The GetError() function can be used to check whether an error * occured. */ const char *Command(const char *command); /** Cause the device to beep. * \param n the number of times to beep, an integer between 1 and 9 * * This command can be used in tracking mode. */ void BEEP(int n) {this->Command("BEEP:%i", n % 10); } /** Change the device communication parameters. The host parameters * will automatically be adjusted to match. If the specified baud rate is * not supported by the serial port, then the error code will be set to * NDI_BAD_COMM and the device will have to be reset before * communication can continue. Most modern UNIX systems accept all baud * rates except 14400, and Windows systems support all baud rates. * * \param baud one of NDI_9600, NDI_14400, NDI_19200, NDI_38400, * NDI_57600, NDI_115200 * \param dps should usually be NDI_8N1, the most common mode * \param handshake one of NDI_HANDSHAKE or NDI_NOHANDSHAKE */ void COMM(COMMBaudType baud, COMMDataType dps, COMMHandshakeType handshake) { this->Command("COMM:%d%03d%d", baud, dps, handshake); } /** Put the device into diagnostic mode. This must be done prior * to executing the IRCHK() command. Diagnostic mode is only useful * on the POLARIS. */ void DSTART() { this->Command("DSTART:"); } /** Take the device out of diagnostic mode. */ void DSTOP() { this->Command("DSTOP:"); } /** Initialize the device. The device must be * initialized before any other commands are sent.*/ void INIT() { this->Command("INIT:"); } /** Check for sources of environmental infrared. * This command is only valid in diagnostic mode after an IRINIT command. * * \param mode reply mode bits: * - NDI_DETECTED 0x0001 - return '1' if IR detected, else '0' * - NDI_SOURCES 0x0002 - locations of up to 20 sources per camera * *
The IRCHK command is used to update the information returned by the * GetIRCHKDetected() and GetIRCHKSourceXY() functions. */ void IRCHK(int mode) { this->Command("IRCHK:%04X", mode); } /** Initialize the diagnostic environmental infrared checking system. * This command must be called prior to using the IRCHK command. */ void IRINIT() { this->Command("IRINIT:"); } /** Set a tool LED to a particular state. * * \param ph valid port handle in the range 0x01 to 0xFF * \param led an integer between 1 and 3 * \param state desired state: NDI_BLANK 'B', NDI_FLASH 'F' * or NDI_SOLID 'S' * This command can be used in tracking mode. */ void LED(int ph, int led, LEDStateType state) { this->Command("LED:%02X%d%c", ph, led, state); } /** Disable transform reporting on the specified port handle. * \param ph valid port handle in the range 0x01 to 0xFF */ void PDIS(int ph) { this->Command("PDIS:%02X", ph); } /** Enable transform reporting on the specified port handle. * \param ph valid port handle in the range 0x01 to 0xFF * \param mode one of NDI_STATIC 'S', NDI_DYNAMIC 'D' or NDI_BUTTON_BOX 'B' */ void PENA(int ph, int mode) { this->Command("PENA:%02X%c", ph, mode); } /** Free the specified port handle. * \param ph valid port handle in the range 0x01 to 0xFF */ void PHF(int ph) { this->Command("PHF:%02X", ph); } /** Ask the device for information about a tool handle. * * \param ph valid port handle in the range 0x01 to 0xFF * * \param mode a reply format mode composed of the following bits: * - NDI_BASIC 0x0001 - get port status and basic tool information * - NDI_TESTING 0x0002 - get current test for active tools * - NDI_PART_NUMBER 0x0004 - get a 20 character part number * - NDI_ACCESSORIES 0x0008 - get a summary of the tool accessories * - NDI_MARKER_TYPE 0x0010 - get the tool marker type * - NDI_PORT_LOCATION 0x0020 - get the physical port location * - NDI_GPIO_STATUS 0x0040 - get AURORA GPIO status * *
The use of the PHINF command with the appropriate reply format updates * the information returned by the following commands: * - int \ref GetPHINFPortStatus() * - int \ref GetPHINFToolInfo(char information[32]) * - unsigned int \ref GetPHINFCurrentTest() * - int \ref GetPHINFAccessories() * - int \ref GetPHINFMarkerType() * *
