superclass for specific NDI tracking Devices that use serial communication. More...

#include <mitkNDITrackingDevice.h>

Inheritance diagram for mitk::NDITrackingDevice:

Public Types
typedef std::vector< NDIPassiveTool::Pointer >	Tool6DContainerType
	List of 6D tools of the correct type for this tracking device.

typedef mitk::TrackingDeviceType	NDITrackingDeviceType
	This enumeration includes the two types of NDI tracking devices (Polaris, Aurora).

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

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

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

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

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

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

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

Public Types inherited from mitk::TrackingDevice
enum	RotationMode { RotationStandard , RotationTransposed }

enum	TrackingDeviceState { Setup , Ready , Tracking }

Public Member Functions
	mitkClassMacro (NDITrackingDevice, TrackingDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

bool	OpenConnection () override
	Set the type of the NDI Tracking Device because it can not jet handle this itself.

bool	CloseConnection () override
	Closes the connection.

bool	InitializeWiredTools ()

void	SetRotationMode (RotationMode r) override

virtual mitk::TrackingDeviceType	TestConnection ()
	TestConnection() tries to connect to a NDI tracking device on the current port/device and returns which device it has found.

bool	DiscoverWiredTools ()
	retrieves all wired tools from the tracking device

bool	StartTracking () override
	Start the tracking.

TrackingTool *	GetTool (unsigned int toolNumber) const override
	return the tool with index toolNumber

mitk::TrackingTool *	GetToolByName (std::string name) const override
	Returns the tool with the given tool name.

unsigned int	GetToolCount () const override
	return current number of tools

mitk::TrackingTool *	AddTool (const char toolName, const char fileName, TrackingPriority p=NDIPassiveTool::Dynamic)
	Create a passive 6D tool with toolName and fileName and add it to the list of tools.

virtual bool	RemoveTool (TrackingTool *tool)
	Remove a passive 6D tool from the list of tracked tools.

virtual bool	UpdateTool (mitk::TrackingTool *tool)
	reloads the srom file and reinitializes the tool

virtual void	SetPortNumber (const PortNumber _arg)
	set port number for serial communication

	itkGetConstMacro (PortNumber, PortNumber)
	returns the port number for serial communication

virtual void	SetDeviceName (std::string _arg)
	set device name (e.g. COM1, /dev/ttyUSB0). If this is set, PortNumber will be ignored

	itkGetStringMacro (DeviceName)
	returns the device name for serial communication

virtual void	SetBaudRate (const BaudRate _arg)
	set baud rate for serial communication

	itkGetConstMacro (BaudRate, BaudRate)
	returns the baud rate for serial communication

virtual void	SetDataBits (const DataBits _arg)
	set number of data bits

	itkGetConstMacro (DataBits, DataBits)
	returns the data bits for serial communication

virtual void	SetParity (const Parity _arg)
	set parity mode

	itkGetConstMacro (Parity, Parity)
	returns the parity mode

virtual void	SetStopBits (const StopBits _arg)
	set number of stop bits

	itkGetConstMacro (StopBits, StopBits)
	returns the number of stop bits

virtual void	SetHardwareHandshake (const HardwareHandshake _arg)
	set use hardware handshake for serial communication

	itkGetConstMacro (HardwareHandshake, HardwareHandshake)
	returns the hardware handshake setting

virtual void	SetIlluminationActivationRate (const IlluminationActivationRate _arg)
	set activation rate of IR illumator for polaris

	itkGetConstMacro (IlluminationActivationRate, IlluminationActivationRate)
	returns the activation rate of IR illumator for polaris

virtual void	SetDataTransferMode (const DataTransferMode _arg)
	set data transfer mode to text (TX) or binary (BX).

	itkGetConstMacro (DataTransferMode, DataTransferMode)
	returns the data transfer mode

virtual bool	Beep (unsigned char count)
	Beep the tracking device 1 to 9 times.

NDIErrorCode	GetErrorCode (const std::string *input)
	returns the error code for a string that contains an error code in hexadecimal format

virtual bool	SetOperationMode (OperationMode mode)
	set operation mode to 6D tool tracking, 3D marker tracking or 6D&3D hybrid tracking (see OperationMode)

virtual OperationMode	GetOperationMode ()
	get current operation mode

virtual bool	GetMarkerPositions (MarkerPointContainerType *markerpositions)
	Get 3D marker positions (operation mode must be set to MarkerTracking3D or HybridTracking)

virtual int	GetMajorFirmwareRevisionNumber ()
	Get major revision number from tracking device should not be called directly after starting to track.

virtual const char *	GetFirmwareRevisionNumber ()
	Get revision number from tracking device as string should not be called directly after starting to track.

bool	AutoDetectToolsAvailable () override

bool	AddSingleToolIsAvailable () override

mitk::NavigationToolStorage::Pointer	AutoDetectTools () override

virtual void	TrackTools ()
	TrackTools() continuously polls serial interface for new 6d tool positions until StopTracking is called.

virtual void	TrackMarkerPositions ()
	continuously polls serial interface for new 3D marker positions until StopTracking is called.

virtual void	TrackToolsAndMarkers ()
	continuously polls serial interface for new 3D marker positions and 6D tool positions until StopTracking is called.

void	ThreadStartTracking ()
	start method for the tracking thread.

