void vtkIGTIGSTKStream::Test()
{

    igstk::RealTimeClock::Initialize();

//    typedef itk::Logger                   LoggerType; 
//    typedef itk::StdStreamLogOutput       LogOutputType;

    igstk::PolarisTrackerTool::Pointer tool = igstk::PolarisTrackerTool::New();
    std::cout << tool->GetNameOfClass() << std::endl;
    std::cout << tool << std::endl;

    igstk::SerialCommunicationForPosix::Pointer
        serialComm = igstk::SerialCommunicationForPosix::New();

    PolarisTrackerTestCommand::Pointer 
        my_command = PolarisTrackerTestCommand::New();

    // logger object created 
    std::string testName = "HaiyingIGSTK";
//    std::string outputDirectory = IGSTK_TEST_OUTPUT_DIR;
    std::string outputDirectory = "/spl/tmp/Haiying"; 
    std::string filename = outputDirectory +"/";
    filename = filename + testName;
    filename = filename + "LoggerOutput.txt";
    std::cout << "Logger output saved here:\n";
    std::cout << filename << "\n"; 

    std::ofstream loggerFile;
    loggerFile.open( filename.c_str() );
    LoggerType::Pointer   logger = LoggerType::New();
    LogOutputType::Pointer logOutput = LogOutputType::New();  
    logOutput->SetStream( loggerFile );
    logger->AddLogOutput( logOutput );
    logger->SetPriorityLevel( itk::Logger::DEBUG);

    serialComm->AddObserver( itk::AnyEvent(), my_command);

    serialComm->SetLogger( logger );

//    serialComm->SetPortNumber( IGSTK_TEST_POLARIS_PORT_NUMBER );
    
    serialComm->SetPortNumber( igstk::SerialCommunication::PortNumber0 );
    serialComm->SetParity( igstk::SerialCommunication::NoParity );
    serialComm->SetBaudRate( igstk::SerialCommunication::BaudRate115200 );
    serialComm->SetDataBits( igstk::SerialCommunication::DataBits8 );
    serialComm->SetStopBits( igstk::SerialCommunication::StopBits1 );
    serialComm->SetHardwareHandshake( igstk::SerialCommunication::HandshakeOff );

    serialComm->SetCaptureFileName( "RecordedStreamByPolarisTrackerTest.txt" );
    serialComm->SetCapture( true );

    serialComm->OpenCommunication();


    igstk::PolarisTracker::Pointer  tracker;

    tracker = igstk::PolarisTracker::New();

    tracker->AddObserver( itk::AnyEvent(), my_command);

    tracker->SetLogger( logger );

    std::cout << "SetCommunication()" << std::endl;
    tracker->SetCommunication( serialComm );

    std::cout << "RequestOpen()" << std::endl;
    tracker->RequestOpen();


    std::cout << "RequestInitialize()" << std::endl;
    tracker->RequestInitialize();

    std::cout << tracker << std::endl;

    std::cout << "GetNumberOfTools()" << std::endl;
    unsigned int ntools = tracker->GetNumberOfTools();

    std::cout << "NumberOfTools : " << ntools << std::endl;

    std::cout << "RequestStartTracking()" << std::endl;
    tracker->RequestStartTracking();

    typedef igstk::Transform            TransformType;
    typedef ::itk::Vector<double, 3>    VectorType;
    typedef ::itk::Versor<double>       VersorType;

    for(unsigned int i=0; i<10; i++)
    {
        tracker->RequestUpdateStatus();
        for (unsigned int port = 0; port < 4; port++)
        {
            TransformType             transform;
            VectorType                position;

            tracker->GetToolTransform( port, 0, transform );
            position = transform.GetTranslation();
            std::cout << "Port " << port << "  Position = (" << position[0]
                << "," << position[1] << "," << position[2]
                << ")" << std::endl;
        }
    }

    std::cout << "RequestReset()" << std::endl;
    tracker->RequestReset();

    std::cout << "RequestInitialize()" << std::endl;
    tracker->RequestInitialize();

    std::cout << "RequestStartTracking()" << std::endl;
    tracker->RequestStartTracking();

    std::cout << "RequestStopTracking()" << std::endl;
    tracker->RequestStopTracking();

    std::cout << "RequestClose()" << std::endl;
    tracker->RequestClose();

    std::cout << "CloseCommunication()" << std::endl;
    serialComm->CloseCommunication();

    std::cout << "[PASSED]" << std::endl;
}