq, &fScanFreq, &nStreamData,
&fCollectionTime, &fPreTriggerTime, &uFlags) == 10){
i0 = OdauSetupCollection(ODAU1+nOdauId-1, nChannels, nGain, nDigitalMode,
fFrameFreq, fScanFreq, nStreamData,
fCollectionTime, fPreTriggerTime, uFlags);
printf("%d\n", i0);
} else
printf("ERROR: reading 10 arguments\n");
} else if (cmp(line, "OptotrakStopCollection")){
i0 = OptotrakStopCollection();
printf("%d\n", i0);
} else if (cmp(line, "OdauGetStatus")){
//int OdauGetStatus( int nOdauId, int *pnChannels, int *pnGain, int *pnDigitalMode, float *pfFrameFrequency, float *pfScanFrequency, int *pnStreamData, float *pfCollectionTime, float *pfPreTriggerTime, unsigned *puCollFlags, int *pnFlags );
int nOdauId, nChannels, nGain, nDigitalMode;
float fFrameFrequency, fScanFrequency;
int nStreamData;
float fCollectionTime, fPreTriggerTime;
unsigned uCollFlags;
int nFlags;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d", &nOdauId) == 1){
i0 = OdauGetStatus(ODAU1+nOdauId-1, &nChannels, &nGain, &nDigitalMode,
&fFrameFrequency, &fScanFrequency, &nStreamData, &fCollectionTime, &fPreTriggerTime,
&uCollFlags, &nFlags);
printf("(%d, %d, %d, %f, %f, %d, %f, %f, 0x%04x, %d)\n",
nChannels, nGain, nDigitalMode,
fFrameFrequency, fScanFrequency, nStreamData, fCollectionTime, fPreTriggerTime,
uCollFlags, nFlags);
} else
printf("ERROR: reading argument\n");
} else if (cmp(line, "RigidBodyAddFromFile")){
int nRigidBodyId, nStartMarker;
char szRigFile[len];
int nFlags;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %d, %s, %d", &nRigidBodyId, &nStartMarker, szRigFile, &nFlags) != 4){
i0 = RigidBodyAddFromFile(nRigidBodyId, nStartMarker, szRigFile, nFlags);
printf("%d\n", i0);
} else
printf("ERROR: reading 4 arguments\n");
} else if (cmp(line, "RigidBodyAdd")){
//int ( int nRigidBodyId, int nStartMarker, int nNumMarkers, float *pRigidCoordinates, float *pNormalCoordinates, int nFlags );
int nRigidBodyId, nStartMarker, nNumMarkers;
float *rigidCoordinates, *normalCoordinates;
int nFlags;
char* s = strtok(line, "(");
if(s && sscanf(line+strlen(s)+1, "%d, %d, %d", &nRigidBodyId, &nStartMarker, &nNumMarkers)==3){
rigidCoordinates = calloc(3*nNumMarkers, sizeof(float));
normalCoordinates = calloc(3*nNumMarkers, sizeof(float));
s = strtok(NULL, "[("); // up to first list/tuple
if(!s){
printf("ERROR: reading rigid values\n");
goto end;
}
for(int i=0; i<3*nNumMarkers; i++){
char* s = strtok(NULL, ",");
if(!s){
printf("ERROR: reading rigid value %d\n", i);
goto end;
}
if(sscanf(s, "%f", (float*)&rigidCoordinates[i]) != 1){
printf("ERROR: parsing rigid value %d\n", i);
goto end;
}
}
s = strtok(NULL, "[("); // up to first list/tuple
if(!s){
printf("ERROR: reading normal values\n");
goto end;
}
for(int i=0; i<3*nNumMarkers; i++){
char* s = strtok(NULL, ",");
if(!s){
printf("ERROR: reading normal value %d\n", i);
goto end;
}
if(sscanf(s, "%f", (float*)&normalCoordinates[i]) != 1){
printf("ERROR: parsing normal value %d\n", i);
goto end;
}
}
s = strtok(NULL, "],) ");
//s = strtok(NULL, ")");
if(s && sscanf(s, "%d", &nFlags)==1){
i0 = RigidBodyAdd(nRigidBodyId, nStartMarker, nNumMarkers, rigidCoordinates, normalCoordinates, nFlags);
printf("%d\n", i0);
} else
printf("ERROR: reading last argument\n");
} else
printf("ERROR: reading first 3 arguments\n");
//int RigidBodyAddFromFile( int nRigidBodyId, int nStartMarker, char *pszRigFile, int nFlags );