Public Member Functions inherited from mitk::TrackingDevice
	mitkClassMacroItkParent (TrackingDevice, itk::Object)

virtual bool	StopTracking ()
	stop retrieving tracking data from the device. stop retrieving tracking data from the device. This may only be called after StartTracking was called (e.g. the object is in Tracking mode). This will change the object state from Tracking to Ready.

	itkGetConstMacro (RotationMode, RotationMode)

TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking)

TrackingDeviceType	GetType () const
	Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier.

void	SetType (TrackingDeviceType type)
	Deprecated! Use the more specific setDeviceData instead. set device type.

std::string	GetTrackingDeviceName ()
	Convenient Method to get the Name of the Tracking Device. This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() to check if you have a specific device.

TrackingDeviceData	GetData () const
	return device data

void	SetData (TrackingDeviceData data)
	set device type

virtual bool	IsDeviceInstalled ()

Protected Types
typedef std::vector< std::string >	NDITrackingVolumeContainerType
	vector of tracking volumes

typedef std::vector< int >	TrackingVolumeDimensionType
	List of the supported tracking volume dimensions.

Protected Member Functions
virtual bool	GetSupportedVolumes (unsigned int numberOfVolumes, NDITrackingVolumeContainerType volumes, TrackingVolumeDimensionType *volumesDimensions)
	Get number of supported tracking volumes, a vector containing the supported volumes and a vector containing the signed dimensions in mm. For each volume 10 boundaries are stored in the order of the supported volumes (see AURORA API GUIDE: SFLIST p.54).

virtual bool	SetVolume (mitk::TrackingDeviceData volume)
	Sets the desired tracking volume. Returns true if the volume type could be set. It is set in the OpenConnection() Method and sets the tracking volume out of m_Data.

virtual bool	InternalAddTool (NDIPassiveTool *tool)
	Add a passive 6D tool to the list of tracked tools. This method is used by AddTool.

virtual void	InvalidateAll ()
	invalidate all tools

NDIPassiveTool *	GetInternalTool (std::string portHandle)
	returns the tool object that has been assigned the port handle or nullptr if no tool can be found

NDIErrorCode	FreePortHandles ()
	free all port handles that need to be freed

NDIErrorCode	Send (const std::string *message, bool addCRC=true)
	Send message to tracking device.

NDIErrorCode	Receive (std::string *answer, unsigned int numberOfBytes)
	receive numberOfBytes bytes from tracking device

NDIErrorCode	ReceiveByte (char *answer)
	lightweight receive function, that reads just one byte

NDIErrorCode	ReceiveLine (std::string *answer)
	receive characters until the first LF (The LF is included in the answer string)

void	ClearSendBuffer ()
	empty send buffer of serial communication interface

void	ClearReceiveBuffer ()
	empty receive buffer of serial communication interface

const std::string	CalcCRC (const std::string *input)
	returns the CRC16 for input as a std::string

	NDITrackingDevice ()
	Constructor.

	~NDITrackingDevice () override
	Destructor.

Protected Member Functions inherited from mitk::TrackingDevice
void	SetState (TrackingDeviceState state)
	change object state

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
std::string	m_DeviceName
	Device Name.

PortNumber	m_PortNumber
	COM Port Number.

BaudRate	m_BaudRate
	COM Port Baud Rate.

DataBits	m_DataBits
	Number of Data Bits per token.

Parity	m_Parity
	Parity mode for communication.

StopBits	m_StopBits
	number of stop bits per token

HardwareHandshake	m_HardwareHandshake
	which tracking volume is currently used (if device supports multiple volumes) (

IlluminationActivationRate	m_IlluminationActivationRate
	update rate of IR illuminator for Polaris

DataTransferMode	m_DataTransferMode
	use TX (text) or BX (binary) (

Tool6DContainerType	m_6DTools
	list of 6D tools

std::mutex	m_ToolsMutex
	mutex for coordinated access of tool container

mitk::SerialCommunication::Pointer	m_SerialCommunication
	serial communication interface

std::mutex	m_SerialCommunicationMutex
	mutex for coordinated access of serial communication interface

NDIProtocol::Pointer	m_DeviceProtocol
	create and parse NDI protocol strings

std::thread	m_Thread
	ID of tracking thread.

