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2.3 Tracker Programming Interface

1. 223 4 3 5 CESAPICOMmmand 0 eeeeeeeeeeeeeeeeeees 224 4 3 6 CESAPIRGCCIVE ccceeeeeeeeeeeeeeeeeeeeeeeees 226 4 3 7 Queued and Scattered Data 227 4 3 8 Partial Settings Changes cceeeeee 231 4 3 9 Asynchronous Programming Issues 232 4 4 C Language TPI Samples 235 4 4 1 Sample A lt o xo terctevtaseeds lates tates levee ete 235 442 Sample O ccescctceer ec aaae aiea aaao igiri 238 4 4 3 Sample 12 aaassnnneeeeenosssenenrnrrsesereerrnnrnrseeeeeeene 239 5 COM Interface 5 1 High level TPI Programming 242 5 1 1 DPAWDACKS son dccniecndiac ten decnccendedadeceddcndndmbedndedadse 242 5 1 2 Introduction ce scat tssd tec ecaee lash cles e ati 242 5 2 COM TPI Programming Instructions 244 5 2 1 VisualBasic and VBA Applications 244 5 2 2 C APPUCAIONG 1 22 2crcerete coset ane 247 5 5 2 3 Notification Method cccceeececeeeeeeeeeeees 248 5 2 4 Exceptions and Return Types 0000 250 5 2 5 COM TPI Programming Languages 253 5 2 6 Proper Interface Selection cccccccceeeeeees 255 5 2 7 Type Library asc08 7 Asana ueh AAA 257 5 2 8 COM TPI Reference cccceceeeeeeeeeeees 258 5 2 9 Registering COM Objects cceeeeeees 259 5 2 10 Synchronous versus Asynchronous Interface 260 5 2 11 Multi Tracker Applications
2. 147 diagonal points of a box Values are in current units and CS type but not according to active transformation settings These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enabled together with the Box region type SphereRegionDataT struct SphereRegionDataT double dVall double dVal2 double dVal3 double dRadius Used for parameters of Set GetSphereRegionParams commands The parameters describe center point and radius of a sphere Values are in current units and apart from Radius in current CS type and according to applied transformation settings These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enabled together with Sphere region type ESVersionNumberT struct ESVersionNumberT int iMajorVersionNumber int iMinorVersionNumber int iBuildNumber Used for one of the parameters of the GetSystemStatus command Contains version info of the currently installed tracker server software 148 TransformationInputDataT struct TransformationInputDataT enum ES_TransResultType resultType double dTransVall double dTransVal2 double dTransVal3 double dRotVall double dRotVal2 double dRotVal3 double dScale double dTransStdVall double dTransStdVal2 double dTransStdVal3 double dRotStdVvall double dRotStdVal2 double dRot St
3. 277 Always test the variable directly or against Not False Example Ob jSync GetContinuousDistanceModeParamsEx dataout If dataout bUseRegion Then MsgBox bUseRegion is True End If or If Not dataout bUseRegion False Then MsgBox bUseRegion is True End If are both correct However the following would evaluate to a wrong result If dataout bUseRegion True Then MsgBox bUseRegion is True No message even flag true End If Further details see Readme txt file in Sample 5 folder and code comments in source files 5 3 2 Sample 7 The LtcCPPClient provides a dialog based MFC C application It uses the synchronous interface but also implements an event sink to catch asynchronous answers continuous measurements and error events Programmers need to be familiar with ATL COM in order to understand the event sink implementation Refer to a COM book for further details The LtcCPPClient covers all essential initial steps for a successful system start and accurate results with some disabled code which demonstrates all other variants of notification methods which may be more familiar to programmers than event handling Fx See comments in source code Message Notifications The disadvantages of message notifications are 278 e The result parameters cannot be received directly e There are only general messages for all types of answers e Usually only the siz
4. 338 LTC HW Trigger cable LTC card to Encoder card not connected 990 LTC Tacho Power Supply failed located in the measuring head 999 Unknown hardware error SSS O 10 2 T PRODUCTS ERROR NUMBERS Unique ID_ Text MSGERR ERROR message table inconsistent entry d MSGERR ERROR attachement ring buffer overrun PARMGR MESSAGE New parameter initialisation PARMGR ERROR CRC on parameter table PARMGR ERROR not allowed range for this parameter PARMGR ERROR unknown parameter id PARMGR REMARK parameter table is full PARMGR WARNING table size defined in code and that saved in flash differs PARMGR WARNING error occure during load PARMGR ERROR error occure during save PARMGR ERROR invalid command parameter PARTBL ERROR flash table not found PARTBL ERROR invalid table block number PARTBL ERROR invalid table data O CMDI ERROR unknown keyword CMDI ERROR not allowed command in this mode CMDI ERROR to long string parameter EE DCSC ERROR wrong value for T Cam mode DSPHL ERROR timeout during V_INIT command 3054 DSPHL ERROR timeout during V_INFO command TGT Command parameter invalid command not executed TGT FGIF data invalid data block discarded TGT Section list overflow line discarded 339 3113 TGT Invalid image item data item skipped TGT Objects per line overflow further objects discarded TGT Objects in total overflow furthe
5. bool SetContinuousTimeModeParams long l1TimeSeparation long 1lNumberOfPoints bool bUseRegion ES_RegionType regionType Example for a command taking a struct parameter bool SetContinuousTimeModeParams ContinuousTimeModeDataT continuousTimeModeData The latter two functions are different overloads of the same function Many of the command function exist in two different overloads Depending on context it may be more suitable for an application to use one or the other overload A complete listing of all these functions is available from the CESAPICommand class definition in the file ES_CPP API Def h file Rather than redundantly listing all of these member functions in this chapter a general rule is presented on how to derive the function names from the related C TPI structures The text in brackets shows the rule applied to a sample 1 Look up the command of interest in the enum ES_Command C TPI Reference ES_C_SetContinuousTimeModeParams 2 Remove the prefix ES_C_ from the command tag name This will be the name of the C function SetContinuousTimeModeParams 3 For finding the input parameters add the Postfix CT to the remaining command tag name SetContinuousTimeModeParamsCT 4 Look up this CT structure in the C TPI reference for a description of all the parameters 218 4 2 2 CESAPIReceive class ReceiveData bool ReceiveData vo
6. struct BasicCommandRT packetInfo int iTotalCompensations int iInternalTipToProbeCompensationId int iInternalTipAdapterId int iTipAdapterInterface int iInternalProbeCompensationId ES_BOOL bMarkedForExport unsigned short cTipToProbeCompensationName 32 unsigned short cTipToProbeCompensationComment 128 GetTipToProbeCompensationCT RT Command structures to get the ID of active Tip to Probe compensation There is no related Set command since detection is automatic The GetTipToProbeCompensation command delivers the compensation ID as only parameter struct GetTipToProbeCompensationCT struct BasicCommandCT packetInfo struct GetTipToProbeCompensationRT struct BasicCommandRT packetInfo int iInternalTipToProbeCompensationId hi 199 Get SetExternTriggerParamsCT RT Command structures for setting getting the external trigger parameters See ExternTriggerParamsT structure for parameter description struct SetExternTriggerParamsCT struct BasicCommandCT packetInfo struct ExternTriggerParamsT triggerParams struct SetExternTriggerParamsRT struct BasicCommandRT packetInfo struct GetExternTriggerParamsCT struct BasicCommandCT packetInfo struct GetExternTriggerParamsRT struct BasicCommandRT packetInfo struct ExternTriggerParamsT triggerParams GetErrorEllipsoidCT RT Command structures to calculate an error ellipsoid from a
7. e COM methods throw exceptions in case of failure The sample code shown below shows how to handle these On Error Goto It s highly recommended to wrap every COM method calling function with an On Error Got Error Handler statement Do not forget the Exit Sub statement just before the ErrorHandler label Here is a stripped down version of the Samples Connect handler It shows only the essential steps See Sample code for a more sophisticated Connect handler with getting the IP address from user interface etc Private Sub Button_Connect_Click On Error goo error handler Ob jConnect ConnectEmbeddedSystem 192 168 0 1 700 This is important if events want to be received electrification s LTC_NM_Event 0 0 NEVER FORGET to initialize the objects this way Set Ob jSync Connecticut s Set ObjAsync disconnectedness s Exit Sub ErrorHandler MsgBox Err Description End Sub The End statement in the error case exits the application when connection to the tracker server has failed To disconnect from Tracker Server use a handler as shown below Only essential code is shown Private Sub Button_Disconnect_Click disconnectednesses End Sub Fic See Sample 7 for an explanation of the call electrification s LTC_NM_ Event 0 0 272 However for VisualBasic applications it usually does not make sense to call this method with other parame
8. will be read in one read cycle limited to a certain buffer size These might be several combined packets or only a fraction of a trailing packet Problem Solution There are several possible approaches 1 Provide a sufficient read buffer and read all that is currently pending The client application parses the data block into packets using the header information and size of each packet With a fragmented last packet the next read cycle is started and the two fragments from the previous and the current reading are assembled together This is probably the most efficient method since it minimizes the number of reading interrupts However it is also the most complex one in terms of data parsing 2 Read only the header to determine the size of the first pending packet The rest of the packet is estimated by reading packetSize header Size bytes Variant method Peek instead of Read the header without removing data from the socket With known size read as many bytes as indicated by packetSize See code sample below The sample code shown below demonstrates a method to ensure complete packets if data blocks arrive scattered and to avoid data congestion traffic jams It is based on Winsock 2 0 API functions 228 LRESULT CMsgSink OnMessageReceived UINT uMsg WPARAM wParam LPARAM lParam BOOL amp bHandled The read buffer is kept static for performance reasons In a real application
9. Private Sub CommandSync_ErrorEvent _ ByVal command As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus eWhen doing the same in VBAQ7 it will read as follows Private Sub CommandSync_ErrorEvent ByVal command As Long _ ByVal status As Long Visual Basic keeps the enum type information and recognizes the parameters with their correct enum types while VBA just passes them as long parameters However the symbols of the enum values are correctly recognized although not checked by the compiler for correct typing which can lead to errors which are difficult to find This problem is not specific to VBA it also exists in VB There are two different situations where enums and their value symbols affect the interface Method takes enum type parameters for example call SetMeasurementMode the same way for both VB and VBA ICommandSync SetMeasurementMode ES_MM_ContinuousDistance 1 ES_MM_ContinuousDistance will be correctly recognized as having the value 2 see enum definition 2 Correct typing of values VB as well as the VBA interpreter will not recognize typing 265 errors in enum symbols here However both VB and VBA provide IntelliSense providing for a selection from a list rather than having to type them in 3 Event handlers as we have seen above pass enums as long values in VBA The incoming values can be tested against enum symbols
10. Winsock API In Windows applications the Winsock OCX control could be used instead of the Winsock API However the Winsock API functions are more efficient than the Winsock OCX control The use of a MFC library permits even a very convenient class wrapper around the Winsock API Refer to the CAsyncSocket and CSocket classes in C section for details 215 4 C Interface 4 1 Class based TPI Programming 4 1 1 Preconditions Using the C interface requires sufficient knowledge of object oriented programming A programmer should at least know about class design class inheritance virtual functions member function overloads asynchronous programming concepts and TCP IP socket programming This chapter describes wrapper classes for data structures and two main classes used for sending commands and receiving answers The description of the classes in this chapter may be slightly discrepant to the contents of the ES_CPP_API_Def h file in the SDK In case of discrepancies the information in the ES_CPP_API_Def h file should be regarded as correct Sample 4 former Sample 4_2 in emScon 1 5 comprises all these topics This sample is most suitable for introduction into emScon C programming The C TPI does not provide any additional functions for the Tracker Server It is built upon the C TPI and is made up of one include file ES_CPP_API_Def h with ES_C_API_Def h as its basis The C interface implements tw
11. cccccceeeeeeeeeeeeeeeeeeeeees 335 10 1 4 Laser Control Processor HW Errors 335 10 1 5 Absolute Distance Meter HW Errors 335 10 1 6 Hardware Error additional error numbers tothe OXXQIOUP iea a a et te Peet ccn eet ses 336 10 1 7 Operation Errors i ttctt ede etre eievtieeercts 336 10 1 8 Hardware Configuration Errors user oo d ejf 0 eee 337 10 1 9 Hardware Error requires service personnel atiii sorniera eea aaa ine aiie 338 10 2 T PRODUCTS ERROR NUMBERS 339 2 Introduction 2 1 Prerequisites 2 1 1 Tracker Basics Terminology This manual does not replace tracker operating knowledge Users of this Reference Manual must be familiar with tracker operation and tracker specific terms such as Bird bath Tracker initialization etc 2 1 2 Abbreviations TPI Tracker Programming Interface TS Tracker Server CS Coordinate System ADM Absolute Distance Meter IFM Interferometer TP Tracker Processor NYI Not yet implemented LT Laser Tracker 2 1 3 Hardware The emScon TPI supports the following Laser Trackers e LT300 e LT500 amp LTD500 e LT600 amp LTD600 e LTD700 e LT800 amp LTD800 2 1 4 Programming Environment This manual notation samples is based on Microsoft Visual Studio 6 0 VC 6 0 Visual Basic 6 0 running on Microsoft Windows 98 NT 2000 Some samples refer to VisualStudio 7 0 C and VB NET samples e For Unicode applications install VC with
12. 0000 261 5 2 12 Visual Basic Boolean variable evaluation 261 5 2 13 Reading Data Blocks with Visual Basic 262 5 2 14 VBA Macro Language Suppott 264 5 2 15 Continuous measurements and VBA 266 5 2 16 Scripting Language Suppott 000 269 5 2 17 Exception Handling for Non Microsoft Clients 269 5 3 COM TPI Samples cccccesssssssseeeees 270 531 Sample Saee hen a ei 270 5 32 Sample 1 oiiaii einega iaai aaant 278 53 3 Sample 8 orregaiti iganna aeiu int 285 5 3 4 Sample Ahaha Ae hha eM ha Nae 285 590 OaM e 1D veer tern chiar ceuteananaieue cater nates 286 DO Sample Variance eect al ees heheh eke nes 286 53 7 Sampe 20 af ttre e eaaa A ASE EEANN E ESEA ARE 286 C Interface 6 1 Client Programming with C 00 288 6 1 1 MTOGUCHON ices naa aea 288 6 1 2 C Application Programming eee 288 6 1 3 Sample 16 eeeeecccceeeeeeeeeeeeseeeeeeeeeeeeeeeeees 289 6 1 4 Sample 17 vecccccescessesececscecenessespeseccesienesesteenenlst 289 Base User Interface BUI 7 1 Client Programming and BUJ 4 293 7 1 1 Measurement BUI versus Compensation Applicati nS s e inienn en e naas 293 7 1 2 EmScon Basic User Interface BUI 293 7 1 3 Integration of BUI into applications 294 7 1 4 Sample 13 2 se et ace sae da acceneitetteatae 294 Selected Commands in Detail 8 1 Special FUNCTIONS ccceecee
13. 138 the beam always remains attached to the same reflector and there is a major time gap between measurements several minutes or hours Note that the useADM flag has no effect for 6DOF measurement modes and will be ignored for these modes regardless whether true or false Note The bUseADM Flag only applies to 3D measurement modes and has no effect to 6D modes It can be ignored in 6D cases Continuous TimeModeDataT struct ContinuousTimeModeDataT long 1TimeSeparation long l1NumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set GetContinuousTimeModeParams commands A INumberOfPoints value of zero means infinite in this case the measurement must be stopped explicitly with a StopMeasurement command Time separation is in milliseconds and can vary between 1 99999 ms ContinuousDistanceModeDataT struct ContinuousDistanceModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set GetContinuousDistanceModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Rather than based on a time separation criteria a distance criteria is used It is in current length unit Note One single measurement will be preformed upon StartMeasurement Further measurements are not taken until the reflector is being moved
14. GetSystemStatus command ESVersionNumberT esVersionNumber Depending on the server version the application is connected to it has to allow prevent commands being executed If the queried server version for example evaluates to 1 5 the application would have to block for example gray out menus all 6Dof related commands See enum ES_Command in file ES_C_Api_def h for availability of commands in which version There are comments such as New commands added for release 2 0 2 3 9 Sample Code The samples tutorials which are part of the SDK and which have to be regarded as integral part of this manual show the principles of TPI programming in terms of ready to compile use applications However the sample applications may not be of 20 real practical use with respect to the specific TPI commands they implement The focus of the samples is set to show principles of tracker control In a practical application in order to get accurate results it is crucial to implement all the steps as listed under Initial steps The number of files and overhead in the samples has been kept to a minimum Code generated from wizards such as recompiled headers icon res2 includes and cosmetic functions have been stripped off See also the numerous comments in the sample source files and the ReadMe txt files in each sample folder Error Handling The samples do not always implement complete err
15. In contrast to the PositionRelative command MoveHV does not mean a one time movement The MoveHV command rather means Start movement struct MoveHVCT struct BasicCommandCT packetInfo int iHzSpeed int iVtSpeed hi struct MoveHVRT struct BasicCommandRT packetInfo hi q The speed parameters are prefixed with clockwise is and anti clockwise is to specify the direction of movement GoNivelPositionCT RT struct GoNivelPositioncT struct BasicCommandCT packetInfo enum ES_NivelPosition nivelPosition hi struct GoNivelPositionRT struct BasicCommandRT packetInfo hi Structures for invoking the GoNivelPosition command in the orient to gravity procedure The input parameters are the pre defined Nivel positions 1 to 4 This command is mainly used for the Orient to Gravity command It is rarely used by applications unless an own orient to Gravity procedure is implemented 177 The tracker head moves at a slow speed to minimize affecting the Nivel sensor LookForTargetCT RT Structures for invoking the LookForTarget command The input parameters are in the selected CS type units The output parameters are always angles related to the tracker coordinate system in the current angle unit settings This command is mainly used for LT series of trackers without ADM For LTD trackers rather use GoPosition instead struct LookForTargetCT
16. Preface Contact Leica Geosystems AG Metrology Division Moenchmattweg 5 5035 Unterentfelden Switzerland Phone 41 62 737 67 67 Fax 41 62 737 68 34 www leica geosystems com ims index htm 1 Contents Contents Introduction 2 1 PrerequiSites eccceeceeesssssseeeeeeeeeeeeees 8 2 1 1 Tracker Basics Terminology cccceeeeeeeeees 8 2 1 2 ADDreViAtIONS cccccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 8 2 1 3 Hardware sstrictiasderdyletissroaiiuirl ese eeiiyl sceliyoes 8 2 1 4 Programming Environment 0 ceeeeee 9 21 5 TOPAP Protocol nisms cmssiatintaisvamseisverveuventesss 9 2 2 TCP IP Communication ssssssseeeeeeeeees 9 22 0 Socket FUNCHONS sonan na iae 9 2 3 Tracker Programming Interface 11 2 3 1 Platform and Programming Language Issues 11 2 3 2 Prefixes and Suffixes used in Type Names 12 2 3 3 Asynchronous Communication cc0ee 13 2 3 4 Working Conditions ccc cceceeeeeeeeeeeeeeeeees 14 2 3 5 Coordinate Parameter Triplets ee 16 2 3 0 POISISIONCY iniisa a 17 2 3 7 Default Settings wi cisccetcccccecietniarsetiiietecesaseie as 17 2 3 8 Version Backward Compatibility 0 18 23 9 Sample GOGC s itesccte ct rectal a aaa 20 2 4 Application Initial Steps eeeee 22 2 4 1 Essential Steps ce eeeeeeeeeeeeeeeeeeeeeeeeee 22 2 4 2 Command Sequence for 3D Meas
17. are available from the Tracker Server These answers mainly resolve the relation between item name string and item ID numerical ID for example the relation between Reflector name and Reflector ID Apart from different other information the packets also contain redundant information on the total number of items and the number of packets expected to arrive Convention All string type names are in Unicode representation Example short cReflectorName 32 declaration It can consist of a maximum of 32 characters however since short is 16 bit there are 16 bits for every character not only one Byte 44 ReflectorPosResultT and ProbePosResultT can also be seen as a special command answers These are ES_DT_ReflectorPosResult ES_DT_ProbePosResult type packets and are received whenever the tracker is locked onto a reflector 3 measurements per second supposed the SendReflectorPositionData system setting flag is enabled This mechanism can be used in applications providing graphical representation of reflector probe motion even while no continuous measurement is in ongoing Note that the accuracy of the positions provided are limited The receipt of these measurements can be switched on off It is switched off by default 3 2 3 Error Events Most error type data packets ES_DT_Error are not direct reactions to commands They are unsolicited and can occur at any time These confirm the highly async
18. depends on the TCP IP communication functions library The SendPacket function expects a pointer to a data packet and the size of that packet 224 Class CMyEsCommand Derived from CESAPICommand Class definition class CMyEsCommand public CESAPICommand public CMyEsCommand virtual CMyEsCommand virtual function override bool SendPacket void pPacketStart long PacketSize Todo add members and methods used for TCP IP communication hi Class implementation CMyEsCommand CMyEsCommand Todo add initialization code if any CMyEsCommand CMyEsCommand Todo add cleanup code if any virtual function override bool CMyEsCommand SendPacket void pPacketStart long 1PacketSize Todo implement this function according to your TCP IP communication return true Command Methods The CESAPICommand class defines a Send method for each one of the TPI commands These methods are named according to the command they cover Examples of such method names include e Initialize e GetCoordinateSystemType e SetSphereCenterModeParams The argument list depends on the number of send parameters these commands take bool Initialize example with no arguments bool GoPosition double dVall 3 position coordinate values double dVal2 double dVal3 bool bUseADM false default parameter These function
19. versus CESAPI C Since C does not support the C like include file approach the classes defined in ES_MCPP_API_Def h must be packed into a Managed C DLL This DLL then can be added as reference to a C application For convenience this DLL named ES_MCPP_API_Wrapper dll is also provided with the SDK ES_SDK Lib Unicode 288 If the DLL should be missing or if it needs to be rebuilt due to changes in the ES_MCPP_API_Def h file Sample 16 shows how to create this DLL Note An emScon programmer may make changes to the files ES_MCPP_API_Def h and or ES_CPP_API_Def h although this should normally neither be necessary nor recommended Sample 17 shows a C Application based on the emScon C class interface 6 1 3 Sample 16 This sample shows on how to create the required ES_MCPP_API_Wrapper dll from the ES_MCPP_API_Def h file This is quite simple There is only one source file ES_MCPPAPIWrapper cpp which contains nothing else than the statement include ES_MCPP_API_Def h In addition some well known emScon C include files need to be provided in order to compile this project ES_C_API_Def h Enum h etc Note that the resulting DLL ES_MCPP_API_Wrapper dll has already been built and added to the SDK for convenience It is therefore not really required to build it as shown in Samplel6 However Sample16 may help developers to debug their applications if code i
20. AXYZ control Note Reboot the tracker processor ES_RS_NoSuchCompensation Meaning The ID of a non existent Compensation was passed to the SetCompensation command 91 Note Use the GetCompensations command to get a list of valid Compensations ES_RS_MeteoDataOutOfRange Meaning The current environmental parameters Temperature Pressure Humidity are out of range Note Use SetEnvironmtalParams command to set these parameters correctly If a weather station is attached check for proper functioning The Thommen Meteo station must be connected to the tracker system and switched on before booting emScon Incorrect environmental data may be produced if the weather station is connected switched on later Connecting the combined Temperature Pressure device is optional However if missing the other small Temperature device must be present If no humidity is available a default value of 70 is assumed Note Other than for temperature and pressure the influence of the humidity to the refraction index is marginal See also ES_RS_NoTemperatureFromWM ES_RS NoPressureFfromWM and ES_RS_NoHumidityFromWM ES_RS_InCompensationMode Meaning The server is set to Compensation Mode This is the case when the Compensation BUI is active During this state all TPI commands are locked Note Quit the Compensation BUI ES_RS_InternalProcessActive Meaning The server is still busy with a command Note The application
21. Basic this is often performed in the Form_Load function Private Sub Form_Load On Error GoTo ErrorHandler ObjConnect ConnectEmbeddedSystem 192 168 0 1 Ob jConnect SelectNotificationMethod LTC_NM_Event 0 0 Set ObjAsync ObjConnect ILTCommandAsync Exit Sub ErrorHandler End Exit application when connect failed MsgBox Err Description End Sub 5 Call ConnectEmbeddedSystem with the IP address of the Tracker Processor 6 Select the LTC_NM_Event method if using events 7 Initialize ObjAsync pointer with the related property of the ObjConnect Use error handlers as shown since interface methods may throw exceptions 8 Call Tracker functions Private Sub Initialize Click On Error GoTo ErrorHandler Ob jAsync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub q Invoke only one command at a time when using the asynchronous interface No other command should be sent until a pending one has completed This behavior makes up the 245 asynchronous approach With the synchronous interface calls can be queued within one function Some answer types Errors SystemStatusChange continuous measurement reflectors are always asynchronous by nature regardless whether using synchronous or asynchronous interface 9 Declare event handlers VB provides automatic code generation for event handler bodies Private Sub ObjAsync_ErrorEvent _ ByVal comman
22. Compensation properties The GetTCamToTrackerCompensations command retrieves all such compensations defined in the Tracker Server The answer consists of as many answer packets as tips are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as tracker Serial Number comment etc serve as information mainly used 196 for user interface purpose There is a flag bIsActive which is true for exactly one compensation struct GetTCamToTrackerCompensationsCT struct BasicCommandCT packetInfo struct GetTCamToTrackerCompensationsRT struct BasicCommandRT packet Info int iTotalCompensations int iInternalTCamToTrackerCompensationId int iInternalTrackerCompensationId int iInternalCamerald ES_BOOL bIsActive long l1TrackerSerialNumber unsigned short cTCamToTrackerCompensationName 32 unsigned short cTCamToTrackerCompensationComment 128 hi Get SetTCamToTrackerCompensationCT RT Command structures to get set the ID of the active T Cam to tracker compensation The Get SetTCamToTrackerCompensation command takes delivers the compensation ID as parameter struct SetTCamToTrackerCompensationCT struct BasicCommandC
23. DataPacket packetInfo packetHeader 1PacketSize sizeof SetUnitsCT DataPacket packetInfo packetHeader type ES_DT_Command DataPacket packetInfo command ES_C_SetUnits DataPacket unitsSettings unitsSettings de CSetUnits CSetUnits ES_LengthUnit lenUnitType ES_AngleUnit angUnitType ES_TemperatureUnit tempUnitType ES_PressureUnit pressUnitType ES_HumidityUnit humUnitType DataPacket packetInfo packetHeader 1PacketSize sizeof SetUnitsCT DataPacket packetInfo packetHeader type ES_DT_Command DataPacket packetInfo command ES_C_SetUnits DataPacket unitsSettings lenUnitType lenUnitType DataPacket unitsSettings angUnitType angUnitType DataPacket unitsSettings tempUnitType tempUnitType DataPacket unitsSettings pressUnitType pressUnitType DataPacket unitsSettings humUnitType humUnitType SetUnitsCT DataPacket 4 3 5 CESAPICommand A class for sending commands The user of the C TPI may ignore all struct wrapper classes The only important class to be used for programming is CESAPICommand which is defined at the end of the ES_CPP_API_Def h file Virtual override of SendPacket In order to use the C TPI a class from the CESAPICommand class must be derived This derived class a virtual function SendPacket must be implemented This function cannot be implemented without knowledge of the TCP IP communication functions the application wants to use The implementation of SendPacket
24. ES _ NivelStatus Additional information about the Nivel20 sensor connected to the laser tracker This enumeration type is used as a result parameter for ES_C_StartNivelMeasurement enum ES_NivelStatus ES_NS_NoNivel ES_NS_A110K ES_NS_OutOfRangeOK ES_NS_OutOfRangeNOK e ES NS _NoNivel No Nivel20 sensor found connected to tracker e ES_NS_AIlOK Nivel measurement OK The range of the measurement rx ry values is within 1 5 millirad e ES_NS_OutOfRangeOK Result within measurement range but warning threshold exceeded This warning applies when the range of at least one measurement value is within 1 5 and 2 0 millirad e ES_NS_OutOfRangeNOK No measurement could be taken out of range This error applies when at least one measurement value exceeds 2 0 millirad These tolerance thresholds 1 5 2 0 millirad are invariable characteristics of the Nivel20 hardware Please refer to the Nivel20 Instruction Manual Page 7 107 ES _ NivelPosition Positions during orient to gravity procedure This enumeration type is used as a parameter for ES_C_GoNivelPosition command enum ES_NivelPosition ES_NP_Pos1 ES_NP_Pos2 ES_NP_Pos3 ES_NP_Pos4 e ES NP_ Posl Tracker head at Nivel position 1 90 degrees e ES NP Pos2 Tracker head at Nivel position 2 180 degrees e ES NP Pos3 Tracker head at Nivel position 3 270 degrees e ES NP Pos4 Tracker head at Nivel position 4 360
25. LTVideo2 tlb LTVideo2 tlb is the related type library delivered for convenience LTVideo2 ocx contains all type information required Server Address LTVideo2 ocx has a property server address which must be set according to your server address The port number is 5001 Any changes to the port number must also be done on the server side The size must have a width height proportion of 4 3 The image must be started stopped by invoking the method Start StopLivelmage See Microsoft documentation for further information on how to use ActiveX controls in general 306 Events Methods The essential methods of the camera OCX are e StartLivelmage e StopLivelmage To alter the default frame rate 15 sec the following methods are used e FrameRateStepUp e FrameRateStepDown In addition there is a Method for advanced usage details see below upon event description e GetCameraParameters Moreover the following events are defined void VideoClick double deltaHz double deltaVt long posxX long posyY long flags This event occurs when clicking on the image with the mouse The event parameters are as follows e DeltaHz deltaVt The angles that can be passed to the PositionRelativeHV command in order to move the tracker to the clicked position e PosX posY The pixel values of the clicked position within the image coordinate system top left 0 0 e The flags parameter can be
26. Sizeof data type alternatively could be used to calculate the packet size This redundancy may be used for consistency checks and is helpful when using programming languages other than C that lack the sizeof operator Important The following striked through statement has been considered as a bug in emScon 1 5 and former versions and is no longer true for emScon V2 0 and up 209 From emScon Version 2 0 and up lPacketSize must be initialized correctly also on sending packets This information is essential and no longer ignored by the tracker server as this was the case for previous emScon server versions 3 5 10 Command Subtype Switch 14 Command type answers require a switch statement to distinguish the command subtype Non data returning commands can all be treated the same and are handled in the default switch statement All other command answers need to be masked with the appropriate result structure The code fragment below demonstrates this with the GetUnits command and shows part of the handling of a single measurement answer 210 switch pData gt type case ES_DT_Command command type answer arrived BasicCommandRT pData2 BasicCommandRT byteArr if something went wrong no need to continue if pData2 gt status ES_RS_A110K TODO evaluate and handle the error return false switch pData2 gt command case ES_C_Initialize case ES_C_PointLaser case
27. details 4 3 8 Partial Settings Changes Consider the command SetUnits This command takes all selectable unit types Length Angular Temperature Pressure Humidity as parameters However often one wants to change only one of these and leave the others untouched The best method to do so is invoking a GetUnits first then change only the one parameter of interest and finally do a SetUnits Here is a C sample although the same approach also applies to C and COM interface 231 GetUnits trigger a GetUnitsCommand The current units are delivered in such that the following virtual function will be called void OnGetUnitsAnswer unitsSettings SystemUnitsDataT newUnits unitsSettings change angle unit and leave rest untouched newUnits angUnitType ES_AU_ Degree vestore changed parameters assumed g_cmdObj is a pointer to your ApiCommand obj g_cmdObj gt SetUnits newUnits Note since the parameter of the OnGetUnitsAnswer is designed as const it is necessary to use a local struct newUnits It is not possible to directly change unitsSettings Another favorite for this technique is the command SetSystemSettings Often it is required to change only one of the different flags of the SetSystemSettings parameters However this technique can be used for every Set Get command pair if the command has more than one parameter or a st
28. emScon V2 0 and up Correct Initialization of IPacketSize is compulsory 3 5 3 Initialization Macros 6 To avoid initialization errors which may happen through copy paste errors and are difficult to trace it is recommended to use initialization macros for correct assignment of type size and command values An INITStopMeasurement macro for example requires two statements the parameter declaration and the parameter initialization macro call The StopMeasurement has no additional command parameters If there are any these can be incorporated into the macro 206 StopMeasurementCT cmdStop declaration INITStopMeasurement cmdStop initialization 3 5 4 Excurse C Initialization C offers a much more elegant way for initialization the constructor approach which eases the initialization issues See a C programmers reference for details 7 After initialization of the data variable send it to the tracker server using the TCP IP SendData function or whatever this function is called Depending on the TCP IP communication library used the data packet may need to be packed into a Variant vrtData variable followed by a SendData vrtData call Alternatively a Send function takes the address and size of the data packet variable Send amp data sizeof data 3 5 5 Answers from Tracker Server 8 The SendData function does not wait for the Tracker Server tracker to comple
29. emergency aborts in those cases where StopMeasurement is not sufficient Applications cannot rely on that this command will send any confirmation command completed SystemStatus change events Depending on context there may be a reaction or not Applications should close the TCP IP connection after having sent the ExitA pplication command Note ExitApplication and StopMeasurement are the only two exceptions of commands that cause immediate reaction while some other 55 command is still pending All other commands will return Server busy instead Hint This does not apply to the synchronous emScon COM interface LTControl ES_C_GetSystemStatus Request status information about the system ES_C_GetTrackerStatus Request status information about the tracker ES_C_SetTemperatureRange Set the Trackers working temperature range ES_C_GetTemperatureRange Get the Trackers working temperature range ES_C SetUnits Set Current Units All length angular temperature pressure and humidity type parameters of all TPI commands are represented in the currently selected units Exception Nivel20 inclination sensor readings are provided in the Nivel20 sensors native units milli rad Celsius Related structure SystemUnitsDataT ES_C_GetUnits Queries the currently active unit settings Related structure SystemUnitsDataT ES_C Initialize Initializes the tracker ES_C_ReleaseMo
30. for a list of modes supported ES_C _GetMeasurementMode Queries the currently active measurement mode 60 ES_C_SetCoordinateSystemType Sets the coordinate system type See ES_CoordinateSystemType for a list of CS types supported All coordinate type parameters of all TPI commands are represented in the currently selected CS type ES_C_GetCoordinateSystemType Queries the currently active CS type ES_C_SetStationaryModeParams Sets the properties for a stationary measurement i e Measurement time and ADM use usually do not use ADM upon measurement Measurement time must lie between 500 ms and 100000 ms 0 5 100 seconds Related structure StationaryModeDataT ES_C_GetStationaryModeParams Queries the currently valid Stationary Mode Parameters Related structure StationaryModeDataT ES_C_ SetContinuousTimeModeParams Sets the properties for a continuous time measurement Related structure ContinuousTimeModeDataT ES_C_GetContinuousTimeModeParams Queries the currently valid Continuous Time Mode Parameters Related structure ContinuousTimeModeDataT ES_C_ SetContinuousDistanceModeParams Sets the properties for a continuous distance measurement Distance parameter is in current Length units No range limitation applies to distance parameters in theory but there is a practical limitation given by tracker working space 61 Related structure ContinuousDistanceModeDataT ES_C_GetConti
31. looking up information in this chapter C Interface might be essential 3 1 3 Byte Alignment Data packets have a 4 Byte alignment convention as a Visual Basic default small data packets sent over the network The VC statement pragma pack push 4 before user defined structure definition uses 4 Byte alignment VC default is 8 Byte The statement pragma pack pop sets the alignment back to the previous value q Use only 4 Byte alignments for TPI structures These are Microsoft VC specific statements When using a non Microsoft compiler pragma pack push 4 and pragma pack pop may have to be replaced or removed respectively The following include statement prepares the C_API_Def h file for Byte alignment in Linux Win32 q 4 Byte alignments for other platforms must be inserted ifdef _WIN32 pragma pack push 4 elif defined __linux__ pragma pack 4 elif error Insert here directive to ensure 4 Byte alignment for other platforms Unix MAC endif 3 1 4 Little Big Endians Non Intel based workstations for example M68000 based workstations like SUN Apple or 38 IBM RS6000 series use different endians for double values The client application the TCP IP communication interface respectively requires appropriate measures to interpret numerical values correctly T The Tracker Server is Intel based All values are provided in the little endian format 3 1 5 Pre
32. or may take several seconds for example for FindReflector or Initialize Tracker Generally a lt CommandName gt RT structure defines the contents of a command answer However there are some special cases in the case of measurements commands The command answers can be categorized into several subtypes as listed below Non data Returning Command Answers This command answer type essentially consists of a command type cookie with the return status succeeded or failed In case of failure the return status its numerical representation or enum status value may indicate the reason Non data returning commands all share the same basic return type structure Find Reflector is an example of a non data returning command Property data Returning Command Answers Properties are the current system settings of the Tracker Server Properties can be retrieved by Get lt xxx gt commands All Get lt xxx gt commands 41 return their results in a Get lt xxx gt RT structure The RT structure for each command differs with respect to its data members Data members with only a Get with no corresponding Set command can be individual basic type or enum parameters int double enum Example GetSystemStatusRT However the normally there is a command specific sub structure example GetUnitsRT contains a SystemUnitsDataT sub structure In other words a sub structure is available when the same parameters are used f
33. qdq qdq _ d d d d d d d a d d d d d d b MsgBox x amp CStr amp y amp CStr amp 2 Exit Sub ErrorHandler MsgBox Err Description End Sub If this command was an asynchronous call it would not be possible to display the result within this function A result display is performed in the appropriate asynchronous answer handler For more details refer to Sample 5 source code Implementing Asynchronous Commands Visual Basic with IntelliSense provides support for the available functions of an interface with the function parameters Add a button named InitAsync The command handler should be completed with the following code Private Sub InitAsync_Click On Error goo error handler ObjAsync Initialize Exit Sub error handler MsgBox Err Description End Sub In contrast to the synchronous initialize function this one does not stop at the Initialize function Exit Sub is reached immediately When tracker initialization is done a notification or event is sent Catching Events and Messages For asynchronous commands the answers must be handled by some event mechanism This could be Events Windows Messages custom window bound registered WM_COPYDATA 274 For Visual Basic Events are the right choice The event mechanism is provided by the _ILTCommandAsyncEvents interface which is a subsidiary of ILTCommandAsync To activate this mechanism for a
34. that can occur at any time An application may evaluate these mainly for GUI update e The Tracker Server high level interface COM provides both asynchronous and synchronous communication Some answer types remain asynchronous even when using synchronous communication 13 2 3 4 Working Conditions The table below shows the valid working ranges for selected parameters Level 1 A Warning will be issued message when range is outside level 1 limits but within level 2 limits In other words Values are outside Leica specified working ambient conditions but still accepted Should be used with caution 14 Working ambient conditions Minimum value Maximum value Temperature 5 C 40 C Height above sea level elevation not relevant for software 500 m 3000 m Air pressure 600 mbar 1170 mbar Relative humidity 10 90 Refraction index IFM 1 00015 1 000331 Refraction index ADM 1 000152 1 000336 Level 2 An Error message occurs when trying to set a value outside the specified range The values are rejected Storage ambient conditions extended working range Minimum value Maximum value Temperature 10 C 60 C Height above sea level elevation not relevant for software 2000 m 7000 m Air pressure 330 mbar 1400 mbar Relative humidity 0 100 Refracti
35. the number of the last error lastResultStatus can also be retrieved with the command GetSystemStatus Evaluating the Return status The necessary exception handling precludes evaluation of the return status T Certain constellations such as S_FALSE return value require an evaluation Types of success return S_OK S_FALSE S_OK is returned for ordinary success cases Commands that return a status of type Out of Range OK example ES_RS_Parameter1OutOfRangeOK returns S_FALSE in case of Out Of Range OK This means that the command succeeded but is out of specified tolerance As a warning no exception will be thrown but appropriate status 252 information can be obtained in two different ways e Evaluate the property ILTConnect LastResultStatus e Get the error Information error string with GetErrorInfo BSTR bstrError IErrorInfo pInfo HRESULT hr GetErroriInfo 0 amp pInfo if pInfo amp amp SUCCEEDED pInfo gt GetDescription amp bstrError _bstr_t errorString bstrError piInfo gt Release P OAL ae In case of command failure E_FAIL is returned This automatically leads to an exception thrown by the COM framework 5 2 5 COM TPI Programming Languages e Visual C All Interfaces supported User defined TypeLibrary enum structs supported Event and message notification methods supported e VisualBasic All interfaces suppor
36. 1 1 Fixed Approx Approx 0 0 0 AddNominalPoint 0 2 2 Fixed Approx Approx 0 0 0 AddNominalPoint 1l 0 1 Approx Fixed Approx 0 0 0 AddNominalPoint 1l1 0 2 Approx Fixed Approx 0 0 0 AddNominalPoint 1l 1 0 Approx Approx Fixed 0 0 0 AddNominalPoint 2 2 0 Approx Approx Fixed 0 0 0 Again this is a minimum configuration provided the scale is fixed Orientation using Nivel measurement Suppose the horizontal angles xAngle and yAngle have been obtained from a Nivel measurement To complete the orientation of the station use a number of reference points together with SetInputParams 0 0 0 xAngle yAngle 0 1 Unknown Unknown Unknown Fixed Fixed Unknown Fixed 9 3 T Probe The coordinate system of the T Probe is defined as in Figure 1 with the z axis pointing roughly towards the camera and the y axis opposite to mount 1 Thus the y coordinate of a tip vector at mount 1 is negative 332 Figure 1 The tip position and probe orientation is returned with respect to the user coordinate system transformation parameters The probe orientation is described by the rotation angles xAngle yAngle zAngle or the quaternion q0 q1 q2 q3 In terms of rotation angles the rotation matrix R is defined as in Section 9 2 4 In terms of the quaternion it is given by Rxx qO0 q0 q1 q1 q2 q2 q3 q3 Rxy 2 q1 q2 q0 q3 Rxz 2 q1 q3 q0 q2 Ryx 2 q1 q2
37. 1 Sample 5 This chapter is related to the Sample5 folder of the emScon SDK Samples Sample 5 LtcVBClient comes as an LTControl based Visual Basic emScon Client Note LTControl dll must be correctly registered before proceeding See chapter LTControl dll Installation for details If LTControl is correctly registered LtcVBClient vbp can directly be opened with Visual Basic Studio It should be ready to compile and run In order to create a Sample 5 type application from scratch follow the steps Launch Visual Basic 6 0 choose New Project gt Standard exe Click OK Save the default Form1 as LtcVBClient frm and the project as LtcVBClient vbp or use any name of your choice Choose menu Project gt References Inthe Available References list look for the entry LTControl 2 x Type Library and check the box in front of q Ensure that the file path at the bottom of the dialog matches the control s registration location Otherwise browse for the correct location Finally click OK Accessing COM Interfaces Other than ActiveX OCX controls LTControl dll which is an ATL type COM object can also be 270 used for non window based applications For example it will also support pure C clients console applications It is neither necessary nor possible to place an LTControl control object to the VB application Form as ActiveX controls require Interface Variable Declarati
