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/*=========================================================================

 

  Program:   Image Guided Surgery Software Toolkit

  Module:    $RCSfile: igstkAuroraTrackerToolObserverToOpenIGTLinkRelayTest.cxx,v $

  Language:  C++

  Date:      $Date: 2009-06-02 21:36:17 $

  Version:   $Revision: 1.1 $

 

  Copyright (c) ISC  Insight Software Consortium.  All rights reserved.

  See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.

 

     This software is distributed WITHOUT ANY WARRANTY; without even

     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR

     PURPOSE.  See the above copyright notices for more information.

 

=========================================================================*/

 

#if defined(_MSC_VER)

// Warning about: identifier was truncated to '255' characters 

// in the debug information (MVC6.0 Debug)

#pragma warning( disable : 4786 )

#endif

 

#include <iostream>

 

 

#include "igstkRealTimeClock.h"

#include "igstkSystemInformation.h"

#include "igstkSerialCommunication.h"

#include "igstkAuroraTracker.h"

#include "igstkSimulatedTrackerTool.h"

#include "igstkTrackerToolObserverToOpenIGTLinkRelay.h"

 

 

int igstkAuroraTrackerToolObserverToOpenIGTLinkRelayTest( int argc, char * argv [] )

{

 

  if( argc < 6 )

    {

    std::cerr << "Usage: " << std::endl;

    std::cerr << argv[0] << " hostname portnumber numberOfTransformsToSend auroraPortNumber framesPerSecond" << std::endl;

    return EXIT_FAILURE;

    }

 

  igstk::RealTimeClock::Initialize();

 

  typedef igstk::AuroraTracker                         TrackerType;

  typedef igstk::AuroraTrackerTool                     TrackerToolType;

  typedef igstk::TrackerToolObserverToOpenIGTLinkRelay       ObserverType;

 

  TrackerType::Pointer      tracker      = TrackerType::New();

  TrackerToolType::Pointer  trackerTool  = TrackerToolType::New();

  ObserverType::Pointer     toolObserver = ObserverType::New();

 

  igstk::SerialCommunication::Pointer 

                     serialComm = igstk::SerialCommunication::New();

 

  typedef igstk::SerialCommunication::PortNumberType PortNumberType; 

  unsigned int portNumberIntegerValue = atoi(argv[4]);

  PortNumberType  polarisPortNumber = PortNumberType(portNumberIntegerValue); 

  serialComm->SetPortNumber( polarisPortNumber );

  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( "RecordedStreamByAuroraTrackerTest.txt" );

  serialComm->SetCapture( true );

 

  serialComm->OpenCommunication();

 

  tracker->SetCommunication( serialComm );

 

  double frequency = atof( argv[5] ); 

  tracker->RequestSetFrequency( frequency );

  tracker->RequestOpen();

 

  trackerTool->RequestSelect6DOFTrackerTool();

  trackerTool->RequestSetPortNumber( portNumberIntegerValue );

  trackerTool->RequestConfigure();

 

  trackerTool->RequestAttachToTracker( tracker );

 

  toolObserver->RequestSetTrackerTool( trackerTool );

  toolObserver->RequestSetHostName( argv[1] );

  toolObserver->RequestSetPort( atoi( argv[2] ) );

  toolObserver->RequestSetFramesPerSecond( frequency );

  toolObserver->RequestStart();

 

  tracker->RequestStartTracking();

 

  const unsigned int numberOfTransformsToSend = atoi( argv[3] );

 

  for( unsigned int i = 0; i < numberOfTransformsToSend; i++ )

    {

    igstk::PulseGenerator::Sleep(10);

    igstk::PulseGenerator::CheckTimeouts();

    }

 

  tracker->RequestStopTracking();

  tracker->RequestReset();

  tracker->RequestClose();

 

  return EXIT_SUCCESS;

}