OperationMode	m_OperationMode
	tracking mode (6D tool tracking, 3D marker tracking,...)

std::mutex	m_MarkerPointsMutex
	mutex for marker point data container

MarkerPointContainerType	m_MarkerPoints
	container for markers (3D point tracking mode)

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data

bool	m_StopTracking
	signal stop to tracking thread

std::mutex	m_StopTrackingMutex
	mutex to control access to m_StopTracking

std::mutex	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking()

std::mutex	m_StateMutex
	mutex to control access to m_State

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default

Friends
class	NDIProtocol

Detailed Description

superclass for specific NDI tracking Devices that use serial communication.

Documentation

implements the TrackingDevice interface for NDI tracking devices (POLARIS, AURORA)

Definition at line 40 of file mitkNDITrackingDevice.h.

Member Typedef Documentation

◆ BaudRate

mitk::SerialCommunication::BaudRate mitk::NDITrackingDevice::BaudRate

Baud rate of the serial connection.

Definition at line 49 of file mitkNDITrackingDevice.h.

◆ DataBits

mitk::SerialCommunication::DataBits mitk::NDITrackingDevice::DataBits

Number of data bits used in the serial connection.

Definition at line 50 of file mitkNDITrackingDevice.h.

◆ HardwareHandshake

mitk::SerialCommunication::HardwareHandshake mitk::NDITrackingDevice::HardwareHandshake

Hardware handshake mode of the serial connection.

Definition at line 53 of file mitkNDITrackingDevice.h.

◆ NDITrackingDeviceType

mitk::TrackingDeviceType mitk::NDITrackingDevice::NDITrackingDeviceType

This enumeration includes the two types of NDI tracking devices (Polaris, Aurora).

Definition at line 47 of file mitkNDITrackingDevice.h.

◆ NDITrackingVolumeContainerType

std::vector<std::string> mitk::NDITrackingDevice::NDITrackingVolumeContainerType

protected

vector of tracking volumes

Definition at line 220 of file mitkNDITrackingDevice.h.

◆ Parity

mitk::SerialCommunication::Parity mitk::NDITrackingDevice::Parity

Parity mode used in the serial connection.

Definition at line 51 of file mitkNDITrackingDevice.h.

◆ PortNumber

mitk::SerialCommunication::PortNumber mitk::NDITrackingDevice::PortNumber

Port number of the serial connection.

Definition at line 48 of file mitkNDITrackingDevice.h.

◆ StopBits

mitk::SerialCommunication::StopBits mitk::NDITrackingDevice::StopBits

Number of stop bits used in the serial connection.

Definition at line 52 of file mitkNDITrackingDevice.h.

◆ Tool6DContainerType

std::vector<NDIPassiveTool::Pointer> mitk::NDITrackingDevice::Tool6DContainerType

List of 6D tools of the correct type for this tracking device.

Definition at line 45 of file mitkNDITrackingDevice.h.

◆ TrackingPriority

mitk::NDIPassiveTool::TrackingPriority mitk::NDITrackingDevice::TrackingPriority

Tracking priority used for tracking a tool.

Definition at line 54 of file mitkNDITrackingDevice.h.

◆ TrackingVolumeDimensionType

std::vector<int> mitk::NDITrackingDevice::TrackingVolumeDimensionType

protected

List of the supported tracking volume dimensions.

Definition at line 221 of file mitkNDITrackingDevice.h.

Constructor & Destructor Documentation

◆ NDITrackingDevice()

mitk::NDITrackingDevice::NDITrackingDevice ( )

protected

Constructor.

Definition at line 31 of file mitkNDITrackingDevice.cpp.

◆ ~NDITrackingDevice()

mitk::NDITrackingDevice::~NDITrackingDevice ( )

overrideprotected

Destructor.

Definition at line 85 of file mitkNDITrackingDevice.cpp.

Member Function Documentation

◆ AddSingleToolIsAvailable()

bool mitk::NDITrackingDevice::AddSingleToolIsAvailable ( )

overridevirtual

Returns: Returns true if it is possible to add a single tool. True for Polaris, false for Aurora.

Reimplemented from mitk::TrackingDevice.

Definition at line 1215 of file mitkNDITrackingDevice.cpp.

◆ AddTool()

mitk::TrackingTool * mitk::NDITrackingDevice::AddTool	(	const char *	toolName,
		const char *	fileName,
		TrackingPriority	p = NDIPassiveTool::Dynamic )

Create a passive 6D tool with toolName and fileName and add it to the list of tools.

This method will create a new NDIPassiveTool object, load the SROM file fileName, set the tool name toolName and the tracking priority p and then add it to the list of tools. It returns a pointer of type mitk::TrackingTool to the tool that can be used to read tracking data from it. This is the only way to add tools to NDITrackingDevice.