38. 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 The resulting orientation has translation 0 06 0 0 and no rotation The residual vectors are 0 16 0 0 0 16 0 0 0 04 0 0 0 04 0 0 The weighted residuals divide by square of standard deviation have equal length 40000 331 3 2 1 Alignment AddNominalPoint 1l1 2 3 Fixed Fixed Approx 0 0 0 AddNominalPoint 2 3 4 Fixed Fixed Fixed 0 0 0 AddNominalPoint 0 4 2 Approx Fixed Approx 0 0 0 SetInputParams 0 0 0 0 0 0O 1 Unknown Unknown Unknown Unknown Unknown Unknown Fixed This is a minimum configuration since redundancy 2 3 1 6 0 The approximate coordinates are necessary to select a unique solution from the eight possible solutions This fact can be easily observed in the following example AddNominalPoint 0 0 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 0 0 Unknown Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Unknown Unknown Fixed 0 0 0 Here each of the rotation angles can be 0 or n The scale must be fixed in 3 2 1 situations Box corner The corner of a box is defined by three mutually perpendicular planes In the subsequent example each plane contains two measured points Only the nominal coordinate defining the plane is exactly known AddNominalPoint 0
39. 4 pairs high and low separated by approx 90 degrees e Twelve measurements in 4 groups of 3 each high low horizontal separated by approx 90 degrees Related Commands ClearDrivePointList AddDrivePoint CallIntermediateCompensation SetCompensation Comments Settings Current emScon system settings such as units coordinate system and coordinate type are taken over when emScon interprets point input driver 315 point values All points in the drive library must be known within 2mm 0 0787 in tolerance otherwise this will cause an error in the measurements The settings such as units coordinate system and coordinate system type must correspond to the input data Ensure that the settings describe the environment of the driver points before they are uploaded to the server One of the first actions of the automated compensation algorithm is to check the geometry of the used driver points If the target setup fits the requirements as described above then the process continues with the measurements otherwise it will abort 316 Compensation Results A successful Intermediate Compensation procedure returns the following information e Total RMS e Max Deviation e Error bit filed with the information of warnings and errors Compensation Intervals An intermediate compensation is recommended when the maximum deviation is lt 0 0012 deg 13 With the command SetCompensation t
40. 90 to the vertical line Measurements on a Straight Line 1 The two measurements must be taken on a straight line ray at the same level as the as the Tilting mirror of the Tracker Point A lt 0 5 m and Point B within 5 10 m Measurements on a Vertical Line 2 All 3 measurements should be taken in a vertical line 1 Mid point 0 at Tracker head height 2 Upper measurement at 40 deg 318 3 Lower measurement at 40 deg During measurements the Birdbath should not point in the direction of measurement a Oe dae f Bird Bath Measurement 90 to the Vertical Line 3 Setup the tripod at 90 as shown in the graphic below The Tracker is setup such that it can turn to the 90 position without running into stop 319 Procedure Measurement 1 Set up the tracker 2 Set the coordinate system type to spherical clock wise SCW TPI command SetCoordinateSystemType 3 Set the Stationary Measurement Mode TPI command SetMeasurementMode 4 Set the Stationary measurement parameter MeasTime to 10000ms TPI command SetStationaryModeParams 5 Attach the reflector to the target location 6 Point the tracker to the target location TPI command e g GoPostion This is only possible when the coordinates of the point are known within 2mm otherwise track the reflector manually from the Bird bath 7 Execute the Stationary Measurement in Face I and save it TPI comma
41. A region can be applied to limit the sensitive measurement space See commands SetBox 139 SetSphereRegionParams for region definition SphereCenterModeDataT struct SphereCenterModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bFixRadius double dRadius hi Used as parameters for the Set GetSphereCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Spatial distance and Radius are in current length unit The radius can be left variable to be calculated by the fit routine or fixed if it is known Same trigger criteria as with Continuous distance mode CircleCenterModeDataT struct CircleCenterModeDataT double dSpatialDistance long l1NumberOfPoints ES_BOOL bFixRadius double dRadius hi Used for parameters Set GetCircleCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Radius is in current length unit Spatial distance and Radius are in current length unit The radius can be left variable to be calculated by the fit routine or fixed if it is known Same trigger criteria as with Continuous distance mode 140 GridModeDataT struct GridModeDataT double dVvall double dVal2 double dVal3 long l1NumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set Get
42. Busy Not Ready Apart from evaluating these events the measurement status can also be asked actively with the command ES_C_ GetTrackerStatus This information is typically used for user interface purpose to implement a traffic light with green ready yellow busy measuring red target lost or missing compensation colors ES_SSC_MeasStatus_6DStatusInvalid Same comments as above Only applies to probe measurements Tracking is still OK but the tilt of the probe is out of range so the 115 TCam cannot reliably determine the rotation parameters The rotation angles are not accurate and thus the tip coordinates not reliable The recommended UI color to assign to this status is blue Used in BUI Compensation module ES_SSC_MeasurementCountReached Stop a continuous measurement when the max number of measurements are reached ES_SSC_IsFacel This event is fired whenever the tracker changes to Face I ES_SSC_IsFace2 This event is fired whenever the tracker changes to Face II ES_SSC_ExternalControlActive This event is fired whenever the tracker server enters external control e g Axyz While under external control control through TPI commands are blocked ES_SSC_ServiceSoftwareActive This event is fired whenever the tracker server runs with service software While running service software control through TPI commands is limited ES_SSC_TcamToTrackerCompensation Deleted ES_SSC_Measuremen
43. COM Objects COM objects must be registered on the application PC before they can be used LTControl dll Installation Register LTControl dll on the client PC both developer and customer PCs If LTControl dll is located in the C WINNT system32 directory call Regsvr32 C WINNT system32 LTControl dll from the Start Run menu of the explorer task bar q The LTControl dll does not depend on any other custom DLL it can be registered anywhere The Windows system directory is the common location A message box appears confirming registration Registering of LTControl dll succeeded A message such as Error Load Library failed error 0x0000007e most likely indicates that the PC lacks a correct ATL dl installation missing wrong version or not registered In this case first install ATL dll as described below After that repeat registering of LTControl dll ATL dll Installation Copy Atl dll from ES SDK Lib directory to Windows system system32 directory OR to LTControl dll directory Unicode version for WinNT Win2000 ANSI version for Win9x Win ME 259 See properties of ATL dll for operating systems supported e Register Atl dll Regsvr32 exe lt path gt Atl dll e Repeat registration of LTControl dll 5 2 10 Synchronous versus Asynchronous Interface When designing a client application using the LTControl COM component either the synchronous or asynchronous inte
44. ES_C_GetTrackerStatus command parameter The Tracker Status is related to the LED indicator on the tracker head 105 enum ES_TrackerStatus ES_API ES ES ES ES enum ES_TrackerStatus TS_NotReady TS_Busy TS_Ready _TS_6DstatusInvalid ES_TS_NotReady Tracker not ready currently not attached to a target ES_TS_Busy Tracker is currently measuring ES_TS_Ready Tracker attached to a target and is ready to measure ES_TS 6DStatusInvalid 6D status of T Probe measurement is not valid ES ADMsStatus Add itional information about the ADM of the laser tracker This enumeration type is used as a para meter for ES_C_GetSystemStatus enum E ES ES ES ES ES ES ES S_ADMStatus __AS_NoADM AS _ADMCommFailed _ AS _ADMReady __AS_ADMBusy _AS_HWError AS SecurityLockActive AS NotCompensated ES_AS_NoADM Tracker not equipped with an ADM ES_AS_ ADMComm Failed Communication with ADM failed ES_AS_ADMReady ADM is ready to measure ES_AS_ADMBusy ADM is busy performing a measurement ES_AS HWError Unspecified hardware error ES_AS_SecurityLockActive ADM has been locked for security because maximal allowed laser intensity has 106 exceeded Try to recover with powering off on the controller If problem persists refer to Leica service e ES_AS_NotCompensated The ADM is not compensated and if at all may deliver inaccurate distances
45. ES_DT_Single6DMeasResult packet type 154 This structure is used to transmit the result of a 6D stationary measurement The result depends on current length and angle units the coordinate system type orientation and transformation parameters applied It contains Status Information Adapter where Tip mounted including its accuracy Probe position The position values relate to the center of the tip ruby sphere Probe orientation in two different representations Quaternion or Rotation Angles including their accuracy Environmental Data Rotation angles are always represented in the interval between PI and PI Details about RotationStatus see chapter Rotation Status just following the chapter ProbeMeasValueT Applies only to 6DoF systems ProbeContinuousResultT struct ProbeContinuousResultT struct ReturnDataT packetInfo long lNumberOfResults enum ES_MeasMode measMode ES_BOOL bIsTryMode long iInternalProbeld int iFieldNumber enum ES_MeasurementTipStatus tipStatus long iInternalTipAdapterId long iTipAdapterInterface double dTemperature double dPressure double dHumidity struct ProbeMeasValueT data 1 hi This receive only structure describes the ES_DT_ ContinuousProbeMeasResult packet type The only 155 difference to an ES_DT_ MultiMeasResult is the array element types Applies only to 6DoF systems NivelResultT struct NivelR
46. IDL language and its data types are fully transparent to COM interfaces except constants The ES_C_API_Def h file is the only interface definition of emScon TPI It is the native emScon interface All other interface levels C TPI LT Control are strictly based on this basic include file and are therefore just provided for convenience This enables the client programmer to design alternate C interfaces and or other high level interfaces e g even COM components T The ES_C_API_Def h file should not be changed on any account 2 3 1 Platform and Programming Language Issues e The versatility of emScon TPI with TCP IP allows its use on different operating systems Windows Linux and Macintosh e The programming language is not restricted to C as shown in the interface specification All programming languages which define structures in C notation can be used to 11 program based on the TPI low level interface However use of languages other than C C require translation of C structures ES_C_API_Def h to the target language s notation with matching structures on the byte level 4 Byte alignment Translations are not covered by this Manual The use of programming languages other than C C is not recommended for low level TPI programming and no support is provided Translating the TPI s Enumeration Types and Data Structures into other language s syntax may encounter potential errors different
47. KNOWN i e defined data according to enums structs in C API def file All other data must be ignored Only if this rule is attended existing emScon client applications will also run with future emScon server upgrades Otherwise application source may need to be adjusted to be compliant to new server versions Applications supporting different server versions If an application is required to support tracker hardware with different capability and or several emScon server versions some important version checking issues apply Consider for example that the same application should be able to deal with emScon 1 5 3D only as well as with emScon 2 0 and up 3D trackers as well 6Dof systems 19 Since newer emScon server versions always are backward compatible that is all previous commands are also contained in the newer version there is usually no problem exceptions see previous chapter to run an already existing application on a newer server version The problem starts if developing a new application which should for example support 6Dof systems emScon server V2 0 at least but should also be able to deal with 3D trackers running in combination with an emScon 1 5 server In order to run properly such an application should check the server version upon startup and make provisions to prevent calls not suitable to a particular server version The version info to query is part of the information delivered by the
48. MC None Type could not be determined Should not occur under normal conditions e ES MC TCam700 T Cam is of series 700 e ES MC TCams00 T Cam is of series 800 ES _ProbeType Specifies the measurement probe type This enumeration type is used as a parameter for the GetMeasurementProbeInfo command enum ES_ProbeType ES_PT_None ES_PT_Reflector ES_PT_TProbe ES_PT_TScan ES_PT_MachineControlProbe ES_PT_TCamToTrackerTool ES_PT_ZoomArtifactTool e ES PT None Type could not be determined Should not occur under normal conditions e ES PT Reflector The probe is a reflector No 6DoF measurements are possible e ES PT_TProbe Probe is a standard T Probe e ES _PT_TScan Probe is a T Scan e ES PT _MachineControlProbe Probe is of type Machine Control Probe 124 e ES PT _TCamToTrackerTool Probe is the T Cam to tracker compensation tool e ES PT _ZoomArtifactTool Probe is the T Cam to tracker compensation tool ES _ProbeConnectionType Specifies the measurement probe type This enumeration type is used as a parameter for the GetMeasurementProbelnfo command enum ES_ProbeConnectionType ES_PCT_None ES_PCT_CableController ES_PCT_CableSensor ES_PCT_IRLaser ES_PCT_IRWideAngle e ES PCT None No connection could be determined e ES PCT CableController Connection is through cable to controller e ES PCT CableSensor Connection is through cable to sensor skip
49. Stationary TODO do something with data break case ES_DT_ReflectorPosResult Not implemented break case ES_DT_Command break nothing to do default Beep 100 100 all other data currently unhandled switch ProcessData Fix For further details refer to the sample source code q Limitations for high frequency continuous measurements like loss of data may occur due to hardware LAN PC performance limitations Tests have shown that under good conditions LAN PC Client program design the LT Control is able to handle the maximum data rate of 1000 points per second even through the event notification mechanism which might have slightly less performance than the message 284 methods Low performance of Dispatch Interfaces Known Bugs in ATL Event Sink Implementation There are currently two known bugs confirmed by Microsoft in VC 6 0 concerning event handlers Q237771 Events Fail in ATL Containers when Enum Used as Event Parameter Q241810 DispEventImpl Event Handlers May Give Strange Values Apply one of the workarounds provided in MSDN and in Sample 7 file DataArrived h for a practical application of one of the workarounds provided Further details see Readme txt file in Sample 7 folder and code comments in source files 5 3 3 Sample 8 This sample works only with Excel 2000 and higher and consists of an Excel sheet with a VBA m
50. Unicode libraries custom installation Linker runtime errors such as mfc42u lib mfc42ud lib or mfc42u dll missing indicate that VC was installed without Unicode support 2 1 5 TCP IP Protocol Communication to the tracker server is based on TCP IP The client PC must be equipped with a TCP IP enabled LAN Board q This manual does not cover hardware and installation issues 2 2 TCP IP Communication Communication with TCP IP requires platform specific communication functions These are not part of the emScon TPI and have to be provided except when using the high level TPI COM interface The TCP IP API functions of your operating system OS can be used Keywords under VC include Win32 Sockets API or if using MFC CAsyncSocket and CSocket Visual Studio contains a TCP IP communication library MSWinsck ocx as an ActiveX control COM object 2 2 1 Socket Functions Minimal required Functions include e Connect Build a TCP IP connection between the Application PC and Tracker Server Specify the IP address hostname and port number of the Tracker Server e SendData Send a packet of data usually by specifying a pointer to a byte array data block and the size of that block e ReceiveData callback mechanism To be notified when data arrives and to read process this data e ReadData To read arrived data into a byte array buffer upon a notification e Close Closes a previously established
51. applications using Visual Basic MS Excel MS Access and MS Word 5 1 1 Drawbacks The TS high level interface in contrast to the C TPI may cause some performance drawbacks During high data rates some data may get lost under certain conditions In this case using the C C TPI would be more suitable since this would allow for tuning the TCP IP communication The TS high level interface does not provide such tuning capabilities q The TS high level interface is limited to Win32 platforms 5 1 2 Introduction The TS high level interface is made up of a COM object as an ATL DLL COM server It comes as a DLL named LTControl dll and it is part of the emScon SDK COM objects have to be registered on the Application Computer In order to register LTControl dll Windows platforms only execute the following command from the command line Regsvr32 exe lt Path gt LTControl dll See chapter Registering COM Objects for a more detailed description 242 COM Components provide standardized programming interfaces LTControl provides several custom interfaces and Connection Point Interfaces of type IDispatch This chapter lists the methods and properties of these interfaces A type library describes COM object interfaces The type library LTControl tlb is implicitly included in LTControl dll All enumeration types and structures defined in the C TPI are also provided by the LTControl s COM in
52. bugs that make development of Tracker Server clients virtually impossible as soon as events are involved This bug leads to a completely corrupted file upon file saving after an event has arrived For this reason Excel samples delivered with the TPI SDK are in Excel 2000 format They may run with Excel 97 but may be destroyed as soon as any changes are saved Always maintain a safe read only copy The following remarks only apply to Office 97 programming Office 2000 VBA behaves as ordinary VB User defined Types the Differences between Visual Basic and VBA97 e Both allow defining user defined structs locally However those structs exported by the LTControl such as PacketHeaderT SingleMeasResultT are only recognized from within Visual Basic VBA claims an error Automation type not supported if declaring for example a variable like 264 Dim val As SingleMeasResultT works with VB but not VBA97 e Enums are not supported by VBA97 The compiler does not know the keyword Enum User defined enums cannot be defined locally although this works with ordinary Visual Basic It is also not possible to use enum type variables that are exported by the LTControl Declaration as follows are not possible in VBA97 Dim cmd as ES_Command works with VB but not VBA97 e When implementing an EventHandler that has enum type parameters in Visual Basic will read as follows only function header shown
53. calculated from the actual statistical variation of the many shots It gives an indication on the stability of the measurement environment disregarding systematic effects We recommend not using this accuracy for any other purpose 9 1 3 Transformation of covariance matrices In the spherical tracker coordinate system the a priori covariance matrix of a tracker measurement is diagonal see formulas above Conversion to Cartesian coordinates results in a full matrix Transformation to other coordinate systems using orientation and or transformation parameters Section 9 2 below again transforms the covariance matrix However at any stage the standard deviations i e the square roots of the diagonal entries provide a reasonable estimate on the accuracy of the respective coordinate triple 9 2 Orientation and Transformation The orientation takes the instrument coordinate system to the world coordinate system and the transformation takes the world coordinate system 323 to an object coordinate system The two are used either by them selves or together to show coordinates in the required coordinate system See Section 8 1 5 for a survey on the TPI commands used to calculate orientation or transformation parameters The major input to these calculations are the coordinates of a set of reference points together with the corresponding measured coordinates The result of the calculation is a seven parameter transformation of the m
54. data especially when using the asynchronous interface Most of these pass their results through basic data type parameters Fk See chapter Handling Data Arrival Continuous Measurements q Message notification methods with VB are not demonstrated here However there are some exceptions where the data must be retrieved explicitly upon an incoming event These types of events can be identified by the DataReady term in their names The continuous measurement events are among these The code below shows an implementation of the ContinuousPointMeasDataReady event handler It does not demonstrate the processing of the data received This handler does some diagnostics checks whether the size of read data complies 262 with the passed parameter If OK the size is displayed otherwise an error message is shown By calling the ObjConnectGetData function the arrived data that caused the event is being read into a local buffer The application interprets and processes the data In order to get the measurement values loop through the array and interpret the array elements with MeasValueT not shown here a VB may not be the right choice to process high rate continuous measurements especially when running the interpreter The VB project must be compiled first Private Sub ObjAsync_ContinuousPointMeasDataReady _ ByVal resultsTotal As Long _ ByVal bytesTotal As Long Dim data As Variant Dim tp As VbV
55. image by mouse pointer will move the tracker inaccurately typically the tracker will move double or half the amount of the clicked distance 145 SystemUnitsDataT struct SystemUnitsDataT enum ES_LengthUnit lenUnitType enum ES_AngleUnit angUnitType enum ES_TemperatureUnit tempUnitType enum ES_PressureUnit pressUnitType enum ES_HumidityUnit humUnitType i Used for parameters of Set GetUnits commands See related enums they explain themselves EnvironmentDataT struct EnvironmentDataT double dTemperature double dPressure double dHumidity hi Used for parameters of Set GetEnvironmentParams commands The SetEnvironmentParams command mainly applies when no weather monitor is available or when disabled by the bUseWeatherMonitor setting Otherwise these parameters are updated implicitly and the current values can be retrieved with the GetEnvironmentParams See also description of enum ES_WeatherMonitorStatus Fix See chapter Working Conditions RefractionDataT struct RefractionDataT double difmRefractionIndex double dAdmRefractionIndex he Used for parameters of Set GetRefractionParams commands See also description of enum ES_WeatherMonitorStatus This is a command for advanced and special usage It should only be used in combination with the WeatherMonitorStatus mode ES_WMS_ReadOnly See description there Normal application should
56. lt approxDist lt 50000 mm Note the minimum value is 101 mm not 100 mm The search time depends on the search radius Large search radii result in extended search times See also command SetSearchParams A FindReflector command in progress can be interrupted with ES_C_StopMeasurement ES_C Unknown Used for initialization purposes only Does not appear as an answer to a command ES_C_LookForTarget Looks for a reflector at the given position and returns H V values if a reflector is present Values are in current angular units This command is mainly useful for LT series of Tracker without ADM and should not be used in general ES_C _GetDirection Returns H V values even without a reflector locked on Values always are in current angular units ES_C_CallOrientToGravity Triggers an Orient to Gravity process The 2 inclination parameters are returned as a result Result values are in current angular units and are typically used as RotVal1 RotVal2 input values for the SetStationOrientationParams command Note this is a rather long taking command It can be interrupted with 69 ES_C_StopMeasurement ES_C _ClearTransformationNominalPointList Clears the current nominal point list which is used as input data for the Transformation process For all transformation related commands see Section 9 2 for details ES_C_ClearTransformationActualPointList Clears the current actual point
57. not explicitly set refraction parameters They are set indirectly by using the SetEnvironmentParams command if no weather monitor available or by selecting the mode ES_WMS_ReadAndCalculateRefractions 146 if a WM is connected T Under certain conditions the refraction parameters are updated set implicitly on setting new environment parameters See description of enum ES_WeatherMonitorStatus Fix See chapter Working Conditions StationOrientationDataT struct StationOrientationDataT double dVall double dVal2 double dVal3 double dRot1 double dRot2 double dRot 3 Used as parameters for Set GetStationOrientationParams commands Values are in current units and CS type These settings can be enabled disabled through the system flag bUseStationOrientationParams TransformationDataT struct TransformationDataT double dVall double dVal2 double dVal3 double dRotl double dRot2 double dRot 3 double dScale i Used as parameters for Set GetTransformationParams commands Values are in current units and CS type These settings can be enabled disabled through the system flag bUseLocalTransformationMode BoxRegionDataT struct BoxRegionDataT double dP1Vall double dP1Val2 double dP1Val3 double dP2Vall double dP2Val2 double dP2Val3 hi Used for parameters of Set GetBoxRegionParams commands The parameters describe two
58. rates Always run compiled versions In special cases the incoming results need to be buffered 268 Use of values instead of symbols in Visual Basic avoids the problem of typing incorrect enum symbols which cause errors difficult to detect q A complete tlh file is automatically generated when importing LTControl tlb into a VCH project 5 2 16 Scripting Language Support Pure scripting languages VBS Visual Basic Script JavaScript etc are currently not supported by the LTControl COM component This would require Dispatch interfaces rather than custom interfaces Combinations of Dispatch and custom interfaces dual interfaces have the same disadvantage as Dispatch lack of performance 5 2 17 Exception Handling for Non Microsoft Clients The emScon LTControl COM interface also supports Windows application development with Non Microsoft Tools such as Borland Delphi For such applications it may be necessary to set the property LTConnect ExceptionHandlingPolicy to 1 Before connecting to emScon server Otherwise exceptions may not be raised in the client application Do not set this property for Microsoft clients VB C C Excel that is leave its default value 0 For further information see commented code in Sample 20 LtcDelphiClient where this property is set to 1 Example Delphi LtcConnect Set_ExceptionHandlingPolicy 1 269 5 3 COM TPI Samples 5 3
59. reflector name string and reflector ID numerical Each packet in addition a redundancy contains the total number of reflectors i e the total number of packets to be expected only for programmer s convenience Other properties are the targetType and the surfaceOffset Surface offset is in current length units T The reflector name is in Unicode format short _cReflectorName 32 declaration It can consist of a maximum of 32 characters q Each tracker compensation has its own set of reflector definitions However the mapping between reflector name and ID remains the same throughout all available tracker compensations Example A T Cam is mounted on the tracker hence the active tracker compensation is one that 169 was performed with a mounted camera Assume this tracker compensation has definitions for three valid reflectors as follows Name ID CCR 75mm 7 CCR 1 5in 2 TBR O 5in 5 Now the T Cam is removed and hence another tracker compensation becomes active one that was performed without a mounted T Cam Let s assume that this compensation has only two reflector definitions CCR 1 5in and TBR 0 5in Conveniently the mapping between name and ID remained the same as it was in the previous compensation Name ID CCR 1 5in 2 TBR O 5in 5 If reflector ID 7 was the active one at the time the camera was removed you will now get a wrong current reflector error message on executing reflector d
60. reflector search parameter values E See struct AdmParamsDataT for details 171 Set GetEnvironmentParamsCT RT struct SetEnvironmentParamsCT struct BasicCommandCT packetInfo struct EnvironmentDataT environmentData struct SetEnvironmentParamsRT struct BasicCommandRT packetInfo di struct GetEnvironmentParamsCT struct BasicCommandCT packetInfo he struct GetEnvironmentParamsRT struct BasicCommandRT packetInfo struct EnvironmentDataT environmentData hi Command structures for setting getting the environmental parameter values q Environmental values are updated automatically at regular intervals if the weather monitor is on connected and the WeatherMonitorStatus of SystemSettings is one of ES_WMS_ReadOnly or ES_WMS_ReadAndCalculateRefractions E See struct EnvironmentDataT for details Set GetStationOrientationParamsCT RT struct SetStationOrientationParamsCT struct BasicCommandCT packetInfo struct StationOrientationDataT stationOrientation i struct SetStationOrientationParamsRT struct BasicCommandRT packetInfo he struct GetStationOrientationParamsCT struct BasicCommandCT packetInfo hi struct GetStationOrientationParamsRT struct BasicCommandRT packetInfo struct StationOrientationDataT stationOrientation hi Command structures for setting getting the station orientation parameters These settings act like current
61. same address port This lets the client application instead of the Reflector ocx handle any connecting problems e The client application must ignore answers from commands triggered by the Reflector ocx Get Reflectors GetReflector and SetReflector e Do not implement an Error Event handler for Reflector ocx The control has a built in handler Visual Basic does not allow it it causes a compiler error If correctly applied the component should never fire an error event e Here is a code sequence for a VB application Typically executed in Form Load Reflectorl ServerAddress 192 168 0 1 Reflectorl PortNumber 700 Reflectorl Initialize e Itis assumed that the client application has already successfully connected to the same address port before these calls Keyboard Interface Limitation e This component is primarily designed for mouse control and does not work properly with a keyboard interface E g use of arrow keys in VB See VC VBA VB documentation for general information on ActiveX controls and how to include them in applications 240 Further details see Readme txt file in Sample 12 folder and code comments in source files Sample 19 LiveVideo display C application See Chapter 8 Special Functions Live Image display for details 241 5 COM interface 5 1 High level TPI Programming The emScon high level interface COM interface is convenient for creating quick
62. size of basic data types byte alignment issues etc Using the C interface is highly recommended instead of the C interface The C interface defines Class wrappers around the basic data structures of the C interface easing programming for sending commands and receiving answers 2 3 2 Prefixes and Suffixes used in Type Names Prefixes ES Tracker programming interface DT Data type Packet type C Command RS Result Status SSC System Status Change Suffixes T Type usually used for general sub structures 12 RT Return type used for data transfer from ES CT Command type used for data transfer to ES These are only the most frequent ones Other Prefixes explain themselves as they are derived from the enum type names in which definition they occur 2 3 3 Asynchronous Communication Low level communication C C to the Tracker Server is asynchronous e SendData function will always return immediately without waiting for an answer Depending on the command several seconds may expire before the answer arrives through a notification or callback e Each TPI command causes an asynchronous answer sort of an acknowledgment Hence Commands and Answers always occur pair wise Some commands however cause more than one result packet e Some Error Event types for example beam broken can occur at any time and are not direct reactions to a command e There are numerous System Change Events
63. the class provides virtual functions for every type of answer So the user can just override those virtual functions he is interested in Step 4 also covers the topic of asynchronous communication All C TPI communication is asynchronous That means a new command must not be sent before the acknowledge or result of the previous command has arrived In addition the application should always be ready to catch events system status change error events Correct reflector handling is also demonstrated relation between reflector ID and reflector name and how to handle this in a dropdown combo box do not mix up the combo index with reflector ID Initializing the reflector combo happens in several steps GetReflectors fill them into the box then GetReflector to get the current one and select it in the box Asynchronous techniques are heavily touched with the reflectors handling filling them into combo box select the current reflector Further details see Readme txt file in Sample 4 folder and code comments in source files 4 4 2 Sample 9 This Sample EmsyCPPApiConsoleClient with a CESAPIReceive class demonstrates Sending and Receiving features of the C TPI among other features Like Sample 3 Sample 9 is a simple 238 console application However in contrast to Sample3 it is based on the C TPI In addition it has a more sophisticated data receiver function in order to handle traffic jams and or scatte
64. this context There is a difference to the C interface concerning continuous measurements If a continuous packet arrives it contains only the measurement header info but not the elementary measurements itself like in C in a variable sized array The application must rather use the CESCSAPIReceive lt MeasType gt MeasValueGetA function to access the measurements See code in sample 17 file EmsyCSApiConsoleClient cs for example in function OnMultiMeasurementAnswer for details 290 As already known from C samples sample 17 requires a separate Receiver Thread since it is a Console application In Windows applications the Window Message Loop can be used instead Hence windows application do not require to be designed as multi threaded applications See related C Windows emScon applications Make sure the ES_MCPP_API_Wrapper dll is added as reference to the project and that the reference path points to the correct location Sample 17 expects the DLL being in the applications runtime directory However this may be changed of course Sample 17 in not sophisticated in terms of error exception handling and command synchronization Remember that emScon commands are asynchronous and it is the applications responsibility not to send a new command to the server before the previous one has completed Answer handlers virtual overrides for all types of answers are implemented Also calls for all emScon c
65. to its related Standard Deviation See command SetTransformationInputParams for details 47 Other Constants The other constants defined in Constant h Unit Conversion related constants are for informational reasons only and should not be directly referenced by emScon applications 3 3 2 Enumeration Types This section describes all enumeration types and their individual values ES DataType The ES_DataType enumeration values are used to identify the type of data packets that are sent to received from the Tracker Server on TCP IP There are 11 different packet types that differ in size and structure q The ES_DT_Command comprises many sub types that all differ in size and structure as well A related data type is PacketHeaderT which serves as a sub structure in all packets enum ES_DataType ES_DT_Command ES_DT_Error ES_DT_SingleMeasResult ES_DT_MultiMeasResult ES_DT_StationaryProbeMeasResult ES_DT_ContinuousProbeMeasResult ES_DT_NivelResult ES_DT_ReflectorPosResult ES_DT_SystemStatusChange ES_DT_SingleMeasResult2 ES_DT_MultiMeasResult2 ES_DT_ProbePosResult e ES DT_Command The data packet contains a command sent or a command answer received Related data structures BasicCommandCT and BasicCommandRT which are used as sub structures of each command related structure e ES DT Error The data packet contains error information 48 Such a packet means an Error ev
66. user interface programmer e The reflector name is a string value in Unicode which is see on the user interface of the application software e This reflector name is an alias for the reflector ID and cannot be resolved by the system e The system can internally only deal with reflector IDs which are integer numbers e The commands take return a reflector ID as a parameter 297 It is crucial to provide the correct reflector ID to SetReflector Passing the ID of an unintended but existing reflector will cause wrong measurement results Programmers often fill all reflector names in a list box When the user selects one of the reflectors shown in the list box a SetReflector command is carried out Hence the need for a lookup table List index It is not correct to use the index of the list box as a reflector ID This is because the reflector IDs are arbitrary in sequence and may contain gaps The programmer must not assume that the reflector IDs are a sequence of 1 n without any gaps Although most systems may deliver reflectors with sequential reflector IDs starting from 0 with no gaps This may not be presumed Every system behaves differently GetReflectors may deliver for example 3 reflectors with the following Names and IDs Name ID CCR 75mm CCR 1 5in 2 TBR 0 5in 5 Lookup Table The list box indices will range from 0 to 2 when the three names are entered in a control list box
67. valid environment parameters Related structure EnvironmentDataT See enum ES_WeatherMonitorStatus for details on explicit and implicit updates of environmental parameters ES_C _ SetRefractionParams Set explicit Refraction Indices for 59 Interferometer and ADM This is an advanced command and should only be used in real special situations That is if one wants to use his own formula for calculating the refractions from the environment parameters SetRefractionParams will override those refraction parameters indirectly calculated and implicitly set by a previous call to SetEnvironmentParams Note SetEnvironmentParams and SetRefractionParams are concurrent commands Both update the refraction parameters Refraction indices are dimension less For valid parameter ranges refer to chapter Working Conditions in the Introduction main chapter of this manual Trying to set values outside the valid ranges will result in command failure A change of the environment parameters automatically causes an internal implicit refraction parameter setting ES_C_ GetRefractionParams Query the currently valid Refraction Parameters for Interferometer and ADM ES_C SetMeasurementMode Sets the measurement mode of the tracker Depending on this mode a subsequent Start measurement command will result in a Stationary measurement single point measurement a Continuous measurement etc See enum ES MeasMode
68. 0 ms for timeout AdmParamsDataT struct AdmParamsDataT double dTargetStabilityTolerance double 1RetryTimeFrame double lNumberOfRetrys hi Used for parameters for the Set GetAdmParams commands RetryTimeFrame is in milliseconds in the range between 500 and 5000 TargetStability Tolerance is a distance parameter and is in current length units TargetStabilityTolerance must lie between 0 005 and 0 1 Millimeter Leave this value as low as possible Default is 0 005 The SetAdmParams command should be used with caution Only change these parameters if working in an unstable environment vibrations Lowering the stability tolerance results in loss of precision SystemSettingsDataT struct SystemSettingsDataT enum ES_WeatherMonitorStatus weatherMonitor ES_BOOL bApplyTransformationParams ES_BOOL bApplyStationOrientationParams ES_BOOL bKeepLastPosition ES_BOOL bSendUnsolicitedMessages ES_BOOL bSendReflectorPositionData ES_BOOL bTryMeasurementMode ES_BOOL bHasNivel ES_BOOL bHasVideoCamera hi Used for parameters of Set Get SystemSettings commands The system settings are a collection of various properties to control certain behavior of the emScon system e WeatherMonitorStatus Indicates the WM status See description on enum ES_WeatherMonitorStatus e bApplyTransformationParams If this flag is set to false the System does not 142 transform the measurements into a use
69. 5 8 Selected Commands in Detail 8 1 Special Functions Some of the more complex commands procedures which have been referred to in this manual are described in detail with some background information 8 1 1 Get Reflectors Command The GetReflectors command is often misinterpreted GetReflectors is used to ask the Tracker Server which reflectors are currently defined and to get the relation between reflector names and reflector Ids Related Commands SetReflector GetReflector 296 Comments GetReflectors causes as many GetReflectorsRT data packets to arrive as reflectors are defined in the tracker database Each one of these packets contains the following information struct GetReflectorsRT struct BasicCommandRT packetInfo int iTotalReflectors int iInternalReflectorId enum ES_TargetType targetType double dSurfaceOffset short cReflectorName 32 Unicode of Reflector data packets of the following iTotalReflectors iTotalReflectors is just for programmers convenience e Names the number of reflectors known to the system and has the same value in every packet e Provides information on arrival of the first packet as to how many packets are still outstanding e Counts the incoming packets to know when the last one has arrived linternalReflectorld cReflectorName The commands iInternalReflectorId and cReflectorName provide important information for the
70. CT struct BasicCommandCT packetInfo struct GetCoordinateSystemTypeRT struct BasicCommandRT packetInfo enum ES_CoordinateSystemType coordSystType hi Fix See enum ES_CoordinateSystemType for details Set GetMeasurementModeCT RT Command structures for setting getting the current measurement mode struct SetMeasurementModeCT struct BasicCommandCT packetInfo enum ES_MeasMode measMode struct SetMeasurementModeRT struct BasicCommandRT packetInfo struct GetMeasurementModeCT struct BasicCommandCT packetInfo hi struct GetMeasurementModeRT struct BasicCommandRT packetInfo enum ES_MeasMode measMode he Fe See enum ES_MeasMode for details Set GetTemperatureRangeCT RT Command structures for setting getting the active laser tracker temperature range A value different than ES_TR_Medium default should be selected only if special environmental conditions apply 162 struct SetTemperatureRangeCT struct BasicCommandCT packetInfo enum ES_TrackerTemperatureRange temperatureRange he struct SetTemperatureRangeRT struct BasicCommandRT packetInfo struct GetTemperatureRangeCT struct BasicCommandCT packetInfo struct GetTemperatureRangeRT struct BasicCommandRT packetInfo enum ES_TrackerTemperatureRange temperatureRange hi Fix See enum ES_TrackerTemperatureRange for details Set GetStationaryModeParamsCT RT Co
71. CT Negative The negative clock transition triggers the event e ES CT Positive The positive clock transition triggers the event Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change ES_TriggerMode Specifies the trigger mode This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure enum ES_TriggerMode ES_TM_EventTrigger ES_TM_ContinuousExternalClockWithStartStop ES_TM_InternalClockWithExternalStartStop hi e ES_TM_EventTrigger The measurement is triggered by an event trigger button touch trigger e ES TM ContinuousExternalClockWithStart Stop The measurement start stop is triggered by an external clock e ES _ TM _InternalClockWithExternalStartSto p The measurement is triggered by the internal clock with external start stop Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change 127 ES_TriggerStartSignal Specifies the level of the trigger start signal This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure enum ES_TriggerStartSignal ES_TSS_Low ES_TSS_High i e ES TSS Low The trigger start signal is of low level e ES_TSS_High The trigger start signal is of high level Note Trigger functionality is not yet available with emS
72. CompensationRT struct BasicCommandRT packet Info int iInternalCompensationId hi SetCompensationCT RT Command to activate one of the intermediate tracker compensations delivered by GetCompensations by its ID struct SetCompensationcCT struct BasicCommandCT packetInfo int iInternalCompensationId hi struct SetCompensationRT struct BasicCommandRT packetInfo hi GetCompensationsCT RT Command structures to read all Tracker Compensations stored in the database Particularly the relation between ID and compensation name is given As many packets as compensations exist are delivered similar to the GetReflectors command 188 struct GetCompensationsCT struct BasicCommandCT packetInfo hi struct GetCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalCompensationId unsigned short cTrackerCompensationName 32 unsigned short cTrackerCompensationComment 128 unsigned short cADMCompensationName 32 ES_BOOL bHasMeasurementCameraMounted GetCompensations2CT RT Enhanced version of GetCompensationsCT RT with some additional information GetCompensationsCT RT has been left only for backward compatibility Newer applications should use GetCompensations2CT RT struct GetCompensations2CT struct BasicCommandCT packetInfo di struct GetCompensations2RT struct BasicCommandRT packetInfo int iTotalCompensatio
73. ES_C_FindReflector break case ES_C_GetUnits GetUnitsRT pData3 GetUnitsRT byteArr Diagnostics check whether packet size as expected in debug mode only ASSERT pData3 gt packetInfo packetHeader 1PacketSize sizeof GetUnitsRT now you can access Unit specific data pData3 gt unitsSettings lenUnitType pData3 gt unitsSettings tempUnitType break case XXX Todo add other command type evaluations Lf break default break break case ES_DT_SingleMeasResult single meas result type answer has arrived SingleMeasResultT pData4 SingleMeasResultT byteArr if pData4 gt packetInfo status ES_RS_A110K return false break Todo add further case statements for remaining packet types e Declaring variables within case statements which are suitable for masking data require curly brackets around a particular case block Otherwise the compiler will claim e If then else can be used instead of switch statements However switches are more efficient e Frequent items should be treated at the top of a switch statement for example multi measurement results not covered above 211 3 6 C Language TPI Samples Some older Samples distributed with former emScon versions have been dropped because they have expired For Example Samples 1 and Sample 2 do no longer exist for the emScon V2 0 SDK Nevertheless the samples still