//int RigidBodyChangeSettings( int nRigidBodyId, int nMinMarkers, int nMaxMarkersAngle, float fMax3dError, float fMaxSensorError, float fMax3dRmsError, float fMaxSensorRmsError, int nFlags );
//int RigidBodyDelete( int nRigidBodyId );
//int RigidBodyChangeFOR( int nRigidId, int nRotationMethod );
} else if (cmp(line, "RigidBodyChangeSettings")){
int nRigidBodyId, nMinMarkers, nMaxMarkersAngle;
float fMax3dError, fMaxSensorError, fMax3dRmsError, fMaxSensorRmsError;
int nFlags;
strtok(line, "(");
char* s = strtok(NULL, ")");
if(s && sscanf(s, "%d, %d, %d, %f, %f, %f, %f, %d",
&nRigidBodyId, &nMinMarkers, &nMaxMarkersAngle,
&fMax3dError, &fMaxSensorError, &fMax3dRmsError, &fMaxSensorRmsError, &nFlags) != 4){
i0 = RigidBodyChangeSettings(nRigidBodyId, nMinMarkers, nMaxMarkersAngle,
fMax3dError, fMaxSensorError, fMax3dRmsError, fMaxSensorRmsError, nFlags);
printf("%d\n", i0);
} else
printf("ERROR: reading 8 arguments\n");
} else if (cmp(line, "DataGetLatestRaw")){
uint uFrameNumber=999, uElements=999, uFlags=999;
i0 = DataGetLatestRaw(&uFrameNumber, &uElements, &uFlags, pFullRawData);
printf("Frame Number: %8u\n", uFrameNumber);
printf("Elements : %8u\n", uElements);
printf("Flags : 0x%04x\n", uFlags);
for(uint uMarkerCnt=0; uMarkerCnt<nMarkers; uMarkerCnt++){
// Print out the current marker number.
fprintf( stdout, "Marker %u, ", uMarkerCnt + 1 );
//Print out the information for each sensor.
for(uint uSensorCnt = 0; uSensorCnt<NUM_SENSORS; ++uSensorCnt ){
//Print out the current sensor number.
fprintf( stdout, "Sensor %u, ", uSensorCnt + 1 );
// Print out the centroid. If it is bad print out *the string 'missing'.
//if( pFullRawData[uMarkerCnt].fCentroid[uSensorCnt] < MAX_NEGATIVE )
//printf("data missing, " );
//else
printf("data: %8.2g, ", (float)pFullRawData[uMarkerCnt].fCentroid[uSensorCnt] );
//Print out the rest of this sensor’s information.
printf("peak: %4d, DRC: %4d, sensorCode: %u\n",
pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucPeak,
pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucDRC,
(uint)pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucCode);
} /* for */
} /* for */
} else if (cmp(line, "DataGetLatest3D")){
//int DataGetLatest3D( unsigned *pnFrame, unsigned *pElems, unsigned *pFlags, void *pDataDest );
uint nFrame=999, elems=999, flags=999;
//Position3d dataDest[NUM_MARKERS];
i0 = DataGetLatest3D(&nFrame, &elems, &flags, pPosition3d);
printf("(%d, %u, %u, 0x%X, (", i0, nFrame, elems, flags);
for(uint i=0; i<nMarkers; i++){
printf(" (%10.3g, %10.3g, %10.3g),", pPosition3d[i].x, pPosition3d[i].y, pPosition3d[i].z);
}
printf("))\n");
} else if (cmp(line, "RequestLatest3D")){
i0 = RequestLatest3D();
printf("%d\n", i0);
} else if (cmp(line, "DataIsReady")){
i0 = DataIsReady();
printf("%d\n", i0);
} else if (cmp(line, "DataReceiveLatest3D")){
// alle markers 3d
uint nFrame=999, elems=999, flags=999;
Position3d dataDest;
i0 = DataReceiveLatest3D(&nFrame, &elems, &flags, &dataDest);
printf("(%d, %u, %u, 0x%X, (", i0, nFrame, elems, flags);
for(uint i=0; i<nMarkers; i++){
printf(" (%10.3g, %10.3g, %10.3g),", pPosition3d[i].x, pPosition3d[i].y, pPosition3d[i].z);
}
printf("))\n");
} else if (cmp(line, "DataReceiveLatestRaw")){
uint nFrame, elems, flags;
void *dataDest; // todo allocate!