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while adding the tool.

Warning: adding tools is not possible in tracking mode, only in setup and ready.

Definition at line 883 of file mitkNDITrackingDevice.cpp.

◆ AutoDetectTools()

mitk::NavigationToolStorage::Pointer mitk::NDITrackingDevice::AutoDetectTools ( )

overridevirtual

Autodetects tools from this device and returns them as a navigation tool storage.

Returns: Returns the detected tools. Returns an empty storage if no tools are present or if detection is not possible

Reimplemented from mitk::TrackingDevice.

Definition at line 1223 of file mitkNDITrackingDevice.cpp.

◆ AutoDetectToolsAvailable()

bool mitk::NDITrackingDevice::AutoDetectToolsAvailable ( )

overridevirtual

Returns: Returns true if this device can autodetects its tools.

Reimplemented from mitk::TrackingDevice.

Definition at line 1209 of file mitkNDITrackingDevice.cpp.

◆ Beep()

bool mitk::NDITrackingDevice::Beep ( unsigned char count )

virtual

Beep the tracking device 1 to 9 times.

Definition at line 871 of file mitkNDITrackingDevice.cpp.

◆ CalcCRC()

const std::string mitk::NDITrackingDevice::CalcCRC ( const std::string * input )

protected

returns the CRC16 for input as a std::string

Definition at line 307 of file mitkNDITrackingDevice.cpp.

◆ ClearReceiveBuffer()

void mitk::NDITrackingDevice::ClearReceiveBuffer ( )

protected

empty receive buffer of serial communication interface

Definition at line 301 of file mitkNDITrackingDevice.cpp.

◆ ClearSendBuffer()

void mitk::NDITrackingDevice::ClearSendBuffer ( )

protected

empty send buffer of serial communication interface

Definition at line 295 of file mitkNDITrackingDevice.cpp.

◆ CloseConnection()

bool mitk::NDITrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection.

CloseConnection() resets the tracking device, invalidates all tools and then closes the serial port.

Implements mitk::TrackingDevice.

Definition at line 659 of file mitkNDITrackingDevice.cpp.

◆ DiscoverWiredTools()

bool mitk::NDITrackingDevice::DiscoverWiredTools ( )

retrieves all wired tools from the tracking device

This method queries the tracking device for all wired tools, initializes them and creates TrackingTool representation objects for them

Returns: True if the method was executed successful.

Exceptions

mitk::IGTHardwareException	Throws an exception if there are errors while connecting to the device.
mitk::IGTException	Throws a normal IGT exception if an error occures which is not related to the hardware.

NDI handling (PHSR 02, PINIT, PHSR 02, PHSR 00) => all initialized and all handles available

Create MITK tracking tool representations of NDI tools
NDI enable all tools (PENA)

NDI get all serial numbers (PHINF)

Definition at line 1032 of file mitkNDITrackingDevice.cpp.

◆ FreePortHandles()

mitk::NDIErrorCode mitk::NDITrackingDevice::FreePortHandles ( )

protected

free all port handles that need to be freed

This method retrieves a list of all port handles that need to be freed (e.g. tool got disconnected) and frees the handles at the tracking device and it removes the tools from the internal tool list

Warning: This method can remove TrackingTools from the tool list! After calling this method, GetTool(i) could return a different tool, because tool indices could have changed.

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while communicating with the device.

Returns: returns NDIOKAY if everything was sucessfull, returns an error code otherwise

Definition at line 1144 of file mitkNDITrackingDevice.cpp.

◆ GetErrorCode()

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

returns the error code for a string that contains an error code in hexadecimal format

◆ GetFirmwareRevisionNumber()

const char * mitk::NDITrackingDevice::GetFirmwareRevisionNumber ( )

virtual

Get revision number from tracking device as string should not be called directly after starting to track.

Definition at line 1197 of file mitkNDITrackingDevice.cpp.

◆ GetInternalTool()

mitk::NDIPassiveTool * mitk::NDITrackingDevice::GetInternalTool ( std::string portHandle )

protected

returns the tool object that has been assigned the port handle or nullptr if no tool can be found

Definition at line 855 of file mitkNDITrackingDevice.cpp.

◆ GetMajorFirmwareRevisionNumber()

int mitk::NDITrackingDevice::GetMajorFirmwareRevisionNumber ( )

virtual

Get major revision number from tracking device should not be called directly after starting to track.

Definition at line 1183 of file mitkNDITrackingDevice.cpp.

◆ GetMarkerPositions()

bool mitk::NDITrackingDevice::GetMarkerPositions ( MarkerPointContainerType * markerpositions )

virtual

Get 3D marker positions (operation mode must be set to MarkerTracking3D or HybridTracking)

Definition at line 1024 of file mitkNDITrackingDevice.cpp.