74. Existing client applications will not be broken in combination with future emScon server versions with one important caveat Backward compatibility will be provided in that existing packets information structure are neither changed nor removed In practice this generally means that the default case in switch statements should always be treated as neutral no action Example The enum ES_SystemStatusChange in v1 2 contains only two members enum ES_SystemStatusChange ES_SSC_DistanceSet ES_SSC_LaserWarmedUp hi EmScon 1 2 had only two system status change events as shown above With emScon version 1 4 and higher many more status change events have been appended See C API def file 18 A v1 2 programming statement as follows would cause an Unexpected Status message with v1 3 and higher emScon server upgrades switch status case ES_SSC_DistanceSet MessageBox ADM Distance re established break case ES_SSC_LaserWarmedUp MessageBox Laser is now ready break default MessageBox Unexpected Status break WRONG hi Solution Ignore the default case with no default entry tag or one that just has an effect to debug versions default No action at all break or default no effect to retail versions TRACE Unexpected Status ASSERT false break In short emScon client application only must interpret
75. FC CAsyncSocket Using WinSock2 API or MFC CAsyncSocket to read directly from the socket must consider the implications of large file data Since the file data is relatively big 70 KB it is very unlikely that it will arrive as one single data block over TCP IP Provisions must be made to repeat reading data until the data packet is complete A technique to achieve this is shown in the OnMessageReceived code sample See chapter Sample9 and chapter Queued and Scattered Data COM TPI within C C When using the COM TPI within a C C application the results of the LTControl s 302 GetStilllmage synchronous function can be assumed to be complete See related code extract below When receiving Stilllmage data asynchronously Event Handler MessageHandler the difference is that the data will not be provided directly through a parameter So LTConnect GetData must be used first Note the Variant type parameter of the fileData GetStilllmage Synchronous void CCPPClientDlg OnButtonStillImage HRESULT hr 0 long 1FileSize VARIANT vt VariantInit amp vt try if hr m_pLTCommandSync gt GetStillimage ES_SI_Bitmap amp lFileSize amp vt S_OK ASSERT vt parray gt rgsabound 0 cElements unsigned long 1FileSize FILE pFile NULL write file to current runtime location if pFile fopen image bmp wb NULL long 1lWritten fwrit
76. GridModeParams commands The 3 values describe the grid size in the CS Position values are in current units CS type A NumberOfPoints value of zero means infinite must be stopped explicitly A region can be applied to limit the sensitive measurement space See commands SetBox SetSphereRegionParams for region definition SearchParamsDataT struct SearchParamsDataT double dSearchRadius double 1TimeOut hi Used for parameters of Set GetSearchParams commands The search process is aborted upon one or the other of the two criterias is reached TimeOut is in milliseconds There is a minimum value of 10 000 ms 10 Seconds Note this minimum value was 2500 ms in previous emScon versions and has been increased to 10000 for EmScon from Version 2 0 SearchRadius is in current units The timeout parameter will interrupt the search if it takes too long due to a too big search radius if no reflector found within the specified time The Search Radius in current length units and must lie between 0 and 0 5 meters Caution with small or even zero radius and or small timeOut Too small value may cause the search process to fail Note the maximum radius value was 1 0 m in previous emScon versions and has been reduced to 0 5 m for emScon Version Large search radii result in extended search 141 times unless time is limited to a reasonable value Typical values are 0 05 m for the radius and 30 00
77. In an event handler the following code might be typical example ErrorEvent in VBA Private Sub CommandSync_ErrorEvent ByVal command As Long _ ByVal status As Long If command ES_C_Initialize Then do something End If If status ES_RS_NoTPFound Then do something End If End Sub Use extreme caution while typing the symbols with VBA 97 No IntelliSense support is available Summary There is no problem with enums and VBA9Q7 It is just a potential error source due to missing type checking Structs unless locally defined are not supported in VBA97 LTControl always offers an alternative to those functions returning struct parameters None of the event functions has struct parameters technical restriction and have therefore no restriction with VBA97 5 2 15 Continuous measurements and VBA Events of continuous measurements do not directly pass the data Fk See chapter Handling Data Arrival Continuous Measurements for details Handling continuous measurements within VBA requires care Events can be subscribed with the 266 WithEvent keyword and pending data can be read with GetData as shown in Fk See chapter Reading Data Blocks with Visual Basic for details Masking Data The unavailability of LTControl structures prevents masking the data With the byte layout of the data blocks the appropriate bytes can be extracted manually and assigned to basic data ty
78. K true when message handled OnMessageReceived This code ensures that only complete packets are processed However the client may still not be fast enough to process all the incoming data The TCP IP framework will buffer data up to a limit If such limits are reached arbitrary data may arrive The above function has limited recovery ability in case this should happen Data will be lost in such situations Cause of Data Loss e The network is not fast enough e The client PC is not powerful enough 230 e The application is not able to process data fast enough e The application is not designed appropriately The client application can still buffer incoming data for example in a FIFO list taking the data packets as list elements This approach can be chosen if the performance constraint is caused by intensive data processing The Winsock API offers certain tuning functions These allow for example to alter internal network buffers Increasing the receive buffer with setsockopt for example may increase data throughput significantly define SOCKET_READ_BUFFER_SIZE 256 1024 256 KB buffer int nBufSize SOCKET_READ_BUFFER_SIZE int nVarSize sizeof nBufSize it s 4 byte but sizeof is better style nRet setsockopt m_sock SOL_SOCKET SO_RCVBUF char amp nBufSize nVarSize ASSERT nRet SOCKET_ERROR See documentation on setsockopt for further
79. K 32 _MSTI_CameraToTrackerParamsFound 64 _MSTI_MeasurementProbeFound 128 _MSTI_ProbeParamsFound 256 _MSTI_MeasurementTipFound 512 SI_TipParamsFound 1024 SI_ReflectorFound 2048 SI_InFacel 4096 132 3 4 Data Structures This section describes all data structures defined in ES_C_API_Def h The data structures describe the layout of the data packets byte arrays to be transmitted over the TCP IP network The structures are required to construct and send data packets to mask incoming data packets in order to recognize their type and to interpret their contents q Note the 4 Byte alignment prerequisite for the Tracker Server and the client See pragma pack push 4 in file ES_C_API_Def h The pragma pack is a Microsoft specific C language extension A 4 Byte alignment may be different for other C C compilers No change of layout of bytes and alignment for each member is permitted during translation of these structures to other languages There is a short general description for each type All members are not described in detail Data members are often self explanatory while enumeration type members have been described under Enumeration Types Struct variable descriptions are provided only where necessary q Parameters are always in current units and coordinate system CS type where applicable unless specified otherwise 3 4 1 Basic Data Structures This section describe
80. Measurement BUI The BUI requires a Master application the BUI is hosted by It mainly acts as a Display component of such a host application There is also a Toolbar to control the most common Tracker actions However there is other than in the stand alone WEB applications no way to perform settings such as Units CS Type Filters etc These have to be performed by the Master application the BUI is hosted by 7 1 2 EmScon Basic User Interface BUI The emScon Base User Interface emScon BUI provides a graphical interface to emScon s most 293 common functions Access to it is provided through the Microsoft Internet Explorer The BUI includes e A Toolbar for common sensor control such as sensor moving or triggering measurements e A window for result display DRO e Web pages providing access to selected sensor and system settings 7 1 3 Integration of BUI into applications The BUI can be used as standalone application for testing reasons However there is no real practical use for the BUI as a standalone application The BUI however allows to be integrated to client applications This approach is demonstrated in Sample 13 The BUI provides a graphical interface to emScon However general system settings such as Units CS type etc are not provided by the BUI An application hosting the BUI will have to do emScon settings control through the ordinary TPI interface Also retrieving measureme
81. ReadingModuleDb ES_RS_ErrorWritingModuleDb ES_RS_NotInCameraPosition ES_RS_TPHasServiceFirmware ES_RS_TPExternalControl ES_RS_WrongParameter8 ES_RS_WrongParameter9 ES_RS_WrongParameter10 ES_RS_WrongParameterll ES_RS_WrongParameter12 ES_RS_WrongParameter13 ES_RS_WrongParameterl14 ES_RS_WrongParameter15 ES_RS_WrongParameterl16 ES_RS_NoSuchCompensation ES_RS_MeteoDataOutOfRange ES_RS_InCompensationMode ES_RS_InternalProcessActive ES_RS_NoCopyProtectionDongleFound ES_RS_ModuleNotActivated ES_RS_ModuleWrongVersion ES_RS_DemoDongleExpired ES_RS_ParameterImportFromProbeFailed ES_RS_ParameterExportToProbeFailed ES_RS_NotTrkCompWithMeasCamera ES_RS_NoMeasurementCamera ES_RS_NoActiveMeasurementCamera ES_RS_NoMeasurementCamerasInDb ES_RS_NoCameraToTrackerCompSet ES_RS_NoCameraToTrackerCompInDb ES_RS_ProblemStoringCameraToTrackerFactorySet ES_RS_ProblemWithCameraInternalCalibration ES_RS_CommunicationWithMeasurementCameraFailed ES_RS_NoMeasurementProbe ES_RS_NoActiveMeasurementProbe ES_RS_NoMeasurementProbesInDb ES_RS_NoMeasurementProbeCompSet ES_RS_NoMeasurementProbeCompInDb ES_RS_ProblemStoringProbeFactorySet r o o o o ES_RS_WrongActiveMeasurementProbeCompInDb ES_RS_CommunicationWithMeasurementProbeFailed ES_RS_ ES_RS_ ES_RS_ easurementTip ActiveMeasurementTip easurementTipsInDb 82 ES_RS_6DModeNotAllowed ES_RS ES_RS_NoMeasurementT
82. SSC_SystemSettingsChanged ES_SSC_TemperatureRangeChanged ES_SSC_CameraParamsChanged ES_SSC_CompensationChanged ES_SSC_CoordinateSystemTypeChanged ES_SSC_BoxRegionParamsChanged ES_SSC_SphereRegionParamsChanged ES_SSC_StationOrientationParamsChanged ES_SSC_TransformationParamsChanged ES_SSC_MeasurementModeChanged ES_SSC_StationaryModeParamsChanged ES_SSC_ContinuousTimeModeParamsChanged ES_SSC_ContinuousDistanceModeParamsChanged ES_SSC_GridModeParamsChanged ES_SSC_CircleCenterModeParamsChanged ES_SSC_SphereCenterModeParamsChanged ES_SSC_StatisticModeChanged ES_SSC_MeasStatus_NotReady ES_SSC_MeasStatus_Busy ES_SSC_MeasStatus_Ready ES_SSC_MeasurementCountReached ES_SSC_TriggerSourceChanged ES_SSC_IsFacel ES_SSC_IsFace2 ES_SSC_ExternalControlActive ES_SSC_ServiceSoftwareActive ES_SSC_MeasurementCameraChanged ES_SSC_MeasurementCameraModeChanged ES_SSC_ProbeChanged ES_SSC_TipChanged ES_SSC_TCamToTrackerCompensationChanged ES_SSC_ProbeCompensationChanged ES_SSC_TipToProbeCompensat ionChanged ES_SSC_ExternTriggerParamsChanged ES_SSC_TCamToTrackerCompensationDeleted ES_SSC_MeasurementProbeCompensationDeleted ES_SSC_Measurement TipCompensationDeleted ES_SSC_ManyMechanicalCompensationsInDB ES_SSC_MeasStatus_6DstatusInvalid ES_SSC_MeasurementProbeButtonDown ES_SSC_MeasurementProbeButtonuUp ES_SSC_ExternalTriggerEvent ES_SSC_ExternalTriggerStartEvent ES_SSC_ExternalTriggerStopEvent ES_SSC_CopyProtectio
83. T command types client to Server and the BasicCommandRT return types Server to client 158 struct InitializeCcT struct BasicCommandCT packetInfo hi struct InitializeRT struct BasicCommandRT packetInfo hi struct ReleaseMotorsCT struct BasicCommandCT packetInfo i struct ReleaseMotorsRT struct BasicCommandRT packetInfo hi struct ActivateCameraViewCT struct BasicCommandCT packetInfo hi struct ActivateCameraViewRT struct BasicCommandRT packetInfo he struct ParkCT struct BasicCommandCT packetInfo hi struct ParkRT struct BasicCommandRT packetInfo di struct GoBirdBathCT struct BasicCommandCT packetInfo i struct GoBirdBathRT struct BasicCommandRT packetInfo hi struct GoLastMeasuredPointCT struct BasicCommandCT packetInfo di struct GoLastMeasuredPointRT struct BasicCommandRT packetInfo de struct ChangeFaceCT struct BasicCommandCT packetInfo hi struct ChangeFaceRT struct BasicCommandRT packetInfo de struct StartNivelMeasurementCT struct BasicCommandCT packetInfo he struct StartNivelMeasurementRT struct BasicCommandRT packetInfo i struct StartMeasurementCT struct BasicCommandCT packetInfo he struct StartMeasurementRT struct BasicCommandRT packetInfo 159 struct StopMeasurementCT struct BasicCommandCT packetIn
84. T packetInfo int iInternalTCamToTrackerCompensationId struct SetTCamToTrackerCompensationRT struct BasicCommandRT packetInfo struct GetTCamToTrackerCompensationCT struct BasicCommandCT packetInfo struct GetTCamToTrackerCompensationRT struct BasicCommandRT packetInfo int iInternalTCamToTrackerCompensationId hi GetProbeCompensationsCT RT Command structure to get Probe Compensation properties The GetProbeCompensations command retrieves all such compensations defined in the Tracker Server The answer consists of as many answer packets as probes are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in 197 addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as tracker Serial Number comment etc serve as information mainly used for user interface purpose There is a flag blsActive which is true for exactly one compensation struct GetProbeCompensationsCT struct BasicCommandCT packetInfo di struct GetProbeCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalProbeCompensationId int iInternalProbeld int iFieldNumber ES_BOOL bIsActive ES_BOOL bMarkedForExport ES_BOOL bPreliminary unsigned short cProbeCompensat
85. TCAM no Synchronization Signal TCAM zoom out of Range 1 5 15m TCAM marker identification error 10 1 8 Hardware Configuration Errors user correctable 845 An old SMART310 Sensor cable is in use it isn t compatible with the new LT Controller and LT LTD500 Sensor LTD600 700 800 sensor connected to a classic LTD500 controller TCAM not compatible with Tracker LTD7 800 mixed with TCAM8 700 TCAM on tracker head not locked Elevation index offset is not suitable for this measuring head 337 10 1 9 Hardware Error requires service personnel 906 Elevation encoder is not working _ S SCSCSSSSSCCSCSCSCS S Calculation error while determining the SERVO CONTROL POINT No collar reflector found for measuring the servo control point or the beam intensity is not strong enough to locate the collar reflector Laser unable to stabilize hardware error on the laser detected Interferometer is not working properly eg at test into the collar reflector did not work A D board Analog input multiplexor error A D board A D converter is not working A D board Pacer clock too slow switch is set wrong D A board both axes not working A D board Pacer trigger is not working A D board onboard clock is not working D A board Azimuth axis not working A D board DMA data transfer is not working 960 reserved S reserved o 969 reserved A D board 8 16 channel switch is set wrong
86. TCP IP connection Availability of TCP IP functions There are several options as listed below The emScon application programmer has to decide which one to use This decision will mainly depend on the programming language used and the type of the application Console Application Windows Application with GUI Server Application running in background e Operating system TCP IP API e g Winsock 2 0 API of Windows This approach requires some advanced programming knowledge e Class Libraries for example MFC provide a higher level abstraction of the winsock functions Easier to use e ActiveX Controls COM libraries For example Winsck ocx of Windows e Third party TCP IP communication library or component e Self developed TCP IP library 10 2 3 Tracker Programming Interface EmScon provides a TCP IP interface Communicating with the emScon server hence means sending and receiving byte array data blocks over a network connection The emScon TPI low level interface is a collection of Data Types namely Enumeration Types and Data Structures These data types fully describe the structure of the data blocks to be exchanged over the TCP IP network They are required to construct blocks to be sent to the Tracker Server and can be used to mask incoming data blocks in order to interpret these The definition of these data types is provided with C notation include file ES_C_API_Def h This file is compatible to the
87. TT_ Unknown The target type is unknown ES_TT_CornerCube The target is a corner cube reflector ES_TT_CatsEye The target is a cats eye reflector ES_TT_GlassPrism The target is a glass prism reflector ES_TT_RFIPrism The target is an RFI Reflector for fixed installations reflector ES_TrackerTemperatureRange The ambient temperature range for the laser tracker 102 enum ES_TrackerTemperatureRange ES_TR_Low ES_TR_Medium ES_TR_High ES_TR_Low Ambient temperatures between 5 and 20 C ES_TR Medium Ambient temperatures between 10 and 30 C ES_TR_High Ambient temperatures between 20 and 40 C ES _CoordinateSystemType Coordinate system types supported by the TPI enum ES_CoordinateSystemType ES_CS ES_CS ES_CS ES_CS_RHR ES_CS_ ES_CS_ ES_CS_ ES_CS_CCW LHRX LHRY LHRZ CCC SCW SCC ES_CS_RHR Right Handed Rectangular default type ES_CS_LHRX Left Handed Rectangular Set by changing the sign of the X axis ES_CS_LHRY Left Handed Rectangular Set by changing the sign of the Y axis ES_CS_LHRZ Left Handed Rectangular Set by changing the sign of the Z axis ES_CS_CCW Cylindrical Clockwise system ES_CS_CCC Cylindrical Counter Clockwise system ES_CS_SCW Spherical Clockwise system 103 e ES_CS_SCC Spherical Counter Clockwise system ES _LengthUnit Length units supported by the TPI This enumeration type is used
88. They must be selected in the reflectors list box q The GetReflectors button is only required in emergency cases If the client starts before the Tracker Server is ready and the client dialog shows up but is not able to read the reflectors yet e The application is based on LTC_NM_Event notification selection By changing the parameter of SelectNotificationMethod in CCPPClientDlg OnInitDialog all variants are prepared a different notification method can be activated However there is only an incomplete implementation of ProcessData for these alternate methods reflector processing for example is not yet complete e Only the LTC_NM_Event notification method is fully implemented in this sample However data transfer also works with message methods One or the other methods can be activated by enabling the commented source code q Only the last call of SelectNotificationMethod is effective there should be only one call to this function Fix See chapter Handling Data Arrival Continuous Measurements for details on obtaining data in general and continuous measurements in particular 280 Handling Data Arrival Continuous Measurements Continuous measurement streams are always handled asynchronous That is even if only a LTCommandSync is implemented through which the Start Measurement command may be invoked the continuous measurement packets will arrive asynchronously A continuous measurem
89. Value2T enum ES_MeasurementStatus status long 1Timel long 1Time2 double dVall double dVal2 double dVal3 double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovar1l2 double dAprioriCovar13 double dAprioriCovar23 hi This struct describes a single measurement of a continuous 3D measurement stream in case the statistical mode is set to extended Principally the same as MeasValueT but with statistic information in addition Position values and statistic parameters are in current units CS type and according to applied orientation transformation parameters See command SetStatisticMode and description of struct MeasValueT above for details 136 ProbeMeasValueT struct ProbeMeasValueT enum ES_MeasurementStatus status enum ES_TriggerStatus triggerStatus long 1RotationStatus long 1Timel long 1Time2 double dPositionl double dPosition2 double dPosition3 double dStdDevPositionl double dStdDevPosition2 double dStdDevPosition3 double dStdDevPositionTotal double dCovarPositionl2 double dCovarPositionl13 double dCovarPosition23 double dQuaternion0o double dQuaternionl double dQuaternion2 double dQuaternion3 double dRotationAnglex double dRotationAngleyY double dRotationAnglez double dStdDevRotationAnglex double dStdDevRotationAngleY double dStdDevRotationAngleZ double dStdDevRo
90. Visual Basic application we provided the keyword WithEvents upon the declaration Dim WithEvents ObjAsync As LTCommandAsync When no requirements for catching events exists omit the WithEvents keywords in order to save overhead q Not only the asynchronous interface where absolutely crucial has an Event interface Also the synchronous interface has an Event interface _ILTCommandSyncEvents It is required for receiving continuous measurements and other multi answer results such as results to a GetReflectors call as well as for error messages such as beam broken events which cannot be handled synchronous by their nature q Events are one of the notification methods of the LT Control When alternatively using Windows messages for asynchronous notifications the keyword WithEvents becomes obsolete Windows messages instead of Events may be more appropriate for VC clients and will be discussed later For VisualBasic Events are always the right choice e The application must declare what notification mechanism to use We did this with the statement shown below Without calling this function in the initialization part of the application no notification mechanism will be activated Pk See remarks on continuous measurement in chapter Handling Data Arrival Continuous Measurements 275 electrification s LTC_NM_Event 0 0 e As soon as the WithEvents keyword is declared the O
91. _GetStatisticMode ES_C_GetStillImage ES_C_SetCameraParams ES_C_GetCameraParams ES_C_GetCameraParams ES_C_GetCompensation 54 ES_C_GetCompensations ES_C_CheckBirdBath ES_C_GetTrackerDiagnostics ES_C_GetADMInfo ES_C_GetTPInfo ES_C_GetNivellInfo ES_C_SetLaserOnTimer ES_C_GetLaserOnTimer ES_C_ConvertDisplayCoordinates ES_C_GoBirdBath2 ES_C_SetTriggerSource ES_C_GetTriggerSource ES_C_GetFace ES_C_GetCameras ES_C_GetCamera ES_C_SetMeasurementCameraMode ES_C_GetMeasurementCameraMode ES_C_GetProbes ES_C_GetProbe ES_C_GetTipAdapters ES_C_GetTipAdapter ES_C_Get TCamToTrackerCompensations ES_C_Get TCamToTrackerCompensation ES_C_SetTCamToTrackerCompensation ES_C_GetProbeCompensations ES_C_GetProbeCompensation ES_C_SetProbeCompensation ES_C_GetTipToProbeCompensations ES_C_GetTipToProbeCompensation ES_C_SetExternTriggerParams ES_C_GetExternTriggerParams ES_C_GetErrorEllipsoid ES_C_GetMeasurementCameralInfo ES_C_GetMeasurementProbeInfo ES_C_SetLongSystemParameter ES_C_GetLongSystemParameter ES_C_GetMeasurementStatusInfo ES_C_GetCompensations2 ES_C_GetCurrentPrismPosition ES_C_ExitApplication Stop and reset the Tracker Server Other than most commands ExitA pplication takes effect even while another command may still be busy Initialization FindReflector However there might be a delayed reaction in certain cases This command thus can be used for
92. a 0 Phi 0 Kappa 0 Scale 1 34 Coordinate System Type Implication Comment Selects the coordinate system type RHR LHR X LHR Y LHR Z CCW CCC SCW SCC The TPI delivers the data in the current coordinate system type By default the tracker system will work in the right handed rectangular coordinate system RHR type 3D rectangular coordinates are defined by 3 mutually perpendicular axes X Y and Z given in the order X Y Z Since the axes can be arranged in two different ways right and left handed systems are defined according to the convention illustrated in a simple 2D case Cylindrical Clockwise CCW Cylindrical Counter Clockwise CCC In a cylindrical system the X and Y values are expressed in terms of a radial distance offset from the Z axis and a horizontal angle of rotation The Z coordinate remains the same 35 Implication Comment Spherical Clockwise SCW Spherical Counter Clockwise SCC In a spherical system a point is located by a distance and two angles instead of the 3 coordinate values along the rectangular axes For axes labeled XYZ with Z vertical the point is located by its distance from the origin horizontal angle in the XY plane and zenith angle measured from the Z axis 36 3 C interface 3 1 Low level TPI Programming 3 1 1 Preconditions Using the C interface requires som
93. ached tip cannot be recognized e ES_PTS_MultipleTipsAttached There are multiple Tips attached ES _TriggerSource Specifies the source for the measurement trigger This enumeration type is used as a parameter for the ES_C_Set GetTriggerSource commands enum ES_TriggerSource ES_TS_Undefined ES_TS_Internal_Application ES_TS_External ES_TS_ExternalEvent ES_TS_ExternalStartStopEvent e ES TS Undefined The trigger source is undefined 121 e ES_TS_Internal_Application The application acts as trigger source Mainly used for emScon internal modes e ES TS External The trigger source is external The trigger port of the controller is used for trigger signal input A regular clock signal is usually used with this mode e ES TS ExternalEvent The trigger source is external The trigger port of the controller is used for trigger signal input The trigger signal occurs on a specific event such as manual button press roboter elevation limit and so on There is no distinction between start stop The application defines the behavior for example whether the reaction is the same for every event or whether there is a toggle behavior An ExternalTriggerEvent status change event is issued on each trigger event e ES_TS_ExternalStartStopEvent This type is very similar to ExternalEvent but there is a distinction between start and stop which for example allows to distinguish between button
94. acker Compensation may be defined for a tracker although often there is only one If there is more than one these can be queried from the system by using the GetCompensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetCompensation command in order to activate it Note that this setting remains persistent Nevertheless it s a good idea that an application upon launch at least checks whether the desired compensation is set command GetCompensation The principle of dealing with compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 30 Set T Cam To Tracker Compensation Implication Comment Select a specific T Cam to Tracker Compensation Related to 6DoF modes only More than one T Cam to Tracker Compensation may be defined for a tracker camera although often there is only one If there are more than one these can be queried from the system by using the GetTCamToTrackerCom pensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetTCamToTrackerCom pensation command in order to activate it Note that this setting remains persistent Nevertheless it s a good idea that an application
95. acro LtcExcel Tracker server client VBA programming with Excel 97 Office 97 is not recommended Vic See chapter VBA Macro Language Support Excel Word Access The essential difference between a VB client and an Excel client is that the Excel sheet takes the role of a VB Form That is data input output goes through cells Further details see Readme txt file in Sample 8 folder and code comments in source files 5 3 4 Sample 14 This sample shows integration of emScon COM TPI to a C application The focus of this sample is on how accessing COM methods from C An 285 application just calling SetCameraParams GetCameraParams using synchronous interface may not be very much related to practice This sample is preliminary an might be improved in future SDK versions Note In order to build run this sample the _NET framework and VisualStudio V7 VisualStudio NET is required Further details see Readme txt file in Sample 14 folder and code comments in source files 5 3 5 Sample 15 This sample shows integration of emScon COM TPI to a VB NET application The focus of this sample is on how accessing COM methods from VB NET The application just demonstrates some system settings This sample is preliminary an might be improved in future SDK versions Note In order to build run this sample the NET framework and VisualStudio V7 VisualStudio NET is required Further details see Readme txt fi
96. ain types of packets see enum ES_DataType The structures of ES_DT_Command type packets differ for different commands q All packet types contain directly or through another sub structure such as ReturnDataT BasicCommandCT or BasicCommandRT a sub structure of type PacketHeaderT with the size and type of the packet e Command type packets apart from a certain number of parameters always contain an ES_Command command type parameter e Return type packets command error and measurements always contain a status parameter ErrorResponseT struct ErrorResponseT struct PacketHeaderT packetHeader enum ES_Command command enum ES_ResultStatus status i This receive only structure ES_DT_Error packet type describes the packet size and type It 150 contains a standard packet header and a return status ES_ResultStatus or a tracker error number The command parameter is often set to ES_C_Unknown since errors are often occur unsolicited that is they are not a reaction to a command Consider a beam broken error Such an event can happen at any time and is obviously not caused by a command Fix See 8 Appendix at the bottom of this document The command parameter is set to ES_C_Unknown unless the error was caused by particular command SingleMeasResultT struct SingleMeasResultT struct ReturnDataT packetInfo enum ES_MeasMode measMode ES_BOOL bisTryMode doubl
97. al reference Orientation CAD coordinates Measured Nominal w r t CAD by active 325 station SOS Orientation Measured by 1 Measured Nominal w r t 1 station station by active station Transformation Object coordinates Measured Actual by active station Table 1 9 2 4 Orientation parameters Orientation and transformation are both seven parameter transformations consisting of three translation three rotation and one scale parameter They describe a mapping of a given set of actual points onto a given set of reference points The mapping is calculated such as to minimize the deviation between the transformed points and the corresponding reference points in a least squares sense Typically the scale is close to one e g when describing a temperature dependent dilation In the orientation case the map assumes the form T x t Rx s with t 3D translation vector R 3x3 rotation matrix s scale The corresponding residuals are residual T actual nominal The map T can be interpreted as a coordinate system with its origin at t and the axes given by the columns of R In terms of the rotation angles xAngle yAngle zAngle the rotation matrix assumes the form cz cy SZ CY sy R SZ CX CZ SY SX CZ CX SZ Sy SX CY SX SZ SX CZ SY CX CZ SX SZ Sy CX CY CX where 326 cx cos xAngle sx sin xAngle and similarly for the other angles 9 2 5 Transformation parameters Transformati
98. also mentioned here although this does not really mean an automated queuing of commands Let the synchronization to the user This means that the application implements an individual Button for every command i e every button handler calls only one command The user himself must make sure he does not press a button while a pending command has not terminated The application can support the user in such that it disables all buttons while a command is in action Disable all buttons when pressing any button enable all again when a On Answer handler is called The asynchronous issues of this chapter also apply to the C Interface and the emScon COM interface as far as using the asynchronous interface or those parts of the synchronous COM interface that remain asynchronous by nature 4 4 C Language TPI Samples 4 4 1 Sample 4 This sample is designed as a 4 Step by Step tutorial It is a Windows application with a graphical dialog user interface and makes use of the MFC framework Step1 Step 1 offers a simple dialog based MFC application It has added some dialog controls with message handlers and required dialog 235 member variables already defined However all message handlers are empty except Beep The framework has been created using the AppWizard and ClassWizard and then a bit cleaned up manually in order to keep the code as slim as possible Eliminated icons rc2 and pre compiled header
99. always use the Extended mode and therefore use all the 2 version structures handlers ES _StilllmageFileType Specifies the format of the still image This enumeration type is used as a parameter for the ES_C_GetStilllmage command enum ES_StillImageFileType ES_SI_Bitmap ES_SI_Jpeg hi e ES_SI_ Bitmap The image arrives in Bitmap format e ES_SI Jpeg The image arrives in Jpeg format This format is not supported ES_TransResultType Specifies the type of the Transformation Parameters Depending on this setting the transformation routine will provide the 7 result parameters in inverse order This enumeration type is used as a parameter for the ES_C_Set GetTransformationInputParams command enum ES_TransResultType ES_TR_AsTransformation ES_TR_AsOrientation hi e ES_TR_AsTransformation The 7 parameters are provided to be used for a transformation from local to object nominal coordinate system e ES _TR_AsOrientation The 7 parameters are provided to be used as orientation parameters ES_C_SetOrientationParameters 119 ES_TrackerProcessorType Specifies the controller type of the Tracker Processor in use SMART Embedded LTController plus base etc enum ES_TrackerProcessorType ES_TT_Undefined ES_TT_SMART310 ES_TT_LT_Controller ES_TT_EmbeddedController hi ES_TPMicroProcessorType Specifies the microprocessor type of the Tracker Proces
100. amToTrackerCompensation Sets the specified tracker compensation with the given ID as the active one The available TCamToTracker compensations including 77 their Ids can be retrieved with the command GetTCamToTrackerCompensation ES_C_GetProbeCompensations Reads all Probe compensations stored in the database Apart from the internal ID and name a series of properties is delivered ES_C_GetProbeCompensation Reads the currently active probe compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetTCamToTrackerCompensations ES_C_SetProbeCompensation Sets the specified Probe compensation with the given ID as the active one The available Probe compensations including their ID s can be retrieved with the command Get GetProbeCompensations ES_C_GetTipToProbeCompensations Reads all TipToProbe compensations stored in the database Apart from the internal ID and name a series of properties is delivered ES_C_GetTipToProbeCompensation Reads the currently active TipToProbe compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetTipToProbeCompensations ES_C_ SetExternTriggerParams Set the behavior of the external trigger related structure ExternTriggerParamsT Note Trigger functionality is not yet available with emScon 2 1 x release
101. and use wrong default parameters However wrong parameters do not cause any fatal failures The only effect will be that the Find Reflector feature by clicking to the live video image by mouse pointer will move the tracker inaccurately typically the tracker will move double or half the amount of the clicked distance ES_RS NoAdm Meaning A command could not access the absolute distance meter of the tracker This error should only occur if a tracker is not equipped with an ADM i e LT series only Note If this error occurs for LTD trackers 88 this probably indicates a hardware failure Refer to Leica service ES_RS_NoNivel Meaning A command could not access the external Nivel20 inclination sensor Either it is not present or not correctly connected Note If there is a Nivel20 connected check the cable If no Nivel20 is present set the SystemStatusFlag HasNivel to zero Command SetSystemStatus The flag must be 0 in order to access the Nivel20 ES_RS_WrongTPFirmware Meaning The installed Firmware on the Tracker controller does not match the actual hardware Note Upgrade the firmware Refer to Leica service ES_RS_DataBaseNotFound Meaning No database could be found on the tracker server Note There are no compensation parameters found for the attached sensor Send the respective parameter files to the emScon server using the transfer tool ES_RS_LicenseExpired Meaning The Copy P
102. arType Dim sz As Long ObjConnect GetData data tp VarType data type we expect a Byte arryay If tp sz vbArray vbByte Then Byte Array UBound data 1 index is zero based If bytesTotal sz Then MsgBox sz display of bytes received Else MsgBox CStr Unexpected size amp sz _ amp CStr expected amp bytesTotal End If End If End Sub q It is not necessary to read data here with GetData Answers may be filtered out and only those data packets of interest can be read With TCP IP data must be read at socket level see previous samples otherwise no notification will arrive again The principles shown here also apply to message handlers if one of the message notification mechanisms is selected Fix See chapter Answers from Tracker Server on how to mask evaluate incoming data blocks 263 5 2 14 VBA Macro Language Support Excel Word Access The LTControl COM component can also be used with VBA Visual Basic for Applications the built in Macro language of MS Excel Word and Access with the exception that structs and enums are not fully supported with VBA that comes with Office 97 Ex functions that take struct parameters cannot be used VBA that comes with Office 2000 no longer has such limitations q It is highly recommended to use Office 2000 or higher for Tracker Server VBA Programming Office 97 Excel 97 Word 97 apart from a missing UDT contain some
103. are delivered in current units and current CS type the same as with TransformationInputParams For all transformation related commands see Section 9 2 for details ES_C _GetTransformedPoints Retrieves the secondary transformation results transformed points including statistical information and their residuals to nominal points after a successful CallTransformation Values are provided in current units current CS type but not according to current orientation settings Transformed points do match the nominal points apart from residuals For all transformation related commands see Section 9 2 for details ES_C _ ClearDrivePointList Clears the current drive point list used as input data for the Intermediate Compensation ES_C_AddDrivePoint Add a point to the drive point list for the Intermediate Compensation Values are expected in current units current CS type and according current orientation transformation settings For all intermediate compensation related 71 commands see main chapters 8 sub chapter Automated Intermediate Compensation ES_C_CallIntermediateCompensation Triggers an Intermediate Compensation process and calculation A successful result will not automatically become the active compensation For all intermediate compensation related commands see main chapters 8 sub chapter Automated Intermediate Compensation Note this is a long taking command It can be inte
104. as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_LengthUnit ES_LU_Meter ES_LU_Millimeter ES_LU_Micron ES_LU_Foot ES_LU_Yard ES_LU_Inch ES _AngleUnit Angle units supported by TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_AngleUnit ES_AU_Radian ES_AU_Degree ES_AU_Gon hi ES_TemperatureUnit Temperature units supported by TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_TemperatureUnit ES_TU_Celsius ES_TU_Fahrenheit hi ES PressureUnit Pressure units supported by the TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits 104 enum ES_PressureUnit ES_PU_Mbar default ES_PU_HPascal same as MBar ES_PU_KPascal ES_PU_MmHg ES_PU_Psi ES_PU_InH20 ES_PU_InHg e ES PU _Mbar Millibar e ES_PU_Hpascal HectoPascal Millibar e ES_PU_Kpascal KiloPascal e ES_PU_MmHg Millimeter Mercury e ES PU_Ps Pounds per Inch e ES PU _InH20 Inch Water Height e ES_PU_InHg Inch Mercury ES _HumidityUnit Humidity units supported by the TPI This enumeration type is used as parameter for ES_C_SetUnits ES_C_GetUnits enum ES_HumidityUnit ES_HU_RH e ES HU RH Relative humidity which is expressed in percentage ES _TrackerStatus This enumeration type names the possible tracker states It is used as the
105. atal error since the Pressure is required for the calculation of the refraction index ES_RS 6DMeasurementFace2NotAllowed Meaning The system is in Face II while 98 trying to do a 6D measurement The system does not allow to perform 6D measurements while in Face II Change to Face I first ES MeasMode This enumeration type names the currently implemented measurement modes Used as a parameter for the ES_C_SetMeasurementMode command enum ES_MeasMode ES_MM Stationary ES_MM_ ContinuousTime ES_MM_ContinuousDistance ES_MM_ Grid ES_MM_SphereCenter ES_MM_CircleCenter ES_MM_6DStationary ES_MM_ 6DContinuousTime ES_MM_ 6DContinuousDistance ES_MM_6DGrid ES_MM_6DSphereCenter ES_MM_ 6DCircleCenter ES_MM_Stationary Stationary measurement mode Also known as Single Point measurement where the target is stationary q A stationary measurement is an average value of many tracker measurements The parameters for a stationary measurement number of measurements and the time span can be controlled with the ES_C_SetStationaryModeParams command ES_MM_ContinuousTime Continuous measurement mode with a time interval a measurement is triggered after the time interval The behavior of a continuous measurement can be controlled with the ES_C_SetContinuousTimeModeParams command ES_MM_ContinuousDistance Continuous Measurement mode with a distance interval A measurement is 99 trigge
106. better make it a member variable of CMsgSink static char szRecvBuf RECV_BUFFER_SIZE bool bOK true long lReady 0 int nCounter long 1Missing long 1BytesRead 0 long 1PacketSize 0 long 1BytesReadTotal 0 int nHeaderSize sizeof PacketHeaderT PacketHeaderT pHeader NULL r r E e TRACE _T CMsgSink OnMessageReceived lu lu n wParam lParam if WSAGETSELECTEVENT lParam FD_READ Just peek the header do not remove data from queue lReady recv SOCKET wParam szRecvBuf nHeaderSize MSG_PEEK if lReady lt nHeaderSize if lReady SOCKET_ERROR if WSAGetLastError WSAEWOULDBLOCK Sleep 50 busy try later else Beep 1000 100 not able to get header else if return true non fatal only a peek try next time if pHeader PacketHeaderT szRecvBuf bOK bOK amp amp lReady nHeaderSize amp amp pHeader gt 1lPacketSize gt nHeaderSize amp amp pHeader gt 1lPacketSize lt RECV_BUFFER_SIZE amp amp pHeader gt type gt ES_DT_Command amp amp pHeader gt type lt ES_DT_ReflectorPosResult lPacketSize pHeader gt 1PacketSize if bOK do nCountert t if 1BytesRead gt 0 l1BytesReadTotal 1BytesRead lMissing 1PacketSize 1BytesReadTotal lBytesRead recv SOCKET wParam szRecvBuf 1BytesReadTotal 1Missing 0 if 1BytesRead SOCKET_ERROR if WSAG
107. bjAsync object or whatever the variable is called is listed in the top left list box of the Form s source code window Just as an experiment Remove WithEvents and save the code the list entry will vanish elf ObjAsync is selected in the list box a list of all available event handlers is shown in the right drop down list eTo generate the code framework for an event handler select it from the right list Selecting ErrorEvent will generate a function named ObjAsync_ErrorEvent Do this and complete the generated function frame with a message box to read as follows Private Sub ObjSync_ErrorEvent _ ByVal command As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus MsgBox command amp CStr amp status End Sub This event handler will now be triggered for example on a Beam Broken Event Note The 6Dof part of the interface contains some event types with a huge count of parameters To mention Stationary ProbeMeasData which is the most extreme with 49 parameters Such excessive parameter lists depending on VB version partly are beyond code generating Wizards capability Lines may be cut which will lead to syntax errors for generated code In these cases the cut lines need to be completed manually see type library for signature 276 Extended Synchronous Functions ObjSync MeasurStationaryPoint has 18 basic data type parameters Basic data t
108. ble dQuaternion0o double dQuaternionl double dQuaternion2 double dQuaternion3 double dRotationAnglex double dRotationAngleY double dRotationAngleZ The Probe relative to ReflectorPosResult Values are in current units CS type and according to applied orientation transformation parameters There are some status values in addition Rotation angles are always represented in the interval between PI and PI The position values relate to the center of the tip ruby sphere Details about RotationStatus see chapter Rotation Status just following the chapter ProbeMeasValueT SystemStatusChangeT struct SystemStatusChangeT struct ReturnDataT packetHeader enum ES_SystemStatusChange systemStatusChange hi This receive only structure describes the ES_DT_SystemStatusChange packet type These are received when the system status has changed Fix See enum ES_SystemStatusChange for supported notification types ExternTriggerParamsT struct ExternTriggerParamsT enum ES_ClockTransition clockTransition enum ES_TriggerMode triggerMode enum ES_TriggerStartSignal startSignal long 1MinimalTimeDelay l Parameters 1 3 See description of appropriate enumeration types 157 IMinimalTimeDelay The time delay between trigger event and measurement Non Parameter Command Return Types Lists all non parameter command structures They are derived from the BasicCommandC
109. c diagnostic data The tracker must be equipped wit an ADM struct GetADMInfoCT struct BasicCommandCT packetInfo hi struct GetADMInfoRT struct BasicCommandRT packet Info int iFirmWareMajorVersionNumber int iFirmWareMinorVersionNumber int iSerialNumber GetNivelinfoCT RT Command structures to read NIVEL20 specific diagnostic data The tracker must have a NIVEL20 sensor connected and enabled struct GetNivelInfoCT struct BasicCommandCT packetInfo struct GetNivelInfoRT struct BasicCommandRT packetInfo int iFirmWareMajorVersionNumber int iFirmWareMinorVersionNumber int iSerialNumber GetTPIinfoCT RT Command structures to read TP specific diagnostic data This is a command mainly used for service purposes 190 struct GetTPInfoCT struct BasicCommandCT packetInfo hi struct GetTPInfoRT struct BasicCommandRT packetInfo int iTPBootMajorVersionNumber int iTPBootMinorVersionNumber int iTPFirmWareMajorVersionNumber int iTPFirmWareMinorVersionNumber int iLCPFirmWareMajorVersionNumber int iLCPFirmWareMinorVersionNumber enum ES_TrackerProcessorType trackerprocessorType enum ES_TPMicroProcessorType microProcessorType int iMicroProcessorClockSpeed enum ES_LTSensorType laserTrackerSensorType SetLaserOnTimerCT RT Command structure to set the time in hours and minutes rounded off to nearest hour block to start the laser previously switch
110. cCommandCT packetInfo he struct GetCircleCenterModeParamsRT struct BasicCommandRT packetInfo struct CircleCenterModeDataT circleCenterModeData hi Fy See struct CircleCenterModeDataT for details Set GetGridModeParamsCT RT Command structures for setting getting the parameters for the Grid Measurement mode 165 struct SetGridModeParamsCT struct BasicCommandCT packetInfo struct GridModeDataT gridModeData he struct SetGridModeParamsRT struct BasicCommandRT packetInfo he struct GetGridModeParamsCT struct BasicCommandCT packetInfo i struct GetGridModeParamsRT struct BasicCommandRT packetInfo struct GridModeDataT gridModeData hi By See struct GridModeDataT for details Set GetSystemSettingsCT RT Command structures for setting getting the system settings parameters struct SetSystemSettingsCT struct BasicCommandCT packetInfo struct SystemSettingsDataT systemSettings he struct SetSystemSettingsRT struct BasicCommandRT packetInfo he struct GetSystemSettingsCT struct BasicCommandCT packetInfo struct GetSystemSettingsRT struct BasicCommandRT packetInfo struct SystemSettingsDataT systemSettings hi Vic See struct SystemSettingsDataT for details Set GetUnitsCT RT Command structures for setting getting the units settings The current units act like current CS type and transformation orientation parameter
