[IGSTK-Users] PolarisTracker problem on IGSTK
Lin Qi
lqi at ee.cuhk.edu.hk
Wed Oct 21 02:03:40 EDT 2009
I do use the full path of the SROM in the command :
F:\IGSTK\IGSTK-build\bin\Debug>PolarisTrackerExample
PolarisTrackerLog.txt f:\IGSTK\IGSTK-build\bin\Debug\8700339.rom 3
but it failed to tracking tool, the command:
PHRQ:*********1****A4C1\x0D
got the reply:
ERROR0C4E42\x0D
That means "Command is invalid while in the current mode. ". I guess
that only after the PHRQ gets the success reply, then the PVWR is able
to assign the tool definition file.
I really don't know what this problem is.
2009/10/21 Patrick Cheng <cheng at isis.georgetown.edu>:
> Hi Lin Qi,
>
> Did you use relative path or full path when you set the SROM file? It should
> be full path.
>
> Patrick
>
> Lin Qi wrote:
>>
>> hi, Jake:
>>
>> Thanks for your reply!
>>
>> i removed the trackerTool2->RequestSetPortNumber( 1 );, but the
>> prolem is still the same.
>>
>> I analyzed the log file captured by NDI API sample program, the whole
>> command procedure of the tracking is like
>>
>> RESET -> COMM: comsetting -> INIT -> IRATE ->
>> PHRQ:********01****9EC3-> PVWR: SROM file -> PHSR: port# ->
>> PINIT:port# -> PENA :port# ->PHINF:port# ->TSTART
>>
>> The Hybrid Spectra system ran very well under the NDI API sample
>> program, so i think the hardware works well.
>>
>> but in the IGSTK, the command procedure is just like this:
>>
>> RESET->INIT->COMM:comsetting ->PHRQ:*********1****A4C1 ->TSTART
>>
>> After the sending the PHRQ, igstk received the ERROR0C4E42, is that
>> related to event "TrackerToolAttachmentToTrackerErrorEvent"?
>>
>> Obivously,without assigining the tool definition file with PVWR,
>> TSTART got the reply ERROR0C4E42 and the tracking failed.
>>
>> How to solve this problem?
>>
>> Thanks and Regards
>> 2009/10/21 Jake McIvor <jdmcivor at interchange.ubc.ca>:
>>>
>>> Hey Cruise,
>>>
>>> Try removing the line:
>>>
>>> trackerTool2->RequestSetPortNumber( 1 );
>>>
>>> I am not sure about the Spectra, but I use an older version of the
>>> hybrid and it isn't necessary to set the port number of wireless
>>> tools. The port number is generated by the tracker hardware after a
>>> port request is sent through the NDI API.
>>>
>>> Let me know if that works,
>>>
>>> Cheers,
>>>
>>> Jake
>>>
>>> --
>>> Jake McIvor
>>> MASc Candidate, Biomedical Engineering
>>> University Of British Columbia
>>>
>>> On Tue, Oct 20, 2009 at 9:54 AM, Lin Qi <lqi at ee.cuhk.edu.hk> wrote:
>>>>
>>>> hi, Patrick:
>>>>
>>>> I am trying to use the IGSTK 4.2 for research. My system is Polaris
>>>> Hybrid Spectra with Combined Revision 012 under the windows vista and
>>>> visual studio 2008.
>>>> The build process is all right. Then I modified the source code of
>>>> example PolarisTrackerExample.cxx to retain the only one wireless
>>>> tool.
>>>>
>>>> The serialcommunication seems ok. The tracker can response the reset
>>>> and initialization command.
>>>>
>>>> But there are some problems from the PolarisTrackerLog.txt:
>>>> 1. trackerTool2->RequestAttachToTracker( tracker ); will generate the
>>>> message" TrackerToolAttachmentToTrackerErrorEvent "
>>>> 2. tracker->RequestStartTracking(); will generate the message"
>>>> TrackerStartTrackingErrorEvent "
>>>>
>>>> Then i used the NDI API sample application to test tracking wireless
>>>> tool, the demo ran well. And i got the log file
>>>> "NDIAPISampleCapture.txt"captured from the serial comm. i compared
>>>> this file with the file "RecordedStreamByPolarisTracker.txt" output by
>>>> PolarisTrackerExample.exe, and found that in IGSTK, the command
>>>> procedure to initialize the tracker system, set the port handle and
>>>> start tracking was so simple. Finally, the tracking failed.
>>>>
>>>> I don't know why this happened, is that the problem about Polaris
>>>> Spectra Combined Revision?
>>>>
>>>> All the files are attached!
>>>>
>>>> Can you help me about this problem?
>>>>
>>>> Thanks and Regards
>>>>
>>>> Cruise.
>>>>
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-------------- next part --------------
Logger output saved here:
PolarisTracker.txt
SetCommunication()
RequestOpen()
InputOutputTimeoutEvent
TrackerOpenEvent
Instantiate second tracker tool:
SROM file: f:\IGSTK\IGSTK-build\bin\Debug\8700339.rom
TrackerToolConfigurationEvent
TrackerToolAttachmentToTrackerErrorEvent
TrackerStartTrackingErrorEvent
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:8700339 Position = (0,0,0)
RequestStopTracking()
InvalidRequestErrorEvent
RequestClose()
TrackerCloseEvent
CloseCommunication()
-------------- next part --------------
24545050973.560799 : (DEBUG) # recorded Wed Oct 21 13:42:53 2009
24545050978.910091 : (INFO) 0. receive[0]
24545050978.910484 : (INFO) 1. command[10] INIT:E3A5\x0D
24545050981.586864 : (INFO) 1. receive[10] RESETBE6F\x0D
24545050981.587257 : (INFO) 2. command[10] VER:065EE\x0D
24545050981.788048 : (INFO) 2. receive[172] Polaris Spectra Control Firmware\x0ANDI S/N: P7-02071\x0ACharacterization Date: 09/17/09\x0AFreeze Tag: Polaris Spectra Rev 006\x0AFreeze Date: 03/26/08\x0A(C) Northern Digital Inc.\x0A816F\x0D
24545050981.788464 : (INFO) 3. command[15] COMM:500000048\x0D
24545050981.829773 : (INFO) 3. receive[9] OKAYA896\x0D
24545050981.85807 : (INFO) 4. command[24] PHRQ:*********1****A4C1\x0D
24545050981.865818 : (INFO) 4. receive[12] ERROR0C4E42\x0D
24545050981.869762 : (INFO) 5. command[12] TSTART:5423\x0D
24545050981.878815 : (INFO) 5. receive[12] ERROR0C4E42\x0D
24545050982.402985 : (INFO) 6. command[15] COMM:000000084\x0D
24545050982.409801 : (INFO) 6. receive[9] OKAYA896\x0D
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