◆ GetOperationMode()

mitk::OperationMode mitk::NDITrackingDevice::GetOperationMode ( )

virtual

get current operation mode

Definition at line 1019 of file mitkNDITrackingDevice.cpp.

◆ GetSupportedVolumes()

bool mitk::NDITrackingDevice::GetSupportedVolumes	(	unsigned int *	numberOfVolumes,
		NDITrackingVolumeContainerType *	volumes,
		TrackingVolumeDimensionType *	volumesDimensions )

protectedvirtual

Get number of supported tracking volumes, a vector containing the supported volumes and a vector containing the signed dimensions in mm. For each volume 10 boundaries are stored in the order of the supported volumes (see AURORA API GUIDE: SFLIST p.54).

Definition at line 1257 of file mitkNDITrackingDevice.cpp.

◆ GetTool()

mitk::TrackingTool * mitk::NDITrackingDevice::GetTool ( unsigned int toolNumber ) const

overridevirtual

return the tool with index toolNumber

Implements mitk::TrackingDevice.

Definition at line 837 of file mitkNDITrackingDevice.cpp.

◆ GetToolByName()

mitk::TrackingTool * mitk::NDITrackingDevice::GetToolByName ( std::string name ) const

overridevirtual

Returns the tool with the given tool name.

Note: subclasses can and should implement optimized versions of this method

Returns: the given tool or nullptr if no tool with that name exists

Reimplemented from mitk::TrackingDevice.

Definition at line 845 of file mitkNDITrackingDevice.cpp.

◆ GetToolCount()

unsigned int mitk::NDITrackingDevice::GetToolCount ( ) const

overridevirtual

return current number of tools

Implements mitk::TrackingDevice.

Definition at line 865 of file mitkNDITrackingDevice.cpp.

◆ InitializeWiredTools()

bool mitk::NDITrackingDevice::InitializeWiredTools ( )

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device.

Definition at line 542 of file mitkNDITrackingDevice.cpp.

◆ InternalAddTool()

bool mitk::NDITrackingDevice::InternalAddTool ( mitk::NDIPassiveTool * tool )

protectedvirtual

Add a passive 6D tool to the list of tracked tools. This method is used by AddTool.

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while adding the tool.

Warning: adding tools is not possible in tracking mode, only in setup and ready.

Definition at line 895 of file mitkNDITrackingDevice.cpp.

◆ InvalidateAll()

void mitk::NDITrackingDevice::InvalidateAll ( )

protectedvirtual

invalidate all tools

Definition at line 1002 of file mitkNDITrackingDevice.cpp.

◆ itkCloneMacro()

mitk::NDITrackingDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::NDITrackingDevice::itkFactorylessNewMacro ( Self )

◆ itkGetConstMacro() [1/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	BaudRate	,
		BaudRate	)

returns the baud rate for serial communication

◆ itkGetConstMacro() [2/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	DataBits	,
		DataBits	)

returns the data bits for serial communication

◆ itkGetConstMacro() [3/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	DataTransferMode	,
		DataTransferMode	)

returns the data transfer mode

◆ itkGetConstMacro() [4/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	HardwareHandshake	,
		HardwareHandshake	)

returns the hardware handshake setting

◆ itkGetConstMacro() [5/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	IlluminationActivationRate	,
		IlluminationActivationRate	)

returns the activation rate of IR illumator for polaris

◆ itkGetConstMacro() [6/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	Parity	,
		Parity	)

returns the parity mode

◆ itkGetConstMacro() [7/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	PortNumber	,
		PortNumber	)

returns the port number for serial communication

◆ itkGetConstMacro() [8/8]

mitk::NDITrackingDevice::itkGetConstMacro	(	StopBits	,
		StopBits	)

returns the number of stop bits

◆ itkGetStringMacro()

mitk::NDITrackingDevice::itkGetStringMacro ( DeviceName )

returns the device name for serial communication

◆ mitkClassMacro()

mitk::NDITrackingDevice::mitkClassMacro	(	NDITrackingDevice	,
		TrackingDevice	)

◆ OpenConnection()

bool mitk::NDITrackingDevice::OpenConnection ( )

overridevirtual

Set the type of the NDI Tracking Device because it can not jet handle this itself.

initialize the connection to the tracking device

OpenConnection() establishes the connection to the tracking device by:

initializing the serial port with the given parameters (port number, baud rate, ...)
connection to the tracking device
initializing the device
initializing all manually added passive tools (user supplied srom file)

initializing active tools that are connected to the tracking device

Exceptions

mitk::IGTHardwareException	Throws an exception if there are errors while connecting to the device.
mitk::IGTException	Throws a normal IGT exception if an error occures which is not related to the hardware.

now add tools to the tracking system

POLARIS: initialize the tools that were added manually

Implements mitk::TrackingDevice.

