Page MenuHomePhabricator
Files F1015586

ndiAurora2ndChannelPatch.patch
klemmma (Martin Klemm)
Actions

Authored By
klemmma
Apr 19 2018, 1:16 PM
Size
7 KB
Referenced Files
None
Subscribers
None

ndiAurora2ndChannelPatch.patch
View Options

diff --git a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp
index 9f3e895a38..0cbd843ece 100644
--- a/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp
+++ b/Modules/IGT/TrackingDevices/mitkNDITrackingDevice.cpp
@@ -1063,69 +1063,111 @@ bool mitk::NDITrackingDevice::DiscoverWiredTools()
/* First, check for disconnected tools and remove them */
this->FreePortHandles();
- /* check for new tools, add and initialize them */
- NDIErrorCode returnvalue;
+ //NDI handling (PHSR 02, PINIT, PHSR 02, PHSR 00) => all initialized and all handles available
+ //creation of MITK tools
+ //NDI enable all tools (PENA)
+ //NDI get all serial numbers (PHINF)
+
+ /**
+ NDI handling (PHSR 02, PINIT, PHSR 02, PHSR 00) => all initialized and all handles available
+ **/
+
+ /* check for occupied port handles on channel 0 */
std::string portHandle;
+ NDIErrorCode returnvalue = m_DeviceProtocol->PHSR(OCCUPIED, &portHandle);
+
+ if (returnvalue != NDIOKAY)
+ {
+ mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected on channel 0.";
+ }
+
+ /* Initialize all port handles on channel 0 */
+ for (unsigned int i = 0; i < portHandle.size(); i += 2)
+ {
+ std::string ph = portHandle.substr(i, 2);
+ returnvalue = m_DeviceProtocol->PINIT(&ph);
+
+ if (returnvalue != NDIOKAY)
+ {
+ mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize port '") + ph + std::string("."));
+ }
+ }
+
+ /* check for occupied port handles on channel 1 (initialize automatically, portHandle is empty although additional tools were detected) */
+ //For a split port on a dual 5DOF tool, the first PHSR sent will report only one port handle. After the port handle is
+ //initialized, it is assigned to channel 0. You must then use PHSR again to assign a port handle to channel 1. The
+ //port handle for channel 1 is initialized automatically.
returnvalue = m_DeviceProtocol->PHSR(OCCUPIED, &portHandle);
if (returnvalue != NDIOKAY)
{
- mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected";
+ mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected on channel 1.";
}
- /* if there are port handles that need to be initialized, initialize them. Furthermore instantiate tools for each handle that has no tool yet. */
- std::string ph;
+ /* read all port handles */
+ returnvalue = m_DeviceProtocol->PHSR(ALL, &portHandle);
- /* we need to remember the ports which are occupied to be able to readout the serial numbers of the connected tools later */
- std::vector<int> occupiedPorts = std::vector<int>();
- int numberOfToolsAtStart = this->GetToolCount(); //also remember the number of tools at start to identify the automatically detected tools later
+ if (returnvalue != NDIOKAY)
+ {
+ mitkThrowException(mitk::IGTHardwareException) << "Could not obtain a list of port handles that are connected on all channels.";
+ }
+
+ /**
+ 1. Create MITK tracking tool representations of NDI tools
+ 2. NDI enable all tools (PENA)
+ **/
+
+ //remember the number of tools at start to identify the automatically detected tools later
+ int numberOfToolsAtStart = this->GetToolCount();
for (unsigned int i = 0; i < portHandle.size(); i += 2)
{
- ph = portHandle.substr(i, 2);
- if (this->GetInternalTool(ph) != nullptr) // if we already have a tool with this handle
- continue; // then skip the initialization
+ std::string ph = portHandle.substr(i, 2);