This command is not available during tracking mode. */ void PHINF(int ph, int mode) { this->Command("PHINF:%02X%04X", ph, mode); } /** Request a port handle given specific tool criteria. * * \param num 8-digit device number or wildcard "********" * \param sys system type TIU "0" or AURORA SCU "1" or wildcard "*" * \param tool wired "0" or wireless "1" or wildcard "*" * \param port wired "01" to "10", wireless "0A" to "0I" or wildcard "**" * \param chan AURORA tool channel "00" or "01" or wildcard "**" * *
The use of the PHRQ command updates the information returned by the * following commands: * - int \ref GetPHRQHandle() */ void PHRQ(const char* num, const char* sys, const char* tool, const char* port, const char* chan) { this->Command("PHRQ:%-8.8s%1.1s%1.1s%2.2s%2.2s", num, sys, tool, port, chan); } /** List the port handles. * * \param mode the reply mode: * - NDI_ALL_HANDLES 0x00 - return all handles * - NDI_STALE_HANDLES 0x01 - only handles waiting to be freed * - NDI_UNINITIALIZED_HANDLES 0x02 - handles needing initialization * - NDI_UNENABLED_HANDLES 0x03 - handles needing enabling * - NDI_ENABLED_HANDLES 0x04 - handles that are enabled * *
The use of the PHSR command with the appropriate reply format updates * the information returned by the following commands: * - int \ref GetPHSRNumberOfHandles() * - int \ref GetPHSRHandle(int i) * - int \ref GetPHSRInformation(int i) *
This command is not available during tracking mode. */ void PHSR(PHSRModeType mode) { this->Command("PHSR:%02X", mode); } /** Initialize the tool on the specified port handle. * * \param ph valid port handle in the range 0x01 to 0xFF */ void PINIT(int ph) { this->Command("PINIT:%02X", ph); } /** Set the three GPIO wire states for an AURORA tool. * The states available are NDI_GPIO_NO_CHANGE, NDI_GPIO_SOLID, * NDI_GPIO_PULSE, and NDI_GPIO_OFF. * * \param ph valid port handle in the range 0x01 to 0xFF * \param a GPIO 1 state * \param b GPIO 2 state * \param c GPIO 3 state */ void PSOUT(int ph, int a, int b, int c) { this->Command("PSOUT:%02X%c%c%c", ph, a, b, c); }; /** Clear the virtual SROM for the specified port. For a passive tool, * this is equivalent to unplugging the tool. This command has been * deprecated in favor of the PHF() command. * \param port one of '1', '2', '3' or 'A' to 'I' */ void PVCLR(int port) { this->Command("PVCLR:%c", port); } /** Write to a virtual SROM address on the specified port handle. * * \param ph valid port handle in the range 0x01 to 0xFF * \param a an address between 0x0000 and 0x07C0 * \param x 64-byte data array encoded as a 128-character hexadecimal string */ void PVWR(int ph, int a, const char* x) { this->Command("PVWR:%02X%04X%.128s", ph, a, x); } /** Send a serial break to reset the device. If the reset was not * successful, the error code will be set to NDI_RESET_FAIL. */ void RESET() { this->Command(0); } /** Get a feature list for this device. * * \param mode the desired reply mode * - NDI_FEATURE_SUMMARY 0x00 - 32-bit feature summary as 8 hexadecimal * digits * - NDI_ACTIVE_PORTS 0x01 - number of active tool ports as a single * digit * - NDI_PASSIVE_PORTS 0x02 - number of passive tool ports as a single * digit * - NDI_VOLUMES 0x03 - list of volumes available (see NDI docs) * - NDI_TIP_PORTS 0x04 - number of ports supporting tool-in-port * sensing * *
The use of the SFLIST command with the appropriate reply format * updates * the information returned by the following commands: */ void SFLIST(SFLISTModeType mode) { this->Command("SFLIST:%02X", mode); } /** * Request status information from the device. * * \param mode a reply format mode composed of the following bits: * - NDI_CONTROL 0x0001 - control processor information * - NDI_SENSORS 0x0002 - sensor processors * - NDI_TIU 0x0004 - TIU processor * *
The use of the SSTAT command with the appropriate reply format updates * the information returned by the following commands: * - int \ref GetSSTATControl() * - int \ref GetSSTATSensors() * - int \ref GetSSTATTIU() *