i0 = DataReceiveLatestRaw(&nFrame, &elems, &flags, &dataDest);
printf("(%d, %u, 0x%x)\n", i0, nFrame, flags);
} else if (cmp(line, "DataBufferInitializeFile")){
//unsigned uDataId;
char pszFileName[len];
strtok(line, "\"");
char* s = strtok(NULL, "\"");
if(sscanf(s, "%s", pszFileName)==1){
i0 = DataBufferInitializeFile(OPTOTRAK, s);
printf("%d\n", i0);
} else
printf("ERROR: could not read filename\n");
} else if (cmp(line, "DataBufferSpoolData")){
int i = 999;
i0 = DataBufferSpoolData(&i);
printf("(%d, %d)\n", i0, i);
} else if (cmp(line, "DataBufferStart")){
i0 = DataBufferStart();
printf("%d\n", i0);
} else if (cmp(line, "DataBufferStop")){
i0 = DataBufferStop();
printf("%d\n", i0);
} else if (cmp(line, "DataBufferWriteData")){
unsigned uRealtimeData=999, uSpoolComplete=0, uSpoolStatus=999;
unsigned long ulFramesBuffered=999;
i0 = DataBufferWriteData(&uRealtimeData, &uSpoolComplete, &uSpoolStatus, &ulFramesBuffered);
printf("(%d, %u, %u, %u, %lu)\n", i0, uRealtimeData, uSpoolComplete, uSpoolStatus, ulFramesBuffered);
} else if (cmp(line, "DataBufferAbortSpooling")){
i0 = DataBufferAbortSpooling();
printf("%d\n", i0);
} else {
printf("ERROR: no such command: %s\n", line);
}
end:
fflush(stdout);
}
exit(EXIT_SUCCESS);
}
void main( int argc, unsigned char *argv[] )
{
char
*pszNDDIR,
szNetworkInformationFile[_MAX_FNAME],
szLine[64],
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
FILE
*fileNIF;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Setup\n\n" );
/*
* determine the location of the Optotrak NIF file
*/
fprintf( stdout, "...reading ND_USER_DIR: " );
pszNDDIR = getenv( "ND_USER_DIR" );
if( !pszNDDIR )
{
fprintf( stdout, "\n...reading ND_DIR: " );
pszNDDIR = getenv( "ND_DIR" );
} /* if */
if( !pszNDDIR )
{
fprintf( stdout, "\n\nAn error has occurred during execution of the program.\n" );
fprintf( stdout, "ND_DIR environment variable has not been set.\n" );
} /* if */
fprintf( stdout, "%s\n\n", pszNDDIR );
sprintf( szNetworkInformationFile, "%s%s", pszNDDIR, NETWORK_INFORMATION_FILE );
fprintf( stdout, "Optotrak Network InformationFile: %s\n\n", szNetworkInformationFile );
/*
* delete the old NIF file
*/
unlink( szNetworkInformationFile );
/*
* System Initialization
* During initialization, the application first determines the system
* configuration of processors (SCU, Position Sensors, ODAU) then
* loads the appropriate system code to the processors.
* After initialization, the application can communicate with the system.
*/
fprintf( stdout, "...TransputerDetermineSystemCfg\n" );
if( TransputerDetermineSystemCfg( NULL ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* open the new NIF file
*/
fileNIF = fopen( szNetworkInformationFile, "r" );
if( !fileNIF )
{
fprintf( stdout, "Unable to open Network Information File (%s)", szNetworkInformationFile );
goto ERROR_EXIT;
} /* if */
/*
* print the contents of the new NIF file
*/
fprintf( stdout, "\nNetwork Information:\n" );
while( fgets( szLine, sizeof( szLine ), fileNIF ) )
{
fprintf( stdout, "%s", szLine );
} /* while */
fprintf( stdout, "\n" );
/*
* close the new NIF file
*/
fclose( fileNIF );
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 */
exit( 1 );
} /* main */