111. cally used to perform a continuous measurement while the Button is being hold down i e Start the measurement upon pressing the button and stop it on releasing button ES _ProbeConfigTip Parameter values for ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_Sound parameter type 130 enum ES_ProbeConfigTip ES_PCT_OnlyWithTip ES_PCT_NoTipAllowed e ES PCT_OnlyWithTip Probe requires a Tip attached e ES PCT_NoTipAllowed No tip required Scanner probes ES ProbeButtonEvent ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_ButtonEvent parameter type ES_API enum ES_ProbeButtonEvent ES_PBE_DisableEvents ES_PBE_EnableEvents hi e ES PBE_DisableEvents no button events are sent e ES PBE_EnableEvents server sends button events ES MeasurementStatusIinfo The values of this enum can be used to identify mask each individual bit of the long parameter delivered by the command ES_C_GetMeasurementStatusInfo Hence the power of 2 of every value The meaning of the values should be self explaining according to their symbol names See description of command ES_C_GetMeasurementStatusInfo for further information 131 enum ES_MeasurementStatusInfo SI_Unknown 0 SI_TrackerFound 1 SI_TrackerCompensationFound 2 SI_ADMFound 4 SI_ADMCompensationFound 8 SI_MeasurementCameraFound 16 SI_InternalCameraParamsO
112. ch timeout value selected by SetSearchParams See command SetSearchParams for details A GoPosition command in progress can be interrupted with ES_C_StopMeasurement ES_C GoPositionHVD Laser beam is sent to specified location followed by an implicit Find reflector Input is in current units as horizontal vertical and distance parameters related to the values of the instrument CS and raw measurement values regardless of current CS and CS type Range limitations apply with respect to the tracker elevation limits The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the provided distance is taken as new IFM distance To be used with caution The search time depends on the search radius Large search radii result in extended search times unless limited by the search timeout value selected by SetSearchParams See command SetSearchParams for details A GoPositionHVD command in progress can be interrupted with ES_C_StopMeasurement PositionRelativeHV Position relative the tracker head to the given horizontal and vertical angles The angles are signed values in order to specify the direction Parameters are according to currently set angular units Range limitations 67 apply with respect to the tracker elevation limits ES_C_ PointLaser Similar to ES_C_GoPosition but laser beam is sent to the specified location only A reflector is
113. cify the direction of movement In contrast to the MoveHV command PositionRelative means a one time movement struct PositionRelativeHVCT struct BasicCommandCT packetInfo double dHzVal double dvtVal di struct PositionRelativeHVRT struct BasicCommandRT packetInfo PointLaserCT RT Structures for invoking the PointLaser command The input parameters are in current units CS type and according to applied orientation transformation parameters struct PointLaserCT struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 i struct PointLaserRT struct BasicCommandRT packetInfo hi PointLaserHVDCT RT Structures for invoking the PointLaserHVD command Same as PointLaser with the input parameters in a spherical coordinate system type irrespective of the selected CS Values are in current units struct PointLaserHVDCT struct BasicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance struct PointLaserHVDRT struct BasicCommandRT packetInfo hi 176 MoveHVCT RT Structures for invoking the MoveHV command The input parameters are vertical horizontal speed values between 1 and 100 of the maximum speed of the tracker Use 0 value s to stop a previously started movement MoveHV can be called repeatedly with varying speed values in order to change moving speed No stop is required in between
114. cketHeaderT packetHeader enum ES_Command command hi This is a generic structure used to derive all other command types from It serves as a general basis for sending commands BasicCommandRT struct BasicCommandRT struct PacketHeaderT packetHeader enum ES_Command command enum ES_ResultStatus status hi This is a generic structure used to derive all other result types from It serves as a general basis for receiving commands q Instead of using typedef for all basic command types result types commands that do not take additional parameters or do not return date two data structure containing only BasicCommandCT BasicCommandRT member have been introduced This approach enables naming consistency with respect to struct nesting depth Fix See chapter Non Parameter Command Return Types Meas ValueT struct MeasValueT enum ES_MeasurementStatus status long 1Timel long 1Time2 double dVall double dVal2 double dVal3 This struct describes a single measurement of a continuous 3D measurement stream Time1 indicates seconds expired since a measurement start Time2 indicates microseconds expired within the last second The total elapsed time in microseconds is T ms 10e6 ITime1 ITime2 Position values Val1 Val3 are in current units CS type and according to applied orientation 135 transformation parameters Meas Value2T struct Meas
115. cketInfo double dApproxDistance hi struct FindReflectorRT struct BasicCommandRT packetInfo The search time depends on the search radius and timeout set by the SetSearchParams command Large search radii result in extended search times unless limited by a reasonable SearchTimeout See SetSearchParams for details The real search radius in addition depends on the specified approx distance An approx distance which is 50 off the actual value will also influence the search radius by 50 The system cannot directly work with the radius It calculates horizontal and vertical angles for the tracker from the specified search radius and approximate Distance Although no range limitation for the approx distance applies in theory there is a practical limitation given by tracker working space 100 mm lt approxDist lt 50000 mm Note the minimum value is 101 mm not 100 mm See also SearchParamsDataT Set GetCoordinateSystemTypeCT RT Command structures for setting getting the current coordinate system type The current CS type acts like current units and transformation orientation parameters as a input output Filter to all coordinate type related parameters 161 struct SetCoordinateSystemTypeCT struct BasicCommandCT packetInfo enum ES_CoordinateSystemType coordSystType he struct SetCoordinateSystemTypeRT struct BasicCommandRT packetInfo struct GetCoordinateSystemType
116. coder failure MOT ERROR wrong encoder counter direction MOT ERROR motor controller failure MOT ERROR motor unit is blocked or braked MOT ERROR reflexion sensor failure 14105 MOT ERROR unknown error in open loop check MOT ERROR function call not allowed MOT ERROR standstill error while closed loop check MOT ERROR timeout during closed loop check 4109 MOT ERROR timeout during reference search MOT ERROR no index position found MOT ERROR no cable feedback signal MOT ERROR encoder status error MOT ERROR encoder signal error MOT ERROR over temperature on sensor 0 MOT ERROR over temperature on sensor 1 MOT ERROR over current on motor 0 MOT ERROR over current on motor 1 PROBE ERROR wrong command parameter ZFCI INFO zoom controller is connected again to the DSP ZFCI ERROR no zoom controller connected to the DSP ZFCI ERROR dsp avr synchronisation error ZFCI ERROR checksum failure ZFCI ERROR incorrect flash or eeprom address 340 4014 ZFCI ERROR flash or eeprom address already written 4215 ZFCI ERROR zoom controller reports an error command not executed 4216 ZFCI ERROR command may not be executed at the moment 4217 ZFCI ERROR invalid command parameter 4218 ZFCI ERROR wrong ZFC answer ea 4250 FLASH REMARK space in err log message sector is running out 4251 FLASH REMARK err log message sector erased successfully 4260 FLASH ERROR err
117. con 2 1 x releases and may be subject to change ES _SystemParameter Specifies the value to be addressed by the ES_C_Set GetLongSystemParameter command enum ES_SystemParameter ES_SP_KeepLastPositionFlag ES_SP_WeatherMonitorSetting ES_SP_ShowAl1l6DMeasurements ES_SP_LaserPointerCaptureBeam ES_SP_DisplayReflectorPosition ES_SP_ProbeConfig_ButtonEvent ES_SP_ProbeConfig_Tip ES_SP ProbeConfig_Button ES_SP ProbeConfig_SoundVolume e ES _SP_KeepLastPositionFlag Param value 0 OFF 1 ON Important Enabling the KeepLastPosition flag is compulsory for 6D Measurement Modes Otherwise the Probe will not be recognized If beam catched at zero 1 position Alternativley this setting also can be controlled through the SetSystemSettings command 128 ES_SP_WeatherMonitorSetting Parameter value see ES_WeatherMonitorStatus Alternativley this setting also can be controlled through the SetSystemSettings command ES_SP_ShowAll6DMeasurements Parameter value 0 Only show data if 6D rotation status is OK default 1 Show always ES_SP_LaserPointerCaptureBeam Allows to control the behavior of the PointLaser command if the beam is being sent very close to a reflector In this situation it is not always desired that the laser beam locks on to the reflector Parameter value 0 Beam catch OFF 1 Beam catch ON default ES_SP_DisplayReflectorPosition Parameter value 0 Disab
118. ct system given by the transformation parameters It is defined by its diagonal i e by two points in the object system The coordinates of the points are subject to units and coordinate type They are NOT subject to transformation parameters 58 A box region is described by a coordinate system parallel to the box edges and two opposite vertices All coordinates of the first point must be less than those of the second one If this condition fails on input the corresponding coordinates are switched Related structure BoxRegionDataT ES_C_GetBoxRegionParams Queries the currently valid box region parameters Note that the retrieved point coordinate values can be different from those previously set by SetBoxRegion Because of the condition that the coordinates of the first point must be less than those of the second one However the defined box will remain the same Related structure BoxRegionDataT ES_C_ SetEnvironmentParams Sets the environment parameters temperature pressure and humidity Parameters are in current units For valid parameter ranges refer to chapter Working Conditions in the Introduction main chapter of this manual Trying to set values outside the valid ranges will result in command failure Related structure EnvironmentDataT See enum ES_WeatherMonitorStatus for details on explicit and implicit updates of environmental parameters ES_C_GetEnvironmentParams Queries the currently
119. d Where limitations apply these are mentioned at the command description See also chapter Working Conditions in the Introduction main chapter of this manual Note that it is never possible to violate valid parameter ranges in such that the related Set commands do not accept values outside valid range and therefore will return with an error Reading Instructions Set Get Command pairs Information about parameter representation in terms of current Units Coordinate System Type CS type Transformation and Orientation is provided at the Description of the Set command but not repeated at the description of the related Get command It is obvious that these information apply to both Set and Get Although the valid range information is obsolete for Get commands 53 enum ES_Command ES_C_ExitApplication ES_C_GetSystemStatus ES_C_GetTrackerStatus ES_C_SetTemperatureRange ES_C_GetTemperatureRange ES_C_SetUnits ES_C_GetUnits ES_C_Initialize ES_C_ReleaseMotors ES_C_ActivateCameraView ES_C_Park ES_C_SwitchLaser ES_C_SetStationOrientationParams ES_C_GetStationOrientationParams ES_C_SetTransformationParams ES_C_GetTransformationParams ES_C_SetBoxRegionParams ES_C_GetBoxRegionParams ES_C_SetSphereRegionParams ES_C_GetSphereRegionParams ES_C_SetEnvironmentParams ES_C_GetEnvironmentParams ES_C_SetRefractionParams ES_C_GetRefractionParams ES_C_SetMeasur
120. d As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus For example indicates a beam broken event If not status ES_RS_Unknown Then MsgBox command amp CStr amp status Else MsgBox unknown Error Endif End Sub 10 Retrieve data during continuous measurement events Events for continuous measurements and Stilllmage results do not provide the data directly The data must be retrieved explicitly by using ILTConnect GetData In C mask a data block with struct type casts For VB and VBA ILTConnect provides some convenient functions 246 Private Sub LtSync_ContinuousPointDataReady _ ByVal resultsTotal As Long _ ByVal bytesTotal As Long On Error GoTo ErrorHandler Dim numResults As Long Dim measMode As Long Dim temperture As Double Dim pressure As Double Dim humidity As Double Dim data As Variant LtConnect GetData data LtConnect ContinuousDataGetHeaderInfo data numResults _ measMode temperture pressure _ humidity For index 0 To numResults 1 LtConnect ContinuousPointGetAt data index status _ timel time2 dVall daVal2 dVal3 Todo Do something with the measurement data here Next Exit Sub ErrorHandler MsgBox Err Description End Sub Continuous DataGet HeaderInfo ContinuousPointGe tAt may affect the performance They have been primarily designed for use with VBA For C applications and VB there are more efficient ways to
121. d eigenvalues of the covariance matrix If the covariance matrix is diagonal the axes of the error ellipsoid are parallel to the coordinate axes The correlations covar stdDev stdDev P satisfy the relations 1 lt p lt 1 At the TPI point coordinates together with the covariance matrix are passed in the following non redundant form Coord1 Coord2 Coord3 StdDev1 StdDev2 StdDev3 Covar12 Covar13 Covar23 9 1 1 A priori accuracy For continuous measurements the a priori covariance matrix of a point measurement is calculated according to the tracker accuracy Emscon adapts the following model StdDevH max 1 25E 5 d 5E 6 StdDevV max 1 25E 5 d 5E 6 StdDevD J1E 10 1 25E 6 d 322 where d denotes the measured distance in meters H and V denotes the horizontal and vertical angle in radians This formula applies in the case of IFM measurements initialized at bird bath distance The angle accuracy is constant beyond 2 5m and slightly poorer at close range Simplified homogeneous models are StdDevXYZ max 10E 6 d 25 or even simpler StdDevXYZ 50u The a priori accuracy includes unresolved systematic errors and indicates the reliability of a measurement This kind of accuracy should be used as input to any further calculation 9 1 2 A posteriori accuracy For single point measurements stationary sphere center circle center also the a posteriori or repeatability covariance is
122. d order of actual points must agree with that of the corresponding set of nominal points Typically actual points are obtained from single point measurements We recommend using the a priori accuracy Section 9 1 1 in particular when using fixed nominal values Using fixed nominals together with the a posteriori accuracy provided by tracker measurements would lead to over weighting of residuals in laser direction The reason is that tracker measurements are much more accurate in the laser direction than perpendicular to it Parameter constraints If any of the seven orientation or transformation parameters are known prior to the calculation their value can be fixed Frequently the scale is fixed to be 1 0 and the other parameters are free as in the following example SetInputParams 0 0 0 0 0 0 0 0 0 0 0 0 1 0 ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_FixedStdDev The values of unknown parameters can be set arbitrarily Parameter constraints are not used to reduce the required number of known nominal coordinates They are not taken into account for the initial approximation To fix some or all components of the translation vector the coordinate type must be one of Cartesian RHR or LHR 9 2 7 Output of transformation computation Transformation parameters The command CallTransformation returns a structure CallTransformationRT containing the seve
123. dPointsCT struct BasicCommandCT packetInfo he struct GetTransformedPointsRT struct BasicCommandRT packetInfo int iTotalPoints double dVall double dVal2 double dVal3 double dStdDev1 double dStdDev2 double dStdDev3 double dStdDevTotal double dCovarl12 double dCovarl13 double dCovar23 double dResidualVall double dResidualVal2 double dResidualVal3 hi GetStilllmageCT RT Command structures for getting a camera still image The data is delivered as a BMP file Jpeg format is not supported yet The result is a binary block given by start address and size in File format It can directly be viewed with a bitmap viewer struct GetStillImageCT struct BasicCommandCT packetInfo enum ES_StillImageFileType imageFileType hi struct GetStillImageRT struct BasicCommandRT packetInfo enum ES_StillImageFileType imageFiletype long 1lFileSize char cFileStart i Only the BMP format is currently supported 187 GoBirdBath2CT RT Command structures for driving the laser to the Bird bath either in clockwise or counter clockwise direction struct GoBirdBath2CT struct BasicCommandCT packetInfo ES_BOOL bClockWise hi struct GoBirdBath2RT struct BasicCommandRT packetInfo hi GetCompensationCT RT Command structures to read the currently active Compensation ID struct GetCompensationcT struct BasicCommandCT packetInfo i struct Get
124. dVal3 double dScaleStd Used for parameters of the Set GetTransformationInputParams command Used in order to specify Fixing Weighting transformation result values Values are in current units and apart from Radius in current CS type No transformation applies For details see Section 9 2 For the StdDev parameters use values as specified in chapter Constants TransformationPointT struct TransformationPointT double dVall double dVal2 double dVal3 double dStdl double dstd2 double dstd3 double dCov12 double dCov13 double dCov23 hi It is used as a sub structure for the AddNominal AddActualTransformationPoint commands Values are in current units and CS type and according to applied transformation settings only in case of actual points Nominal points are not influenced by transformation settings For details see Section 9 2 For the StdDev parameters use values as specified in chapter Constants 149 CameraParamsDataT struct CameraParamsDataT int iContrast int iBrightness int iSaturation Used for parameters of the Set GetCameraParams command Values of Contrast Brightness range from 0 to 256 Saturation is currently not used and must be set to zero 3 4 2 Packet Data Structures These data types describe the real data blocks exchanged over the TCP IP network between the Tracker Server and the application PC There are 9 m
125. data structure MultiMeasResult2T ES_DT_ ProbePosResult The equivalent to ES_DT_ReflectorPosResult but related to probes with 6 Degrees of freedom I e Not only the position but also the rotation is supplied ES Command This enumeration type names all commands that are provided by the TPI A data packet of type ES_DT_Command contains exactly one of these values The answer packet to a command returns the same value for acknowledgment E See struct BasicCommandCT for details General Information related to each command 1 Naming Convention Send Receive Structs The related data structures for sending and receiving data can be derived from the command name as follows e Remove the ES _C_ Prefix from the command e Add CT postfix to get name of related send structure CT stands for CommandType e Add RT postfix to get name of related receive structure RT stands for ReturnType Example Structures related to command ES_C Initialize are InitializeCT and InitializeRT If CT RT structures contain sub structs these are mentioned at each commands description Explanations are available at the command descriptions ES_C_ and also at the related structure descriptions CT RT To avoid too 51 much redundancy descriptions are usually not repeated at both locations Thus it might be necessary to look up command descriptions and related structure descriptions 2 Dimensions Units
126. de This command only applies to tracker systems equipped with a T Cam Allows to switch between Measurement and Overview mode If in Overview mode the T Cam plays the role of a classic camera as already available with LT D 500 series That is commands such as ActivateCameraView Set GetCameraParams GetStilllmage apply ES_C _GetMeasurementCameraMode Get the currently active T Cam mode Measurement Overview ES_C_GetProbes This command only applies to tracker 75 systems equipped with a T Cam Delivers all T Probes known to the system including ID and other properties This command is the 6DoF relative to ES_C_GetReflectors of a 3D system ES_C_GetProbe Gets the ID of the currently active Probe ES_C_GetTipAdapters This command only applies to tracker systems equipped with a T Cam It delivers all Measurement Tip Adapters known to the system including ID and other properties This command is similar to ES_C_GetReflectors of a 3D system Explanation of Terms Probe Tip Adapter Interfaces rl Tip Stylus Tip Assembly Stylus Assembly Combination of Tip and Tip Adapter Tip Adapter L Note that the terms Tip and Stylus are equivalent The former is used in by the TPI while the Compensation Application mainly uses the latter A TipAssembly StylusAssembly addresses the actual combination of Tip and TipAdapter The TipAssembly is designed as a property o
127. defined by the nominal points Related Commands e ClearTransformationNominalPointList e ClearTransformationActualPointList e AddTransformationNominalPoint e AddTransformationActualPoint e SetTransformationInputParams e GetTransformationInputParams e CallTransformation e GetTransformedPoints Comments The command CallTransformation displays a transformation carried out with Set GetTransformationParams Before doing a CallTransformation both point lists nominal and actual must be prepared They must contain the same number of elements EmScon System Settings The system settings of emScon units coordinate type and coordinate system must reflect the current input data Point input values nominal actual are interpreted by emScon based on the current emScon system settings e Additional parameters can be set by using the SetTransformationInputParams command For example to fix certain parameters By default i e if no call to SetTransformationInputParams all parameters are assumed as unknown e After a successful calculation additional results in terms of transformed points and residuals can be retrieved optionally by using 312 GetTransformedPoints None of the 7 calculated transformation parameters received as output from CallTransformation are automatically applied to the system This must be done explicitly by calling SetTransformationParams See Section 9 2 for mathematical description 8 1 6 Automat
128. degrees ES WeatherMonitorStatus Specifies status of the weather monitor This enumeration type is used as a parameter for ES_C_SetSystemSettings and ES_C_GetSystemStatus commands The Tracker server maintains one single set of current environmental parameters temperature pressure and humidity The command ES_C_GetEnvironmentParams queries current parameters Parameters are set with explicit implicit methods enum ES_WeatherMonitorStatus ES_WMS_NotConnected ES_WMS_ReadOnly ES_WMS_ReadAndCalculateRefractions hi e ES WMS NotConnected There is no weather monitor connected to the system or it is switched off The application must use ES_C_ SetEnvironmentParams to set the 108 environment parameters explicit method SetEnvironmentParams also updates the refraction parameters Therefore it is not necessary to use ES _C SetRefractionParams If ES_C_ SetRefractionParams is called anyway the refraction parameters are updated with the values provided however the next call to ES_C _SetEnvironmentParams will overwrite these values again ES_WMS_ReadOnly While in this mode if weather monitor is connected and correctly working the system automatically reads the environmental values periodically 20 seconds from the monitor and internally updates the current environment parameters implicit method Error events repeatedly occur if no values can be read weather monitor switched off o
129. e compensated and activated before it can be used for measuring ES_RS_ProblemStoringCameraToTracker FactorySet Meaning The factory parameters of the current camera could not be replicated in the database Note This error should not occur under normal conditions ES_RS_ProblemWithCameralInternal Calibration Meaning There is something wrong with 96 the internal camera calibration Note This error should not occur under normal conditions The camera probably needs to be repaired e ES RS CommunicationWithMeasurement CameraFailed Meaning Possibly a hardware failure The mounted camera should be detected automatically Note Remove the Camera and mount again If still a problem refer to Leica service ES_RS_ProblemStoringProbeFactorySet Meaning The Factory parameters of the current probe could not be stored in the database Note This error should not occur under normal conditions ES_RS_NoDataToImport Meaning Import Data failed since no data to import was found ES_RS_ProblemStoringTipAssembly Meaning Tip assembly could not be stored Note This error should not occur under normal conditions ES_RS 6DModeNotAllowed Meaning Trying to execute a 6DoF related command with a 3D measuring system or system is set to 3D Mode Note Make sure the system supports 6DoF i e has a camera mounted and that one of the Probe 6DoF measurement modes is selected ES_RS_Bad6DResult Meaning The 6D coo
130. e daVall double dVal2 double dVal3 double dStdl double dstd2 double dstd3 double dStdTotal double dPointingErrorl double dPointingError2 double dPointingError3 double dAprioriStdl double dAprioriStd2 double dAprioriStd3 double dAprioriStdTotal double dTemperature double dPressure double dHumidity This receive only structure describes the ES_DT_SingleMeasResult packet type Apart from the standard ReturnDataT structure it contains data specific to a single tracker 3D measurement In addition to the 3 coordinate values there is statistical information such as standard deviations a posteriori and a priori and pointing errors The environmental values are those currently valid to the system either those explicitly set by SetEnvironmentParams or those last implicitly updated by the weather monitor 151 The flag blsTryMode is set if system is in Try Mode This is not relevant for common users T The format of measurements statistical informations and environmental values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters SingleMeasResult2T struct SingleMeasResult2T struct ReturnDataT packetInfo enum ES_MeasMode measMode ES_BOOL bIsTryMode double dVall double dVal2 double dVal3 double dStdDev1 double dStdDev2 double dStdDev3 double dStdDevTotal doub
131. e of a data block is passed with the message e The data block must be first read with GetData except for WM_COPYDATA and then interpreted Interpretation is done with a switch statement with the ProcessData sample code Fk See chapter Handling Data Arrival Continuous Measurements This sample also shows one of the features not shown so far How to retrieve the reflectors known to the system It also demonstrates continuous measurements Fk View the source code for details Note that this code contains a relatively big overhead needed for user interface issues The Tracker Server specific part is not that dominant Source Code Description e Information that is displayed in list boxes such as units CS type is automatically read from the Tracker Server upon startup What is seen has been actually selected e Changing the items of one list box automatically creates a Set for the newly selected item e On changing units CS type etc some dependent information may vanish from the related edit fields to ensure consistency This is due to the paradigm What you see is selected Do a Get to recover it which can also be done by the application 279 e On setting new values the Set command is automatically followed by a Get two beep sounds The Get is not required only for testing and demonstration purpose e Reflectors are read upon client startup Can be heard by characteristic beeps
132. e particular C programming knowledge A programmer should at least know about asynchronous programming concepts TCP IP socket programming and multi threading The description of the enums structs in this chapter may be slightly discrepant to the contents of the ES_C_API_Def h file in the SDK In case of discrepancies the information in the ES_C_API_Def h file should be regarded as correct This chapter completely and exclusively relates to the file ES_C_API_Def h which is part of the EmScon SDK All Enumeration types and Structures are described in this header file This header file acts as an integral part to this manual and it might be helpful to have it open in parallel to this document since the information is much more condensed in the header file 3 1 2 Recommendation Although the C interface makes up the native programming interface to emScon it is not usually recommended to write applications directly using the C interface Rather use the much more convenient C interface In contrast to the C interface the C interface requires much more coding lines and comprises 37 the danger of doing initialization errors for structures aka copy paste errors However since it s the native interface the enumeration types and structures of the C interface serve as main reference The same enumeration types and parameters will show up in the C interface as well Hence even when using the C interface
133. e vt parray gt pvData 1 lFileSize pFile if lWritten 1FileSize AfxMessageBox _T File could not be written n fclose pFile Display the image using MSPaint but first close previous instance HWND hWnd FindWindow _T MSPaintApp NULL if hWnd paint is already running close first SendMessage hWnd WM_SYSCOMMAND SC_CLOSE 0 WinExec mspaint exe image bmp SW_SHOWNOACTIVATE P ff oe F EE catch _com_error amp e Beep 4000 100 AfxMessageBox LPCTSTR e Description VariantClear amp vt Avoid memory leak 303 GetStilllmage Asynchronous void __stdcall OnStillImageDataReady ES_StillImageFileType imageFileType long fileSize long bytesTotal ASSERT m_bUseAsync VARIANT vt VariantInit amp vt m_pLTConnect gt GetData amp vt ASSERT vt parray gt rgsabound 0 cElements unsigned long bytesTotal GetStillImageRT pData GetStillImageRT vt parray gt pvData ASSERT pData gt 1FileSize fileSize Do something with the file for example write out to a disk file like shown in code above VariantClear amp vt Avoid Memory leak COM VB A Neither type casts nor writing binary files are common tasks in VisualBasic In order to achieve the same Stilllmage features from VB A some convenience Functions have been added to the COM TPI StillImageGetFile and WriteDiskFile This is an e
134. eStd double ARMS double dMaxDev double dVarianceFactor hi Error codes A return status other than ES_RS_AIIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallTransformation command answer status can evaluate to one of the following values Code Description 24010 OLE COM initialization failed F 24011 Reading resource string failed F 24012 Error on reading input data from database F 24013 Error on saving results to database F 24020 Least Squares Fit failed 24021 Initial Approximation for Fit failed 24022 Too many unknown nominals 24023 Multiple solutions found Errors marked with F are unanticipated fatalities Set GetTransformationInputParamsCT RT Command structures for setting getting the transformation Input parameters These are used as input for the Transformation calculation process to fix weight transformation result parameters 185 See struct TransformationInputDataT for details Also see Section 9 2 struct SetTransformationInputParamsCT struct BasicCommandCT packetInfo struct TransformationInputDataT transformationData struct SetTransformationInputParamsRT struct BasicCommandRT packetInfo struct GetTransformationInputParamsCT struct BasicCommandCT packetInfo struct GetTransformationInputParamsRT struct BasicCommandRT packetInfo struct TransformationInputDataT transformat
135. easured points onto the reference points 9 2 1 Orientation Orientation refers to the alignment of a tracker with respect to a world coordinate system WCS The world coordinate system may be defined by the principal measurement station Fig 1 or by a CAD model Fig 2 The coordinates of a point with respect to the principal station or CAD model respectively are called nominal or reference coordinates The coordinates as measured by the active station are called actual coordinates Orientation Z Y Acty al w YY X WCS O X Active station Principal station Fig 1 Setting the calculated parameters as orientation parameters with the SetStationOrientationParams command and re measurement of the reference points yields actual coordinates approximately equal to 324 the nominal coordinates Orientation Fig 2 9 2 2 Transformation A transformation defines a local object coordinate system In this case the object coordinates play the role of nominals Fig 3 Activating the calculated transformation parameters and re measurement yields actual coordinates approximately equal to the nominal coordinates Y Object coordinate system i Transformation Active station Fig3 9 2 3 Nominal and actual coordinates The role of nominal actual and world coordinates in the orientation and transformation calculation are summarized in Table 1 Nomin
136. ector The search time depends on the search radius Large search radii may result in extended search times A typical value is 0 05 m An approx distance entry is required only for the FindReflector command UseADM should normally be true for this command GoPositionHVDCT RT Structures for invoking the GoPositionHVD command Same as GoPosition with the input parameters in a spherical tracker coordinate system type irrespective of the current CS type Values are in current units Range limitations apply with respect to the tracker elevation limits The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the provided distance is taken as new IFM distance To be used with caution struct GoPositionHVDCT struct BasicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance ES_BOOL bUseADM struct GoPositionHVDRT struct BasicCommandRT packetInfo hi The search time depends on the search radius Large search radii result in extended search times unless limited by a reasonable SearchTimeout A typical value is 0 05 m UseADM should normally be true for this command See also command SetSearchParams 175 PositionRelativeHVCT RT Structures for invoking the PositionRelativeHV command The input parameters are angles in the current units The angles are prefixed with clockwise is and anti clockwise is to spe
137. ed as they are completely hidden Use the related virtual member functions of CESAPIReceive instead 4 3 3 Class Design Issues All class member functions are defined inline Neither a library nor a cpp file is required One single include file suffices The C interface is fully transparent with complete source code provided The C interface implements two classes named CESAPICommand and CESAPIReceive apart from wrapper classes for each data structure of the C TPI A class design has the advantage of constructors to delegate initialization issues The class CESAPICommand has a virtual function SendPacket which must be overwritten using Send command functions While the CESAPICommand class is used to send data to the tracker server the class CESAPIReceive is used to receive data The principle is as follows Derive your own class from CESAPIReceive class and override those virtual functions on whose data you are interested in Details see below in CESAPIReceive chapter Insertion of the statement define ES_USE_EMSCON_NAMESPACE before the inclusion of the ES_CPP_API_Def h file defines a namespace EmScon for the TPI CPP classes This is only required in case of potential name conflicts with other third party libraries 222 Refer to Sample 4 in the emScon SDK for namespace techniques Refer also to C documentation 4 3 4 Data Structure Wrapper Classes About 80 of t
138. ed Intermediate Compensation The Intermediate Compensation is a simple and fast procedure to perform a fully automated intermediate compensation where the tracker is in a fixed installation Tracker Geometry Out of a total of 15 parameters which affect the trueness of the tracker geometry the most significant changes are affected by these three parameters See emScon manuals for more information e Transit axis tilt i e Mirror tilt c e Vertical index error j Intermediate Compensation refreshes these three parameters by taking a small number of Two face measurements If the result is accepted it updates only these three parameters and takes over the rest of the overall 15 parameters from the last Full Compensation It is a simpler and faster procedure than a Full Compensation Intermediate vs Full Compensation Intermediate Compensations do not replace Full Compensations Regular intermediate compensations extend the interval at which full compensations need to be carried out 313 Setup A recommended setup is shown below with a network of fixed targets Based on a given drive library the laser tracker measures the target points automatically and calculates the Intermediate Compensation results approx 2m approx 2m it a High Two face measurements in the vertical plane The automated Intermediate Compensation routine requires that all target locations are fitted with reflectors recomm
139. ed off by a SwitchLaser off command The tracker controller and emScon server must be switched on Since the laser takes about 20 minutes to stabilize this command is useful to program laser on in the morning so the system is ready when work is scheduled to begin The laser can be independently switched off struct SetLaserOnTimerCT struct BasicCommandCT packetInfo int iLaserOnTimeOffsetHour int iLaserOnTimeOffsetMinute i struct SetLaserOnTimerRT struct BasicCommandRT packetInfo GetLaserOnTimerCT RT Command structures to read the time left in hours and minutes rounded off to nearest 1 4 hour block to start the laser A system restart sets this value to zero The tracker processor emScon server must be switched on struct GetLaserOnTimerCT struct BasicCommandCT packetInfo struct GetLaserOnTimerRT struct BasicCommandRT packetInfo int iLaserOnTimeOffsetHour int iLaserOnTimeOffsetMinute hi 191 ConvertDisplayCoordinatesCT RT Command structures to call the DisplayCoordinateConversion function DisplayCoordinateConversion is a private function command and is not documented supported It should not be used for any client programming struct ConvertDisplayCoordinatesCT struct BasicCommandCT packetInfo enum ES_DisplayCoordinateConversionType conversionType double dVall double dVal2 double dVal3 struct ConvertDisplayCoordinate
140. em parameters are new and can 79 only be addressed by this command and not by the former SetSystemSettings command Example ES_SP_AllowProbeWithoutTip ES_C_GetLongSystemParameter Get current long type system parameter The opposite of ES_C_SetLongSystemParameter ES_C_GetMeasurementStatusInfo Get information about availability of all types of compensations and related hardware The information data is delivered as a long value representing a bit mask Use the enum ES_MeasurementStatusInfo values to identify mask the long parameter information ES_C_GetCurrentPrismPosition Get the current position of the prism the laser beam is currently attached to This can be a reflector or the prism of a probe Delivered position parameters are with all filters applied Units CS Type Transformation Orientation In other words the same values as a stationary measurement would deliver However these position values are NOT as accurate as stationary measurements Do NOT use these values as measurements where precise measurements are required The background for this command is as follows If a probe is attached it is not possible to take 3D measurements to the probe prism A measurement to the probe delivers the tip position not the prism position However there exist situations where the position of the probe prism may be of interest for example when issuing a GoPosition as a reaction of a beam broken ev
141. emScon 2 1 wO ES Programmers Manual Tracker Programming Interface feica Geosystems Programmers Manual emScon TPI Metrology Division Preface These are original instructions and part of the product Keep for future reference and pass on to subsequent holder user of product Read instructions before setting up and operating the hard and software The emScon TPI reference manual and the emScon TPI user manual should always be used together This reference manual contains information protected by copyright and subject to change without notice No part of this reference manual may be reproduced in any form without prior and written consent from Leica Geosystems AG Leica Geosystems AG shall not be responsible for technical or editorial errors or omissions Product names are trademarks or registered trademarks of their respective companies The software described herein is furnished under license and non disclosure agreement and may be used only in accordance with the terms of the sales agreement Leica Geosystems AG Feedback Your feedback is important as we strive to improve the quality of our documentation We request you to make specific comments as to where you envisage scope for improvement Please use the following E Mail address to send in suggestions documentation metrology leica geosystems com Software and version emScon TPI V2 1 Manual update April 2005 Manual order number None
142. ementMode ES_C_GetMeasurementMode ES_C_SetCoordinateSystemType ES_C_GetCoordinateSystemType ES_C_SetStationaryModeParams ES_C_GetStationaryModeParams ES_C_SetContinuousTimeModeParams ES_C_GetContinuousTimeModeParams ES_C_SetCont inuousDistanceModeParams ES_C_GetCont inuousDistanceModeParams ES_C_SetSphereCenterModeParams ES_C_GetSphereCenterModeParams ES_C_SetCircleCenterModeParams ES_C_GetCircleCenterModeParams ES_C_SetGridModeParams ES_C_GetGridModeParams ES_C_SetReflector ES_C_GetReflector ES_C_GetReflectors ES_C_SetSearchParams ES_C_GetSearchParams ES_C_SetAdmParams ES_C_GetAdmParams ES_C_SetSystemSettings ES_C_GetSystemSettings ES_C_StartMeasurement ES_C_StartNivelMeasurement ES_C_StopMeasurement ES_C_ChangeFace ES_C_GoBirdBath ES_C_GoPosition ES_C_GoPositionHVD ES_C_PositionRelativeHV ES_C_PointLaser ES_C_PointLaserHVD ES_C_MoveHV ES_C_GoNivelPosition ES_C_GoLastMeasuredPoint ES_C_FindReflector ES_C_Unknown ES_C_LookForTarget ES_C_GetDirection ES_C_CallOrientToGravity ES_C_ClearTransformationNominalPointList ES_C_ClearTransformationActualPointList ES_C_AddTransformationNominalPoint ES_C_AddTransformationActualPoint ES_C_SetTransformationInputParams ES_C_GetTransformationInputParams ES_C_CallTransformation ES_C_GetTransformedPoints ES_C_ClearDrivePointList ES_C_AddDrivePoint ES_C_CallIntermediateCompensation ES_C_SetCompensation ES_C_SetStatisticMode ES_C
143. ended 0 5 Tooling Ball or Corner Cube before the routine is started Area Required Make sure that no one walks around the area during the whole Compensation procedure Vibration can affect the measurement and walking through the beam causes the signal to break If a measurement fails the system automatically repeats the measurement to achieve a successful measurement a maximum of three times Procedure Requirements The automated Intermediate Compensation can only be started when the Leica Tracker system is ready to measure For the initial setup it is required that the locations of the fixed targets are measured manually These locations provide the information for the driver points 314 e Six Two Face measurements in two groups of 3 each e Each group of 3 points is in an approximate vertical line e Minimum distance from the tracker is 2m e The high and low measurements should be more than 30 degrees from the horizontal e The groups should have a horizontal angle separation of about 180 degrees i e all measurements should lie approximately in the same vertical plane Minimum Measurements A minimum of 4 measurements is required mathematically More measurements reduce the influence of errors In addition unstable conditions such as vibrations and rapid temperature changes make it necessary for more measurements to be taken The following combinations are examples e Eight measurements in
144. ent For example beam broken It is not a reaction of some previous command and can occur at any time Related data structure ErrorRT ES_DT_SingleMeasResult The data packet contains the result of one single stationary 3D measurement Result type packets can only be received Related data structure SingleMeasResultT ES_DT_MultiMeasResult The data packet contains results of a continuous 3D measurement This type of result block is of variable size and depends on the number of single measurements within a block Result type values can only be received Related data structure MultiMeasResultT ES_DT_StationaryProbeMeasResult The equivalent to SingleMeasResult but with 6 degrees of freedom i e the data block contains 3 angular values in addition to 3 coordinate values apart from other data Related data structure ProbeStationaryResultT ES_DT_ContinuousProbeMeasResult The equivalent to MultiMeasResult but with 6 degrees of freedom that is the data block contains measurements each with 3 rotation parameters in addition to 3 coordinate position values apart from other data Related data structure ProbeContinuousResultT ES_DT_NivelResult The data packet contains the result of a Nivel20 inclination sensor measurement Requires the Nivel sensor being connected to the Tracker directly Result 49 type values can only be received Related data structure NivelResultT ES_DT_Reflect
145. ent supposed the probe is always placed 80 to the same location Thus this command is probably only of interest for Probe related enterprises ES _ ResultStatus Defines the supported result status values received as an answer to TPI commands Fic See 8 Appendix at the end of this manual for a listing of error numbers 81 enum ES_ResultStatus ES_RS_A110K ES_RS_ServerBusy ES_RS_NotImplemented ES_RS_WrongParameter ES_RS_WrongParameterl ES_RS_WrongParameter2 ES_RS_WrongParameter3 ES_RS_WrongParameter4 ES_RS_WrongParameter5 ES_RS_WrongParameter6 ES_RS_WrongParameter7 ES_RS_ParameterlOutOfRangeOK ES_RS_ParameterlOutOfRangeNOK ES_RS_Parameter20utOfRangeOK ES_RS_Parameter20utOfRangeNOK ES_RS_Parameter30utOfRangeOK ES_RS_Parameter30utOfRangeNOK ES_RS_Parameter40OutOfRangeOK ES_RS_Parameter4OutOfRangeNOK ES_RS_Parameter50utOfRangeOK ES_RS_Parameter50utOfRangeNOK ES_RS_Parameter6OutOfRangeOK ES_RS_Parameter6OutOfRangeNOK ES_RS_WrongCurrentReflector ES_RS_NoCircleCenterFound ES_RS_NoSphereCenterFound ES_RS_NoTPFound ES_RS_NoWeathermonitorFound ES_RS_NoLastMeasuredPoint ES_RS_NoVideoCamera ES_RS_NoAdm ES_RS_NoNivel ES_RS_WrongTPFirmware ES_RS_DataBaseNotFound ES_RS_LicenseExpired ES_RS_UsageConflict ES_RS_Unknown ES_RS_NoDistanceSet ES_RS_NoTrackerConnected ES_RS_TrackerNotInitialized ES_RS_ModuleNotStarted ES_RS_ModuleTimedOut ES_RS_Error