This command is not available during tracking mode. */ void SSTAT(int mode) { this->Command("SSTAT:%04X", mode); } /** Put the device into tracking mode. */ void TSTART() { this->Command("TSTART:"); } /** Take the device out of tracking mode. */ void TSTOP() { this->Command("TSTOP:"); } /** Request tracking information from the device. This command is * only available in tracking mode. * * \param mode a reply mode containing the following bits: * - NDI_XFORMS_AND_STATUS 0x0001 - transforms and status * - NDI_ADDITIONAL_INFO 0x0002 - additional tool transform info * - NDI_SINGLE_STRAY 0x0004 - stray active marker reporting * - NDI_INCLUDE_OUT_OF_VOLUME 0x0800 - include out-of-volume tools * - NDI_PASSIVE_STRAY 0x1000 - stray passive marker reporting * *
The TX command with the appropriate reply mode is used to update the * data that is returned by the following functions: * - int \ref GetTXTransform(int ph, double transform[8]) * - int \ref GetTXPortStatus(int ph) * - unsigned int \ref GetTXFrame(int ph) * - int \ref GetTXToolInfo(int ph) * - int \ref GetTXMarkerInfo(int ph, int marker) * - int \ref GetTXSingleStray(int ph, double coord[3]) * - int \ref GetTXNumberOfPassiveStrays() * - int \ref GetTXPassiveStray(int i, double coord[3]) * - int \ref GetTXSystemStatus() */ void TX(int mode) { this->Command("TX:%04X", mode); } /** Request tracking information from the device. This command is * only available in tracking mode. * * \param mode a reply mode containing the following bits: * - NDI_XFORMS_AND_STATUS 0x0001 - transforms and status * - NDI_ADDITIONAL_INFO 0x0002 - additional tool transform info * - NDI_SINGLE_STRAY 0x0004 - stray active marker reporting * - NDI_INCLUDE_OUT_OF_VOLUME 0x0800 - include out-of-volume tools * - NDI_PASSIVE_STRAY 0x1000 - stray passive marker reporting * *
The BX command with the appropriate reply mode is used to update the * data that is returned by the following functions: * Note: To use the BX command, you must set the data bits parameter * in the COMM command to 0 (8bits). * - int \ref GetBXTransform(int ph, double transform[8]) * - int \ref GetBXPortStatus(int ph) * - unsigned int \ref GetBXFrame(int ph) * - int \ref GetBXToolInfo(int ph) * - int \ref GetBXMarkerInfo(int ph, int marker) * - int \ref GetBXSingleStray(int ph, double coord[3]) * - int \ref GetBXNumberOfPassiveStrays() * - int \ref GetBXPassiveStray(int i, double coord[3]) * - int \ref GetBXSystemStatus() */ void BX(int mode) { this->Command("BX:%04X", mode); } /** Get a string that describes the device firmware version. * * \param n the processor to get the firmware revision of: * - NDI_CONTROL_FIRMWARE 0 - control firmware * - NDI_LEFT_SENSOR_FIRMWARE 1 - left sensor firmware * - NDI_RIGHT_SENSOR_FIRMWARE 2 - right sensor firmware * - NDI_TIU_CIRMWARE 3 - TIU firmware * - NDI_CONTROL_FIRMWARE_ENHANCED 4 - control firmware with * enhanced versioning */ void VER(VERModeType n) { this->Command("VER:%d", n); } /** Get error code from the last command. An error code of NDI_OKAY signals * that no error occurred. The error codes are listed in * \ref ErrorCodeType. */ int GetError() const; /** Get the port handle returned by a PHRQ() command. * \return a port handle between 0x01 and 0xFF *
An SROM can be written to the port handle with the PVWR() command.*/ int GetPHRQHandle() const; /** Get the number of port handles as returned by a PHSR() command. * \return an integer, the maximum possible value is 255 */ int GetPHSRNumberOfHandles() const; /** Get one of the port handles returned by a PHSR() command. * \param i a value between 0 and \em n where \em n is the * value returned by GetPHSRNumberOfHandles(). * * \return a port handle between 0x01 and 0xFF * *
The PHINF() command can be used to get detailed information about * the port handle. */ int GetPHSRHandle(int i) const; /** Get the information for a port handle returned by a PHSR() command. * * \param i a value between 0 and \em n where \em n is the * value returned by GetPHSRNumberOfHandles(). * * \return a 12-bit bitfield where the following bits are defined: * - NDI_TOOL_IN_PORT 0x01 - there is a tool in the port * - NDI_SWITCH_1_ON 0x02 - button 1 is pressed * - NDI_SWITCH_2_ON 0x04 - button 2 is pressed * - NDI_SWITCH_3_ON 0x08 - button 3 is pressed * - NDI_INITIALIZED 0x10 - tool port has been initialized * - NDI_ENABLED 0x20 - tool port is enabled for tracking * - NDI_CURRENT_DETECT 0x80 - tool sensed through current detection * *
