[IGSTK-Users] igstkPolarisTrackerToolTest - 2 more changes, sorry
Anka Kochanowska
anka at bic.mni.mcgill.ca
Wed Oct 15 15:08:17 EDT 2008
Thanks again Patrick!
Sorry, I am not yet used to new tests.
I attach both files as you ask, thanks for looking.
While we are at it - wouldn't you have a Polaris test with GUI that
would allow me to track a pointer?
I'm quite confused about reference also:-(
I tried to convert the Aurora tracker to Polaris tracker with FLTK, then
mouse tracker with Qt ( I am not familiar with FLTK) and always have the
same problem - failure to attach tool to tracker.
Thanks!
Anka:-)
Patrick Cheng wrote:
> Hi Anka,
>
> Can you send the entire print out (or logIgstkPolarisTrackerTest ) and
> RecordedStreamByPolarisTrackerTest.txt to us?
>
> This test program is trying to attach 3 tools to the tracker
> 1. Active tool connected to Polaris port 1.
> 2. Passive tool with the SROM you specified.
> 3. an AuroraTool, which is suppose to fail. (So you observe the
> switching in the output)
>
> When you say, "handshaking seems to go well", do you mean the serial
> communication established successfully? In that case, you should hear
> a beep from the tracker. Are you using direct serial connection, or
> USB2Serial?
>
> If you are using COM3, you should probably put "2" in the argument.
> This is how IGSTK define serial port:
> /** Available port numbers. */
> enum PortNumberType { PortNumber0 = 0,
> PortNumber1 = 1,
> PortNumber2 = 2,
> PortNumber3 = 3,
> PortNumber4 = 4,
> PortNumber5 = 5,
> PortNumber6 = 6,
> PortNumber7 = 7 };
>
> And by default, under Windows:
>
> /* define some cmake-configurable macros */
> #define IGSTK_SERIAL_PORT_0 "COM1:"
> #define IGSTK_SERIAL_PORT_1 "COM2:"
> #define IGSTK_SERIAL_PORT_2 "COM3:"
> #define IGSTK_SERIAL_PORT_3 "COM4:"
> #define IGSTK_SERIAL_PORT_4 "COM5:"
> #define IGSTK_SERIAL_PORT_5 "COM6:"
> #define IGSTK_SERIAL_PORT_6 "COM7:"
> #define IGSTK_SERIAL_PORT_7 "COM8:"
>
>
> Under Linux:
>
> /* define some cmake-configurable macros */
> #define IGSTK_SERIAL_PORT_0 "/dev/ttyS0:"
> #define IGSTK_SERIAL_PORT_1 "/dev/ttyS1:"
> #define IGSTK_SERIAL_PORT_2 "/dev/ttyS2:"
> #define IGSTK_SERIAL_PORT_3 "/dev/ttyS3:"
> #define IGSTK_SERIAL_PORT_4 "/dev/ttyS4:"
> #define IGSTK_SERIAL_PORT_5 "/dev/ttyS5:"
> #define IGSTK_SERIAL_PORT_6 "/dev/ttyS6:"
> #define IGSTK_SERIAL_PORT_7 "/dev/ttyS7:"
>
>
>
> Patrick
>
>
> Anka Kochanowska wrote:
>> Thanks!
>> I am just trying to learn how to use Polaris in IGSTK, that's how I
>> got to try the tool test.
>> I've been using release IGSTK-3.0, but changed now to CVS version,
>> taken maybe a week ago.
>> So now my command is
>> ./igstkTests igstkPolarisTrackerTest logIgstkPolarisTrackerTest
>> /opt/polaris_rom_files/passive_pointer/1400394.rom 3
>> My Polaris port is #3, handshaking seems to go well, but testing is
>> getting worse - after the test determined that it is a wireless tool,
>> it switched to Aurora tracker and then back to Polaris.
>> Seems that it does not like command:
>> Write(PHRQ:*********1****A4C1\x0D, 24)
>>
>> Anka:-)
>> _____________
>>
>> 1224095016.45286202430725097656 : (DEBUG)
>> igstk::TrackerTool::TrackerToolConfigurationSuccessProcessing called ...
>> 1224095016.45288491249084472656 : (DEBUG)
>> igstk::TrackerTool::RequestAttachToTracker called...
>> 1224095016.45290398597717285156 : (DEBUG) State transition is
>> being made : PolarisTrackerTool PointerID 0x8515d88
>> ConfiguredState(227) with AttachToolToTrackerInput(215) --->
>> AttemptingToAttachTrackerToolToTrackerState(228).