146. ent may last very long It is not suitable to block execution all the time Methods to Catch Packets Provide a LTCommandSync object with a call to SelectNotificationMethod with LTC_NM_Event as first parameter This setting allows catching the continuous measurement packets through the event mechanism This is especially convenient for Visual Basic Use one of the Windows Messages notification methods See Sample 7 where this method is shown disabled in the source code These may be methods preferred with VC clients especially if the programmer is not familiar on setting up event sinks On the other hand receiving Windows messages within VB application is permissible The MultiMeasResultT structure only covers the first item of the array The rest of the INumberOfResults 1 array elements are padded to the packet without gaps q Continuous measurement packets mostly contain more than one measurement value Iteration through an array of measurements is necessary A code fragment on how to process a continuous measurement packet using the event mechanism is shown below This is a client implementation 281 stripped down and altered from sample 7 of the ContinuousPointMeasDataReady event which exists for both __ILTCommandSyncEvents and _ILTCommandAsyncEvents interfaces void __stdcall OnContinuousPointDataReady long resultsTotal long bytesTotal CString s VARIANT vt VariantInit amp
147. ently attached to Delivers the same values as a stationary measurement would deliver however less accurate than stationary measurements Do NOT use these values as measurements where precise measurements are required See command description GetCurrentPrismPosition for a typical application of this command 203 struct GetCurrentPrismPositionCT struct BasicCommandCT packetInfo hi struct GetCurrentPrismPositionRT struct BasicCommandRT packetInfo double dVall double dVal2 double dVal3 204 3 5 C Language TPI Programming Instructions The C TPI is made up of a pure collection of enumeration types and data structures The data structures reflect the architecture of the data packets byte arrays sent and received over the TCP IP network between the Application Processor and the Tracker Server This low level interface serves as the basis for all higher level interfaces C COM Also refer to C Language TPI Reference section and the ES_C_API_Def h file No functions or procedures are defined Since C is an extension of C a C compiler can also be used for C programming 3 5 1 TCP IP Connection 1 Establish a TCP IP connection to the tracker server This is typically achieved by invoking a Connect function of the TCP IP communication library or toolbox This function will take the IP address or its related hostname of your Tracker Server 2 Se
148. ependent commands Thus the application must first set one of the now available IDs 2 or 3 with the SetReflector command The fact that the relation between reflector ID and Name remains the same throughout all tracker compensations may be convenient to application programmers since there is no need to re query all reflector mappings upon a tracker compensation change 170 Set GetSearchParamsCT RT struct SetSearchParamsCT struct BasicCommandCT packetInfo struct SearchParamsDataT searchParams he struct SetSearchParamsRT struct BasicCommandRT packetInfo di struct GetSearchParamsCT struct BasicCommandCT packetInfo he struct GetSearchParamsRT struct BasicCommandRT packetInfo struct SearchParamsDataT searchParams hi Command structures for setting getting the reflector search parameter values The search time depends on the search radius Large search radii may result in extended search times unless limited by a reasonable SearchTimout Fe See struct SearchParamsDataT for details Set GetAdmParamsCT RT struct SetAdmParamsCT struct BasicCommandCT packetInfo struct AdmParamsDataT admParams he struct SetAdmParamsRT struct BasicCommandRT packetInfo he struct GetAdmParamsCT struct BasicCommandCT packetInfo i struct GetAdmParamsRT struct BasicCommandRT packetInfo struct AdmParamsDataT admParams hi Command structures for setting getting the
149. eptions when installing new software or importing compensation data The active compensation is a persistent setting which can be changed by a SetCompensation TPI command or by selection within the compensation tree representation in the BUI Application See description of GetCompensations GetCompensation SetCompensation 24 2 4 3 Command Sequence for 6DOF Measurements 6DOF Measurements are performed to a T Probe which will be recognized automatically by the system The selected Measurement mode must apply to one of the DOF modes A T Cam must be mounted angle temperature and pressure Steps TPI command 1 Establish TCP IP Depends upon TCP IP connection communication See different samples 2 Set units length ES_C_ SetUnits 3 Set current ES_C _ SetEnvironmentP environmental arams temperature pressure and humidity 4 Initialize the ES_C Initialize System 5 Select desired ES_C_SetMeasurement 6DOF Measurement Mode mode 6 Ensure that Keep ES_C_SetSystemSettings Last Position flag is OR enabled ES_C_SetLongSystemPa rameter 7 Set Station ES_C_ SetStationOrienta Orientation tionParams parameters 8 Set Transformation parameters ES_C SetTransformatio nParams 9 Set Coordinate system type RHR LHR ES_C_SetCoordinateSys temType 25 In addition apart from a valid mechanical Tracker compensation see 3D compe
150. er even when using the synchronous interface some answers remain asynchronous by nature These are error events system status change events and multi packet command answers such as GetReflectors GetCompensations etc The correct approach is that the application never issues a command before the previous one has returned Even a non parameter returning command always indicates its termination by sending an acknowledgment With the C interface either the general OnCommandAnswer can be used for that practically only suitable for commands that do not return any results In addition every command has its individual On Answer handler See ES_CPP_ API Def h file CESAPIReceive class In particular the next command may not be issued before the On Answer handler of the previous command has arrived There are several possible approaches to achieve correct execution of a series of commands 1 Directly call the next command in the On Answer of the previous command This 233 approach is demonstrated with the GetReflectors GetReflector sequence in Step4 of Sample 4 Remark There is a helper function InitReflectorBox in OnGetReflectorsAnswer The next command GetReflector is called in this InitReflectorBox function However GetReflector could also be called inside OnGetReflectorsAnswer function directly Queue your commands in a list Take the first command
151. eseeeeeeeeees 296 8 1 1 Get Reflectors Command ccccceeeeeeees 296 8 1 2 Still Image Command cceeeeeeeeeeeeeeeeees 300 8 1 3 Live Image display os cccsvevsvens ciecriceceetaeeacesacene cts 305 8 1 4 Orient To Gravity Procedure ccee 310 8 1 5 Transformation Procedure ccccceeeeeeeeees 311 8 1 6 Automated Intermediate Compensation 313 8 1 7 Two Face Field Check cccceeeeeeeeeeeeeeeees 317 Mathematics 9 1 Point accuracy f 4c tie ee 322 9 1 1 A priori accuracy 322 9 1 2 A posteriori ACCUrACY sssesssseeeeeeeeeeerrereeee 323 9 1 3 Transformation of covariance matrices 323 9 2 Orientation and Transformation 323 9 2 1 Orientation fates niatsrinencsishiesiusis cis ars visiianasis 324 9 2 2 Transformation cccccccceeeeeeeeeeeeeeeeeeeeeeeeeeees 325 9 2 3 Nominal and actual coordinates 0 325 9 2 4 Orientation parameterS cccceeeeeeees 326 9 2 5 Transformation parameters ccccceeeee 327 9 2 6 Input to transformation computation 327 9 2 7 Output of transformation computation 328 9 2 87 Examples rhenen scotch a ese E EEEE 330 9 3 T PrOD aeina ia eee 332 10 Appendix A 10 1 TRACKER ERROR NUMBERS 334 10 1 1 System EROlSs cael cc ccreem sete itt heats 334 10 1 2 Communication Errors ccccccccccceeeeeees 335 10 1 3 Parameter Errors
152. esidual i l This functional is called the weighted residual square sum The weight matrix is the inverse of the covariance matrix of the residual For constraints the residual and the weight matrix are scalars Variance factor The variance factor Axyz mean error is related to the residual square sum through RSS varianceFactor _ _ _ redundancy It is dimensionless i e it does not depend on the length or angle units Its value may vary considerably depending on the accuracy of the input and the model error i e the size of the residuals If the residuals are systematically bigger than the standard deviations of the actual coordinates the variance factor exceeds one Otherwise it is less than one Redundancy The redundancy is an integer defined as redundancy noEquations noParameters If the redundancy is zero the variance factor is undefined Such cases are called minimum configurations If the redundancy is negative the solution is non unique More fixed nominal coordinates or parameter constraints are needed to determine a unique solution 9 2 8 Examples Standard case with 3 points AddNominalPoint 1l 2 3 Fixed Fixed Fixed 0 0 0 AddNominalPoint 2 3 4 Fixed Fixed Fixed 0 0 0 AddNominalPoint 0 4 2 Fixed Fixed Fixed 0 0 0 SetInputParams 0 0 0 0 0 0O 1 Unknown Unknown Unknown Unknown Unknown Unknown Unknown In this example redundanc
153. esultT struct ReturnDataT packetInfo enum ES_NivelStatus nivelStatus double AXTilt double daYTAlt double dNivelTemperature This receive only structure describes the ES_DT_NivelResult packet type which includes the ReturnDataT structure and contains data specific to a Nivel20 measurement Refer to chapter ES_NivelStatus in chapter 3 3 2 enumeration types for details about supported measurement ranges q The format of measurement and environmental values do NOT depend on current unit settings Nivel results always arrive in native Nivel20 format milliradiant for X Y tilt and Celsius for temperature ReflectorPosResultT struct ReflectorPosResultT struct ReturnDataT packetInfo double dVall double dVal2 double dVal3 hi This receive only structure describes the ES_DT_ReflectorPosResult packet type These are received whenever the tracker is locked onto a reflector 3 measurements per second The receipt of these measurement types can be switched on off with the systems flag bSendReflectorPositionData Values are in current units CS type and according to applied orientation transformation parameters 156 ProbePosResultT struct ProbePosResultT struct ReturnDataT packetInfo long lRotationStatus enum ES_MeasurementTipStatus tipStatus long iInternalTipAdapterId long iTipAdapterInterface double dPositionl double dPosition2 double dPosition3 dou
154. etLastError WSAEWOULDBLOCK Sleep 50 busy try later continue else Beep 1000 100 if if nCounter gt 64 emergency exit if 1BytesReadTotal lt 0 TRACE _T not able to read data recv n return true nothing read can leave safely if 229 else bOK false break if TRACE _T Loop BytesRead ld BytesReadTotal Sld PacketSize ld Missing ld n lBytesRead lBytesReadTotal 1lBytesRead 1PacketSize 1Missing 1BytesRead while 1lBytesRead lt 1Missing if 1BytesRead gt 0 l1BytesReadTotal l1BytesRead FLE bOK bOK amp amp lBytesRead 1Missing amp amp lBytesReadTotal lt RECV_BUFFER_SIZE if bOK ProcessReceivedData is assumed to take one single complete data packet It contains a switch statement to evaluate the packet we have seen this method several times in this manual samples if 1BytesReadTotal 1PacketSize ProcessReceivedData szRecvBuf 1BytesReadTotal if else bOK false if bOK make sure socket is cleaned up on data jam in order to recover ordinary data receiving do nCountertt lBytesRead recv SOCKET wParam szRecvBuf RECV_BUFFER_SIZE 0 TRACE _T Recover in loop n while 1BytesRead gt 0 amp amp nCounter lt 128 TRACE _T Unexpected data fatal error n Beep 250 10 data lost else return bO
155. extract continuous measurements 5 2 2 C Applications A complete C console application based on the COM TPI is shown below It shows import of the LTControl and how to declare and initialize objects The application uses the synchronous interface queuing several commands Events are not recognized with a console application Fix See Sample 9 of the emScon SDK for a minimal C application demonstrating CESCommandApi as well the CESAPIReceive class 247 include lt stdio h gt include lt atlbase h gt extern CComModule _Module include lt atlcom h gt import LTControl dl1l no_namespace named_guids inject_statement pragma pack 4 int main int argc char argv CoInitialize NULL try ILTConnectPtr g_pLTConnect ILTCommandSyncPtr g_pLTCommandSync g_pLTConnect CreateInstance __uuidof LTConnect g_pLTConnect gt ConnectEmbeddedSystem 127 8 34 61 g_pLTCommandSync g_pLTConnect gt GetILTCommandSync g_pLTCommandSync gt Initialize g_pLTCommandSync gt PointLaser 1 7 2 0 6 g_pLTConnect gt DisconnectEmbeddedSystem catch _com_error amp e printf Exception s n LPCTSTR e Description CoUninitialize return 0 T Note the statement import LTControl dll no_namespace named_guids inject_statement pragma pack 4 This statement must and not as shown reside on one single line I
156. f a TipAdapter and mainly consists of Tip Length and the diameter of the ruby sphere There is one and only one TipAssembly for each TipAdapter 76 TipAssemblies can only be defined from within the Compensation Module apart from importing TipAdapters with already existing valid TipAssembly The TipAssembly must be redefined each time a different Type of Tip Stylus is attached to a TipAdapter Moreover a TipAssembly definition must be followed by a TipToProbe Compensation Note that a particular Tip other than a TipAdapter does not have its own ID For that reason there is no GetTips command Tips can only be identified indirectly through the TipAdapter they are mounted to It is the users responsibility to correctly define length and radius upon defining a TipAssembly for a particular TipAdapter These values in addition to a user defined comment can be retrieved through the command GetTipAdapters ES_C_GetTipAdapter Gets the ID of the currently active Tip Adapter ES_C_GetTCamToTrackerCompensations Reads all T Cam to Tracker compensations stored in the database Apart from the internal ID and name a series of properties is delivered ES_C_GetTCamToTrackerCompensation Reads the currently active T_Cam to Tracker compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_ GetTCamToTrackerCompensations ES_C_SetT C
157. fo i struct StopMeasurementRT struct BasicCommandRT packetInfo hi struct ExitApplicationcT struct BasicCommandCT packetInfo hi struct ExitApplicationRT struct BasicCommandRT packetInfo di struct ClearTransformationNominalPointListCT struct BasicCommandCT packetInfo di struct ClearTransformationNominalPointListRT struct BasicCommandRT packetInfo hi struct ClearTransformationActualPointListCT struct BasicCommandCT packetInfo di struct ClearTransformationActualPointListRT struct BasicCommandRT packetInfo he struct ClearDrivePointListCT struct BasicCommandCT packetInfo hi struct ClearDrivePointListRT struct BasicCommandRT packetInfo di SwitchLaserCT RT Command structures for switching the laser on off The laser should only be switched off during long breaks overnight while the controller is not shut down Switching laser on again will take about 20 minute to stabilize struct SwitchLaserCT struct BasicCommandCT packetInfo ES_BOOL blIsOn i struct SwitchLaserRT struct BasicCommandRT packetInfo hi FindReflectorCT RT Command structures for invoking a Find Reflector sequence dApproxDistance should be 160 specified in order to apply search radius dependent on the distance from the tracker Approx distance is in current length units struct FindReflectorCT struct BasicCommandCT pa
158. from the list and send it to the tracker server At the same time set an Event or another synchronization object such as Mutex or Semaphore that prevents taking the next command from the list As soon as the answer of the pending command arrives reset the Event which will cause to process the next command from the list In contrast to the first approach where each On Answer handler calls a different subsequent command this second approach is more general in such that every answer handler does the same ResetEvent Needless to say that this approach means a multi threaded application Queue your commands in a list Use an application defined Windows message handler that removes and processes the first command of the list and sends it to the tracker server To start the command chain do an explicit first call of this message handler In every On Answer handler a PostMessage call will cause to trigger the message handler in order to process the next command Important to use PostMessage not SendMessage The advantage of this approach is that no multi threaded application is required since the Windows message loop takes care of synchronization On the other hand this 234 approach only works for windows applications and not for console applications or windowless server applications Hint you may use an invisible window for message handling 4 To be complete the most simple approach is
159. gh driving points or not all could be found and or measured Minimum vertical angle difference not met An unknown error occurred Errors marked with F are unanticipated fatalities Warning flags Warning flags are available upon a successful compensation Status ES_RS_AJIOK 0 The parameter WarningFlags is a 32 bit value If the value is zero none of the bits set then the intermediate compensation process completed with no warnings Otherwise each raised bit means a particular warning There can be more than one warning at a time Currently the following warnings are possible Bit 1 0x1 Bit 2 0x2 Bit 3 0x4 AverageVerticalTwoFaceErrorIsTooHigh Tracker service from Leica Geosystems personnel is required because the vertical index is constantly gt 1 Gon There is currently no way for the user to reset the approximate index AtLeastOneVerticalTwoFaceErrorIsTooHig h If Bit 1 not raised there is probably a very high error within a single two face measurement If Bit 1 is raised too ignore warning Bit 2 AtLeastOneDistanceIlsNotInRange At least one of the distances is smaller than the minimum or larger than the maximum recommended distance according to the recommendations 183 Bit 4 NotEnoughMeasInTwoOppositeVerticalP1 0x8 anesWithGoodDiffOfVerticalAngle This warning covers all except the range criterion possible criteria which are not fulfilled by the measurement c
160. given point and its error statistic This is a convenience command for user interface purposes Input parameters are 3 coordinate values their standard deviations plus the covariance matrix Input is in current units current CS and with applied transformation orientation settings Output parameters are 3 Std Dev values ellipsoid axes always related to X Y Z RH cartesian and 3 Rotation angles that describe the orientation of the error ellipsoid 200 struct GetErrorEllipsoidCT struct BasicCommandCT double double double double double double double double double hi struct GetErrorEllipsoidRT struct BasicCommandRT pa double ds double ds double ds double dR double dR double dR packetInfo dCoordl dCoord2 dCoord3 dStdDevl dStdDev2 dStdDev3 dCovarl12 dCovarl13 dCovar23 cketInfo tdDevx tdDevyY tdDevaZ otationAnglex otationAngleyY otationAngleZ GetMeasurementCameralinfoCT RT Command structure s to read T CAM specific information and diagnostic data of the active camera The tracker must be equipped with a Measurement camera struct GetMeasurementCameral struct BasicCommandCT he struct GetMeasurementCameral struct BasicCommandRT int int long ES_MeasurementCameraType unsigned short long long long long long double double long long double double long nfoCT packetInfo nfoRT packetInfo iFirmWareMajorVersionNumbe
161. h a high level convenient programming interface q COM interfaces work well together with Visual Basic Delphi and Office Macro programming languages VBA on the Win32 platform while using the emScon C or C interface is difficult for those types of languages 256 COM vs C C Programming provided All these functions are built in Only the IP address of the tracker server needs to be provided Advantages Disadvantages No include file to deal Comes as a DLL ATL with on using COM TPI COM component Its source code is not public which complicates application debugging No TCP IP library or Is limited to Win32 function needs to be platforms The COM interface offers both synchronous and asynchronous communication support Due to COM overhead the performance may be affected There are wide varieties of notification methods for arrival data when using asynchronous communication Since TCP IP communication is built in there are no tuning possibilities Supports various programming languages Easy to use due to support of IntelliSense for Microsoft Visual and Office programming tools The component needs to be registered on the client PC Interfaces and Notification Methods Vic See chapter COM Interface for more information on the interfaces provided 5 2 7 Type Library In order to get detailed information about the Interfaces including data type
162. he new calculated compensation can be activated 8 1 7 Two Face Field Check A field check is a control process of the Compensation parameters It checks the condition of the Leica Tracker with respect to predefined parameters It does not however provide for compensatory corrections Periodicity If the tracker is used in a stationary position conduct the field check on a weekly basis If the field check results show no change over a period of six weeks carry out field checks at least once a month If the tracker has been moved always carry out a field check before taking measurements Compensations and field checks must be carried out in normal working conditions under which the measurements are taken Field check two face Measurement Two face measurements with 4 to 5 reflector positions distributed over the whole object 317 range will indicate whether the Tracker compensation is within specifications To achieve a 2 sigma accuracy 95 of the measurements must be within the specification Client Routine The Tracker Server Programming Interface does not have a specific two face measurement mode A client routine is required which can use the basic functionality provided See chapter Procedure Measurement Procedure Preparation The procedure requires the following three setups 1 Two measurements on a straight line 2 One measurement set on a vertical line 3 One measurement plus or minus
163. he ES_CPP_API_Def h file size is used for definition of wrapper classes for data structures which are required for internal purposes These classes are seldom used directly Each one of these classes contains only one single member variable a struct variable from C TPI and one or more constructors Class wrappers are only available for command structures CT not for return structures RT since the technique for receiving data implements a completely different approach through virtual functions Example class CGoPosition CGoPosition CGoPosition double dVall double dVal2 double dVal3 bool bUseADM DataPacket packetInfo packetHeader 1PacketSize sizeof GoPositioncCT DataPacket packetInfo packetHeader type ES_DT_Command DataPacket packetInfo command ES_C_GoPosition DataPacket dVall dVall DataPacket dVal2 dVal2 DataPacket dVal3 dVal3 DataPacket bUseADM bUseADM GoPositionCT DataPacket The struct member variable is declared at the bottom and is of type GoPositionCT definition of C TPI To initialize the member variable a so called constructor taking the command parameters as input is provided Certain wrapper classes implement two constructors e Taking the data as individual parameters e Taking the data as one single struct parameter Example class CSetUnits 223 class CSetUnits public CSetUnits CSetUnits SystemUnitsDataT unitsSettings
164. hed to it The MultiMeasResultT structure only contains covers the first element of this array a pointer to the array The INumberOfResults parameter identifies the number of array elements and the remaining elements can be iterated from data 0 data INumberOfResults 1 q C arrays are always zero based This structure only covers the header of a multi measurement packet Measurement mode and environmental parameters are common for the body measurement array The flag bIsTryMode is set if system is in Try Mode This is not relevant for common users The format of measurements statistical informations and environmental values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters 153 MultiMeasResult2T struct MultiMeasResult2T struct ReturnDataT packetInfo long lNumberOfResults enum ES_MeasMode measMode ES_BOOL bIsTryMode double dTemperature double dPressure double dHumidity struct MeasValue2T data 1 hi The same as MultiMeasResultT see above but received in case the statistical mode is set to extended See also command SetStatisticMode ProbeStationaryResultT struct ProbeStationaryResultT struct ReturnDataT enum ES_MeasMode ES_BOOL enum ES_TriggerStatus long long int enum ES_MeasurementTipStatus long long double doub
165. her used to construct data blocks understandable to the emScon server It s the first time that the emScon SDK is involved We have to include the ES_CPP_API_Def h file and indirectly through this file some other include files such as ES_C_API_ Def h and Enum h As done with CSocket we also must derive our own class from CESAPICommand because this class contains a virtual function SendPacket It is mandatory to provide our own implementation of this class The implementation depends on the TCP IP communication package we use Step3 application allows us to send commands but not yet to receive answers So we will not be able to check whether the command was executed correctly because all commands are ASYNCHRONOUS That is a command is sent then the application is idle while the server executes the command Then the server sends back an acknowledge or error message We have no code yet to interpret these answers We just see how many bytes arrive In Step4 we will add logic to receive data Nevertheless supposed the server and tracker is running we will at least see the tracker moving when sending a Initialize tracker command 237 If the correct reflector is set GoBirdbath will also work and we can even perform a measurement but we will not see the results yet Step4 Step 4 introduces the emScon class CESAPIReceive to RECEIVE understandable data from the server More precisely
166. hese packets contains a various sized array of single atomic measurements k See also structures MultiMeasResultT MultiMeasResult2T and ProbeContinuousResultT Only the first element of the measurement array is covered by these structures although the index is valid from 0 numberOfResults 1 There is another significant difference to single measurements Before the measurement data packet stream starts a StartMeasurementRT with command status OK arrives acknowledge that the start command has arrived Single measurement results always arrive within a certain time span This is not the case with continuous measurements Grid Mode big time separation criteria A StartMeasurementRT confirmation is therefore essential for continuous modes T A multi measurement stream runs until 43 explicitly stopped StopMeasurement or until specified time or count thresholds are reached Special Command Answers Some commands such as ES_C_GetReflectors and ES_C_GetTransformedPoints ES_C_GetCompensations ES_C_GetTipAdapters do not fit any of the above categories Generally spoken all commands starting with Get and ending with an s i e plural are treated in a special way q ES_C_GetReflectors must not to be mixed up with ES_C_GetReflector missing s Convention The answer to these commands is made up of as many answer packets as reflector types or transformed points Compensations Tips
167. hronous behavior of emScon communication A typical example is the Laser beam broken event q Command directly contain the error status in their answer structure in case of command failure ES_DT_Errors type answer packets are only used for so called unsolicited errors which can occur at any time regardless of a command 3 2 4 System Status Change Events Although already present in version 1 2 only two events there has been an inflation of such events since then The appropriate packet type is ES_DT_SystemStatusChange The handling is the same as with error events with the only difference that there is only one parameter 45 IMPORTANT See chapter Version Backward Compatibility for convention about handling unknown data 3 2 5 3D 6 DOF Related commands The essential change between emScon v1 5 and emScon V2 0 is the introduction of 6DoF measurement structures 6 degrees of freedom Some were already present in v1 5 However these were declared as preliminary and have significantly changed since then From programming point of view handling 6DoF measurements is principally the same as 3D measurements The only difference is that other data structures are to be used Here is an overview of the related commands packets structures 3D Packets Commands 6DoF Probe Packets Commands ES_DT_SingleMeasResult ES_DT_StationaryProbeMeas Result ES_DT_MultiMeasResu
168. id packetStart long packetSize ReceiveData is the parser function for incoming data It has to be called after receiving a block of data from the emScon server Packets passed to this method must be COMPLETE in terms of an RT struct as defined in the C API Packet fragments are not processed correctly Hence the application which calls ReceiveData must ensure to pass complete packets See chapter Queued and Scattered Data for details Data Arrival virtual Functions The principle is as follows Derive your own class from CESAPIReceive and override those virtual functions on whose data you are interested in Only a few sample of the class virtual data receiver member functions are listed here since these can be derived directly from the C interface Example for a command returning no data If this function is called this means the command has successfully executed i e the tracker has finished initializing virtual void OnInitializeAnswer Example for a command returning data Which is the case for all Get functions virtual void OnGetContinuousTimeModeParamsAnswer const ContinuousTimeModeDataT cont inuousTimeModeData A complete listing of all these functions is available from the CESAPIReceive class definition in the file ES_CPP API Def h file Rather than redundantly listing all of these member functions in this chapter a general rule is presented on how to derive the f
169. in the order shown above A lookup table is therefore required to match the index values to the reflector IDs Such a lookup table is shown below Index ID 0 7 298 1 2 2 5 The call to SetReflector must pass the reflector ID not the list box index A frequent source of a programming error Reflector Name Unicode Format The reflector name is always in Unicode format irrespective of whether the application is in Unicode or ANSI Names in C C applications may have to be converted accordingly See Sample 7 which implements reflector handling with a list box It uses rather complicated a MFC Map as a lookup table Simple solutions can be achieved with just an integer array See also Sample 9 on how to interpret reflector names in Unicode format correctly Persistence of Reflector Name ID Mapping Each tracker compensation has its own set of reflector definitions However the mapping between reflector name and ID remains the same throughout all available tracker compensations Example A T Cam is mounted on the tracker hence the active tracker compensation is one that was performed with a mounted camera Assume this tracker compensation has definitions for three valid reflectors as follows Name ID CCR 75mm 7 CCR 1 5in 2 TBR 0 5in 5 299 Now the T Cam is removed and hence another tracker compensation becomes active one that was performed without a mounted T Cam Let s assume
170. interfaces in the same LTConnect instance although possible usually makes no sense and partly leads to duplicate answers Use of both interfaces within one and the same application is therefore not recommended 5 2 11 Multi Tracker Applications On multi tracker multi tracker server systems create a separate instance of LTConnect for each tracker 5 2 12 Visual Basic Boolean variable evaluation Do not test explicitly against the VB keyword True if using the Get lt FunctionName gt Ex methods of the LTControl for those commands returning Boolean data within their result structure This is because the Boolean member in these structures if true is one 1 However the VB keyword True evaluates to 1 Always test the variable directly or against Not False 261 Example Ob jSync GetContinuousDistanceModeParamsEx dataout If dataout bUseRegion Then MsgBox bUseRegion is True End If or If Not dataout bUseRegion False Then MsgBox bUseRegion is True End If are both correct However the following would evaluate to a wrong result If dataout bUseRegion True Then MsgBox bUseRegion is True No message even flag true End If 5 2 13 Reading Data Blocks with Visual Basic Arrival data reading with C as shown in Handling Data Arrival Continuous Measurements can also be ported to VB Events for VB are used here with unique events for almost every type of arrival
171. ion calls SelectNotificationMethod with the following parameters 282 cookie must be in the valid range for a user defined message m_pLTConnect gt SelectNotificationMethod LTC_NM_WM_Notify long m_hWnd MY_NOTIFY_MSG The message ID which also acts as a cookie here is defined as define MY_NOTIFY_MSG WM_USER 99 Entry in the message map must exist as follows ON_MESSAGE MY_NOTIFY_MSG OnNotifyMsg Provide the ProcessData subroutine Not every type of data packet is fully implemented 283 void CCPPClientDlg ProcessData void ptr int nCookie CString s s2 PacketHeaderT pHeader PacketHeaderT ptr switch pHeader gt type case ES_DT_MultiMeasResult most frequent ones on top MultiMeasResultT pData MultiMeasResultT ptr for int i 0 i lt pData gt lNumberOfResults i s Format _T Slf Slf S1f pData gt data i dVall pData gt data i dVal2 pData gt data i dVal3 do something with data application dependent m_staticContMeas SetWindowText s for break case ES_DT_Error ErrorResponseT pCmdData ErrorResponseT ptr s Format _T error command d status d n pCmdData gt command pCmdData gt status AfxMessageBox s break case ES_DT_SingleMeasResult SingleMeasResultT pData SingleMeasResultT ptr ASSERT pData gt measMode ES_MM
172. ionData he AddTransformationNominalPointCT RT Command structures for adding a Point to the Nominal point list See struct TransformationPointT and also chapter Transformation Procedure in chapter 8 for details struct AddTransformationNominalPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint struct AddTransformationNominalPointRT struct BasicCommandRT packetInfo hi AddTransformationActualPointCT RT Command structures for adding a Point to the actual point list See struct TransformationPointT and also chapter Transformation Procedure in chapter 8 for details struct AddTransformationActualPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint hi struct AddTransformationActualPointRT struct BasicCommandRT packetInfo hi GetTransformedPointsCT RT Command structures for retrieving the transformed points and residuals after a successful transformation Result values are in 186 current units and CS type like nominal points This command results in as many result packets as specified points through the nominal actual input points list This approach is similar to the GetReflectors command See chapter Transformation Procedure in chapter 8 for details Residuals are the difference between the nominal and the transformed actual points struct GetTransforme
173. ionName 32 unsigned short cProbeCompensationComment 128 Get SetProbeCompensationCT RT Command structures to get set the ID of active Probe compensation The Get SetProbeCompensation command takes delivers the compensation ID as only parameter struct SetProbeCompensationCT struct BasicCommandCT packetInfo int iInternalProbeCompensationId i struct SetProbeCompensationRT struct BasicCommandRT packetInfo hi struct GetProbeCompensationCT struct BasicCommandCT packetInfo he struct GetProbeCompensationRT struct BasicCommandRT packetInfo int iInternalProbeCompensationId hi GetTipToProbeCompensationsCT RT Command structures to get Tip to probe Compensation properties The GetTipToProbeCompensations command 198 retrieves all such compensations defined in the Tracker Server The answer consists of as many answer packets as tips are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as underlying probe compensations comment etc serve as information mainly used for user interface purpose struct GetTipToProbeCompensationsCT struct BasicCommandCT packetInfo struct GetTipToProbeCompensationsRT
174. ipCompiInDb oMeasurementTipCompSet ProblemStoringTipAssembly ProblemReadingCompensationDb oDataToImport ProblemSettingTriggerSource Bad 6DResult oTemperatureFromwWM oPressureFromwM oHumidityFromwM 6DMeasurementFace2NotAllowed ES_RS_AILOK Meaning The command terminated successfully ES_RS_ServerBusy Meaning A previously invoked command was being processed when the next command was invoked The next command was not executed Note The application should always wait until the previous command has terminated before issuing the next command This is due to the asynchronous communication behavior of the emScon C C TPI This indicates a programming error in the application The application did not await the termination of the previous command before issuing a new one This error should not occur when using the synchronous interface of the COM TPI ES_RS_NotImplemented Meaning A command that is already specified in the programming interface but not yet implemented supported was being executed This may occur in pre releases Beta versions of emScon ES_RS_WrongParameter This error applies to commands with only one parameter Meaning The parameter of the issued command was not accepted and executed This error is issued if for example 83 A positive value is expected but the user passed a negative one The parameter is out of valid range Very often this is due to w
175. is ready only if it is initialized This enumeration type is used as a parameter of ES_C_GetSystemStatus 111 enum ES_TrackerProcessorStatus ES_TPS_NoTPFound ES_TPS_TPFound ES_TPS_NBOpen ES_TPS_Booted ES_TPS_CompensationSet ES_TPS_Initialized e ES TPS _NoTPFound No Tracker Processor could be recognized e ES TPS TPFound Tracker Processor is recognized but connection from processor to tracker failed e ES_TPS_NBOpen Connection from processor to tracker is established but booting failed e ES_TPS_Booted Tracker Processor booted but there is no valid compensation e ES_TPS_CompensationSet Compensation set available tracker not yet initialized e ES_TPS_Initialized Initialization was OK tracker is ready ES _LaserProcessorStatus Additional information about the laser processor This enumeration type is used as a parameter for ES_C_GetSystemStatus enum ES_LaserProcessorStatus ES_LPS_LCPCommFailed ES_LPS_LCPNotAvail ES_LPS_LaserHeatingUp ES_LPS_LaserReady ES_LPS_UnableToStabilize ES_LPS_LaserOff e ES _LPS_LCPCommFailed Communication to laser processor failed This indicates a hardware problem Report to Leica service representative e ES_LPS_LCPNotAvail The Laser processor is not available This indicates a hardware problem Report to Leica service representative 112 ES_LPS_LaserHeatingUp Laser is warming up This is the normal case after
176. ively 5 2 COM TPI Programming Instructions 5 2 1 VisualBasic and VBA Applications Due to several problems and bugs in Office 97 it is recommended to use Office 2000 Excel 2000 Word 2000 for VBA client programming The following steps apply to VisualBasic VBA Excel Access 1 Import LTControl to the project s references list Select Project gt References gt LTControl dll You may need to browse if dll not shown in the list Make sure the selected one matches the one registered 2 Declare an object of type LTConnect for each TPI tracker LTConnect is the only so called creatable object hence the keyword New Dim ObjConnect As New LTConnect 3 Declare only one of the TPI controlling interfaces either synchronous or asynchronous It is not recommended to use both synchronous and asynchronous interfaces from within one LTConnect instance When doing so some answers would be 244 duplicated and arrive on both channels making it difficult to handle with an application The keyword WithEvents is optional and should only be used in combination with LTC_NM_Event selected as NotificationMethod It activates the related connection point interface for event handling Dim WithEvents ObjSync As LTCommandSync Dim WithEvents ObjAsync As LTCommandAsync 4 Connect to the Tracker Server and initialize interface pointers as is typical in an application startup procedure In Visual
177. lass and function declaration is shown here not the implementation Refer to samples for complete code class CMyESAPIReceive public CESAPIReceive override virtual functions of those answers you are interested in protected void OnErrorAnswer const ErrorResponseT amp void OnGetSearchParamsAnswer const SearchParamsDataT amp searchParams See Sample 9 EmsyCPPApiConsoleClient for a complete example on how to implement the two classes derived from CESAPICommand and CESAPIReceive Further see the revised Sample 4 Sample 4 2 in emScon 1 5 on how to deal with the CESAPICommand class ESCppClient_Step3 and the CESAPIReceive class ESCppClient_Step4 4 3 7 Queued and Scattered Data When the Tracker Server delivers more data through the TCP IP network than the client is able to process it results in traffic jams Although the TCP IP network buffers such data up to the configured buffer size single data packets will be queued That is there are no more gaps between the data packets When the client is notified from the TCP IP communication framework that data has arrived it has to react to this notification by a Read call depending on your communication tools this can be recv GetData CAsyncSocket Receive etc These read functions are not able to recognize packet boundaries Read functions read all data that is currently available In practice the data 227
178. le double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double dAprioriStdDevRotationAngleTotal double double double double double double hi packetInfo measMode bIsTryMode triggerStatus 1RotationStatus iInternalProbeld iFieldNumber tipStatus iInternalTipAdapterlId iTipAdapterInterface dPositionl dPosition2 dPosition3 dStdDevPositionl dStdDevPosition2 dStdDevPosition3 dStdDevPositionTotal dCovarPositionl2 dCovarPositionl3 dCovarPosition23 dAprioriStdDevPositionl dAprioriStdDevPosition2 dAprioriStdDevPosition3 dAprioriStdDevPositionTotal dAprioriCovarPositionl2 dAprioriCovarPositionl13 dAprioriCovarPosition23 dQuaternion0o dQuaternionl dQuaternion2 dQuaternion3 dRotationAnglex dRotationAngleyY dRotationAnglez dStdDevRotationAnglex dStdDevRotationAngleyY dStdDevRotationAnglez dStdDevRotationAngleTotal dCovarRotationAnglexyY dCovarRotationAnglexzZ dCovarRotationAngleYZ dAprioriStdDevRotationAnglex dAprioriStdDevRotationAngleY dAprioriStdDevRotationAngleZ dAprioriCovarRotationAnglexY dAprioriCovarRotationAnglexZ dAprioriCovarRotationAngleYZ dTemperature dPressure dHumidity This receive only structure describes the
179. le Reflector Position Tracking default 1 Enable Tracking This setting also can be controlled through the SetSystemSettings command ES_SP_ProbeConfig_Button Configures the behavior of the probe buttons Parameter values see enum ES_ProbeConfigButton ES_SP_ProbeConfig_ButtonEvent Enables disables events throwing on using the probe buttons Parameter values see enum ES_ProbeButtonEvent ES_SP_ProbeConfig_Tip Configure whether 6Dof measurements are allowed without a mounted Tip or not Parameter values enum ES_ProbeConfigTip ES_SP_ProbeConfig_SoundVolume Parameter values volume as long 0 No 129 sound 0 7 sound volume selected 0 off 1 soft 7 loud Note LaserPointerCaptureBeam and Show All6Dmeasurements are non persistent settings They fall back to the default value in case of server reboot If applies an application must always set these values upon startup ProbeConfigButton Parameter values for ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_Tip parameter type enum ES_ProbeConfigButton ES_PCB_SingleClick ES_PCB_StartStop he e ES _PCB_SingleClick A single button click causes a ES_SSC_MeasurementProbeButtonDown event Typically used to trigger a StartMeasurement e ES_PCB_StartStop A first button click causes a ES_SSC_MeasurementProbeButtonDown event releasing the button causes a ES_SSC_MeasurementProbeButtonUp event Typi
180. le dCovarl12 double dCovarl13 double dCovar23 double dPointingErrorH double dPointingErrorv double dPointingErrorD double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovar12 double dAprioriCovar13 double dAprioriCovar23 double dTemperature double dPressure double dHumidity hi This receive only structure describes the ES_DT_SingleMeasResult2 packet type in case of extended statistical mode Use this variant if points to be used as input for the Transformation routine The flag blsTryMode is set if system is in Try Mode This is not relevant for common users See also command SetStatisticMode T The format of measurements statistical informations and environmental values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters 152 MultiMeasResultT struct MultiMeasResultT struct ReturnDataT packetInfo long lNumberOfResults enum ES_MeasMode measMode ES_BOOL biIsTryMode double dTemperature double dPressure double dHumidity struct MeasValueT data 1 This receive only structure describes the ES_DT_MultiMeasResult packet type where a continuous stream of packets is received during a continuous measurement A packet consists of the single measurement and an array of MeasValueT parameters attac
181. le in Sample 15 folder and code comments in source files 5 3 6 Sample 18 LiveVideo display application This sample is based on the LTVideo2 ocx ActiveX COM control See Chapter 8 Special Functions Live Image display for details 5 3 7 Sample 20 Concerning its functionality this sample is similar to Sample 5 i e an LTControl based 286 client However it is based on Borland Delphi 7 instead of Visual Basic If no Delphi 7 programming environment is available you may download a trial version from Borlands homepage For details refer to the Readme txt file in the Sample20 folder and to heavily commented code 287 6 C Interface 6 1 Client Programming with C 6 1 1 Introduction The samples 14 and 15 see chapter 4 COM Interface show how to embed the LTControl COM object into C applications However there is also a C class interface similar to the C class interface In order to use this interface the NET framework and VisualStudio V7 VisualStudio NET is required for client application programming 6 1 2 C Application Programming The C class interface is represented by the include file ES_MCPP_API_Def h MCPP relates to Manged C This file defines two abstract classes CESCSAPICommand and CESCSAPIReceive from which a C application must derive its own classes This is quite the same approach as for the C interface Note the name prefixes CESCSAPI C
182. lectNotificationMethod method should be Zero LTC _ NM Event Events are used to notify the client on asynchronous answers sync and async interface The targetHandle and cookie of the SelectNotificationMethod method should be Zero LTC_NM_WM_CopyData The client is notified by aWM_COPYDATA message upon data arrival The arrived data block is transferred with the message See Win32 API documentation on WM_COPYDATA for details The handle of the window that gets the message must be passed through targetHandle If there are multiple LTControl instances more than one tracker the call of SelectNotificationMethod for each LTControl instance must get a different cookie in order to identify incoming messages with the respective tracker The number of cookies is 249 unlimited They are passed to the client through the pCopyDataStruct dwData member The transferred data needs to be interpreted by using the structures defined in the C TPI as masks e LTC_NM_WM _Notify The client is notified by a user defined message WM_USER XXxX or a registered message The CopyData method has one cookie for each tracker Other methods have cookies only if there is more than one tracker The cookie is available as wParam at the client application The handle of the window that gets the message must be passed through targetHandle Only the size of the block is passed with the message through Param The GetData method of the LTCo