The PHINF() command can be used to get detailed information about the * port handle. */ int GetPHSRInformation(int i) const; /** Get the 8-bit status value for the port handle. * * \return an integer composed of the following bits: * - NDI_TOOL_IN_PORT 0x01 - there is a tool in the port * - NDI_SWITCH_1_ON 0x02 - button 1 is pressed * - NDI_SWITCH_2_ON 0x04 - button 2 is pressed * - NDI_SWITCH_3_ON 0x08 - button 3 is pressed * - NDI_INITIALIZED 0x10 - tool port has been initialized * - NDI_ENABLED 0x20 - tool port is enabled for tracking * - NDI_CURRENT_DETECT 0x80 - tool sensed through current detection * *
The return value is updated only when a PHINF() command is sent with * the NDI_BASIC (0x0001) bit set in the reply mode. */ int GetPHINFPortStatus() const; /** Get a 31-byte string describing the tool. * \param information array that information is returned in (the * resulting string is not null-terminated) * * \return one of: * - NDI_UNOCCUPIED - port is unoccupied or no information is available * - NDI_VALID - information was returned * *
The returned string will contain 31 bytes of information followed * by a terminating null byte. If the port is unoccupied then the * contents of the \em information string are undefined. * * The first 8 bytes are a 32-bit hexidecimal number that provide a * generic tool description, and the following 23 bytes provide a * manufacturer-specific tool description. * * The information is updated only when a PHINF() command is sent with * the NDI_BASIC (0x0001) bit set in the reply mode. */ int GetPHINFToolInfo(char information[32]) const; /** Get an integer that describes the tool type. * * \return * - integer that describes the tool type (see NDI documentation) * *
This method returns a value that describes the tool type, which * will be one of NDI_TYPE_REFERENCE, NDI_TYPE_POINTER, * NDI_TYPE_BUTTON (button box or foot pedal), NDI_TYPE_SOFTWARE * (custom tool), NDI_TYPE_MICROSCOPE, NDI_TYPE_CALIBRATION, * NDI_TYPE_DOCK, NDI_TYPE_ISOLATION, NDI_TYPE_CARM, or * NDI_TYPE_CATHETER. * * A return value of 0 indicates that no tool type information is * available. * * The information is updated only when a PHINF() command is sent with * the NDI_BASIC (0x0001) bit set in the reply mode. */ int GetPHINFToolType() const; /** Return the results of a current test on the IREDS on an active * POLARIS tool. * * \return 32-bit integer (see NDI documentation) * * The information is updated only when a PHINF() command is sent with * the NDI_TESTING (0x0002) bit set in the reply mode.*/ unsigned int GetPHINFCurrentTest() const; /** Get a 20-byte string that contains the part number of the tool. * * \param part array that part number is returned in (the * resulting string is not null-terminated) * * \return one of: * - NDI_UNOCCUPIED - port is unoccupied or no information is available * - NDI_VALID - information was returned * *
The information will include 20 bytes of information followed by * a null byte. * * The information is updated only when a PHINF() command is sent with * the NDI_PART_NUMBER (0x0004) bit set in the reply mode. */ int GetPHINFPartNumber(char part[21]) const; /** Get the 8-bit value specifying the tool accessories. * * \return an integer composed of the following bits: * - NDI_TOOL_IN_PORT_SWITCH 0x01 - tool has tool-in-port switch * - NDI_SWITCH_1 0x02 - tool has button 1 * - NDI_SWITCH_2 0x04 - tool has button 2 * - NDI_SWITCH_3 0x08 - tool has button 3 * - NDI_TOOL_TRACKING_LED 0x10 - tool has tracking LED * - NDI_LED_1 0x20 - tool has LED 1 * - NDI_LED_2 0x40 - tool has LED 2 * - NDI_LED_3 0x80 - tool has LED 3 * *
If there is no available information for the specified port, or if * an illegal port specifier value is used, the return value is zero. * * The return value is updated only when a PHINF() command is sent with * the NDI_ACCESSORIES (0x0008) bit set in the reply mode. */ int GetPHINFAccessories() const; /** Get an 8-bit value describing the marker type for the tool. * The low three bits descibe the wavelength, and the high three * bits are the marker type code. * * \return see NDI documentation for more information: * - low bits: * - NDI_950NM 0x00 * - NDI_850NM 0x01 * - high bits: * - NDI_NDI_ACTIVE 0x08 * - NDI_NDI_CERAMIC 0x10 * - NDI_PASSIVE_ANY 0x20 * - NDI_PASSIVE_SPHERE 0x28 * - NDI_PASSIVE_DISC 0x30 * *