>> 1224095016.45291590690612792969 : (DEBUG)
>> igstk::TrackerTool::AttemptToAttachTrackerToolToTracker called ...
>> 1224095016.45292592048645019531 : (DEBUG)
>> igstk::Tracker::RequestAttachTool called ...
>> 1224095016.45294594764709472656 : (DEBUG) State transition is
>> being made : PolarisTracker PointerID 0x8506da0
>> CommunicationEstablishedState(99) with AttachTrackerToolInput(108)
>> ---> AttemptingToAttachTrackerToolState(100).
>> 1224095016.45295691490173339844 : (DEBUG)
>> igstk::Tracker::AttemptToAttachTrackerToolProcessing called ...
>> 1224095016.45296788215637207031 : (DEBUG)
>> igstk::PolarisTracker::VerifyTrackerToolInformation called ...
>> 1224095016.45297908782958984375 : (DEBUG) igstk::NDITracker::
>> GetCommandInterpreter ...
>> 1224095016.453144073486328125 : (DEBUG)
>> SerialCommunication::PurgeBuffers called ...
>> 1224095016.45316600799560546875 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> ReadyForCommunicationState(73) with PurgeBuffersInput(90) --->
>> AttemptingToPurgeBuffersState(78).
>> 1224095016.45317792892456054688 : (DEBUG)
>> SerialCommunicationForPosix::InternalPurgeBuffers called ...
>> 1224095016.45320105552673339844 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> AttemptingToPurgeBuffersState(78) with SuccessInput(81) --->
>> ReadyForCommunicationState(73).
>> 1224095016.45322394371032714844 : (DEBUG)
>> SerialCommunication::Write(PHRQ:*********1****A4C1\x0D, 24) called...
>> 1224095016.45326590538024902344 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> ReadyForCommunicationState(73) with WriteInput(88) --->
>> AttemptingToWriteState(76).
>> 1224095016.45329308509826660156 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> AttemptingToWriteState(76) with SuccessInput(81) --->
>> ReadyForCommunicationState(73).
>> 1224095016.45331501960754394531 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> ReadyForCommunicationState(73) with ReadInput(87) --->
>> AttemptingToReadState(75).
>> 1224095016.48632693290710449219 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> AttemptingToReadState(75) with SuccessInput(81) --->
>> ReadyForCommunicationState(73).
>> 1224095016.48637509346008300781 : (DEBUG)
>> SerialCommunication::Read(ERROR016BC2\x0D, 2047, 12) called...
>> 1224095016.48639392852783203125 : (WARNING) NDI Error 0x01:
>> Invalid command
>> 1224095016.48643994331359863281 : (DEBUG) State transition is
>> being made : PolarisTracker PointerID 0x8506da0
>> AttemptingToAttachTrackerToolState(100) with FailureInput(115) --->
>> CommunicationEstablishedState(99).
>> 1224095016.4864521026611328125 : (DEBUG)
>> igstk::Tracker::AttachingTrackerToolFailureProcessing called ...
>> 1224095016.48646211624145507812 : (DEBUG)
>> igstk::TrackerTool::ReportFailedTrackerToolAttachment called ...
>> 1224095016.48648309707641601562 : (DEBUG) State transition is
>> being made : PolarisTrackerTool PointerID 0x8515d88
>> AttemptingToAttachTrackerToolToTrackerState(228) with
>> AttachmentToTrackerFailureInput(222) ---> ConfiguredState(227).
>> 1224095016.4864959716796875 : (DEBUG)
>> igstk::TrackerTool::TrackerToolConfigurationFailureProcessing called ...
>> 1224095016.48903608322143554688 : (DEBUG)
>> igstk::AuroraTrackerTool::RequestSelect6DOFTrackerTool called ...
>> 1224095016.48906397819519042969 : (DEBUG) State transition is
>> being made : AuroraTrackerTool PointerID 0x851a790 IdleState(332)
>> with Select6DOFTrackerToolInput(343) --->
>> 6DOFTrackerToolSelectedState(334).
>> 1224095016.48911595344543457031 : (DEBUG)
>> igstk::AuroraTrackerTool::Report6DOFTrackerToolSelectedProcessing
>> called ...
>> 1224095016.48912811279296875 : (DEBUG) 6DOF Tracker tool selected
>> 1224095016.48913908004760742188 : (DEBUG)
>> igstk::TrackerTool::RequestConfigure called...