183. list which is used as input data for the Transformation process ES_C_AddTransformationNominalPoint Adds a point to the transformation input nominal point list Values are expected in current units current CS type Transformation parameters are not taken into account ES_C_AddTransformationActualPoint Adds a point to the transformation input actual point list Values are expected in current units current CS type and according current transformation settings in contrast to AddTransformationNominalPoint ES_C_SetTransformationInputParams Sets the input params for the transformation Values are expected in current units and current CS type No transformation applies For all transformation related commands see Section 9 2 for details Input Standard deviations should take one of the constant values defined in the chapter Constants for Transformation TPI Reference In particular they one of the following values should be assigned 0 0 If parameter to be fixed 1 0E 35 If parameter unknown or 70 1 0E 15 If parameter approximately known Rather use the predefined constant symbols than hardcoded numerical values ES_C_GetTransformationInputParams Gets the currently active transformation input parameters ES_C_ CallTransformation Triggers the transformation parameter calculation process The 7 transformation parameters including statistical information are returned as a result Values
184. ll not be recognized If beam catched at zero position 143 bSendUnsolicitedMessages If this flag is set to true the system sends all error messages as they occur This flag should always be true Otherwise neither error events nor system status change events will be issued These events should be suppressed only in real special situations bSendReflectorPositionData If this flag is set to true and a reflector Probe is locked on by the tracker the system sends the current reflector position max 3 measurements per second These are issued even when no continuous measurement is in progress They can be used to view the Reflector probe movement on applications with graphic representation of reflector movement Do not regard the position values as accurate measurements They are of limited accuracy See structs ReflectorPosResultT and ProbePosResultT for details bTryMeasurementMode If this flag is set to true the system delivers all results in the try mode This is a Leica internal feature and therefore undocumented It can be ignored by application programmers The effect is just that if set to true the value is echoed with each measurement bHasNivel A hardware Configuration issue This flag tells the system that a Nivel20 sensor is attached Measurements with the sensor are now possible The system cannot automatically detect whether a Nivel sensor is attached Hence you must tell it the system b
185. log message sector erase failed 4261 FLASH ERROR writing of a err log message failed i 4350 SPI ERROR Receive timeout occurred 4351 SPI ERROR Transmit channel not ready H 4400 SYNCH ERROR No external synch input received a 4450 CCIR ERROR invalid command parameter Eo 4500 FLTABHD REMARK parameter table is empty 4501 FLTABHD REMARK recovery of the corresponding table failed 4502 FLTABHD WARNING read parameter table is not valid 4510 FLTABHD ERROR FLASH write error 4511 FLTABHD ERROR FLASH read error 4512 FLTABHD ERROR reset of a parameter table failed 4513 FLTABHD ERROR module initialization failed or was not done 4514 FLTABHD ERROR malloc error occurred 4515 FLTABHD ERROR parameter table write error crc check was not successful 4516 FLTABHD ERROR sector erase error 4550 CAM ERROR invalid Z CAMCOM answer 4551 CAM ERROR no valid camera FPGA version EmScon 2 1 TPI Programmers Manual Revison April 27 2005 341
186. lt ES_DT_ContinuousProbeMea sResult ES_DT_ReflectorPosResult ES_DT_ProbePosResult 3D Structures 6DoF Structures SingleMeasResultT ProbeStationaryResultT MultiMeasResultT ProbeContinuousResultT ReflectorPosResultT ProbePosResultT The ES_DT_SingleMeasResult2 SingleMeasResult2T and ES_DT_MultiMeasResult2 MultiMeasResult2T packets commands are extended variants of the relatives without the 2 in their name The only difference is that these versions contain extended statistical 46 information Applications passing measurements to the CallTransformation command should use the 2 variants since the transformation routine requires these extended statistics See also SetStatisticMode command 3 3 C Language TPI Reference 3 3 1 Constants This section names the constants that can be used with C C TPI programming The application needs to include the file Constant h in addition to ES_C API Def h Constants for Transformation These constants are used for the Weighting Scheme of the Transformation process see Section 9 2 6 const double ES_FixedStdDev 0 0 ES FixedStdDev Use this value 0 0 to indicate a parameter as fixed ES UnknownStdDev const double ES_UnknownStdDev 1 0E35 Use this value to indicate a parameter as unknown not fixed ES ApproxStdDev const double ES_ApproxStdDev 1 0E15 Use this value to weigh parameters according
187. ltStatus e OnSystemStatusChange is called for every status change event For status values see 220 enum ES_SystemStatusChange e Note that virtual functions are only called if defined int the derived receiver class Particular arrival data can be ignored if the appropriate virtual function definition is omitted e Attention Make sure the signature of the virtual function in the derived class exactly matches the signature in CESAPIReceive However the keyword virtual is optional in the derived class e Mismatching signatures will result in not calling the functions The compiler cannot detect such kind of errors e Itis therefore recommended to copy paste the virtual function header from CESAPIReceive to the derived class 4 3 C Language TPI Programming Instructions 4 3 1 Sending Data The class CESAPICommand contains a virtual function SendPacket which must be overwritten This approach allows convenient Send command functions Dealing with C data structures for sending commands is no longer required as they are completely hidden Use the related member functions of CESAPICommand instead 4 3 2 Receiving Data In order to select the data the application is interested in CESAPI Receive offers a method ReceiveData which is called on data arrival 221 events as well as numerous virtual member functions Dealing with C data structures for receiving data is no longer requir
188. ly the value dOmega and dPhi are set as dRot1 and dRot2 parameters of StationOrientationDataT to be passed with the SetStationOrientationParams command See special chapter Orient to Gravity procedure in chapter 8 180 struct CallOrientToGravityCT struct BasicCommandCT packetInfo i struct CallOrientToGravityRT struct BasicCommandRT packetInfo double domega double dPhi hi Error codes A return status other than ES_RS_AIIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallOrientToGravity command answer status can evaluate to one of the following values Code Description 20010 An unknown error occurred F 20011 Socket initialization failed F 20012 OLE COM initialization failed F 20013 Reading resource string failed F 20014 Error on sending data 20015 Error on receiving data 20016 No answer within reasonable time 20017 Error on saving results to database F 20018 Too many retries due to unstable Nivel liquid 20019 Invalid count of samples specified min 2 max 10 20020 There was an unexpected command answer 20021 Some Nivel results out of valid range 20022 No Nivel connected or Nivel flagged off 20023 POS270 or POS90 expected as command line argument F Errors marked with F are unanticipated fatalities CallintermediateCompensationCT RT Command structures for executing an Intermedia
189. meraMode cameraMode hi GetProbesCT RT Command structure to get Probe properties GetProbes command retrieves all probes defined in the Tracker Server The answer consists of as many answer packets as probes are defined in the server database These resolve the relation between probe name string and probe ID numerical Each packet in addition a redundancy contains the total number of probes i e the total number of packets to be expected only for programmer s convenience Other properties such as probeType serial Number comment etc serve as information mainly used for user interface purpose 194 struct GetProbesCT struct BasicCommandCT packetInfo i struct GetProbesRT struct BasicCommandRT packetInfo int iTotalProbes int iInternalProbeld long 1SerialNumber enum ES_ProbeType probeType int iNumberOfFields unsigned short cName 32 unsigned short cComment 128 hi GetProbeCT RT Command structure to get the ID of active Probe The GetProbe command delivers the currently active probe by its ID Currently set as the active one in the database struct GetProbeCT struct BasicCommandCT packetInfo i struct GetProbeRT struct BasicCommandRT packetInfo int iInternalProbeld hi GetTipAdaptersCT RT Command structure to get measurement Tip properties The GetTipAdapters command retrieves all tip adapters defined for the Tracker Server The answer con
190. meters was omitted the deltaHz and deltaVt values of the click event were not correct for certain types of video cameras LTVideo2 OCX versions 2 0 0 15 and higher delivered with emScon versions gt 2 0 55 do no longer require calling GetCameraParameters explicitly by the application The application may call it for informational issues but in most applications GetCameraParameters may never get used 308 Sample 18 This Visual Basic sample demonstrates how to implement a Live Video image based on the LTVideo2 ocx ActiveX component Note that LTVideo2 ocx part of the emScon SDK must be registered first If no Visual Basic development environment is available the code can easily be ported to VBA Excel or any other MS Office application with VBA support Sample 18 demonstrates the full functionality of the control including GetCameraParameters events and Click handler The code is simple enough to be self explaining Further details see Readme txt file in Sample18 folder and code comments in source files Sample 19 This C MFC sample demonstrates how to implement a Live Video image without using the LTVideo2 ocx It is not recommended to use this approach for Windows platform targeted applications For Windows based applications we highly recommend rather to use the ready to use LTVideo2 ocx control for implementation of emScon LiveVideo LTVideo2 ocx is par
191. mmand structures for setting getting the parameters for the Stationary Measurement mode struct SetStationaryModeParamsCT struct BasicCommandCT packetInfo struct StationaryModeDataT stationaryModeData struct SetStationaryModeParamsRT struct BasicCommandRT packetInfo hi struct GetStationaryModeParamsCT struct BasicCommandCT packetInfo he struct GetStationaryModeParamsRT struct BasicCommandRT packetInfo struct StationaryModeDataT stationaryModeData hi Fix See struct StationaryModeDatalT for details Set GetContinuous TimeModeParamsCT RT Command structures for setting getting the parameters for the Continuous Time Measurement mode 163 struct SetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo struct ContinuousTimeModeDataT continuousTimeModeData i struct SetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo struct GetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo i struct GetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo struct ContinuousTimeModeDataT continuousTimeModeData hi By See struct ContinuousTimeModeDataT for details Set GetContinuousDistanceModeParamsCT RT Command structures for setting getting the parameters for the Continuous Distance Measurement Mode struct SetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo struct ContinuousDi
192. must wait until the previous command has finished before 92 issuing a new command asynchronous behavior ES_RS_NoCopyProtectionDongleFound Meaning The copy protection dongle is missing Note Make sure the dongle is connected at the correct port ES_RS_ ModuleNotActivated Meaning The copy protection dongle does not qualify to use the specified module Note Refer to Leica representative to get a dongle field upgrade ES_RS_ModuleWrongVersion Meaning The copy protection dongle does not qualify to use the specified module version Note Refer to Leica representative to get a dongle field upgrade ES_RS_DemoDongleExpired Meaning The dongle is not activated or has expired Note Refer to a Leica representative A field upgrade might be provided ES_RS_ParameterImportFromProbeFailed Meaning Importing of a probe compensation failed Note Make sure Probe has information in its memory Also check for potential version conflict ES_RS_ParameterExportToProbeFailed Meaning Exporting of a probe compensation failed Note Check for potential version conflict ES_RS_NotTrkCompWithMeasCamera Meaning The selected Tracker Compensation was not made with a T Cam mounted This compensation must not be 93 used with a Tracker wit T Cam mounted Note Select a different compensation ES_RS NoMeasurementCamera Meaning No T Cam is available Note Mount the T Cam ES_RS_NoActiveMeasurementCamera Meani
193. n ES_MCPP_API Def h needs to be traced Further details see Readme txt file in Sample 16 folder and code comments in source files 6 1 4 Sample 17 This sample implements a C emScon application based on the C class interface The C interface cannot be used directly in C applications A 289 specific C class interface is therefore provided as described above Note the difference to Samples 14 15 where the emScon COM interface was used The one and the same COM object ca be used for C and C as well as for visual basic VBA e g Excel and VisualBasic NET applications The programming approach is quite the same as for the C interface Derive classes from both CESCSAPICommand and CESCSAPIReceive classes override the SendPacket virtual function in CESCSAPICommand and override those virtual functions of CESCSAPIReceive in which the application is interested in The application must provide Socket communication and the same conditions as for C applications apply Commands are invoked by calling CESCSAPICommand member functions and arriving data from the socket must be passed to the CESCSAPIReceive ReceiveData Parser Note that only one packet at a time must be passed to the parser The sample shows one possible approach First always peek the packet header then only read as many bytes as the packet size variable indicates The helper method CESCSAPIReceive GetPacketHeader is useful in
194. n C language TPI these values are explicitly enumerated F See TPI _C_AP1_Def h in SDK for enum definitions A type library viewer will also show the numerical values Example Enum definition 254 enum ES_TrackerTemperatureRange ES_TR_Low ES_TR_Medium ES_TR_High hi ES_ TR_Low 0 TR_Medium 1 and ES_TR_High 2 e Command ina VB application Ob jSync SetTemperatureRange ES_TR_High e Command in old version VBA Ob jSync SetTemperatureRange 2 Only use the second approach if the first one is not supported with your programming environment 5 2 6 Proper Interface Selection Unlike the C and C TPI the COM TPI is a DLL library and not an include file This DLL provides an easy to use programming interface for the Tracker Server This makes it suitable for programmers with minimal programming expertise to design simple tracker applications The COM TPI also opens doors to programming languages such as VisualBasic Delphi VB NET VBA Office Macro Languages etc The interface is made up of a so called COM object It is designed as an ATL DLL COM server The DLL is named LTControl dll and comes as part of the emScon SDK LTControl provides built in TCP IP communication The LTControl COM object DLL is based on the tracker server C TPI the Win32 Sockets 2 0 API and VC ATL The LTControl dll is in a sense a Tracker Server C Client However it acts as Server from applica
195. n measurement precision loss Only change these values if really required due instable conditions ground vibrations etc TargetStabilityTolerance is a distance parameter and is in current length units TargetStabilityTolerance must lie between 0 005 and 0 1 Millimeter Leave this value as low as possible Default is 0 005 RetryTimeFrame is in milliseconds in the range between 500 and 5000 Related structure AdmParamsDataT ES_C _GetAdmParams Queries the currently valid ADM parameters Related structures SetAdmParamsCT SetAdmParamsRT and AdmParamsDataT ES_C_SetSystemSettings Sets system settings a collection of flags to control the behavior of Tracker Server See struct SystemSettingsDataT for details Related structures SetSystemSettingsCT SetSystemSettingsRT and SystemSettingsDataT ES_C_GetSystemSettings Queries the currently valid System Settings Related structure SystemSettingsDataT ES_C_ StartMeasurement Triggers a measurement regardless of the measurement mode I e depending on selected mode Start Measurement may start a Stationary3D a StationaryProbe a Continuous3D or a ContinuousProbe measurement Once a continuous measurement with 64 unlimited time points has been started it can only be stopped on using ES_C_StopMeasurement apart from beam break Note StopMeasurement can also be used to interrupt some other lengthily taking but deterministic commands Except on
196. n parameters of the transformation translation rotation angles scale together with their standard deviations The standard deviation of a fixed parameter is zero 328 Transformed points and residuals The command Get TransformedPoint returns a list of structures each containing a transformed point together with its covariance matrix and the three coordinates of the residual vector residual nominal transformed The covariance matrix of the transformed point takes into account the covariance matrix of the actual point and the 7 by 7 covariance matrix of the transformation calculated The covariance matrix of the residual is obtained by adding those of the nominal and the transformed point Statistics The command CallTransformation also returns the e RMS of residuals e Maximum deviation e Variance factor RMS of residuals The RMS of residuals is defined as 5 residual RMS 4 noEquations where the number of equations is the number of fixed or weighted nominal coordinates Maximum deviation The maximum deviation is defined as maxDev max i 1 n residual where fixed and weighted nominal coordinates are taken into account Weighted residual square sum The transformation algorithm determines the values of the transformation parameters in the weighted least squares sense This means that the following target functional is minimized 329 RSS residual weightMatrix r
197. nRemoved ES_SSC_TPConnectionClosing ES_SSC_ServerClosing ES_SSC_ServerStarted ES_SSC_DistanceSet Precondition is that the system is equipped with an ADM and is set to KeepLastPosition one of the parameters controlled by Set GetSystemSettings This event is fired as soon as the beam is re locked on to the target and an ADM measurement has been performed a few seconds after the target has been placed to a stable position while beam attached From now on measurements can be continued This mode is very convenient since it is not necessary to go back to the BirdBath after a 114 beam break For Probe 6DoF measurements this flag MUST always be true q It is not fired when the system flag Keep Last Position is not active ES_SSC_LaserWarmedUp This event is fired once the tracker is warmed up after system laser start about 20 minutes after the laser was switched on Also see description of enum ES_LaserProcessorStatus The laser processor status warmed up or not can also be queried in an active way polling by using ES_C_GetSystemStatus ES_SSC_XXX_Changed These events are fired whenever there is a change of one of the system settings Parameters Modes Regions Compensations or Hardware those detected automatically such as TCam Probe Tip ES_SSC_MeasStatus_NotReady ES_SSC_MeasStatus_Busy ES_SSC_MeasStatus_Ready This event informs about a Measurement Status change Ready
198. nction is used to measure the tilt of the tracker s primary z axis standing axis with respect to the vertical This can be used to orient 310 the measurement network to gravity The tilt is specified by two angular components about the tracker s internal x and y axes Related Command e CallOrientToGravity Comments e This command is only available in combination with a Nivel20 Inclination Sensor e Executing this command drives the tracker head to 4 different positions on the xy plane 1 Taking Nivel20 measurement samples 2 In addition the station inclination parameters Ix and ly are calculated and returned as result parameters e Executing this command does not implicitly apply any orientation values to the system e In order to activate the station orientation to gravity the two result values Ix and ly must be explicitly set with the command SetStationOrientationParams Rotation angles rotl and rot2 See Section 9 2 for mathematical description 8 1 5 Transformation Procedure See Section 9 2 for a detailed discussion of the Transformation issue This procedure matches a measured set of points to a given set of nominal points by using a least squares best fit method The procedure calculates the 7 parameters x y z omega phi kappa scale which describe the transformation filter to be applied to the measured points in order to 311 represent these in the coordinate system
199. nd StartMeasurement 8 Execute the command Change Face which puts the Laser Tracker from Face I to Face II The pointing to a fixed reflector position from a station should be the same in both faces TPI command ChangeFace 9 Execute the Stationary Measurement in Face II and save it TPI command StartMeasurement 10 Execute the command Change face which puts the Laser Tracker from Face II to Face I TPI command ChangeFace 11 Repeat the steps 5 10 for all target locations Procedure Calculation Devv vertical angle Face I vertical angle Face I 320 Devn horizontal angle Face I horizontal angle Face II Both measurements are in Face I representation Face II measurements are represented in Face I Example Devv 90 7289893 90 7287338 0 0003 Deg Devn 269 9877001 269 9879985 0 0003 Deg Tolerances The recommended tolerances of the deviations are Vertical angle 13cc 0 0012 Deg Horizontal angle 13cc 0 0012 Deg When the tolerance is exceeded an Intermediate Compensation is recommended 321 9 Mathematics 9 1 Point accuracy Throughout Emscon point coordinates are stored together with a 3x3 covariance matrix It is a symmetric 3x3 matrix with the squares of the respective standard deviations on the diagonal 2 stdDev covar covan 2 covar stdDev covar 2 covar covar stdDev The error ellipsoid of the point is defined by the eigenvectors an
200. neither searched nor attached ES_C_ PointLaserHVD Same as ES_C_GoPositionHVD laser beam is sent to the specified location but a reflector is neither searched for nor attached ES_C MoveHV Command to start laser beam movement in horizontal vertical direction or to stop movement Zero values mean stop movement The parameters for MoveHV are signed values in order to specify the direction of movement The parameters are speed values in the range between 100 lt x lt 100 ES_C_GoNivelPosition This command moves the tracker head to one of the defined Nivel20 positions 1 to 4 The laser tracker moves at a slow speed to avoid disturbing the Nivel sensor This command is used for the orient to gravity procedure ES_C_GoLastMeasuredPoint Positions the laser beam to the location that has been last measured successfully in stationary mode ES_C _ FindReflector Searches a reflector at the given position Reflector is attached if found The approx distance is only required to calculate the opening angle of the laser beam from the given search parameter An inaccurate approx distance only has the effect that the real search radius will be bigger or smaller 68 than specified in SetSearchParams It has no effect to measurement quality Approx distance parameters are in current Length Unit Although no range limitation applies in theory there is a practical limitation given by tracker working space 100 mm
201. ng The mounted T Cam does not match the one stored in the database Note Make sure mounted T Cam matches the camera information stored in the database ES_RS_ NoMeasurementCamerasInDb Meaning No T Cam is defined in database Note Provide camera information in database ES_RS_NoCameraToTrackerCompSet Meaning No T Cam to tracker compensation is activated Note use the SetTCamToTrackerCompensation command to activate a compensation ES_RS_NoCameraToTrackerCompInDb Meaning No T Cam to Tracker compensation is available in database Note Perform a T Cam to Tracker compensation ES_RS_WrongActiveCameraToTracker CompInDb Meaning T Cam to Tracker compensation does not match the mounted camera Note Use the correct camera or provide a compensation ES_RS_NoMeasurementProbe Meaning No probe can be seen by the camera Note Move the probe to the camera s viewing space 94 ES_RS_NoActiveMeasurementProbe Meaning The detected probe cannot be set as active Note Make sure probe communication is OK cable problem ES_RS_ NoMeasurementProbesInDb Meaning No Probes are available in database Note Import probe information ES_RS_NoMeasurementProbeCompSet Meaning No probe compensation is activated Note use the SetProbeCompensation command to activate a compensation ES_RS_NoMeasurementProbeCompInDb Meaning No probe compensation can be found in database Note Import or provide a probe c
202. ngeFace Changes the tracker face before the laser beam is attached to the same position ES_C _GoBirdBath 3D Modes Laser beam is sent to the Bird bath The beam is attached to the reflector in the Bird bath and the Interferometer distance is set to the known Bird bath distance This command is especially important for LT series trackers without ADM For such tracker there is no other way to set the interferometer distance 6D Modes GoBirdBath does not make sense for a Probe This command thus has a different effect while one of the 6D measurement modes is active The laser beam is sent to zero position instead which is on the opposite side of the BirdBath where it can then be catched with the probe ES_C GoPosition Laser beam is sent to a specified location followed by an implicit Find reflector The beam is attached to the reflector if found Input is in current units CS type and according to applied orientation transformation parameters No range limitations apply to these parameters in theory but there is a practical limitation given by tracker working volume The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the IFM distance is calculated from the supplied coordinates and 66 is set as the valid one To be used with caution The search time depends on the search radius Large search radii result in extended search times unless limited by the sear
203. nguage TPI Programming Instructions crsciscccercicecicec saccdeetsiedicangeriuicsevaigeasaete 205 3 5 1 TCP IP Connection c e 205 3 5 2 Sending CommandS ccceeeeeeeeeeeeeeeees 205 3 5 3 Initialization Macros cccccceeececeeeeseeeeeeeeeeees 206 3 5 4 Excurse C Initialization eee 207 3 5 5 Answers from Tracker Server 207 3 5 6 Asynchronous Communication c068 208 3 5 7 DataArrived Notification ccc eeeee sete eens 208 3 5 8 Data arrival Traffic JaMs ou eee eens 208 3 5 9 PacketHeader Masking ccccceeeeeeeeeeees 209 3 5 10 Command Subtype Switch ee 210 3 6 C Language TPI Samples ccssssseee 212 361 Sample 3 ninna aneia t 212 4 C interface 4 1 Class based TPI Programming 216 AAA PreCONnditlONS 2sccctil cee hotiesde i eeiientecads 216 4 1 2 Platform ISSUCS eee eee eeeeeeeeeeeeeeeeeees 217 4N TOPP penea a 217 4 2 C Language TPI Reference 217 4 2 1 CESAPICommand Class cccceeeeteeees 217 4 2 2 CESAPIReceive Class ccceeeeeeeeeeeeeeeeees 219 4 3 C Language TPI Programming Instr CtionsS osissa lath cetceec tect Decent state te laced 221 4 3 1 Sending Data tcc csteccaccdas ences cen tanesenes 221 4 3 2 Receiving Data cccccceeeeseeeeeeeeeeeeeeeeeees 221 4 3 3 Class Design Issues cccceeeeeeeeeeeeeeeeeees 222 4 3 4 Data Structure Wrapper Classes
204. nnect interface must be called in order to retrieve the data The method SelectNotificationMethod is defined as follows HRESULT SelectNotificationMethod in LTC_NotifyMethod notifyMethod in long targetHandle in long cookie q Implementing an event sink in a Windows application using the LTC_NM_WM_COPYDATA or LTC_NM_WM_Notify is recommended Using LTC_NM_Event although possible as Sample 7 shows is complicated Sample 7 demonstrates all different approaches with disabled code sections Although most complicated the LTC_NM_Event method is enabled as the default 5 2 4 Exceptions and Return Types All methods interfaces have a HRESULT return type as per COM design Applications are usually not required to test these return codes 250 since method failures are signaled by exceptions These exceptions come with error information mainly a text string describing the reason for failure q Exceptions must be caught Unhandled exceptions lead to program aborts Exception Handling in Visual Basic Each VB function calling interface methods must provide the following statement before the first call On Error GoTo ErrorHandler At the bottom of the function before the EndSub statement the following minimal code block must be inserted Exit Sub ErrorHandler MsgBox Err Description Err Description is only a default minimal error text always in English Of co
205. ns int iInternalCompensationId unsigned short cTrackerCompensationName 32 unsigned short cTrackerCompensationComment 128 unsigned short cADMCompensationName 32 unsigned short cADMCompensationComment 128 ES_BOOL bHasMeasurementCameraMounted ES_BOOL bIsActive hi CheckBirdBathCT RT Command structures to check the Bird bath position of the current selected reflector Values are in current units struct CheckBirdBathCT struct BasicCommandCT packetInfo hi struct CheckBirdBathRT struct BasicCommandRT packetInfo double dInitialHzAngle double diInitialVtAngle double dInitialDistance double dHzAngleDiff double dvtAngleDiff double dDistanceDiff GetTrackerDiagnosticsCT RT Command structures to read tracker diagnostic data This is a command mainly used for service purposes 189 struct GetTrackerDiagnosticsCT struct BasicCommandCT packetInfo struct GetTrackerDiagnosticsRT struct BasicCommandRT packetInfo double dTrkPhotoSensorxVal double dTrkPhotoSensorYVal double dTrkPhotoSensorIVal double dRefPhotoSensorxVal double dRefPhotoSensoryVal double dRefPhotoSensorIVal double dADConverterRange double dServoControlPointxX double dServoControlPointyY double dhLaserLightRatio ait iLaserControlMode double dSensorInsideTemperature int iLCPRunTime int iLaserTubeRunTime hi GetADMInfoCT RT Command structures to read ADM specifi
206. nsations must be present and active for TCamToTracker Probe and TipToProbe supposed all these compensation processes have once been performed or imported Active compensations are persistent settings that can be changed by the several Set Compensation TPI commands or by selection within the compensation tree representation in the BUI Application See description of Get Compensations Get Compensation Set Compensation Selection of TCam and Probe compensation only mean a hint to the system The compensations themselves only become really active if a matching TCam i e the compensation must match the serial number of the TCam is being mounted respectively a matching Probe is being attached and recognized by the camera 26 2 4 4 Initial Steps Description in Detail Description of some commands that require more explanation Initialize Laser Tracker Implication Comment Initialize encoders and internal components This command has to be performed every time you set up a new Leica Tracker system station It is strongly recommended to use this function 2 3 times a day to initialize encoders and its internal components This is important due to thermal expansion of the tracker hardware which has a direct influence on the measurements 27 Set Current Environmental Parameters Implication Comment Calculate and Set index With the input of the of refrac
207. nt data has to be provided through the TPI Unless one wants just to VIEW the data through the DRO The BUI can be launched from within an application see Sample 13 if not already running However it is also possible to start the BUI manually and execute a data catcher application without BUI launch after that Such an application then is capable to process data triggered by the BUI as far as appropriate handlers are provided 7 1 4 Sample 13 This sample is a BUI launcher and listener to launch the emScon BUI from within a client 294 application That is the BUI becomes part of the client application The client application BUI host is mainly used to catch measurements triggered by the BUI in order to do further data processing The application shows how to perform initial settings that cannot be set with the BUI and how to catch the measurements triggered from the BUI These measurement results are just written to the applications dialog which does not really make sense because they are already displayed on the BUI Page A real application would do further processing such as storing the measurements into a database etc The sample is in Visual Basic However the principles would not change for a C application Further details see Readme txt file and code comments in BUILaunch frm source file in Sample13 Folder Also refer to BUI documentation User Manual for details 29
208. nter Mode parameters may not have been set properly See command SetSphereCenterModeParams ES_RS_NoTPFound Meaning There is no communication between the tracker controller and the tracker server Either the connection is broken or the tracker controller did not boot and connect properly Often this error occurs if the application tries to access the tracker server before the boot process is finished or if the boot process failed for some reason For version 1 5 and above it is recommended to await the ES_SSC_ServerStarted event before trying to 86 issue a command Note This problem can occur with use of an External Tracker Server cable unplugged damaged plugged to wrong connector This problem is minimized for LT Controller plus base since both the tracker server and controller are integrated in one unit ES_RS_ NoWeathermonitorFound Meaning A command or polling mechanism could not access an external weather station The weather station is not present connected switched on Note If there is a weather station connected check the cable and make sure the power is switched on If no weather station is connected set the SystemStatusFlag HasWeatherMonitor to zero Command SetSystemStatus The flag must be 0 in order to access the weather station ES_RS_ NoLastMeasuredPoint Meaning This error occurs after a command GoLastMeasuredPoint when no stationary point has been measured since last system boot The
209. nuousDistanceModeParams Queries the currently valid Continuous Distance mode parameters Related structure ContinuousDistanceModeDataT ES_C_SetSphereCenterModeParams Sets the properties for a Sphere Center measurement Radius and SpatialDistance parameters are in current Length units No range limitation apply to distance and radius parameters in theory but there is a practical limitation given by tracker working space Related structure SphereCenterModeDataT ES_C_GetSphereCenterModeParams Queries the currently valid SphereCenterMode Parameters Related structure SphereCenterModeDataT ES_C_ SetCircleCenterModeParams Set the properties for a Circle Center measurement Radius and SpatialDistance parameters are in current Length units No range limitation apply to distance and radius parameters in theory but there is a practical limitation given by tracker working space Related structure CircleCenterModeDataT ES_C _GetCircleCenterModeParams Queries the currently valid Circle Center Mode Parameters Related structure CircleCenterModeDataT ES_C _ SetGridModeParams Sets the properties for a Grid measurement Grid value parameters are in current units and according current CS type No range limitation apply to grid parameters in theory but there is a practical limitation 62 given by tracker working space Related structure GridModeDataT ES_C_GetGridModeParams Queries the current Grid Mode Parameter
210. o classes CESAPICommand and CESAPIReceive apart from wrapper classes for each data structure of the C TPI CESAPICommand handles sending of commands from the client application to the TS and CESAPIReceive supports receiving and parsing 216 data sent by the Tracker Server to the client application The advantage of a class design is the availability of constructors to perform struct initialization A Tracker Server C interface is preferable to a C low level interface if a C compiler is available 4 1 2 Platform Issues Tracker Server client programming remains platform independent since C compilers are available for virtually every platform 4 1 3 TCP IP This chapter does not touch TCP IP basic issues See C TPI section since this topic is independent from the TPI type used except COM interface 4 2 C Language TPI Reference 4 2 1 CESAPICommand class SendPacket virtual bool SendPacket void PacketStart long PacketSize This virtual function must be implemented in the class derived from CESAPICommand Its implementation depends on the selected TCP IP socket library Command Functions Only a few sample of the class command member functions are listed here since these can be derived directly from the C interface Example for a command taking no parameters Initialize the tracker bool Initialize Example for a command taking basic type parameters 217
211. of Parameters Unless stated explicitly in the command description the following units of all parameters are always in current units That is in those units the application programmer has selected with the SetUnits command Length units Angle units Temperature units Pressure units Humidity units currently only one percent This applies to parameters sent as well as those received such as coordinates standard deviations meteorological values e Currently there is only one exception to this rule The command StartNivelMeasurement delivers the native Nivel20 inclination readings These are milli radiants and degrees Celsius regardless of currently selected units e Other units include Time units These are always in milliseconds unless stated differently Example a Stationary Measurement Time of 2000 means two seconds e String type parameters Strings as far as handled through the TPI are always in UNICODE arrays of unsigned short That is two bytes are reserved for each character As far as pure ANSI text is used an application can just ignore each second byte See sample applications for examples 52 e Enumeration type parameters These are type safe with the related enum definition The parameters are described at the enum definition location 3 Valid Parameter Ranges This applies to parameters being sent to the system typically with one of the Set comman
212. ommands are implemented but all except one are commented in the sample code any other call may be enabled instead Due lack of synchronization the provided sample application will mostly mess up if sending more than one command The most simple way to synchronize the application was providing an old style key press user interface as done in Sample 9 This means the user performs synchronization by not pressing the next key before the answer of the previous command has arrived See also the many comments in the code This sample is preliminary an might be improved in future SDK versions 291 Further details see Readme txt file in Sample 17 folder and code comments in source files 292 7 Base User Interface BUI 7 1 Client Programming and BUI 7 1 1 Measurement BUI versus Compensation Applications The emScon software comes with several graphical User Interfaces represented by a WEB application running on internet explorer It is important to distinguish between standalone applications and integrated applications The Compensation Field Check and Tracker Server modules are pure stand alone applications For details see the designated special manuals fore these applications On the other hand the so called Measurement Base User Interface BUI does not make sense to be used as a stand alone application except for system testing reasons This chapter exclusively addresses the
213. ompensation ES_RS_WrongActiveMeasurementProbe CompInDb Meaning The probe seen by the camera does not match the information in database Note Replace the probe by the matching one or provide database information suitable to active probe ES_RS_CommunicationWithMeasurement ProbeFailed Meaning Possibly a hardware failure The probe should be detected automatically Note Relocate the probe to try again Try with a cable connection if using a cordless probe Refer to Leica service if problem still remains ES_RS_NoMeasurementTip Meaning No Tip is mounted at the probe Note Mount a tip 95 ES_RS_NoActiveMeasurementTip Meaning The detected Tip cannot be set as active Note Make sure probe communication is OK cable problem ES_RS_NoMeasurementTipsInDb Meaning No Tips can be found in database Note Provide tip definition ES_RS_NoMeasurementTipCompInDb Meaning No Tip compensation can be found in database Note Import or provide a tip compensation ES_RS_ProblemReadingCompensationDb Meaning Compensations could not be read from database Note Access to the database has failed This error should not occur under normal conditions ES_RS_ProblemSettingTriggerSource Meaning Trigger source parameters could not be set Note Probably a hardware problem or no trigger board available with current system ES_RS_NoMeasurementTipCompSet Meaning Tip compensation missing Note A Tip Tip Assembly must b
214. on To access LTControl s interfaces an object variable of type LTConnect is needed in the General declaration part of the code behind the application form Note the essential keyword New Dim ObjConnect As New LTConnect Just after that declare an object for each one of the shown types Note the keyword WithEvents In a real application only one either a synchronous or an asynchronous interface should be declared Declaring both as done here for demonstration purposes could result in some duplicate data arrivals and other confusion Dim WithEvents ObjAsync As LTCommandAsync Dim WithEvents ObjSync As LTCommandSync Connecting Disconnecting to Server and Initialization Tasks A variable of LTConnect object is always required whereas in a real application only one of the LTCommandSync or LTCommandAsync objects is required Depending on the selected notification mechanism LTCommandAsync or LTCommandSync is to be declared with without event support WithEvents keyword The LTCommandSync and LTCommandAsync variables act like pointers These pointers must be initialized with the related properties of LTConnect 271 e Just after calling the ObjConnect ConnectEmbeddedSystem method initialize the pointers as shown below In the sample this is done in the event handler of the Connect button Further the notification method must be selected SelectNotificationMethod
215. on and orientation equations are the inverse form to each other as mappings For transformations the map assumes the form T x sR x 9 2 6 Input to transformation computation Orientation or transformation In the orientation transformation procedure the first parameter of the SetTransformationInputParams command is choosen as ES_TR_AsOrientation ES_TR_AsTransformation respectively Nominal points Nominal points are added as in the following example AddNominalPoint 1 0 2 0 3 0 ES_FixedStdDev ES_UnknownStdDev ES_ApproxStdDev 0 0 0 0 0 0 The parameters are the three coordinates together with their standard deviations and covariances see Section 9 1 above We recommend using the following predefined standard deviations see also Section 3 3 1 Coordinate Symbol Value accuracy Fixed exactly ES_FixedStdDev 0 0 known Unknown free ES_UnknownStdDev 1 0E35 Approximately BS_ApproxstaDev 1 0E15 known reasonable Weighted gt 0 0 lt L0ELO Approximately known coordinates are used to calculate an initial approximation of the orientation or transformation parameters In a minimum configuration the solution would be ambiguous without this additional information 327 Actual points Actual points are added in the following form AddActualPoint 12 487 5 79687 5 49683 0 0001 0 0001 0 0001 0 0 0 0 0 0 The number an
216. on index IFM 1 000077 1 000419 Refraction index ADM 1 000078 1 000425 15 2 3 5 Coordinate Parameter Triplets The values of coordinate parameter triplets often named as Val1 Val2 and Val3 in most data structures depend on the currently active coordinate system type and the currently active units In addition measured coordinate values output and positioning values input are transformed according to currently set transformation and orientation parameters Coordinate values for filters Sphere Box Grid differ from case to case Details and exceptions are explained in the reference section q The orientation transformation filters can be switched off through flags provided by the system settings Using the default values for orientation and transformation parameters 0 0 0 0 0 0 0 0 0 0 0 0 1 mean invariant transformations Coordinate Val1 Val2 Val3 system type Cartesian X Y Z RHR LHR Spherical H V D R Cylindrical R Phi H Z X Y Z Cartesian coordinate values H Horizontal angle V Vertical Angle D Distance Radius R Radius PHI Horizontal Angle H T Different notations of values in different systems Phi instead of H D instead of R 16 maintain continuity with previous releases of application software 2 3 6 Persistency The Tracker Server keeps settings such as Units CS type Reflector type etc persi
217. on of GetStilllmage is explained below using code fragments GetStilllmage must be called with the parameter ES_SI_ Bitmap The parameter ES_SI_Jpeg is not supported yet e The answer to a successfully executed GetStilllmage command results in a GetStilllmageRT data structure e Apart from the common header information this structure echoes the file type imageFiletype ES_SI_Bitmap the size of the file FileSize and the first Byte of the file cFileStart e The following code accesses the core file data and writes it to a physical disk file 301 assume pData contains the data block received to a GetStillImage ES_SI_Bitmap command long 1FileSize GetStillImageRT pData gt 1lFileSize char cFileStart GetStillImageRT pData gt cFileStart FILE pFile NULL if pFile fopen C Temp img bmp wb NULL long 1lWritten fwrite amp cFileStart 1 1lFileSize pFile if lWritten 1FileSize printf File could not be written n else printf wrote d bytes n lWritten fclose pFile e The disk file can be skipped and a memory mapped file can be used instead OR With the file structure of the Bitmap file the bitmap information can be extracted from the data block and used directly with GDI functions In the code above it was assumed that pData contained a complete GetStillImageRT structure with complete file data padded WinSock2 API M
218. onParamsCT struct BasicCommandCT packetInfo struct SphereRegionDataT sphereRegionData struct SetSphereRegionParamsRT struct BasicCommandRT packetInfo struct GetSphereRegionParamsCT struct BasicCommandCT packetInfo he struct GetSphereRegionParamsRT struct BasicCommandRT packetInfo struct SphereRegionDataT sphereRegionData Command structures for setting getting the sphere region parameters Fk See struct SphereRegionDataT for details GoPositionCT RT struct GoPositioncT struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 ES_BOOL bUseADM struct GoPositionRT struct BasicCommandRT packetInfo hi These are structures for invoking the GoPosition command Values are in current units CS type and according to applied orientation transformation parameters When bUseADM is set which is the normal case for this command an ADM measurement is performed and the IFM distance is set to this new value If ADM flag is not set the IFM distance is calculated from the supplied coordinates and is set as the valid one To be used with caution The useADM flag should always be set for trackers equipped with an ADM No range limitations apply to these parameters in theory but there is a practical limitation given by tracker working volume GoPosition can be seen as a combination of 174 commands PointLaser followed by a FindRefl