The return value is updated only when a PHINF() command is sent with * the NDI_MARKER_TYPE (0x0010) bit set in the reply mode. */ int GetPHINFMarkerType() const; /** Get a 14-byte description of the physical location of the tool * on the system. The 15th byte will be a null byte to terminate * the string. * * \return see NDI documentation for more information: * - 8 chars: device number * - 1 char: 0 = POLARIS, 1 = AURORA * - 1 char: 0 = wired, 1 = wireless * - 2 chars: port number 01-12 or 0A-0I * - 2 chars: hexadecimal channel number * *
The return value is updated only when a PHINF() command is sent with * the NDI_PORT_LOCATION (0x0020) bit set in the reply mode. */ int GetPHINFPortLocation(char location[15]) const; /** Get the 8-bit GPIO status for this tool. * * \return an 8-bit integer, see NDI documentation for more information. * *
The return value is updated only when a PHINF() command is sent with * the NDI_GPIO_STATUS (0x0040) bit set in the reply mode. */ int GetPHINFGPIOStatus() const; /** Get the transformation for the specified port. * The first four numbers are a quaternion, the next three numbers are * the coodinates in millimetres, and the final number * is a unitless error estimate. * * \param ph valid port handle in range 0x01 to 0xFF * \param transform space for the 8 numbers in the transformation * * \return one of the following: * - NDI_UOCCUPIED if an invalid port handle was specified * - NDI_VALID if successful * - NDI_DISABLED if tool port is nonexistent or disabled * - NDI_MISSING if tool transform cannot be computed (tool is out of range) * *
If NDI_VALID is not returned, then the values in the * supplied transform array will be left unchanged. * * The transformations for each of the port handles remain the same * until the next TX() command is sent to the device. */ int GetTXTransform(int ph, double transform[8]) const; /** Get the 16-bit status value for the specified port handle. * * \param ph valid port handle in range 0x01 to 0xFF * * \return status bits or zero if there is no information: * - NDI_TOOL_IN_PORT 0x0001 * - NDI_SWITCH_1_ON 0x0002 * - NDI_SWITCH_2_ON 0x0004 * - NDI_SWITCH_3_ON 0x0008 * - NDI_INITIALIZED 0x0010 * - NDI_ENABLED 0x0020 * - NDI_OUT_OF_VOLUME 0x0040 * - NDI_PARTIALLY_IN_VOLUME 0x0080 * * This information is updated each time that the TX() command * is sent to the device. */ int GetTXPortStatus(int ph) const; /** Get the camera frame number for the latest transform. * * \param ph valid port handle in range 0x01 to 0xFF * * \return a 32-bit frame number, or zero if no information was available * * This information is updated each time that the TX() command * is sent to the device. */ unsigned int GetTXFrame(int ph) const; /** Get additional information about the tool transformation. * * \param ph valid port handle in range 0x01 to 0xFF * * \return status bits, or zero if there is no information available * - NDI_BAD_TRANSFORM_FIT 0x01 * - NDI_NOT_ENOUGH_MARKERS 0x02 * - NDI_TOOL_FACE_USED 0x70 - 3 bits give 8 possible faces * *
The tool information is only updated when the TX() command * is called with the NDI_ADDITIONAL_INFO (0x0002) mode bit. */ int GetTXToolInfo(int ph) const; /** Get additional information about the tool markers. * * \param ph valid port handle in range 0x01 to 0xFF * \param marker one of 'A' through 'T' for the 20 markers * * \return status bits, or zero if there is no information available * - NDI_MARKER_MISSING 0 * - NDI_MARKER_EXCEEDED_MAX_ANGLE 1 * - NDI_MARKER_EXCEEDED_MAX_ERROR 2 * - NDI_MARKER_USED 3 * *