Definition at line 336 of file mitkNDITrackingDevice.cpp.

◆ Receive()

mitk::NDIErrorCode mitk::NDITrackingDevice::Receive	(	std::string *	answer,
		unsigned int	numberOfBytes )

protected

receive numberOfBytes bytes from tracking device

Definition at line 244 of file mitkNDITrackingDevice.cpp.

◆ ReceiveByte()

mitk::NDIErrorCode mitk::NDITrackingDevice::ReceiveByte ( char * answer )

protected

lightweight receive function, that reads just one byte

Definition at line 258 of file mitkNDITrackingDevice.cpp.

◆ ReceiveLine()

mitk::NDIErrorCode mitk::NDITrackingDevice::ReceiveLine ( std::string * answer )

protected

receive characters until the first LF (The LF is included in the answer string)

Definition at line 276 of file mitkNDITrackingDevice.cpp.

◆ RemoveTool()

bool mitk::NDITrackingDevice::RemoveTool ( mitk::TrackingTool * tool )

virtual

Remove a passive 6D tool from the list of tracked tools.

Warning: removing tools is not possible in tracking mode, only in setup and ready modes.

Definition at line 954 of file mitkNDITrackingDevice.cpp.

◆ Send()

mitk::NDIErrorCode mitk::NDITrackingDevice::Send	(	const std::string *	message,
		bool	addCRC = true )

protected

Send message to tracking device.

Definition at line 218 of file mitkNDITrackingDevice.cpp.

◆ SetBaudRate()

void mitk::NDITrackingDevice::SetBaudRate ( const BaudRate _arg )

virtual

set baud rate for serial communication

Definition at line 134 of file mitkNDITrackingDevice.cpp.

◆ SetDataBits()

void mitk::NDITrackingDevice::SetDataBits ( const DataBits _arg )

virtual

set number of data bits

Definition at line 146 of file mitkNDITrackingDevice.cpp.

◆ SetDataTransferMode()

void mitk::NDITrackingDevice::SetDataTransferMode ( const DataTransferMode _arg )

virtual

set data transfer mode to text (TX) or binary (BX).

Warning: : only TX is supportet at the moment

Definition at line 208 of file mitkNDITrackingDevice.cpp.

◆ SetDeviceName()

void mitk::NDITrackingDevice::SetDeviceName ( std::string _arg )

virtual

set device name (e.g. COM1, /dev/ttyUSB0). If this is set, PortNumber will be ignored

Definition at line 122 of file mitkNDITrackingDevice.cpp.

◆ SetHardwareHandshake()

void mitk::NDITrackingDevice::SetHardwareHandshake ( const HardwareHandshake _arg )

virtual

set use hardware handshake for serial communication

Definition at line 182 of file mitkNDITrackingDevice.cpp.

◆ SetIlluminationActivationRate()

void mitk::NDITrackingDevice::SetIlluminationActivationRate ( const IlluminationActivationRate _arg )

virtual

set activation rate of IR illumator for polaris

Definition at line 194 of file mitkNDITrackingDevice.cpp.

◆ SetOperationMode()

bool mitk::NDITrackingDevice::SetOperationMode ( OperationMode mode )

virtual

set operation mode to 6D tool tracking, 3D marker tracking or 6D&3D hybrid tracking (see OperationMode)

Definition at line 1010 of file mitkNDITrackingDevice.cpp.

◆ SetParity()

void mitk::NDITrackingDevice::SetParity ( const Parity _arg )

virtual

set parity mode

Definition at line 158 of file mitkNDITrackingDevice.cpp.

◆ SetPortNumber()

void mitk::NDITrackingDevice::SetPortNumber ( const PortNumber _arg )

virtual

set port number for serial communication

Definition at line 110 of file mitkNDITrackingDevice.cpp.

◆ SetRotationMode()

void mitk::NDITrackingDevice::SetRotationMode ( RotationMode r )

overridevirtual

Sets the rotation mode of this class. See documentation of enum RotationMode for details on the different modes.

Reimplemented from mitk::TrackingDevice.

Definition at line 80 of file mitkNDITrackingDevice.cpp.

◆ SetStopBits()

void mitk::NDITrackingDevice::SetStopBits ( const StopBits _arg )

virtual

set number of stop bits

Definition at line 170 of file mitkNDITrackingDevice.cpp.

◆ SetVolume()

bool mitk::NDITrackingDevice::SetVolume ( mitk::TrackingDeviceData volume )

protectedvirtual

Sets the desired tracking volume. Returns true if the volume type could be set. It is set in the OpenConnection() Method and sets the tracking volume out of m_Data.