219. onfiguration according to the recommendations Bit 5 NotAllCorrectedDoubledTwoFaceErrorsAr 0x10 eWithinCompensationTolerance Not all measurement residuals are within recommended tolerances Bit 6 NotAllMechanicalParametersAreInRange 0x20 Not all three 3 mechanical parameters calculated are within recommended tolerance according to hardware specs The WarningFlags value is a decimal value Use a scientific calculator to convert this value to a binary value to visualize the flagged bits Programmatically in C C a particular bit is set if the following expression evaluates to TRUE lWarningFlags amp dwCode where dwCode is one of the Masks shown above For example 0x10 tests for 5th bit See C reference for details bit operations CallTransformationCT RT Command structures for executing an Transformation process including reception of results Result values are in current units CS type See chapter Transformation Procedure in chapter 8 for details 184 struct CallTransformationCT struct BasicCommandCT packetInfo struct CallTransformationRT struct BasicCommandRT packetInfo double dTransVall double dTransVal2 double dTransVal3 double dRotVall double dRotVal2 double dRotVal3 double dScale double dTransStdVall double dTransStdVal2 double dTransStdVal3 double dRotStdVvall double dRotStdVal2 double dRot StdVal3 double dScal
220. oop to stop until the event is signaled to be read The blocking by the WaitForSingleObject is released and the loop passes on Reset the event before available data is read into a buffer Call a function ProcessData that does the interpretation of the buffer Queuing Traffic Jams There are no provisions to handle traffic jams on the network A real application needs to make provisions to handle such situations with a packet size transmitted in the header of each packet The Winsock function setsockopt may be used to tune TCP IP transmission rate by increasing buffer sizes See Win32 documentation for more information about Winsock API especially the WSA function threads and events See also Sample 9 Receiving Data in the C TPI section Notice the comments in the source code 214 Remarks This sample can easily be ported to non Win32 platforms Unix Linux and Mac Creating a console application requires the use of the WSAEventSelect function with events and threads Excurse Windows Application This chapter points out the options we had if we chosen a Windows application instead of a Console application For Windows applications the WSAAsyncSelect function would be more appropriate It issues Window messages instead of events and is simpler to handle No separate thread is required the window message loop takes this part See Win32 documentation on WSAAsyncSelect
221. or handling and may need to be run through the debugger in order to find failure reasons Interface Design The user interface design is kept at a minimum level for example unavailable buttons are not grayed out Such items are general issues of Windows programming Hard Coded Information The samples may contain some hard coded information IP address coordinate values that might be adapted to the local environment 21 2 4 Application Initial Steps 2 4 1 Essential Steps A client application must carry out all steps listed below upon startup Omitting some of these steps may prevent the tracker from measuring or lead to inaccurate results Inaccurate results are difficult to detect Setting correct environment parameters temperature pressure humidity or configuring the system for automatic environment parameter reading is crucial Most of the Settings Set commands remain persistent That is they will be the same after a system restart However it is strongly recommended that an application always confirms these settings upon startup This is because another application e g emScon Base User Interface could have accessed the tracker server in between and could have changed the settings Note that most of the sample applications are not complete to this respect the intention of the Samples is to show programming principles only See also Leica Tracker Training Manual 22 2 4 2 Command Seq
222. or more than one command This avoids code duplication Set Get commands rarely fail If a Set command fails return status not OK the supplied parameters are usually out of valid range The return status informs about the failure reason Single Measurement Answers These are answers that follow to a previously issued Start lt xxx gt MeasurementCT command Single measurements are often also referred to as Stationary measurements q Applies only when the measurement mode is set to stationary e In case of a failure which is frequent for measurement commands a Start lt xxx gt MeasurementRT structure with the error code is returned e Incase of success instead of a Start lt xxx gt MeasurementRT not designed to take sensor results a specifically designed measurement type related data packet is received For example a ES_DT_SingleMeasResult type indicates a SingleMeasResultT structure and ES_DT_StationaryProbeMeasResult indicates 42 arrival of a ProbeStationaryResultT A successful measurement always returns such a data packet Multi Measurement Answers These apply to tracker related continuous measurements only The measurement mode is set to one of the non stationary modes In case of failure as with single measurement answers a Start lt xxx gt MeasurementRT with error code is returned In case of success not only one packet but also a series of multi measurement packets arrive Each one of t
223. orPosResult The data packet contains position information about the reflector This type of information is foreseen for special purposes and can be suppressed Related data structure ReflectorPosResultT ES_DT_SystemStatusChange The data packet contains information about a status change Other than an error event a SystemStatusChange event does not mean a failure Related data structure SystemStatusChangeT ES_DT_SingleMeasResult2 The data packet contains the result of one single stationary measurement in case the statistic mode is set to extended These types are mainly used for measurements used as input to the Transformation routine See command SetStatisticMode The difference is that SingleMeasResult2T contains more statistical information than the standard SingleMeasResultT This is an advanced feature The default statistic mode is standard This type 2 meas result has been introduced to avoid changes to already published TPI definitions with earlier versions in order not to break existing applications Related data structure SingleMeasResult2T ES_DT_MultiMeasResult2 The data packet contains results of a continuous measurement in case the statistic mode is set to extended See command SetStatisticMode The difference is that MultiMeasResult2T contains more statistical information than the 50 standard MultiMeasResultT The default statistic mode is standard Related
224. pdated The ES_C_GetEnvironmentParams and ES_C_ GetRefractionParams commands can be used to retrieve the current values while the ES_C_ SetEnvironmentParams and ES_C SetRefractionParams both are not available in this mode would return with an usage conflict error Attention The weather monitor should be switched on before starting the emScon server The weather monitor requires some initialization 110 time after switching on If values are queried during this initialization phase wrong values may be returned and the weather monitor remains in indifferent state This is due to a problem of the weather monitor hardware It is recommended to remove the battery from the weather monitor and always enable its power supply before or at the same time the emScon server gets booted ES RegionType This enumeration type is used as a parameter for regions enum ES_RegionType ES_RT_Sphere ES_RT_Box e ES_RT_Sphere Region type is a sphere e ES_RT_Box Region Type is a box ES_TrackerProcessorStatus The sequence of this enum is important It shows the state of the tracker processor during startup of the Tracker Server The value issued describes the status of the startup procedure The tracker can only be booted if there is a connection to emScon It can have a valid compensation only if it is booted It can be initialized only if it has a valid compensation The tracker
225. pes This is not convenient and exceeds the typical Excel programmer s expertise Even with VB although structs are available masking data is not that easy as in C By providing some helper functions data blocks can be copied to appropriate struct parameters instead of pointer type casts ILTConnect ContinuousDataGetHeaderInfo ILTConnect ContinuousPointGetAt ILTConnect ContinuousPoint2GetAt ILTConnect Continuous6DDataGetAt This allows extracting information of interest from data blocks of type ES_DT_MultiMeasResult ES_DT_MultiMeasResult2 and ES _DT_Multi6DMeasResult A VB VBA implementation with comments of the ContinuousPointMeasDataReady event handler that demonstrates usage of these functions reads as follows 267 Private Sub LtSync_ContinuousPointMeasDataReady _ ByVal resultsTotal As Long ByVal bytesTotal As Long a continuous point meas packet came in Note that in case of continuous measurements due to multiple points variable size of packet only of results and packet size are passed in which both are not really needed here So we first must GET the data then retrieve information out of the gotten block since we are doing function calls to a COM object LtConnect that can throw exceptions we need an error handler Note we would not require an error handler in the other Event Handlers LtSync_ReflectorsData LtSync_ReflectorPositionData beca
226. ping the controller e ES PCT _IRLaser There is a wireless connection through Infrared Laser e ES_PCT_IRWideAngle There is a wireless connection through Infrared wide angle sensor ES _ProbeButtonType Specifies the measurement probe measurement button trigger This enumeration type is used as a parameter for the GetMeasurementProbelInfo command 125 enum ES_ProbeButtonType ES_PBT_None ES_PBT_Measurement hi e ES PBT None The probe is not equipped with a measurement button e ES PBT Measurement The probe is equipped with a measurement button ES _ TipType Specifies the measurement tip type This enumeration type is used as a parameter for the GetTipAdapters command Note There exist alternate terms for Tip Some talk of Stylus enum ES_TipType ES_TT_None ES_TT_Fixed ES_TT_Scanner ES_TT_TouchTrigger hi e ES TT None Tip type is undefined or could not be determined e ES TT Fixed Tip tip type is a fixed standard tip e ES_TT_ Scanner Tip tip type is a scanner I e a virtual tip e ES_TT_TouchTrigger Tip tip type is equipped with a touch trigger ES _ ClockTransition Specifies the trigger clock transition This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure 126 enum ES_ClockTransition ES_CT_Negative ES_CT_Positive hi e ES_
227. press and button release or leaving entering a valid roboter elevation etc Depending on context an ExternalTriggerStartEvent or an ExternalTriggerStopEvent status change event is issued on a trigger event Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change 122 ES _ TrackerFace Specifies the Tracker Face This enumeration type is used as a parameter for the ES_C_GetFace command enum ES_TrackerFace ES_TF_Unknown ES_TF_Facel ES_TF_Face2 hi e TF Unknown Tracker face could not be determined Should not occur under normal conditions e ES_TF Facel The tracker is in face I position e ES_TF Face2 The tracker is in face II position ES MeasurementCameraMode Specifies the source for the measurement camera mode This enumeration type is used as a parameter for the Set GetMeasurementCameraMode command enum ES_MeasurementCameraMode ES_MCM_Measure ES_MCM_Overview hi e ES MCM Measure Measurement camera T Cam is in measurement mode e ES MCM Overview Measurement camera T Cam is in overview mode and can be addressed by e g GetStilllmage ES MeasurementCameraType Specifies the measurement camera type This enumeration type is used as a parameter for the GetMeasurementCameraInfo command 123 enum ES_MeasurementCameraType ES_MC None ES_MC_TCam700 ES_MC_TCam800 i e ES
228. processor Statements The following statements show a common practice to avoid multiple inclusion of the same include file while compiling a CPP module In case of nested inclusion of the ES_C_API_Def h file these statements will prevent warnings for multiple definitions of data types ifndef ES_C_API_DEF_H define ES_C_API_DEF_H fendif 3 1 6 TPI Boolean Data Type No native Boolean data type is available in C C uses the integer basic type for Boolean values For convenience a platform independent ES_BOOL type has been introduced for the ES_API typedef int ES_BOOL Neither BOOL which is 2 Bytes and Microsoft specific nor bool which is 1 Byte and specific to newer C revisions has been used By using a 4 Byte Boolean int pure C compliance and maximal portability is assured q This relates only to the C interface ES_C_API_Def h The C interface as well as custom programs may use any compatible Boolean type Boolean type variables used in ES C API structs must be 4 bytes 39 3 1 7 Enumeration Type Members Numerical representation Enumeration type members in C are internally represented by integer values Numbers can be assigned explicitly to particular enum values this is the case for all enumeration types defined for emScon This approach has some advantages for application debugging However applications should never use the numerical values directly Always use the according
229. properties such as cameraType serial Number comment etc serve as information mainly used for user interface purpose struct GetCamerasCT struct BasicCommandCT packetInfo hi struct GetCamerasRT struct BasicCommandRT packetInfo int iTotalCameras int iInternalCamerald long 1SerialNumber enum ES_MeasurementCameraType cameraType unsigned short cName 32 unsigned short cComment 128 hi GetCameraCT RT Command structure to get the ID of the active Camera The GetCamera command delivers the currently active measurement camera by its ID Currently set as the active one in the database However since this camera may have been removed an additional flag indicates whether the active camera is mounted or not 193 struct GetCameraCT struct BasicCommandCT packetInfo hi struct GetCameraRT struct BasicCommandRT packetInfo int iInternalCamerald ES_BOOL bMeasurementCameralIsMounted hi Set GetMeasurementCameraModeCT RT Command structures for setting getting the measurement camera mode struct SetMeasurementCameraModeCT struct BasicCommandCT packetInfo enum ES_MeasurementCameraMode cameraMode i struct SetMeasurementCameraModeRT struct BasicCommandRT packetInfo de struct GetMeasurementCameraModeCT struct BasicCommandCT packetInfo di struct GetMeasurementCameraModeRT struct BasicCommandRT packetInfo enum ES_MeasurementCa
230. provided have not been re named That s the reason Sample 3 is the first one referenced here However even if the names have not changed the samples might have improved since earlier versions Sample 4 see C section has been completely revised for example 3 6 1 Sample 3 Implements a lightweight C TPI client application with no graphical interface GUI overhead or MFC or ATL This sample fits into a single file with 350 lines of code including comments and empty lines and compiles into a small executable file This sample implements only Initialize Tracker and Get Direction commands Since no Windows Message Loop is available the application needs a multi threaded approach and therefore requires events and threads For TCP IP communication the Winsock API functions are used Further details see Readme txt file in Sample 3 folder and code comments in source files Console Application The VC AppWizard or a text editor can be used to create a Console Application skeleton and to implement the C standard entry function 212 int main int argc char argv Add all the source code save the file c or cpp extension and invoke the C compiler from the command line Comments These comments refer to the file EmsyCApiConsoleClient cpp The following include files are required include lt stdio h gt standard C input output include lt Winsock2 h gt win32 socket s
231. q0 q3 Ryy q0 q0 q1 q1 q2 q2 q3 q3 Ryz 2 q2 q3 q0 q1 Rzx 2 q1 q3 q0 q2 Rzy 2 q3 q2 q0 q1 Rzz q0 q0 q1 q1 q2 q2 q3 q3 This matrix is used to transform directions from the probe coordinate system to the user system through directionUser R directionProbe 333 10 Appendix A 10 1 TRACKER ERROR NUMBERS The error numbers that are sent with answers are all a three digit number The first digit indicates the category of the error condition that is reported These are HXX System errors 2XX Communication errors 3XX Parameter errors 4XX LCP hardware errors ADM hardware errors I6XX Hardware error in the TP repair by service personnel additional range to 9XX 7XX Operation errors exx Hardware configuration error repair by user I9XX Hardware error in the TP repair by service personnel HE Additional error number for LTCplus base LTD600 700 800 TCAM and T Probe 10 1 1 System Errors CO DSSS S FlashDisk file read error O T O Command not implemented 334 10 1 2 Communication Errors Overflow of input buffer Communications timeout the string is not completed within time Frame error the format of the received string is not correct Communications between TP and Laser Control Processor LCP has failed Probe Tip communication timeout Additional Compensation Tool communication timeout Additional Compensation Tool busy 10 1 3 Parameter Errors 3xx Invalid
232. r iFirmWareMinorVersionNumber 1SerialNumber cameraType cName 32 1CompensationIdNumber 1ZoomSerialNumber 1ZoomAdjustment IdNumber 1Zoom2DCompensationIdNumber 1ZoomProjCenterCompIdNumber dMaxDistance dMinDistance 1NrOfPixelsxX 1NrOfPixelsyY dPixelSizex dPixelSizeyY 1MaxDataRate GetMeasurementProbelnfoCT RT Command structure s to read Probe specific information and diagnostic data of the active probe 201 struct GetMeasurementProbeInfoCT struct BasicCommandCT packetInfo struct GetMeasurementProbeInfoRT struct BasicCommandRT packetInfo int iFirmWareMajorVersionNumber int iFirmWareMinorVersionNumber long 1SerialNumber ES_ProbeType probeType long 1CompensationIdNumber long lActiveField ES_ProbeConnectionType connectionType long lNumberOfTipAdapters ES_ProbeButtonType probeButtonType long lNumberOfFields ES_BOOL bHasWideAngleReceiver long lNumberOfTipDataSets long l1NumberOfMelodies long lNumberOfLoudnesSteps Get SetLongSystemParamCT RT Command structures to set get individual system settings parameters See enum ES_SystemParameter struct SetLongSystemParamCT struct BasicCommandCT packetInfo enum ES_SystemParameter systemParam long lParameter hi struct SetLongSystemParamRT struct BasicCommandRT packetInfo hi struct GetLongSystemParamCT struct BasicCommandCT packetInfo enum ES_SystemParameter sy
233. r specified coordinate system If set to true transformation as per transformation parameters is applied If set to false the default transformation will be used 0 0 0 0 0 0 1 regardless of the current values set with SetTransformationParams command Transformations also apply to the positioning commands such as GoPosition and to part of the Input Output filters Box Sphere e bApplyStationOrientationParams If this flag is set to true the System uses the given orientation parameters If set to false the default station orientation will be used 0 0 0 0 0 O regardless of the current values set with the SetStationOrientationParams command Orientations also apply to the positioning commands such as GoPosition e bKeepLastPosition If this flag is set to true and the laser beam is broken it does not leave the current position This allows to catch the beam again then placing the reflector to a stable position The ADM then tries to perform a measurement and if success sets the measured distance as the new interferometer distance From then on it is possible to recover measuring without having to go back to the BirdBath on beam broken events If the flag is set to false the beam is disabled mirror points down If an Overview Camera is installed the sensor drives into the camera position Important Enabling the KeepLastPosition flag is compulsory for 6D Measurement Modes Otherwise the Probe wi
234. r cable connection broken The ES_C_GetEnvironmentParams command can be used to retrieve the current values Note this command does not immediately trigger a measurement from the weather monitor it just returns the emScon internally buffered meteo values i e those last read from the WM while the command ES_C_SetEnvironmentParams is not available in this mode Returns with an usage conflict error Refraction parameters are not influenced by the periodical update of environmental parameters To change refraction values an explicit ES_C_SetRefractionParams is required The ES_WMS_ReadOnly mode is therefore suitable if the environmental 109 values come from the WM but the application wants to use its own formula to calculate refraction parameters from these values The mode of operation is hence as follows ES C GetEnvironmentParams delivers values last read from weather monitor Calculate ADM and IFM refraction indices with application specific formula Set the calculated refraction parameters with ES_C _ SetRefractionParams This mode is therefore rarely used The normal mode of operation is to use ES_WMS_ReadAndCalculateRefractions see below e ES WMS _ ReadAndCalculateRefractions This is the normal mode of operation if using a weather monitor It acts the same as the ES_WMS_ReadOnly mode but in addition the current refraction parameters are automatically recalculated and u
235. r objects discarded TGT Too many objects surrounding feature feature not tracked TGT Timeout in TGT extraction b VTT ERROR invalid angle VTT ERROR invalid distance VTT ERROR invalid command parameter VTT ERROR command not allowed VTT ERROR timeout command function VTT ERROR mode changing not possible VTT ERROR error during V_OFFSET procedure 3200 DARK ERROR timeout while getting image 3203 DARK ERROR timeout of blende command 3204 DARK ERROR camera access error ERROR timeout while getting image ERROR in a state WARNING too many active ethernet clients WARNING ethernet client id not found ERROR ethernet module already initialized ERROR init of the ethernet module failed ERROR trying to access ethernet module in uninitialized state ERROR receiving error occurred error code u ERROR transmit error occurred error code u COM ERROR transmit buffer is too big for appending a FGIF ERROR image memory overflow 4051 FGIF ERROR image data not picked up FGIF ERROR command not allowed FGIF ERROR invalid command parameter FGIF ERROR timeout command function FGIF ERROR 100Hz synchronisation failure FGIF ERROR FPGA watchdog failure FGIF ERROR FPGA data overflow error FGIF ERROR GBPS data failure FGIF ERROR GBPS synchronisation error FGIF ERROR mailbox overflow in full picture mode a MOT ERROR en
236. ramming Usually it is sufficient just to check for Error6D being 0 success or 1 error while Status6D is 1 struct RotationStatus unsigned Status6D 1 0 gt no rotation status 1 gt rotation status valid unsigned Error6D 1 1 gt ERROR in rotation status unsigned NotEnoughLED 1 unsigned RMSToHigh 1 unsigned AngleOutOfRange 1 Hz or Vt see RotStatus values unsigned Frozen6DValues 1 6D values are not updated unsigned DistanceOutOfRange 1 dist too short or too long unsigned Reserved1 1 always 0 unsigned RotStatLeftRight 3 see documentation unsigned RotStatUpDown 3 see documentation unsigned GoodGauge 2 0 gt All bad 1 gt 33 good 2 gt 66 good unsigned Face2 1 0 gt Facel 1 gt Face2 unsigned Reserved2 15 always 0 hi union URotationStatus long l struct RotationStatus rotStat hi StationaryModeDataT struct StationaryModeDataT long 1MeasTime ES_BOOL bUseADM Caution has no effect in 6D mode hi Used as parameters for the Set GetStationaryModeParams commands The measurement time parameter must lie between 500 ms and 100000 ms 0 5 100 seconds The useADM flag should be set to false if the ADM measurement was performed upon laser beam attachment FindReflector GoPosition Only in exceptional cases an ADM measurement should be performed upon a stationary measurement If
237. rdinates delivered with this packet are not complete or even wrong maybe zero This situation can occur because of a bad rotation status or because 97 not enough LED s were visible during a long time In other words the system was not able to measure as many single measurements as specified during the specified measurement time An application must treat such a result as an error ES_RS_NoHumidityFromWM Meaning No humidity value could be queried from the Weather monitor The Humidity device is probably not connected to the Thommen Weather Station This is a legal condition A default value of 70 is assumed in this case Note The influence of the Humidity to the refraction index is marginal ES_RS_NoTemperatureFromWM Meaning No temperature value could be queried from the Weather monitor None of the two Temperature devices is probably connected to the Thommen Weather Station This is a fatal error since the Temperature is required for the calculation of the refraction index At least one of the Temperature devices must be attached to the Thommen Weather monitor If both are connected the temperature of the combined Temperature Humidity device has priority ES_RS NoPressureFromWM Meaning No pressure value could be queried from the Weather monitor Since the pressure device is an integral non removable part of the Thommen Weather Station this error indicates a failure of the Thommen Station This is a f
238. re is no last measured point to go to Note Ensure that the user or the application does not call GoLastMeasuredPoint if no stationary point has been measured since last system boot ES_RS_NoVideoCamera Meaning A command could not access the Overview Camera This error can only occur if no Overview Camera is attached to the system Note If no camera is connected set the SystemStatusFlag HasVideoCamera to zero Command SetSystemStatus The application should not call camera related commands if 87 there is no camera attached There exist different types of overview cameras that differ in internal parameters focus distance CCD chip size Older emScon versions were not able to detect whether an overview camera was mounted or not not to speak of type recognition indeed it was the overview camera hardware that did not support type recognition For that reason the flag HasVideoCamera was originally introduced Thus the user had to tell the system when an overview camera was mounted Newer EmScon versions 2 0 and up are able to detect the camera type automatically Hence this flag theoretically has become obsolete However currently the camera type is recognized only when the hHas VideoCamera flag is enabled If your system is equipped with an overview camera it is highly recommended to always having this flag checked default is unchecked Otherwise the system may not detect the correct camera type
239. red after the distance interval The behavior of a Continuous Distance measurement can be controlled with the ES_C_SetContinuousDistanceModeParams command ES_MM_Grid Continuous Measurement Mode by grid interval A measurement is triggered after the grid interval The behavior of a grid measurement can be controlled with the ES_C_SetGridModeParams command ES_MM_SphereCenter Measurement mode to indirectly measure a sphere center point This is achieved by a continuous measurement scan over the sphere surface The behavior for a Sphere Center measurement can be controlled with the ES_C_SetSphereCenterModeParams command ES_MM _ CircleCenter Circle measurement similar to ES_MM_SphereCenter The behavior for a Circle Center measurement can be controlled with the ES_C_SetCircleCenterModeParams command ES_MM_6DStationary The Probe 6DoF relative of ES_MM_Stationary mode See description there ES MM_6DContinuousTime The Probe 6DoF relative of ES_MM_ContinuousTime mode See description there ES_MM_6DContinuousDistance The Probe 6DoF relative of ES_MM_ContinuousDistance mode See description there 100 ES_MM_6DGrid The Probe 6DoF relative of ES_MM_ Grid mode See description there ES_MM_6DSphereCenter The Probe 6DoF relative of ES_MM_SphereCenter mode See description there ES_MM_ 6DCircleCenter The Probe 6DoF relative of ES_MM_CircleCenter mode See description there ES MeasurementStat
240. red data The principle of using the C interface is the same as used in Sample 4 Derive your own classes from the C TPI classes CESApiCommand and CESApiReceive and define virtual methods as needed Set the IP address to the actual TS address before building the application Alternatively the IP address can be passed as command line argument upon running the application Further details see Readme txt file in Sample 9 folder and code comments in source files 4 4 3 Sample 12 This ReflectorCtl sample provides an Activex component comprising the most common reflector commands This control skips building up a lookup table for ID Name mapping querying all the defined reflectors from the system and providing the appropriate user interface controls The Sample contains full source code Visual C and has a compiled component Reflector ocx which allows use without a Visual C compiler Remarks e The Reflector ocx control must be registered before it can be used e Only one instance of such a control can be instantiated per Form Dialog box e The properties ServerAddress and PortNumber can be specified at 239 Form Dialog design time However this only makes sense if these parameters are constant The more common way is to set these properties programmatically e Call the method Initialize after having set the properties and not before the client application has successfully connected to the
241. rface can be used Differences between the synchronous and asynchronous interface The functions of the synchronous interface do not return before the task is completed while the asynchronous functions do so see C C TPI In general programming with synchronous functions is much easier Handling Data Arrival Events or Notifications is not required except in some special cases With the asynchronous interface and the events notification that is calling SelectNotificationMethod with LTC_NM_Event an Event Sink must be implemented In VB this is done by defining the WithEvents keyword but in C this is a bit more complicated In addition the appropriate event handlers must be implemented With any other notification mechanism the event sink is not required and the WithEvents keyword must be removed Implement Windows message handlers and not event handlers in this case With the synchronous interface some answers remain asynchronous by their nature continuous measurement packets Reflectors and error answers 260 these may partly occur non command related for example beam broken With synchronous commands events or notifications must still be caught See former paragraph Any other notification mechanism does not need an event sink and the WithEvents keyword must be removed In this case do not implement event handlers appropriate Windows message handlers must be implemented instead Using both
242. rong unit selection Note Check the valid range and current unit of the command parameter see command description Example The system is currently set to Meters for length units but the user enters 5000 5000 mm instead of 5 ES_RS_WrongParameter1 ES_RS_WrongParameter2 ES_RS_WrongParameter3 ES_RS_WrongParameter4 ES_RS_WrongParameter5 ES_RS_WrongParameter6 ES_RS_WrongParameter7 ES_RS_WrongParameter8 ES_RS_WrongParameter9 ES_RS_WrongParameter10 ES_RS_WrongParameter11 ES_RS_WrongParameter12 ES_RS_WrongParameter13 ES_RS_WrongParameter14 ES_RS_WrongParameter15 ES_RS_WrongParameter16 Meaning Applies to commands with more than one parameter The symbol specifies which one of the parameters is wrong ES_RS_ParameterlOutOfRangeOK ES_RS_ParameterlOutOfRangeNOK ES_RS_Parameter2OutOfRangeOK 84 ES_RS_Parameter2OutOfRangeNOK ES_RS_Parameter30OutOfRangeOK ES_RS_Parameter3O0utOfRangeNOK ES_RS_Parameter4OutOfRangeOK ES_RS_Parameter4OutOfRangeNOK ES_RS_Parameter5OutOfRangeOK ES_RS_Parameter5OutOfRangeNOK ES_RS_Parameter6OutOfRangeOK ES_RS_Parameter6OutOfRangeNOK Meaning OutOfRangeOK warning The value of the specified parameter was out of the recommended range but within the valid range and accepted The command was executed OutOfRangeNOK error The value of the specified parameter was not within the valid range and was not accepted The command was not executed q These errors warnings typically apply
243. rotection Dongle has expired Probably due to a demo dongle Note Request for a dongle Field upgrade at Leica or get anew dongle ES_RS_UsageConflict Meaning Some system modes disable other commands because they do not make sense in this context For example if the system is equipped with a weather station and is set up to automatically monitor the temperature pressure and humidity the system will prevent a manual setting of these values The command SetEnvironmentParams will issue an error ES_RS_UsageConflict 89 The command GetEnvironmentParams will work and deliver the actual values measured by the monitor If the weather station mode is set to read and recalculate Refraction then the same applies to the command SetRefractionParams It will issue a ES_RS_UsageConflict since setting the refraction index manually would conflict the automatic mechanism and would be overwritten upon the next weather station read cycle 20 seconds Note The application should not call SetEnvironmentParams and or SetRefractionParams if these values are automatically updated by the weather station as per system settings ES_RS_ Unknown Meaning An unknown error occurred Should never occur as a response to a command ES_RS_ NoDistanceSet Meaning The interferometer has no valid reference distance Measuring is not possible in this condition Note Trackers with ADM may attach to a stable reflector anywhere Use GoPosi
244. rrupted with ES_C_StopMeasurement ES_C_GetCompensations Reads all Tracker compensations stored in the database Apart from the internal ID and name which is made up of the compensation date a series of properties is delivered ES_C_GetCompensations2 Enhanced version of ES_C_GetCompensations Delivers comment for ADM compensation and active compensation as additional information ES_C_GetCompensations only left for backward compatibility reasons New applications should use ES_C_GetCompensations2 ES_C_SetCompensation Sets the specified tracker compensation with the given ID as the active one The available Tracker compensations including their Ids can be retrieved with the command GetCompensations ES_C_GetCompensation Reads the currently active compensation ID Only the internal ID is returned For additional information the properties need 72 to be looked up in the list delivered by ES_C_GetCompensations ES_C _ SetStatisticMode Switches the statistic mode between standard and extended This mode only influences the Single and Multi measurement results This is an advanced feature Extended statistic mode should only be used if enhanced statistical information is required This is for example the case when using stationary measurements as input to the transformation routine See difference between Single MultMeasResultT standard and Single MultMeasResult2T enhanced ES_C_ GetS
245. ruct parameter 4 3 9 Asynchronous Programming Issues As already stated all communication through the C interface is asynchronous It is therefore not possible to queue commands within one function call In other words consider a Windows application with a graphical interface Assume a button named InitialSettings with a button press handler as follows behind Note this is pseudo code since no parameters are specified OnInitialSettingsButtonPressed m_myApiCmd gt SetUnits m_myApiCmd gt SetEnvironmentParams m_myApiCmd gt Initialize m_myApiCmd gt GetReflectors j m_myApiCmd gt SetMeasurementMode This won t work at all because this a typical synchronous approach i e It is assumed a command has finished when it returns In an 232 asynchronous approach each command returns immediately In the sample above SetUnits and SetEnvironmentParams may accidentally work because these commands do not take a long time but never rely on this But Initialize since this command takes about 45 seconds to terminate also returns immediately The server however is not ready to take the next command until initialization of tracker is finished Hence the command GetReflectors would fail with a Server busy error Note The emScon COM interface provides a synchronous interface which allows to queue several commands in one and the same function Howev
246. s as a input output Filter to all Length Angular Meteo type parameters 166 struct SetUnitsCT struct BasicCommandCT packetInfo struct SystemUnitsDataT unitsSettings he struct SetUnitsRT struct BasicCommandRT packetInfo he struct GetUnitsCT struct BasicCommandCT packetInfo i struct GetUnitsRT struct BasicCommandRT packetInfo struct SystemUnitsDataT unitsSettings i F See struct SystemUnitsDataT for details GetSystemStatusCT RT Command structures for getting the system status struct GetSystemStatusCT struct BasicCommandCT packetInfo i struct GetSystemStatusRT struct BasicCommandRT packetInfo enum ES_ResultStatus lastResultStatus enum ES_TrackerProcessorStatus trackerProcessorStatus enum ES_LaserProcessorStatus laserStatus enum ES_ADMStatus admStatus struct ESVersionNumber esVersionNumber enum ES_WeatherMonitorStatus weatherMonitor long lFlagsValue long 1TrackerSerialNumber hi Fix See description of related enumeration types for details The FlagsValue member contains some additional status information about the tracker tracker processor for advanced programming q The description of the nin bit of the IFlagsValue start with least significant bit Bit Description Bit 1 Reflector was found Bit 2 Interferometer locked Bit 3 Positioning complete Bit 4 Tracker initialized Bit 5 Calibra
247. s In a real application these things could be left of course Note that the Step 1 application does not yet depend on emScon at all Step2 Step 2 adds TCP IP communication to the application There are several ways to do this use an appropriate Socket Class that s what we do in this application we use CAsyncSocket of MEC use the Winsock2 C library as for example used in the Sample9 of the emScon SDK use the Winsck ocx ActiveX control use any other third party socket library We need to provide the following functions connect to server disconnect from server write data to previously opened server connection In addition we need a notification mechanism to get informed that data has arrived and is ready to be read Since this is a Windows application we can use the window message mechanism to achieve this Note that in a non windows application we would need to use events and threads to achieve the same see Sample9 236 So far nothing depends from the emScon SDK we do not need any emScon include file yet All is provided by the VC development Kit But nevertheless we will be able to connect to disconnect from server But Step2 application will not yet allow to send real emScon commands and receive answers to from server Step3 Step 3 introduces the emScon command class CESAPICommand to SEND understandable data to the server More precisely the class is rat
248. s Related structure GridModeDataT ES_C SetReflector Sets the valid reflector type by its numerical ID Attention Reflector ID s must not be hard coded They differ from emScon system to emScon system Use command GetReflectors to query the system for defined reflectors and appropriate ID name type mapping ES_C_ GetReflector Queries the ID of currently valid Reflector ES_C_ GetReflectors Queries all known reflectors of the Tracker Server Apart from other information mainly delivers the association between reflector names and their numerical IDs ES_C SetSearchParams Set criteria for reflector search abort search radius and time out Search radius is in current Length units Maximal search parameter is 0 5 meters The search time should be set into a reasonable relation to the search radius Large search radii result in extended search times unless limited by the search timeout value The minimum value for the SearchTimeout is 10 000 ms 10 seconds Note was 2 5000 in previous emScon versions Related structure SearchParamsDataT For a detailed description see there ES_C_GetSearchParams Queries the currently valid criteria for aborting a reflector search 63 Related structure SearchParamsDataT For detailed description see there ES_C SetAdmParams Set parameters for the ADM stability time retries Attention This is a dangerous command Lowering the stability criteria will result i
249. s properties 257 methods and events exposed by a COM object a COM viewer may be used Visual Studio offers such a viewer The OLE COM Object Viewer can be launched from the Tools menu of VC File gt View Type Lib gt LTControl dll or LTControl tlb 5 2 8 COM TPI Reference The type library of a COM object can be seen as Interface Reference Listing all the methods redundantly in this manual would not make sense The type library enables a development environment to provide IntelliSense support That is the development environment supports the programmer in selecting methods and parameters in an active manner The method names of the COM TPI partly differ from those of the C interface Although most of them especially the Set Get functions are named accordingly This inconsistency comes from the high level approach of certain methods However by viewing the list of available functions type library Intellisense it is quite easy to find the proper methods and their relatives to the C C interface where the parameters are described Note that asynchronous methods never return any data Data is returned through events in these cases On the other hand synchronous methods always return the result data if any as parameters Concerning input parameters sent to the tracker server there is no difference between the synchronous and asynchronous approach 258 5 2 9 Registering
250. s and may be subject to change ES_C_GetExternTriggerParams Set the parameters of the external trigger 78 Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change ES_C_GetErrorEllipsoid Convenience function to calculate an error ellipsoid from a given point with Standard Deviations and Covariance Input is in current units current CS type and applied orientation transformation settings Output is always in RHR ES_C_GetMeasurementCameralInfo Returns Measurement Camera information This is an advanced diagnostic command Not usually used by common applications See Tracker T Cam hardware manual for details See also GetMeasurementCameraInfoRT structure ES_C_GetMeasurementProbelnfo Returns Probe information This is an advanced diagnostic command Not usually used by common applications See Tracker Probe hardware manual for details See also GetMeasurementProbeInfoRT structure ES_C_ SetLongSystemParameter This is an advanced command to set SystemSettings parameters of type Long Boolean and enum types individually This approach was chosen to avoid extending the existing SystemSettingsDataT structure There are now some parameters covered by both commands For example WeatherMonitorStatus For these either command SetSystemSettings or SetLongSystemParameter can be used See enum ES_SystemParameter for values supported by this command Some syst
251. s completely hide command struct and struct initialization known from the C interface There is only one method for each one 225 of the command structs described A derived class such as CMyEsCommand inherits all these methods The names of the command functions are derived from the members of the enum ES_Command C TPI Just omit the prefix ES_C_ to get the command function related to a command packet Example Given the ES_C_Command ES_C_SetBoxRegionParams the related C command function will be called SetBoxRegionParams The methods for sending commands are asynchronous and can only be used for sending commands 4 3 6 CESAPIReceive A class for receiving command answers Virtual override of Answer Functions In order to use the C TPI for receiving data a class from the CESAPIReceive class must be derived Then override those virtual functions on whose data you are interested in Example If your application implements a GetDirection call a method of the CESAPICommand class see ES_CPP_API_Def h then you must override the virtual function OnGetDirectionAnswer const double dHzAngle const double dVtAngle in your derived CESAPIReceive class in order to receive the results In order to track errors you always also should override the virtual function OnErrorAnswer const ErrorResponseT amp error 226 Class CMyESAP Receive Code Sample only c
252. s those data structures that are not directly exchanged as packets They are used as sub structures to compose the real Packet data types 133 PacketHeaderT struct PacketHeaderT long 1PacketSize enum ES_DataType type he This basic structure is a part of all data blocks transmitted over the TCP IP network The PacketSize has been introduced for programmer s convenience The value of the data structure contains the size in Bytes of received packets U j E R EYE i initialize thi ah Ee Tene es q New for emScon V2 0 and up The strike through statement above which was valid up to emScon 1 5 servers is no longer true The PacketSize value is no longer ignored It is compulsory to correctly initialize this value Otherwise command calls will mostly fail Note that due to this change existing V1 2 V1 5 emScon C clients who did not initialize these length variables will fail with emScon servers newer than V2 0 Such client applications need to be fixed at source level q C programmers have the sizeof operator This is inappropriate in other languages to determine the size of data structures ReturnDataT struct ReturnDataT struct PacketHeaderT packetHeader enum ES_ResultStatus status This basic structure is part of all result data blocks It comprises a PacketHeaderT and a ES_ResultStatus 134 BasicCommandCT struct BasicCommandCT struct Pa
253. sRT struct BasicCommandRT packetInfo double dVal1 double dVal2 double dVal3 Set GetTriggerSourceCT RT Command structures to Set Get Trigger Source See enum ES_TriggerSource for details Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change struct SetTriggerSourceCT struct BasicCommandCT packetInfo enum ES_TriggerSource triggerSource i struct SetTriggerSourceRT struct BasicCommandRT packetInfo di struct GetTriggerSourceCT struct BasicCommandCT packetInfo i struct GetTriggerSourceRT struct BasicCommandRT packetInfo enum ES_TriggerSource triggerSource hi GetFaceCT RT Command structures to query current Tracker Face whether in Face I or Face II position 192 struct GetFaceCT struct BasicCommandCT packetInfo hi struct GetFaceRT struct BasicCommandRT packetInfo enum ES_TrackerFace trackerFace di GetCamerasCT RT Command structure to get Measurement Camera properties The GetCameras command retrieves all measurement cameras T Cams defined The answer consists of as many answer packets as cameras are defined in the server database These resolve the relation between camera name string and camera ID numerical Each packet in addition a redundancy contains the total number of cameras i e the total number of packets to be expected only for programmer s convenience Other
254. sformation parameters to be applied to measurements and positioning coordinates and to part of the input filters such as region parameters Invariant transformation parameters are 0 0 0 0 0 0 1 With these default settings the tracker delivers data in the instrument s CS 57 or in the oriented system if non invariant orientation parameters are present Transformation parameters are also ignored if the applyTransformationParams system settings flag is not set Transformation parameters itself are in current units and current CS type but neither according to applied orientation settings nor to applied transformation settings which would mean recursive No range limitations apply Related structure TransformationDataT ES_C _GetTransformationParams Queries the currently applied 7 transformation parameters Related structure TransformationDataT ES_C_SetSphereRegionParams Defines a spherical region If the corresponding mode is active measurements outside the region are suppressed The interpretation of the parameters is subject to units coordinate type and transformation parameters Related structure SphereRegionDataT ES_C_GetSphereRegionParams Queries the currently valid sphere region parameters Related structure SphereRegionDataT ES_C_SetBoxRegionParams Defines a box region If the corresponding mode is active measurements outside the region are suppressed The box is connected to the obje