The tool marker information is only updated when the TX() command is * called with the NDI_ADDITIONAL_INFO (0x0002) mode bit set. */ int GetTXMarkerInfo(int ph, int marker) const; /** Get the coordinates of a stray marker on a wired POLARIS tool. * This command is only meaningful for tools that have a stray * marker. * * \param ph valid port handle in range 0x01 to 0xFF * \param coord array to hold the three coordinates * * \return the return value will be one of * - NDI_UOCCUPIED - no information available * - NDI_VALID - values returned in coord * - NDI_DISABLED - port disabled or illegal port specified * - NDI_MISSING - stray marker is not visible to the device * *
The stray marker position is only updated when the TX() command is * called with the NDI_SINGLE_STRAY (0x0004) bit set. */ int GetTXSingleStray(int ph, double coord[3]) const; /** Get the number of passive stray markers detected. * * \return a number between 0 and 20 * * The passive stray marker coordinates are updated when a TX() command * is sent with the NDI_PASSIVE_STRAY (0x1000) bit set in the reply mode.*/ int GetTXNumberOfPassiveStrays() const; /** Copy the coordinates of the specified stray marker into the * supplied array. * * \param i a number between 0 and 49 * \param coord array to hold the coordinates * \return one of: * - NDI_UNOCCUPIED - the index \em i is out of range * - NDI_VALID - information was returned in coord * *
Use GetTXNumberOfPassiveStrays() to get the number of stray * markers that are visible. * * The passive stray marker coordinates are updated when a TX() command * is sent with the NDI_PASSIVE_STRAY (0x1000) bit set in the reply mode. */ int GetTXPassiveStray(int i, double coord[3]) const; /** Determine whether a passive stray is outside of the * characterized volume. * * \param i a number between 0 and 49 * \return one of: * - 1 - marker is out of volume * - 0 - marker is inside volume or \em i is out of range * *
Use GetTXNumberOfPassiveStrays() to get the number of stray * markers that are visible. * * This information is updated when a TX() command is sent with * the NDI_PASSIVE_STRAY (0x1000) and * the NDI_INCLUDE_OUT_OF_VOLUME (0x0800) bits set in the reply mode.. */ int GetTXPassiveStrayOutOfVolume(int i) const; /** Get an 16-bit status bitfield for the system. * * \return status bits or zero if there is no information: * - NDI_COMM_SYNC_ERROR 0x0001 * - NDI_TOO_MUCH_EXTERNAL_INFRARED 0x0002 * - NDI_COMM_CRC_ERROR 0x0004 * - NDI_COMM_RECOVERABLE 0x0008 * - NDI_HARDWARE_FAILURE 0x0010 * - NDI_HARDWARE_CHANGE 0x0020 * - NDI_PORT_OCCUPIED 0x0040 * - NDI_PORT_UNOCCUPIED 0x0080 * *
The system stutus information is updated whenever the TX() command is * called with the NDI_XFORMS_AND_STATUS (0x0001) bit set in the reply mode. */ int GetTXSystemStatus() const; /** Get the transformation for the specified port. * The first four numbers are a quaternion, the next three numbers are * the coodinates in millimetres, and the final number * is a unitless error estimate. * * \param ph valid port handle in range 0x01 to 0xFF * \param transform space for the 8 numbers in the transformation * * \return one of the following: * - NDI_UNOCCUPIED if an invalid port handle was supplied * - NDI_VALID if successful * - NDI_DISABLED if tool port is nonexistent or disabled * - NDI_MISSING if tool transform cannot be computed * (tool is out of range) * *
If NDI_VALID is not returned, then the values in the supplied * transform array will be left unchanged. * * The transformations for each of the port handles remain the same * until the next BX() command is sent to the device. */ int GetBXTransform(int ph, double transform[8]) const; /** Get the 16-bit status value for the specified port handle. * * \param ph valid port handle in range 0x01 to 0xFF * * \return status bits or zero if there is no information: * - NDI_TOOL_IN_PORT 0x0001 * - NDI_SWITCH_1_ON 0x0002 * - NDI_SWITCH_2_ON 0x0004 * - NDI_SWITCH_3_ON 0x0008 * - NDI_INITIALIZED 0x0010 * - NDI_ENABLED 0x0020 * - NDI_OUT_OF_VOLUME 0x0040 * - NDI_PARTIALLY_IN_VOLUME 0x0080 * - NDI_DISTURBANCE_DETECTED 0x0200; * - NDI_SIGNAL_TOO_SMALL 0x0400; * - NDI_SIGNAL_TOO_BIG 0x0800; * - NDI_PROCESSING_EXCEPTION 0x1000; * - NDI_HARDWARE_FAILURE 0x2000; * * This information is updated each time that the BX() command * is sent to the device. */ int GetBXPortStatus(int ph) const; /** Get the camera frame number for the latest transform. * * \param ph valid port handle in range 0x01 to 0xFF * * \return a 32-bit frame number, or zero if no information was available * * This information is updated each time that the BX() command * is sent to the device. */ unsigned int GetBXFrame(int ph) const; /** Get additional information about the tool transformation. * * \param ph valid port handle in range 0x01 to 0xFF * * \return status bits, or zero if there is no information available * - NDI_BAD_TRANSFORM_FIT 0x01 * - NDI_NOT_ENOUGH_MARKERS 0x02 * - NDI_TOOL_FACE_USED 0x70 - 3 bits give 8 possible faces * *