Exceptions

mitk::IGTHardwareException Throws an IGT hardware exception if the volume could not be set.

Definition at line 1317 of file mitkNDITrackingDevice.cpp.

◆ StartTracking()

bool mitk::NDITrackingDevice::StartTracking ( )

overridevirtual

Start the tracking.

A new thread is created, which continuously reads the position and orientation information of each tool and stores them inside the tools. Depending on the current operation mode (see SetOperationMode()), either the 6D tools (ToolTracking6D), 5D tools (ToolTracking5D), 3D marker positions (MarkerTracking3D) or both 6D tools and 3D markers (HybridTracking) are updated. Call StopTracking() to stop the tracking thread.

Implements mitk::TrackingDevice.

Definition at line 690 of file mitkNDITrackingDevice.cpp.

◆ TestConnection()

mitk::TrackingDeviceType mitk::NDITrackingDevice::TestConnection ( )

virtual

TestConnection() tries to connect to a NDI tracking device on the current port/device and returns which device it has found.

TestConnection() tries to connect to a NDI tracking device on the current port/device.

Returns: It returns the type of the device that answers at the port/device. Throws an exception if no device is available on that port.

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while connecting to the device.

Definition at line 591 of file mitkNDITrackingDevice.cpp.

◆ ThreadStartTracking()

void mitk::NDITrackingDevice::ThreadStartTracking ( )

start method for the tracking thread.

Definition at line 676 of file mitkNDITrackingDevice.cpp.

◆ TrackMarkerPositions()

void mitk::NDITrackingDevice::TrackMarkerPositions ( )

virtual

continuously polls serial interface for new 3D marker positions until StopTracking is called.

Continuously tracks the 3D position of all markers until StopTracking() is called. This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). It should not be called directly.

Definition at line 752 of file mitkNDITrackingDevice.cpp.

◆ TrackTools()

void mitk::NDITrackingDevice::TrackTools ( )

virtual

TrackTools() continuously polls serial interface for new 6d tool positions until StopTracking is called.

Continuously tracks the 6D position of all tools until StopTracking() is called. This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). It should not be called directly.

Exceptions

mitk::IGTHardwareException Throws an exception if there are errors while tracking the tools.

Definition at line 705 of file mitkNDITrackingDevice.cpp.

◆ TrackToolsAndMarkers()

void mitk::NDITrackingDevice::TrackToolsAndMarkers ( )

virtual

continuously polls serial interface for new 3D marker positions and 6D tool positions until StopTracking is called.

Continuously tracks the 3D position of all markers and the 6D position of all tools until StopTracking() is called. This function is executed by the tracking thread (through StartTracking() and ThreadStartTracking()). It should not be called directly.

Definition at line 797 of file mitkNDITrackingDevice.cpp.

◆ UpdateTool()

bool mitk::NDITrackingDevice::UpdateTool ( mitk::TrackingTool * tool )

virtual

reloads the srom file and reinitializes the tool

Definition at line 47 of file mitkNDITrackingDevice.cpp.

Friends And Related Symbol Documentation

◆ NDIProtocol

friend class NDIProtocol

friend

Definition at line 42 of file mitkNDITrackingDevice.h.

Member Data Documentation

◆ m_6DTools

Tool6DContainerType mitk::NDITrackingDevice::m_6DTools

protected

list of 6D tools

Definition at line 316 of file mitkNDITrackingDevice.h.

◆ m_BaudRate

BaudRate mitk::NDITrackingDevice::m_BaudRate

protected

COM Port Baud Rate.

Definition at line 308 of file mitkNDITrackingDevice.h.

◆ m_DataBits

DataBits mitk::NDITrackingDevice::m_DataBits

protected

Number of Data Bits per token.

Definition at line 309 of file mitkNDITrackingDevice.h.

◆ m_DataTransferMode

DataTransferMode mitk::NDITrackingDevice::m_DataTransferMode

protected

use TX (text) or BX (binary) (

Warning: currently, only TX mode is supported)

Definition at line 315 of file mitkNDITrackingDevice.h.

◆ m_DeviceName

std::string mitk::NDITrackingDevice::m_DeviceName

protected

Device Name.

Definition at line 306 of file mitkNDITrackingDevice.h.

◆ m_DeviceProtocol

NDIProtocol::Pointer mitk::NDITrackingDevice::m_DeviceProtocol

protected

create and parse NDI protocol strings

Definition at line 321 of file mitkNDITrackingDevice.h.

◆ m_HardwareHandshake

HardwareHandshake mitk::NDITrackingDevice::m_HardwareHandshake

protected

which tracking volume is currently used (if device supports multiple volumes) (

use hardware handshake for serial port connection

Warning: This parameter is not used yet)

Definition at line 312 of file mitkNDITrackingDevice.h.

