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 */
/***************************************************************** Name: main Input Values: int argc :Number of command line parameters. unsigned char *argv[] :Pointer array to each parameter. Output Values: None. Return Value: None. Description: Main program routine performs all steps listed in the above program description. *****************************************************************/ void main( int argc, unsigned char *argv[] ) { unsigned int uFlags, uElements, uFrameCnt, uChannelCnt, uFrameNumber; static int puRawData[ NUM_CHANNELS + 1]; char szNDErrorString[MAX_ERROR_STRING_LENGTH + 1]; /* * Announce that the program has started */ fprintf( stdout, "\nOptotrak sample program #12\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 */ /* * Wait one second to let the system finish loading. */ sleep( 1 ); /* * Initialize the processors system. */ fprintf( stdout, "...TransputerInitializeSystem\n" ); if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) ) { goto ERROR_EXIT; } /* if */ /* * Load the standard camera parameters. */ fprintf( stdout, "...OptotrakLoadCameraParameters\n" ); if( OptotrakLoadCameraParameters( "standard" ) ) { goto ERROR_EXIT; } /* if */ /* * Set up a collection for the ODAU. */ fprintf( stdout, "...OdauSetupCollection\n" ); if( OdauSetupCollection( ODAU1, /* Id the ODAU the parameters are for. */ NUM_CHANNELS, /* Number of analog channels to collect. */ 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. */ 0, /* 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 */ /* * Set up a collection for the Optotrak. */ fprintf( stdout, "...OptotrakSetupCollection\n" ); if( OptotrakSetupCollection( NUM_MARKERS, /* Number of markers in the collection. */ (float)100.0, /* Frequency to collect data frames at. */ (float)2500.0, /* Marker frequency for marker maximum on-time. */ 30, /* Dynamic or Static Threshold value to use. */ 160, /* Minimum gain code amplification to use. */ 0, /* Stream mode for the data buffers. */ (float)0.4, /* Marker Duty Cycle to use. */ (float)7.5, /* Voltage to use when turning on markers. */ (float)1.0, /* Number of seconds of data to collect. */ (float)0.0, /* Number of seconds to pre-trigger data by. */ OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG ) ) { goto ERROR_EXIT; } /* if */ /* * Wait one second to let the camera adjust. */ sleep( 1 ); /* * Activate the markers. */ fprintf( stdout, "...OptotrakActivateMarkers\n" ); if( OptotrakActivateMarkers() ) { goto ERROR_EXIT; } /* if */ sleep( 1 ); /* * Get and display ten frames of ODAU data. */ fprintf( stdout, "\n\nSample Program Results:\n\n" ); fprintf( stdout, "ODAU Data Display\n" ); for( uFrameCnt = 0; uFrameCnt < 10; ++uFrameCnt ) { /* * Get a frame of ODAU raw data. */ fprintf( stdout, "\n" ); if( DataGetLatestOdauRaw( ODAU1, &uFrameNumber, &uElements, &uFlags, puRawData ) ) { 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( uChannelCnt = 0; uChannelCnt < NUM_CHANNELS; ++uChannelCnt ) { fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n", uChannelCnt + 1, puRawData[ uChannelCnt], (float)( (int)( puRawData[ uChannelCnt])) * 0.000305175/(float)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, * puRawData[ uChannelCnt ], * (float)( (int)( puRawData[ uChannelCnt] & 0x0FFF ) - 2048) * * (10.0/2048.0)/(float)ODAU_GAIN ); */ } /* for */ fprintf( stdout, "Digital 0x%04x\n", puRawData[ NUM_CHANNELS] ); } /* for */ fprintf( stdout, "\n" ); /* * De-activate the markers. */ fprintf( stdout, "...OptotrakDeActivateMarkers\n" ); if( OptotrakDeActivateMarkers() ) { goto ERROR_EXIT; } /* if */ /* * Shutdown the processors message passing system. */ fprintf( stdout, "...TransputerShutdownSystem\n" ); if( TransputerShutdownSystem() ) { goto ERROR_EXIT; } /* if */ /* * Exit the program. */ fprintf( stdout, "\nProgram execution complete.\n" ); 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 */