mtsNDISerial.h File Reference

SAW component for NDI surgical trackers with serial (RS-232) interface. More...

#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstOSAbstraction/osaSerialPort.h>
#include <cisstOSAbstraction/osaStopwatch.h>
#include <cisstMultiTask/mtsMatrix.h>
#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <sawNDITracker/sawNDITrackerExport.h>

Go to the source code of this file.

Classes
class	mtsNDISerial
class	mtsNDISerial::Tool

Functions
	CMN_DECLARE_SERVICES_INSTANTIATION (mtsNDISerial)

Detailed Description

SAW component for NDI surgical trackers with serial (RS-232) interface.

Warning

Missing support for 14400bps, 921600bps and 1228739bps baud rates in osaSerialPort.

Todo:

Consider deriving from mtsTaskContinuous using an "adaptive" sleep.

Verify the need for existing sleep times.

Enable/disable individual tools on-the-fly (or dynamically disable their interfaces).

Move CalibratePivot to cisstNumerical?

Handle other main types of tools (besides pointer, reference, etc.).

Parse port/system status, in order to get "partially out of volume", etc..

Refactor ComputeCRC and implement a CRC check in CommandSend (move CRC check to osaSerialPort?).

Every sscanf should check if valid number of items have been read (wrapper for sscanf?).

Error handling for all strncpy.

Check for buffer overflow in CommandAppend.

Support for the extra features of newer Polaris versions.

Pretty print for SerialNumber, to extract date, etc..

Overload Tool class to have a stream.

Use frame number to decide if timestamp should be refreshed.

Use a map to convert Tool's MainType to human readable text.

Strategies for error recovery, send an event with a human readable payload, implement in CheckResponse.

Function Documentation

CMN_DECLARE_SERVICES_INSTANTIATION

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mtsNDISerial

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