>> 1224095016.48915910720825195312 : (DEBUG) State transition is
>> being made : AuroraTrackerTool PointerID 0x851a790 IdleState(293)
>> with ConfigureToolInput(280) --->
>> AttemptingToConfigureTrackerToolState(294).
>> 1224095016.48917102813720703125 : (DEBUG)
>> igstk::TrackerTool::AttemptToConfigureProcessing called ...
>> 1224095016.48918199539184570312 : (DEBUG)
>> igstk::AuroraTrackerTool::CheckIfTrackerToolIsConfigured called...
>> 1224095016.48919892311096191406 : (DEBUG) State transition is
>> being made : AuroraTrackerTool PointerID 0x851a790
>> AttemptingToConfigureTrackerToolState(294) with
>> ToolConfigurationFailureInput(282) ---> IdleState(293).
>> 1224095016.48921108245849609375 : (DEBUG)
>> igstk::TrackerTool::TrackerToolConfigurationFailureProcessing called ...
>> 1224095016.4892330169677734375 : (DEBUG)
>> igstk::TrackerTool::RequestAttachToTracker called...
>> 1224095016.4892520904541015625 : (DEBUG) State transition is
>> being made : AuroraTrackerTool PointerID 0x851a790 IdleState(293)
>> with AttachToolToTrackerInput(283) ---> IdleState(293).
>> 1224095016.48926401138305664062 : (DEBUG)
>> igstk::TrackerTool::ReportInvalidRequestToAttachTrackerToolProcessing
>> called ...
>> 1224095016.48928594589233398438 : (DEBUG)
>> igstk::Tracker::RequestStartTracking called ...
>> 1224095016.48930692672729492188 : (DEBUG) State transition is
>> being made : PolarisTracker PointerID 0x8506da0
>> CommunicationEstablishedState(99) with StartTrackingInput(107) --->
>> AttemptingToTrackState(102).
>> 1224095016.48931908607482910156 : (DEBUG)
>> igstk::Tracker::AttemptToStartTrackingProcessing called ...
>> 1224095016.48932909965515136719 : (DEBUG)
>> igstk::NDITracker::InternalStartTracking called ...
>> 1224095016.48934197425842285156 : (DEBUG)
>> SerialCommunication::PurgeBuffers called ...
>> 1224095016.48936200141906738281 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> ReadyForCommunicationState(73) with PurgeBuffersInput(90) --->
>> AttemptingToPurgeBuffersState(78).
>> 1224095016.48937392234802246094 : (DEBUG)
>> SerialCommunicationForPosix::InternalPurgeBuffers called ...
>> 1224095016.48939490318298339844 : (DEBUG) State transition is
>> being made : SerialCommunicationForPosix PointerID 0x8500528
>> AttemptingToPurgeBuffersState(78) with SuccessInput(81) --->
>> ReadyForCommunicationState(73).
>> 1224095016.48941802978515625 : (DEBUG)
>> SerialCommunication::Write(TSTART:5423\x0D, 12) called...
>>
>> Patrick Cheng wrote:
>>> Hi Anka,
>>>
>>> The igstkPolarisTrackerToolTest only exercise the TrackerTool class'
>>> state machine. It doesn't really do much.
>>>
>>> If you want to test your trackers. You should run the
>>> igtkPolarisTrackerTest.
>>>
>>> In your previous email:
>>> ./igstkTests igstkPolarisTrackerTest logIgstkPolarisTrackerTest.txt
>>> /opt/polaris_rom_files/passive_pointer/1400394.rom
>>>
>>> It seems like you are missing one argument: port number.
>>>
>>> You might be using an older version of the test code, which has the
>>> port number hard coded (configured by CMake). The latest version
>>> take the port number as an input.
>>>
>>> Patrick
>>>
>>> Anka Kochanowska wrote:
>>>>
>>>> // Set the port number
>>>> // std::istringstream inputstream( argv[1] ); //Anka
>>>> if ( argc > 2 ) // Anka
>>>> std::istringstream inputstream( argv[2] );
>>>>
>>>> unsigned int portNumber;
>>>>
>>>> inputstream >> portNumber;
>>>>
>>>> trackerTool->RequestSetPortNumber( portNumber );
>>>>
>>>>
>>>> // Set the SROM filename if specified
>>>> // if ( argc >= 3 ) //Anka
>>>> if ( argc > 3 )
>>>>
>>>> _______________________________________________
>>>> IGSTK-Users mailing list
>>>> IGSTK-Users at public.kitware.com
>>>> http://public.kitware.com/cgi-bin/mailman/listinfo/igstk-users
>>>>
>>>>
>>>
>>
>>
>
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