◆ m_IlluminationActivationRate

IlluminationActivationRate mitk::NDITrackingDevice::m_IlluminationActivationRate

protected

update rate of IR illuminator for Polaris

Definition at line 314 of file mitkNDITrackingDevice.h.

◆ m_MarkerPoints

MarkerPointContainerType mitk::NDITrackingDevice::m_MarkerPoints

protected

container for markers (3D point tracking mode)

Definition at line 326 of file mitkNDITrackingDevice.h.

◆ m_MarkerPointsMutex

std::mutex mitk::NDITrackingDevice::m_MarkerPointsMutex

protected

mutex for marker point data container

Definition at line 325 of file mitkNDITrackingDevice.h.

◆ m_OperationMode

OperationMode mitk::NDITrackingDevice::m_OperationMode

protected

tracking mode (6D tool tracking, 3D marker tracking,...)

Definition at line 324 of file mitkNDITrackingDevice.h.

◆ m_Parity

Parity mitk::NDITrackingDevice::m_Parity

protected

Parity mode for communication.

Definition at line 310 of file mitkNDITrackingDevice.h.

◆ m_PortNumber

PortNumber mitk::NDITrackingDevice::m_PortNumber

protected

COM Port Number.

Definition at line 307 of file mitkNDITrackingDevice.h.

◆ m_SerialCommunication

mitk::SerialCommunication::Pointer mitk::NDITrackingDevice::m_SerialCommunication

protected

serial communication interface

Definition at line 319 of file mitkNDITrackingDevice.h.

◆ m_SerialCommunicationMutex

std::mutex mitk::NDITrackingDevice::m_SerialCommunicationMutex

protected

mutex for coordinated access of serial communication interface

Definition at line 320 of file mitkNDITrackingDevice.h.

◆ m_StopBits

StopBits mitk::NDITrackingDevice::m_StopBits

protected

number of stop bits per token

Definition at line 311 of file mitkNDITrackingDevice.h.

◆ m_Thread

std::thread mitk::NDITrackingDevice::m_Thread

protected

ID of tracking thread.

Definition at line 323 of file mitkNDITrackingDevice.h.

◆ m_ToolsMutex

std::mutex mitk::NDITrackingDevice::m_ToolsMutex

mutableprotected

mutex for coordinated access of tool container

Definition at line 318 of file mitkNDITrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkNDITrackingDevice.h
Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ BaudRate

◆ DataBits

◆ HardwareHandshake

◆ NDITrackingDeviceType

◆ NDITrackingVolumeContainerType

◆ Parity

◆ PortNumber

◆ StopBits

◆ Tool6DContainerType

◆ TrackingPriority

◆ TrackingVolumeDimensionType

Constructor & Destructor Documentation

◆ NDITrackingDevice()

◆ ~NDITrackingDevice()

Member Function Documentation

◆ AddSingleToolIsAvailable()

◆ AddTool()

◆ AutoDetectTools()

◆ AutoDetectToolsAvailable()

◆ Beep()

◆ CalcCRC()

◆ ClearReceiveBuffer()

◆ ClearSendBuffer()

◆ CloseConnection()

◆ DiscoverWiredTools()

◆ FreePortHandles()

◆ GetErrorCode()

◆ GetFirmwareRevisionNumber()

◆ GetInternalTool()

◆ GetMajorFirmwareRevisionNumber()

◆ GetMarkerPositions()

◆ GetOperationMode()

◆ GetSupportedVolumes()

◆ GetTool()

◆ GetToolByName()

◆ GetToolCount()

◆ InitializeWiredTools()

◆ InternalAddTool()

◆ InvalidateAll()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro() [1/8]

◆ itkGetConstMacro() [2/8]

◆ itkGetConstMacro() [3/8]

◆ itkGetConstMacro() [4/8]

◆ itkGetConstMacro() [5/8]

◆ itkGetConstMacro() [6/8]

◆ itkGetConstMacro() [7/8]

◆ itkGetConstMacro() [8/8]

◆ itkGetStringMacro()

◆ mitkClassMacro()

◆ OpenConnection()

◆ Receive()

◆ ReceiveByte()

◆ ReceiveLine()

◆ RemoveTool()

◆ Send()

◆ SetBaudRate()

◆ SetDataBits()

◆ SetDataTransferMode()

◆ SetDeviceName()

◆ SetHardwareHandshake()

◆ SetIlluminationActivationRate()

◆ SetOperationMode()

◆ SetParity()

◆ SetPortNumber()

◆ SetRotationMode()

◆ SetStopBits()

◆ SetVolume()

◆ StartTracking()

◆ TestConnection()

◆ ThreadStartTracking()