The tool information is only updated when the BX() command * is called with the NDI_ADDITIONAL_INFO (0x0002) mode bit. */ int GetBXToolInfo(int ph) const; /** Get additional information about the tool markers. * * \param ph valid port handle in range 0x01 to 0xFF * \param marker one of 'A' through 'T' for the 20 markers * * \return status bits, or zero if there is no information available * - NDI_MARKER_MISSING 0 * - NDI_MARKER_EXCEEDED_MAX_ANGLE 1 * - NDI_MARKER_EXCEEDED_MAX_ERROR 2 * - NDI_MARKER_USED 3 * *
The tool marker information is only updated when the BX() command is * called with the NDI_ADDITIONAL_INFO (0x0002) mode bit set. */ int GetBXMarkerInfo(int ph, int marker) const; /** Get the coordinates of a stray marker on a wired POLARIS tool. * This command is only meaningful for tools that have a stray * marker. * * \param ph valid port handle in range 0x01 to 0xFF * \param coord array to hold the three coordinates * * \return the return value will be one of * - NDI_UNOCCUPIED - no information is available * - NDI_VALID - values returned in coord * - NDI_DISABLED - port disabled or illegal port specified * - NDI_MISSING - stray marker is not visible to the device * *
The stray marker position is only updated when the BX() command is * called with the NDI_SINGLE_STRAY (0x0004) bit set. */ int GetBXSingleStray(int ph, double coord[3]) const; /** Get the number of passive stray markers detected. * \return a number between 0 and 20 * * The passive stray marker coordinates are updated when a BX() command * is sent with the NDI_PASSIVE_STRAY (0x1000) bit set in the reply mode.*/ int GetBXNumberOfPassiveStrays() const; /** Copy the coordinates of the specified stray marker into the * supplied array. * * \param i a number between 0 and 19 * \param coord array to hold the coordinates * \return one of: * - NDI_UNOCCUPIED - the index \em i is out of range * - NDI_VALID - information was returned in coord * *
Use GetTXNumberOfPassiveStrays() to get the number of stray * markers that are visible. * * The passive stray marker coordinates are updated when a BX() command * is sent with the NDI_PASSIVE_STRAY (0x1000) bit set in the reply mode. */ int GetBXPassiveStray(int i, double coord[3]) const; /** Determine whether a passive stray is outside of the * characterized volume. * * \param i a number between 0 and 49 * \return one of: * - 1 - marker is out of volume * - 0 - marker is inside volume or \em i is out of range * *
Use GetBXNumberOfPassiveStrays() to get the number of stray * markers that are visible. * * This information is updated when a BX() command is sent with * the NDI_PASSIVE_STRAY (0x1000) and * the NDI_INCLUDE_OUT_OF_VOLUME (0x0800) bits set in the reply mode.. */ int GetBXPassiveStrayOutOfVolume(int i) const; /** Get an 16-bit status bitfield for the system. * * \return status bits or zero if there is no information: * - NDI_COMM_SYNC_ERROR 0x0001 * - NDI_TOO_MUCH_EXTERNAL_INFRARED 0x0002 * - NDI_COMM_CRC_ERROR 0x0004 * - NDI_COMM_RECOVERABLE 0x0008 * - NDI_HARDWARE_FAILURE 0x0010 * - NDI_HARDWARE_CHANGE 0x0020 * - NDI_PORT_OCCUPIED 0x0040 * - NDI_PORT_UNOCCUPIED 0x0080 * *
The system stutus information is updated whenever the BX() command is * called with the NDI_XFORMS_AND_STATUS (0x0001) bit set in the reply mode. */ int GetBXSystemStatus() const; /** Get the status of the control processor. * * \return an int with the following bit definitions for errors: * - NDI_EPROM_CODE_CHECKSUM 0x01 * - NDI_EPROM_SYSTEM_CHECKSUM 0x02 * *