+ if (this->GetInternalTool(ph) != nullptr) // if we already have a tool with this handle
+ continue; // then skip the initialization
- //instantiate an object for each tool that is connected
- mitk::NDIPassiveTool::Pointer newTool = mitk::NDIPassiveTool::New();
- newTool->SetPortHandle(ph.c_str());
- newTool->SetTrackingPriority(mitk::NDIPassiveTool::Dynamic);
+ //define tracking priority
+ auto trackingPriority = mitk::NDIPassiveTool::Dynamic;
- //set a name for identification
- newTool->SetToolName((std::string("Port ") + ph).c_str());
+ //instantiate an object for each tool that is connected
+ mitk::NDIPassiveTool::Pointer newTool = mitk::NDIPassiveTool::New();
+ newTool->SetPortHandle(ph.c_str());
+ newTool->SetTrackingPriority(trackingPriority);
- returnvalue = m_DeviceProtocol->PINIT(&ph);
- if (returnvalue != NDIINITIALIZATIONFAILED) //if the initialization failed (AURORA) it can not be enabled. A srom file will have to be specified manually first. Still return true to be able to continue
- {
- if (returnvalue != NDIOKAY)
- {
- mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not initialize port '") + ph +
- std::string("' for tool '") + newTool->GetToolName() + std::string("'")).c_str();
- }
- /* enable the port handle */
- returnvalue = m_DeviceProtocol->PENA(&ph, newTool->GetTrackingPriority()); // Enable tool
- if (returnvalue != NDIOKAY)
- {
+ //set a name for identification
+ newTool->SetToolName((std::string("Port ") + ph).c_str());
+
+ /* enable the port handle */
+ returnvalue = m_DeviceProtocol->PENA(&ph, trackingPriority); // Enable tool
+
+ if (returnvalue != NDIOKAY)
+ {
mitkThrowException(mitk::IGTHardwareException) << (std::string("Could not enable port '") + ph +
- std::string("' for tool '") + newTool->GetToolName() + std::string("'")).c_str();
- }
- }
- //we have to temporarily unlock m_ModeMutex here to avoid a deadlock with another lock inside InternalAddTool()
- if (this->InternalAddTool(newTool) == false)
- {
- mitkThrowException(mitk::IGTException) << "Error while adding new tool";
- }
- else occupiedPorts.push_back(i);
+ std::string("' for tool '") + newTool->GetToolName() + std::string("'")).c_str();
+ }
+
+ //we have to temporarily unlock m_ModeMutex here to avoid a deadlock with another lock inside InternalAddTool()
+ if (this->InternalAddTool(newTool) == false)
+ {
+ mitkThrowException(mitk::IGTException) << "Error while adding new tool";
+ }
}
+ /**
+ NDI get all serial numbers (PHINF)
+ **/
+
// after initialization readout serial numbers of automatically detected tools
- for (unsigned int i = 0; i < occupiedPorts.size(); i++)
+ for (unsigned int i = 0; i < portHandle.size(); i += 2)
{
- ph = portHandle.substr(occupiedPorts.at(i), 2);
- std::string portInfo;
- NDIErrorCode returnvaluePort = m_DeviceProtocol->PHINF(ph, &portInfo);
- if ((returnvaluePort == NDIOKAY) && (portInfo.size()>31)) dynamic_cast<mitk::NDIPassiveTool*>(this->GetTool(i + numberOfToolsAtStart))->SetSerialNumber(portInfo.substr(23, 8));
- itksys::SystemTools::Delay(10);
+ std::string ph = portHandle.substr(i, 2);
+
+ std::string portInfo;
+ NDIErrorCode returnvaluePort = m_DeviceProtocol->PHINF(ph, &portInfo);
+ if ((returnvaluePort == NDIOKAY) && (portInfo.size() > 31))
+ dynamic_cast<mitk::NDIPassiveTool*>(this->GetInternalTool(ph))->SetSerialNumber(portInfo.substr(23, 8));
+ MITK_INFO << "portInfo: " << portInfo;
+ itksys::SystemTools::Delay(10);
}
return true;

File Metadata

Mime Type
text/x-diff
Storage Engine
blob
Storage Format
Raw Data
Storage Handle
352638
Default Alt Text
ndiAurora2ndChannelPatch.patch (7 KB)

Event Timeline

MITK · MIC · IMSY · DKFZ