This information is updated only when the SSTAT() command is sent * with the NDI_CONTROL (0x0001) bit set in the reply mode. */ int GetSSTATControl() const; /** Get the status of the sensor processors. * * \return an int with the following bit definitions for errors: * - NDI_LEFT_ROM_CHECKSUM 0x01 * - NDI_LEFT_SYNC_TYPE_1 0x02 * - NDI_LEFT_SYNC_TYPE_2 0x04 * - NDI_RIGHT_ROM_CHECKSUM 0x10 * - NDI_RIGHT_SYNC_TYPE_1 0x20 * - NDI_RIGHT_SYNC_TYPE_2 0x40 * *
This information is updated only when the SSTAT() command is sent * with the NDI_SENSORS (0x0002) bit set in the reply mode. */ int GetSSTATSensors() const; /** Get the status of the sensor processors. * * \return an int with the following bit definitions for errors: * - NDI_ROM_CHECKSUM 0x01 * - NDI_OPERATING_VOLTAGES 0x02 * - NDI_MARKER_SEQUENCING 0x04 * - NDI_SYNC 0x08 * - NDI_COOLING_FAN 0x10 * - NDI_INTERNAL_ERROR 0x20 * *
This information is updated only when the SSTAT() command is sent
* with the NDI_TIU (0x0004) bit set in the reply mode. */
int GetSSTATTIU() const;
/** Get the version information returned by the VER() command. */
const char *GetVERText() const;
/** Check to see whether environmental infrared was detected.
*
* \return 1 if infrared was detected and 0 otherwise.
*
* This information is only updated if the IRCHK() command is called
* with the NDI_DETECTED (0x0001) format bit set. */
int GetIRCHKDetected() const;
/** Get the number of infrared sources seen by one of the two sensors.
*
* \param side one of NDI_LEFT or NDI_RIGHT
*
* return the number of infrared sources seen by the specified sensor
*
* This information is valid only immediately after the IRCHK() command
* has been called with the NDI_SOURCES (0x0002) format bit set.
* Otherwise, the return value will be zero. */
int GetIRCHKNumberOfSources(int side) const;
/** Get the coordinates of one of the infrared sources seen by one of
* the two sensors.
*
* \param side one of NDI_LEFT or NDI_RIGHT
* \param i the source to get the coordinates for
* \param xy space to store the returned coordinates
*
* return NDI_VALID, or NDI_UNOCCUPIED if \em i is out of range
*
* If there is no available information, then the xy array will be left
* unchanged and the value NDI_MISSING will be returned. Otherwise,
* the return value will be NDI_OKAY.
*
* This information is valid only immediately after the IRCHK() command
* has been called with the NDI_SOURCES (0x0002) format bit set. */
int GetIRCHKSourceXY(int side, int i, double xy[2]) const;
/** Convert an error code returned by GetError() into a string that
* describes the error.
* An unrecognized error code will return "Unrecognized error code". */
static const char* ErrorString(int errnum);
/** This function is used to convert raw binary data into a stream of
* hexadecimal digits that can be sent to the device.
* The length of the output string will be twice the number of bytes
* in the input data, since each byte will be represented by two
* hexadecimal digits.
*
* As a convenience, the return value is a pointer to the hexadecimal
* string. If the string must be terminated, then set cp[2*n] to 0
* before calling this function, otherwise the string will be left
* unterminated. */
static char* HexEncode(char* cp, const void* data, int n);
/** This function converts a hex-encoded string into binary data.
* This can be used to decode the SROM data sent from the device.
* The length of the input string must be twice the expected number
* of bytes in the output data, since each binary byte is ecoded by
* two hexadecimal digits.
*
* As a convenience, the return value is a pointer to the decoded data. */
static void* HexDecode(void* data, const char* cp, int n);
protected:
/** Constructor */
NDICommandInterpreter();
/** Destructor */
virtual ~NDICommandInterpreter();
/** Print object information */
virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const;
private:
/** Maximum number of handles that will ever be in use simultaneously */
itkStaticConstMacro( NDI_MAX_HANDLES, int, 24 );
/** the communication object */
CommunicationType::Pointer m_Communication;
/** command reply -- this is the return value from Command() */
char *m_CommandReply; /* reply without CRC and