255. sicCommandCT packetInfo hi struct GetStatisticModeRT struct BasicCommandRT packetInfo enum ES_StatisticMode stationaryMeasurements enum ES_StatisticMode cont inuousMeasurements Changing the statistical mode is for advanced purposes only Default statistical mode is Standard and ensures compatibility to earlier versions Set GetCameraParamsCT RT Command structures for setting getting the Camera parameters See also description of struct CameraParamsDataT 179 struct SetCameraParamsCT struct BasicCommandCT packetInfo struct CameraParamsDataT cameraParams he struct SetCameraParamsRT struct BasicCommandRT packetInfo de struct GetCameraParamsCT struct BasicCommandCT packetInfo hi struct GetCameraParamsRT struct BasicCommandRT packetInfo struct CameraParamsDataT cameraParams hi AddDrivePointCT RT Command to add a point to the Drive Point List to be used by the Intermediate Compensation process See chapter Intermediate Compensation in main chapter 8 for details struct AddDrivePointCT struct BasicCommandCT packetInfo int iInternalReflectorId double dVall double dVal2 double dVal3 struct AddDrivePointRT struct BasicCommandRT packetInfo hi CallOrientToGravityCT RT Command structures for executing an Orient To Gravity process including reception of results Results are in current angle units Typical
256. sists of as many answer packets as tips adapters are defined in the server database These resolve the relation between tip name string and tip adapter ID numerical Each packet in addition a redundancy contains the total number of tip adapters i e the total number of packets to be expected only for programmer s convenience Other properties such as tipType serial Number comment etc serve as information mainly used for user interface purpose 195 struct GetTipAdaptersCT struct BasicCommandCT hi struct GetTipAdaptersRT struct BasicCommandRT int int long long long enum ES_TipType double double unsigned short unsigned short packetInfo packetInfo iTotalTips iInternalTipAdapterlId lAssemblyId 1SerialNumberLowPart 1SerialNumberHighPart tipType dRadius dLength cName 32 cComment 128 GetTipAdapterCT RT Command structures to get the ID of active Tip Adapter The GetTipAdapter command delivers the currently active tip adapter by its ID Currently set as the active one in the database In addition to the ID the adapter number to which the tip is attached is returned struct GetTipAdapterCT struct BasicCommandCT i struct GetTipAdapterRT struct BasicCommandRT int int hi packetInfo packetInfo iInternalTipAdapterlId iTipAdapterInterface Get SetTCamToTrackerCompensationsCT RT Command structures to get T Cam To Tracker
257. software terminates gracefully while the connection 117 is still established Upon a server crash this event cannot be expected ES_SSC_ServerStarted This event is fired if the server is has re started supposed the connection was still established ES StatisticMode Specifies the current statistical mode This enumeration type is used as a parameter for the ES_C_SetStatisticMode command enum ES_StatisticMode ES_SM_Standard ES_SM_Extended he ES_SM_Standard This is the default Single and Multi measurement results are provided with reduced statistical information without covariance values That is the data structures SingleMeasResultT and MultiMeasResultT are used and are compatible with the structures used in earlier emScon versions ES_SM_Extended Single and Multi measurement results are provided with enhanced statistical information including covariance values While this mode is activated the data structures SingleMeasResult2T and MultiMeasResult2T are used The only difference is that these 2 versions contain extended statistical information Applications passing measurements to the CallTransformation command should use the 2 variants since the transformation routine requires these extended statistics WE To maintain compatibility with earlier versions Single MultiMeasResultT have not been extended with additional parameters 118 Newer application should
258. sor in use i486 686 etc enum ES_TPMicroProcessorType ES_TPM_Undefined ES_TPM_i486 ES_TPM_686 hi ES _ LTSensorType Specifies the type of sensors that are defined LT300 LTD800 etc enum ES_LTSensorType ES_LTS_Undefined ES_LTS_SMARTOptodyne ES_LTS_SMARTLeica ES_LTS_LT_D_500 ES_LTS_LT300 ES_LTS_LT600 ES_LTS_LT_D_800 ES _DisplayCoordinateConversionType Specifies the conversion of the coordinate system either base to current or vice versa Do not use this type It is related to the ConvertDisplayCoordinates command not supported enum ES_DisplayCoordinateConversionType ES_DCC_BaseToCurrent ES_DCC_CurrentToBase 0 1 ES _TriggerStatus Enumeration type to describe Status of Trigger Button at T Probe 120 enum ES_TriggerStatus ES_TS_TriggerNotPressed ES_TS_TriggerPressed hi e ES_TS_TriggerNotPressed The measurement trigger button at the T Probe is currently released e ES_TS_TriggerPressed The measurement trigger button at the T Probe is currently pressed ES MeasurementTipStatus Enumeration type to describe Status of Measurement Tip at T Probe enum ES_MeasurementTipStatus ES_PTS_TipOK ES_PTS_UnknownTip ES_PTS_MultipleTipsAttached e ES_PTS_TipOK A tip adapter is present and is working correctly e ES_PTS_UnknownTip There is no tip adapter attached or the currently att
259. stanceModeDataT continuousDistanceModeData he struct SetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo i struct GetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo i struct GetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo struct ContinuousDistanceModeDataT continuousDistanceModeData hi By See struct ContinuousDistanceModeDataT for details Set GetSphereCenterModeParamsCT RT Command structures for setting getting the parameters for the Sphere Center Measurement mode 164 struct SetSphereCenterModeParamsCT struct BasicCommandCT packetInfo struct SphereCenterModeDataT sphereCenterModeData he struct SetSphereCenterModeParamsRT struct BasicCommandRT packetInfo he struct GetSphereCenterModeParamsCT struct BasicCommandCT packetInfo i struct GetSphereCenterModeParamsRT struct BasicCommandRT packetInfo struct SphereCenterModeDataT sphereCenterModeData hi F Se struct SphereCenterModeDataT for details Set GetCircleCenterModeParamsCT RT Command structures for setting getting the parameters for the Circle Center Measurement Mode struct SetCircleCenterModeParamsCT struct BasicCommandCT packetInfo struct CircleCenterModeDataT circleCenterModeData struct SetCircleCenterModeParamsRT struct BasicCommandRT packetInfo hi struct GetCircleCenterModeParamsCT struct Basi
260. stemParam i struct GetLongSystemParamRT struct BasicCommandRT packetInfo enum ES_SystemParameter systemParam long lParameter GetMeasurementStatusInfoCT RT Command structures to get information about status of all types of compensations and related hardware Such information is useful in cases where the Tracker Status is not ready and one wants to figure out why Without the information of this command investigation could be difficult because there are numerous conditions why a 202 system is not ready to measure Missing compensations Beam not attached no accurate Reflector This especially applies to 6DOF modes A look to the bits of IMeasurementStatusInfo immediately shows the reason The information data is delivered as a long value representing a bit mask Use the enum ES _MeasurementStatusInfo values to decode mask the MeasurementStatusInfo parameters flags information Note the terminology with the s GetMeasurementStatusInfo This is because this command relates to different types of compensations and hardware which are always related struct GetMeasurementStatusInfoCT struct BasicCommandCT packetInfo hi struct GetMeasurementStatusInfoRT struct BasicCommandRT packetInfo enum ES_ResultStatus lastResultStatus long lMeasurementStatusInfo GetCurrentPrismPositionCT RT Command structures to get the 3D position of the prism the laser is curr
261. stently Recent values will be restored on restart of the Tracker server It is recommended to initially set the required settings on every client startup as good programming practice 2 3 7 Default Settings List of the most common parameters and their default factory settings e Orientation parameters 0 0 0 0 0 0 e Transformation parameters 0 0 0 0 0 0 1 scale factor is 1 e CS Type RHR right handed rectangular e Length Meter e Angle Radian e Temperature Celsius e Pressure Hectopascal e Rel Humidity 70 e Temperature 20 0 C e Pressure 1013 25 mbar 760 mmHg e Measurement mode Stationary e Temperature range Medium e Reflector None e Interferometer refraction index 1 0 e ADM refraction index 1 0 e Stationary point measurement time 2500 ms e Continuous measurement time 1000 ms 17 e Continuous measurement number of points 100 e Statistic mode Standard e Region and grid mode parameters Arbitrary Other less common settings are described in the command reference section 2 3 8 Version Backward Compatibility New data types packets with evolving server versions This is a very important issue in order to prevent client application software adjustments upon future emScon server software upgrades The coming versions of emScon will include arrival of new extended data over the TCP IP connection such as new packet types status messages and new error messages
262. struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 double dSearchRadius struct LookForTargetRT struct BasicCommandRT packetInfo double dHzAngle double dvtAngle The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m GetDirectionCT RT Structures for invoking the GetDirection command The output parameters are always angles related to the tracker coordinate system in the current angle unit settings This command is mainly useful for LT series of trackers in combination with LookForTarget struct GetDirectionCT struct BasicCommandCT packetInfo hi struct GetDirectionRT struct BasicCommandRT packetInfo double dHzAngle double dvtAngle hi 178 Set GetStatisticModeCT RT Command structures for setting getting the statistic mode Depending on the mode stationary and or continuous 3D measurement packets will contain more or less statistical information Note that different data packets for the measurement apply depending on which mode is used See enum ES_StatisticMode description for details struct SetStatisticModeCT struct BasicCommandCT packetInfo enum ES_StatisticMode stationaryMeasurements enum ES_StatisticMode cont inuousMeasurements struct SetStatisticModeRT struct BasicCommandRT packetInfo di struct GetStatisticModeCT struct Ba
263. switching on the laser controller takes about 20 minutes ES_LPS_LaserReady Laser is ready From now on the tracker can be used but first needs to be initialized See chapter Application Initial Steps Note There is an alternative of repeatedly polling with ES_C_GetSystemStatus to figure out whether the laser is ready As soon as the laser is ready emScon issues a so called SystemStatusChange event This is a packet of the type ES_DT_SystemStatusChange containing a status parameter In case of laser ready this parameter is ES_SSC_LaserWarmedUp ES_LPS_UnableToStabilize Laser not able to stabilize This probably indicates a rapidly changing up and down of the environment temperature or a wrong active Temperature Range Make sure the tracker is used in an environment with stable temperature This rarely happens Usually the laser just takes a longer warm up phase if environment temperature is not that stable ES_LPS_LaserOff The Laser is switched off Use ES _SwitchLaser to switch laser on ES SystemStatusChange Specifies status change types This enumeration type is used as a parameter for ES_DT_SystemStatusChange notifications 113 enum ES_SystemStatusChange ES_SSC_DistanceSet ES_SSC_LaserWarmedUp ES_SSC_EnvironmentParamsChanged ES_SSC_RefractionParamsChanged ES_SSC_SearchParamsChanged ES_SSC_AdmParamsChanged ES_SSC_UnitsChanged ES_SSC_ReflectorChanged ES_
264. symbol names 3 1 8 Basic C Data Type size of TPI Structures This is relevant for programming languages other than C C However some non standard C C compilers may provide different sizes of basic data types For TPI clients it is necessary to use the following standard sizes Data type Size Enum values 4 Bytes int 32 or long Long 4 Bytes Int 4 Bytes Short 2 Bytes for Unicode strings exclusively Double 8 Bytes ES_BOOL 4 Bytes int 32 or long 3 2 Communication Basics 3 2 1 Commands The Tracker Server can be controlled only through commands sent over TCP IP Commands differ in the count of parameters they take e GoBirdBath is an example for a non parameter taking command e PointLaser x y z takes 3 parameters The majority of commands taking parameters are used for so called property setting Set lt CommandName gt commands The syntax of 40 each command whether taking parameters or not is defined by its lt CommandName gt CT structure q These structures need to be initialized properly Refer to C Programming instructions section 3 2 2 Command Answers Every command causes an asynchronous answer with an acknowledgment The command type cookie previously sent to the Tracker Server is echoed back padded with information whether the command succeeded or not and optionally padded with command specific data Depending on the command type this echo can occur immediately
265. t is assumed that LTControl dll resides in the current directory otherwise specify the path for example ES_SDK lib LTControl dll a Other than VB applications COM TPI based C applications need to call CreateInstance and the statement g_pLTCommandSync g_pLTConnect gt GetILTCommandSync replaces the related VB call Set ObjAsync Ob jConnect ILTCommandAsync Fix See Sample 7 for setting up an event sink for a Windows application Although this approach is not recommended 5 2 3 Notification Method The following enumeration type defines the different methods the SelectNotificationMethod can 248 take Only one of these methods can be active at a time Therefore SelectNotificationMethod should be called only once with one of the following values enum LTC_NotifyMethod but LTC_NM_None No notification using nothing else synchronous calls LTC_NM_Event notify through connection point interfaces Events LTC_NM_WM_CopyData notify through copydata and pass data directly with message LTC_NM_WM_Notify notify through WM message and pass only size hi through 1Param LTC_NM_None In combination with the synchronous interface neither events nor Windows messages are sent Hence neither a continuous measurement nor trapping error events beam broken etc is possible The targetHandle and cookie of the Se
266. t of the SDK and its usage is demonstrated in Sample 18 However the current LiveVideo CPP application might be useful for non Windows based applications e g Linux since support for LTVideo2 ocx will not be available there In this sample the application directly connects to the Video Port 5001 of the emScon server The command interface is based on Ansi text tokens The following commands are supported LiveImageStart 309 LiveImageStop FrameRateStepUp FrameRateStepDown RequestCameraParameters These tokens can be sent directly to an open socket connection to port 5001 Arrival Data includes the following types Live Image Data Blocks Bitmap format Note that each image arrives in two chunks and must be composed to a complete image before displaying it Camera Parameter Block Result of a RequestCameraParameters call See source code function OnReceive on how to parse incoming data See source code function OnPaint on how to display image data The source code is commented in detail and should be self explaining However as already mentioned using the LiveVideo TCP IP interface directly as shown in this sample only is recommended for non Windows client platforms Rather base clients on LTVideo2 ocx for Windows platform targeted application Further details see Readme txt file in Sample19 folder and code comments in source files 8 1 4 Orient To Gravity Procedure This fu
267. t the TCP IP Port Number to 700 for the Tracker Server 3 5 2 Sending Commands 3 Call a SendData function from the TCP IP communication library or toolbox Function name may differ This function typically takes a pointer to a data packet and probably the size of it unless the packet is wrapped into a structure that knows its size implicitly for example a Variant structure 205 4 The architecture of the packets TPI protocol is defined by the data structures in the ES_C_API_Def h file 5 For invoking for example a GoPosition command use the structure GoPositionCT and assign appropriate initialization values In particular assign an ES_Command and an ES_C_GoPosition as header data and provide 3 coordinate values as command parameters The compiler will not detect if for example an ES_DT_SingleMeasResult as type or an ES_C_SwitchLaser as command is assigned to a GoPositionCT variable Inappropriate initialization values cause the command to fail GoPosition initialization sample GoPositionCT data declare packet variable data packetInfo packetHeader type ES_DT_Command data packetInfo packetHeader 1PacketSize sizeof data data packetInfo command ES_C_GoPosition data dVall 1 879 data dVal2 2 011 data dVal3 0 551 data bUseADM FALSE Note emScon Version 1 5 was tolerant in not initializing packetHeader IPacketSize upon sending commands This is no longer the case for
268. tProbeCompensation Deleted ES_SSC_MeasurementTipCompensation Deleted Above three events inform about compensation deletion ES_SSC_ManyMechanicalCompensations InDB 116 The recommended maximal number of mechanical compensations has been reached Please delete some older compensations ES_SSC_MeasurementProbeButtonDown This event is fired whenever one of the probe buttons measurement trigger is pressed ES_SSC_MeasurementProbeButtonUp This event is fired whenever the previously pressed probe button is released ES_SSC_ExternalTrigger Event This event is fired whenever an external Trigger Pulse occurs Applies to trigger source ES TS ExternalEvent ES_SSC_ExternalTriggerStartEvent This event is fired whenever an external Trigger Start Pulse trigger signal rising flank occurs Applies to trigger source ES_TS_ExternalStartStopEvent ES_SSC_ExternalTriggerStopEvent This event is fired whenever an external Trigger Stop Pulse trigger signal falling flank occurs Applies to trigger source ES_TS_ExternalStartStopEvent ES_SSC_CopyProtectionRemoved This event is fired if the copy protection device dongle is removed System control through TPI commands is locked ES_SSC_TPConnectionClosing This event is fired if the server connection gets lost Server control through TPI commands is no longer possible Server probably needs a reboot ES_SSC_ServerClosing This event is fired if the server
269. tationAngleTotal double dCovarRotationAnglexyY double dCovarRotationAnglexzZ double dCovarRotationAngleYZ This struct describes a single measurement 6 degrees of freedom in a 6DoF continuous measurement stream Time1 indicates seconds expired since a measurement start Time2 indicates microseconds expired within the last second The total elapsed time in microseconds is T ms 10e6 ITime1 1Time2 Position values angular values and statistic parameters are in current units CS type and according to applied orientation transformation parameters The position values relate to the center of the tip ruby sphere Rotation angles are always represented in the interval between PI and PI The following helper structs ease the interpretation of the Rotation Status RotationStatus Note If the SystemParameter flag ES_SP_ShowAll6DMeasurements is set to False which is default then only measurements with 137 Rotation Status OK will arrive Interpreting the Rotation Status only becomes an issue if the ShowAll6DMeasurements is enabled By using the SetLongSystemParameter command The following union can be used to easily interpret the rotation status Assign the returned value a long to URotationStatus 1 then interpret the Error6D and optionally other fields Note that the fields are only valid if Status6D bit is set The evaluation of rotation status in detail is subject of advanced prog
270. tatisticMode Gets the current statistic mode ES_C_GetStilllmage Requests a still image in case the tracker is equipped with an Overview Camera For all Still Image related commands see main chapters 8 sub chapter Still Image ES_C SetCameraParams Sets the current contrast and brightness parameters of the Overview Camera Valid values are between 1 255 Saturation is currently ignored and should be zero ES_C_ GetCameraParams Get current Overview Camera parameters ES_C _CheckBirdBath Carries out Bird bath check routine Returns Initial and current differences of BirdBath Angles and Distances Values are expected in current units ES_C_GetTrackerDiagnostics Returns Tracker diagnostic information This is an advanced diagnostic command Not 73 usually used by common applications See Tracker hardware manual for details ES_C_ GetADMInfo Returns Absolute Distance Meter information Version and Serial Number if available i e If a LTD series tracker ES_C_GetTPInfo Returns Tracker Processor information This is an advanced diagnostic command Not usually used by common applications See Tracker TP hardware manual for details ES_C _GetNivelInfo Returns Nivel information if available Version and Serial Number ES_C SetLaserOnTimer Switches the laser on in predefined time ES_C_ GetLaserOnTimer Reads the remaining time left before it is switched on ES_C_ConvertDisplayCoordinates Conver
271. te Compensation sequence including reception of quality result parameters TotalRMS 181 and maxDev are angular values and are in current angle units For details see special chapter Intermediate Compensation procedure in chapter 8 struct CallIntermediateCompensationCT struct BasicCommandCT packetInfo struct CallIntermediateCompensationRT struct BasicCommandRT packetInfo double dTotalRMS double dMaxDev long lWarningFlags hi Error codes A return status other than ES_RS_AIlIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallIntermediateCompensation command answer status can evaluate to one of the following values Code Description 23011 EmScon database open failure F 23012 EmScon database read failure F 23013 EmScon database write failure F 23014 No points to measure in database 23020 Tracker initialization failed 23021 Tracker getting parameters failed 23022 Tracker setting parameters failed 23030 There was an unexpected command answer F 23031 Sending data via TCP IP failed 23032 Error on receiving data communication error 23033 Insufficient memory to create data F 23501 At least one of the 3 calculated mechanical parameters is not in range specified 182 23502 23503 23998 Too few less than 2 measurements available Calculation cannot be performed Either not enou
272. te the requested action SendData will return immediately On completion of the requested action the tracker server sends an answer back to the client Depending on the command it may take a few seconds between sending the command and receiving an answer This requires some type of notification or callback mechanism That is as soon as data arrives from the Tracker Server some sort of event needs to trigger a ReadData procedure in the client application Depending on the TCP IP communication this notification could be a Windows Message an Event or a Callback Function This type of communication is called asynchronous 207 3 5 6 Asynchronous Communication 9 From the programmer s point of view asynchronous communication is much more difficult to handle than synchronous communication The programmer must ensure not to send a new command until the answer of the previous one has returned 3 5 7 DataArrived Notification 10 All TCP IP communication libraries toolkits contain either a DataArrived notification or a similar function which is called by the framework each time data has arrived Depending on the toolkit e The function may directly return a Variant type parameter that contains the data e The function may deliver the data within a byte array e The function returns the size of the data packet that is ready to be read In this case the DataArrived function subsequently calls a ReadData func
273. ted User defined TypeLibrary enum structs supported Event and WM Message Notification methods supported Events to be preferred e VisualBasic for Applications VBA Excel Word and Access All interfaces supported User defined types of TypeLibrary enum structs supported with Office 2000 but not fully supported with Office 97 253 Event notification methods supported WM Messages not supported e C and VB NET All interfaces supported User defined types of TypeLibrary enum structs supported Event notification methods supported Scripting Languages VBS JavaScript Currently not supported Support of these languages requires Dual or Dispatch COM interfaces Could be achieved by providing a COM Idispatch wrapper around the LTControls custom interfaces q It is recommended to use Office 2000 for TPI VBA Programming Office 97 Excel 97 Word 97 lacks UDT and contains some bugs that make development of TPI clients virtually impossible as soon as events are involved Interface methods using struct parameters which do not support user defined types Office 97 only cannot be used from within VBA However functions are available based on basic data types as a work around Older versions of VBA may lack support of enum type symbols so they need to be passed as 4 Byte long values Therefore the numerical representation of particular enum values must be known I
274. terface These enums and structs will be available for applications using LTControl when the programming language supports user defined data types To get an overview of the interfaces including properties methods events and UUIDs exposed by a COM object a COM viewer may be used e Select the tools menu of Visual Studio e Select OLE COM Object Viewer e Choose File gt View Type Lib e Select LTControl dll or LTControl tlb The LTControl component is very convenient for developing simple tracker applications using Visual Basic MS Excel MS Access etc However where performance and customized TCP IP communication are an issue the C C interface is recommended It is not recommended to use the COM TPI for writing C client applications although this is possible and also demonstrated in Sample 7 However especially receiving data is complicated in such applications Rather use the C TPI for C applications On the other hand using the COM interface for VisualBasic is very convenient including receiving data through Event handlers 243 Refer to Samples 5 VB and Sample 8 Excel for further information on how to apply the emScon COM interface for Visual Basic clients Sample 7 shows the usage from within C although we do not recommend this For C applications we rather recommend to use the C API directly Samples 14 and 15 show the usage of the COM TPI from VB NET and C applications respect
275. ters Implementing Synchronous Commands Add a button named InitSync The button handler should be completed with the following code Private Sub InitSync_Click On Error goo error handler Ob jSync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub Since this is a synchronous call e ObjSync Initialize will not return before the tracker has finished initializing e The Exit Sub statement will not be reached until initialization is finished A real application would at least display an hourglass cursor while the program resides in the InitSync function The error handler should be implemented in every command button handler otherwise the application will terminate in case of an error unhanded exception Add another Button Handler Measure Single Point and implement the handler as shown below It is presumed the tracker server is set to stationary when triggering this command In Sample 5 code this is ensured in the Button_Connect_Click handler Of course the laser beam must be attached to a reflector in order to perform this command successfully The result since a synchronous answer can be shown directly in a message box only x y and z are shown 273 Private Sub StartMeas_Click Dim x As Double Dim y As Double Dim z As Double Dim d As Double d is a dummy variable Dim b As Boolean On Error goo error handler ObjSync MeasureStationaryPoint x y Zz
276. that this compensation has only two reflector definitions CCR 1 5in and TBR 0 5in Conveniently the mapping between name and ID remained the same as it was in the previous compensation Name ID CCR 1 5in 2 TBR 0 5in 5 If reflector ID 7 was the active one at the time the camera was removed you will now get a wrong current reflector error message on executing reflector dependent commands Thus the application must first set one of the now available IDs 2 or 3 with the SetReflector command The fact that the relation between reflector ID and Name remains the same throughout all tracker compensations may be convenient to application programmers since there is no need to re query all reflector mappings upon a tracker compensation change 8 1 2 Still Image Command For trackers equipped with an Overview Camera the GetStillImage command takes an image and delivers it as a file image data block Related Commands e GetStilllmage e SetCameraParams e GetCameraParams e StilllmageGetFile COM not in C e WriteDiskFile COM only 300 These commands are available on all TPI levels C C COM Set GetCameraParameters is not explained here further Preconditions The following preconditions have to be fulfilled e Camera mounted on tracker e System settings Has video flag activated e Tracker must be in camera view command ActivateCameraView Application of GetStilllmage C C The applicati
277. tion Click positions on the Image are currently written out to Excel cells These values can be used to calculate relative tracker movement angles call MovekelativeHV to direct the tracker there and then request a new Image Private Sub Imagel_MouseDown ByVal Button As Integer ByVal Shift As Integer ByVal X As Single ByVal Y As Single Beep ws Cells 2 2 Value ws Cells 3 2 Value ws Cells 5 2 Value End Sub X Y Shift 8 1 3 Live Image display Live Image Control LTVideo2 ocx The live camera display from the Overview Camera can be implemented into user applications by using an ActiveX control LTVideo2 ocx See SDK lib directory ANSI Unicode subdirectories Registering LTVideo2 ocx LTVideo2 o0cx is an ActiveX type COM object and requires registration on the Application Processor 305 From the command line perform the following command Regsvr32 lt Path gt LTVideo2 ocx where lt path gt depends on the location of the file typically C WINNT System32 ANSI Unicode Version Use the ANSI version for Win98 ME platforms and the Unicode version for WinNT 2000 See Version info of LTVideo2 ocx for details under File Properties gt Version TAB Development Platforms For Visual Basic or Office the ActiveX controls must be added as a reference For VC a wrapper class is generated using Add to Project Components gt Controls gt Controls type library from Visual Studio
278. tion Errors Target lost tracking has failed Interferometer has failed lost count 703 Azimuth limit has been reached The tracker head has attempted to go beyond the 240 degrees Elevation limit has been reached 705 Positioning timeout positioning of the tracker head could not be completed within the timeout period Abort command invalid angle on the azimuth axis invalid angle on the elevation axis 336 Radial speed is within bounds Sent after a speed warning when the speed has returned to acceptable bounds Radial speed warning This is a warning that the movement of the reflector in the radial direction is approaching the speed limit 7 Radial speed error This indicates that the radial speed has exceeded the capacity of 72 10 11 12 0 60 the interferometer and there is a likely loss of accurate distance setting Intensity overflow on photosensor This error occurs if the intensity value from the photosensor exceeds the range of the A D converter The TP will change the A D range automatically Laser light mode has jumped This means the laser control loop wasn t able to stabilize the laser tube This can be caused by a fast and large temperature change ADM measuring timeout the communication with the ADM is working but there is no pleted measurment within a certain time by the ADM reseved S OSOS reseved S SOS TCAM vertical drive not initialized 761 TCAM zoom not initialized
279. tion environmental temperature pressure and humidity the system calculates the light refraction index of the interferometer IFM and the absolute distance meter ADM These parameters have a direct influence on the distance measurement A change of 1 C causes a measurement difference of lppm A change of 3 5mbar causes a measurement difference of Ippm Change environmental parameters when significant changes take place Default values 20 0 C 1013 3 mbar 28 Set Reflector Implication Comment Select a specific reflector A wrong reflector results in a wrong initial IFM distance e g when using the Go Birdbath command This has a direct influence on the distance measurement Tooling ball reflector TBR 5 310 mm Cat eye 59 114 mm There is usually more than one reflector defined These can be queried from the system by using the GetReflectors command This shows the relation between the ID and the Name Reflector Type The ID can then be passed to the SetReflector command to activate it Note that this setting remains persistent Nevertheless it s strongly recommended that an application upon launch at least checks whether the desired Reflector is set More info Chapter 8 Get Reflectors command 29 Set Compensation Implication Comment Select a specific Mechanical Tracker Compensation More than one mechanical Tr
280. tion immediately in order to get the data into a local byte array 3 5 8 Data arrival Traffic Jams 11 If a traffic jam occurs on the incoming TCP IP line i e if incoming data is being queued a ReadData call will read all the currently available data with no notification for each individual packet Many packets may be queued and only one DataArrived notification might be issued This means that the byteArr buffer will contain more than one packet This may occur on high frequency continuous measurement streams The application has to make provisions to correctly treat such cases The PacketSize value is most convenient when parsing the byteArr buffer 208 If the byteArr buffer is completely filled with data it is likely that the last packet in the byteArr is incomplete The packet fragment needs to be saved and padded to complete upon the subsequent read call See chapter Queued and Scattered Data for details 12 Assuming a received data block has been read into a byte buffer named byteArr In order to interpret the data a mask is required This requires knowledge of the type of data packet enum ES_DataType A typical PacketHeader interpreting code is as follows 3 5 9 PacketHeader Masking PacketHeaderT pData PacketHeaderT byteArr 13 Access the type and the size of the packet can be with pData gt type pData gt lPacketSize The packet size is only for convenience
281. tion or if close to a reflector FindReflector If Keep last position is enabled the system tries to re establish the distance automatically as soon as a reflector can be tracked For trackers without a ADM Place the reflector in the Birdbath Do a GoBirdbath Move reflector to the measuring position without interrupting the beam ES_RS_NoTrackerConnected Meaning The connection between controller and tracker is broken 90 Note Check all cables between controller and tracker ES_RS_TrackerNotlInitialized Meaning The tracker is not initialized Note Execute the Initialize command Set the environmental parameters manually weather station before initialization See also chapter Initial Steps ES_RS_ ModuleNotStarted ES_RS_ ModuleTimedOut ES_RS_ErrorReadingModuleDb ES_RS_ErrorWritingModuleDb Meaning These errors indicate a software installation problem on the emScon server Note Reinstall emScon software ES_RS_NotInCameraPosition Meaning Application tried to grab a video image from the Overview Camera when the tracker was not in camera position Note Issue an ActivateCameraView command first ES_RS_TPHasServiceFirmware Meaning The server has loaded service firmware This firmware is not suitable for ordinary tracker usage This error cannot occur under normal conditions Note Refer to Leica service ES_RS_TPExternalControl Meaning The controller is running under external e g
282. tion set 167 Bit Description Bit 6 Tracker parked Bit 7 Motor switch is on Bit 8 Encoder angle error Bit 9 Sleep condition set Bit 10 Motor power active GetTrackerStatusCT RT struct GetTrackerStatusCT struct BasicCommandCT packetInfo i struct GetTrackerStatusRT struct BasicCommandRT packetInfo enum ES_TrackerStatus trackerStatus Command structures for getting the tracker status We See enum ES_TrackerStatus for details Set GetReflector s CT RT Command structures for getting setting the current reflector by its numerical ID 168 struct SetReflectorCT struct BasicCommandCT packetInfo int iInternalReflectorId he struct SetReflectorRT struct BasicCommandRT packetInfo he struct GetReflectorCT struct BasicCommandCT packetInfo i struct GetReflectorRT struct BasicCommandRT packetInfo int iInternalReflectorId he struct GetReflectorsCT struct BasicCommandCT packetInfo struct GetReflectorsRT struct BasicCommandRT packetInfo int iTotalReflectors int iInternalReflectorId enum ES_TargetType targetType double dSsurfaceOffset short cReflectorName 32 i The GetReflectors command retrieves all reflectors defined in the Tracker Server The answer consists of as many answer packets as reflector types defined in the server database These resolve the relation between
283. tions based on LTControl point of view The programmer is not required to deal with TCP IP communication libraries or system programming interfaces 255 The high level TPI supports both synchronous and asynchronous methods Note Using the synchronous interface may provide some convenient properties However there are also some disadvantages Long taking actions cannot be interrupted FindReflector OrientToGravity as this is possible with asynchronous communication on using StopMeasurement command Synchronous commands also imply potential timeouts They also offer less transparency and control to the programmer For highly professional applications we recommend programming in C or C hence using the C or C interface directly which are asynchronous be design If using the COM interface for VB VBA VB NET C application programming we recommend to prefer the asynchronous COM interface to the synchronous interface Although client programming is more difficult with the asynchronous interface the programmer has much more control and transparency COM objects expose interfaces described by a Type Library which is implicitly included in the DLL A pure Type Library LTControl tlb is also available although not really needed This High level interface does not provide any additional functions in terms of Tracker Server controlling functions LTControl is strictly based on the C TPI wit
284. to atmospheric values such as temperature and pressure The system can still perform the requested action but the result will not be within specifications q In case of OutOfRangeOK the user should be aware that the system may not deliver highest accuracy ES_RS_WrongCurrentReflector Meaning An invalid reflector was set e g if the parameter of command SetReflector applies to a non existing reflector ID or to an ID of an existing but inaccurate reflector Note This is usually a programming error in the application The application should not allow the user to set an invalid reflector The 85 application should query the IDs of valid reflectors with the command GetReflectors and then offer these as possible parameters for the SetReflector command ES_RS_ NoCircleCenterFound Meaning This error occurs only in the continuous measurement mode CircleCenterMode The calculation of the circle center failed Note The measurements represent either a very small sector of the circle and or describe a circle not within the required accuracy which is not sufficient for calculation The Circle Center Mode parameters may not have been set properly See command SetCircleCenterModeParams ES_RS_NoSphereCenterFound Meaning Similar to ES_RS_NoCircleCenterFound Note The measurements represent a very small sector of the sphere For good results at least half of the sphere should be covered by measurements The Sphere Ce
285. tors Release the motor for horizontal and vertical tracker head movement in order to allow manual tracker head movement ES_C _ ActivateCameraView Activates the camera view The mirror is turned upwards in order to direct camera view towards tracker head orientation 56 Command only applies to Trackers equipped with an overview camera ES_C Park Send tracker to park position The laser beam points towards the floor on the opposite side of the Bird bath ES_C_SwitchLaser Switch the laser off or on Usually used to switch off the laser overnight ES_C _ SetStationOrientationParams Set the 6 orientation parameters to be applied to measurements and positioning coordinates Invariant orientation parameters are 0 0 0 0 0 0 With these default settings the tracker delivers measured coordinate values and takes positioning values in the instrument s CS Orientation parameters values are also ignored if the applyStationOrientationParams system settings flag is not set Station orientation parameters itself are in current units and current CS type but neither according to applied transformation settings nor to applied orientation settings which would mean recursive No range limitations apply Related structure StationOrientationDataT ES_C_ GetStationOrientationParams Queries the currently applied 6 orientation parameters Related structure StationOrientationDataT ES_C_ SetTransformationParams Set the 7 tran
286. ts display coordinate triples from base to current and back This is a private function command and is not documented supported It should not be used for any client programming ES_C_GoBirdBath2 Sets the laser beam to the Bird bath by turning tracker head in specified direction clockwise or counter clockwise Note This command only applies to 3D measurement modes See description of ES_C_GoBirdBath for more details ES_C _SetTriggerSource Sets the Trigger Source for triggering measurements from remote e g Probe buttons or clock signal Note Trigger functionality is not yet 74 available with emScon 2 1 x releases and may be subject to change ES_C_GetTriggerSource Get the currently active Trigger source Note Trigger functionality is not yet available with emScon 2 1 x releases and may be subject to change ES_C_GetFace Get the currently active Tracker Face I or II ES_C_GetCameras Enumerate all Measurement cameras known to the system i e those defined in the database Apart from the internal ID a selection of properties is delivered Name Type Serial number This approach is the same as used for the command ES_C_GetReflectors or ES_C_GetCompensations ES_C_GetCamera Get the currently active i e mounted camera Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetCameras ES_C SetMeasurementCameraMo
287. tuff e The main function first does a TCP IP connection by calling the function TcpIpConnect starts the Data Receiver thread and enters an endless User Interface loop The default IP address 192 168 0 1 should be adjusted to the actual server address Alternatively the IP address can be passed as command line argument upon running the application e This loop looks for user input of one of the two TPI commands 1 for Initialize Tracker and g for Get Direction e Ifthe user enters x the loop is stopped the TCP IP connection is closed and the application terminates The TcpIpConnect function is straightforward up to the call of connect e Call WSAStartup After connecting call WSAEventSelect which takes the following parameters A socket handle that has been created before as a global variable An event of type WSAEVENT as a global variable This variable must be initialized with the return value of a WSACreateEvent call 213 A flags parameter FD_READ is passed indicating an interest in data arrival events a realistic application would have to also trap FD_CLOSE events Calling this function will cause the TCP IP framework to signal the passed event whenever data has arrived at the socket The DataRecvThread has an infinite loop with the following statement WaitForSingleObject g_hSocketEvent INFINITE This is a blocking call and causes the l
288. uence for 3D Measurements 3D Measurements are performed to a currently selected Reflector The selected Measurement mode must apply to one of the 3D modes The tracker does not require a T Cam although there might be one mounted Steps TPI command 1 Establish TCP IP Depends upon TCP IP connection communication See different samples 2 Set units length ES_C SetUnits angle temperature and pressure 3 Set current ES_C SetEnvironmentP environmental arams temperature pressure and humidity 4 Initialize the Laser ES_C Initialize Tracker 5 Select desired 3D ES_C SetMeasurement Measurement mode Mode Stationary ContinuousTime 6 Query all defined ES_C_GetReflectors Reflectors 7 Select the Reflector ES_C SetReflector being used 23 8 Go Bird Bath ES_C _GoBirdBath optional if Tracker equipped with an ADM For 6D modes the tracker will move to zero position instead GoBirdBath does not make sense for Probes Orientation ionParams parameters 9 Set Station ES_C _ SetStationOrientat parameters nParams 10 SetTransformation ES_C_ SetTransformatio system type RHR temType LHR 11 Set Coordinate ES_C_SetCoordinateSys In addition a valid mechanical Tracker compensation must be active This is usually always the case supposed the Tracker compensation once has been performed or imported However there can be exc
289. unction names from the related C TPI structures 219 The text in brackets shows the rule applied to a sample 1 Look up the command of interest in the enum ES_Command C TPI Reference ES_C_GetContinuousTimeModeParams Replace the prefix ES_C_ by On and pad the name with Answer in addition This will be the name of the virtual C answer function OnGetContinuousTimeModeParamsAnswer For finding the passed parameters ignore the On prefix and replace the Answer Postfix by RT GetContinuousTimeModeParamsRT Look up this RT structure in the C TPI reference for a description of all the parameters General Data Arrival virtual Functions virtual void OnCommandAnswer const BasicCommandRT amp cmd virtual void OnErrorAnswer const ErrorResponseT amp error virtual void OnSystemStatusChange const SystemStatusChangeT status e OnCommandAnswer is called for every command in addition to the command related answer function This function can be convenient especially for non parameter taking commands e OnErrorAnswer is called upon an error condition The status parameter indicates the kind of error and if known the command parameter indicates the command that caused the error Note that not all errors are caused through commands e g Beam broken In such cases the command parameter is unknown For status values see enum ES_Resu
290. units and current CS type asa input output Filter to all coordinate type related parameters 172 E See struct StationOrientationDataT for details Set GetTransformationParamsCT RT struct SetTransformationParamsCT struct BasicCommandCT packetInfo struct TransformationDataT transformationData he struct SetTransformationParamsRT struct BasicCommandRT packetInfo i struct GetTransformationParamsCT struct BasicCommandCT packetInfo struct GetTransformationParamsRT struct BasicCommandRT packetInfo struct TransformationDataT transformationData he Command structures for setting getting the transformation parameters These settings act like current units and current CS type as a input output Filter to all coordinate type related parameters r See struct TransformationDataT for details Set GetBoxRegionParamsCT RT struct SetBoxRegionParamsCT struct BasicCommandCT packetInfo struct BoxRegionDataT boxRegionData struct SetBoxRegionParamsRT struct BasicCommandRT packetInfo struct GetBoxRegionParamsCT struct BasicCommandCT packetInfo struct GetBoxRegionParamsRT struct BasicCommandRT packetInfo struct BoxRegionDataT boxRegionData l Command structures for setting getting the Box Region parameters Fk See struct BoxRegionDataT for details 173 Set GetSphereRegionParamsCT RT struct SetSphereRegi
291. upon launch at least checks whether the desired compensation is set command Get CamToTrackerCom pensation The principle of dealing with compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 31 Set Probe Compensation Implication Comment Select a specific Probe Compensation Related to 6DoF modes only More than one Probe Compensation may be defined for a tracker camera although often there is only one If there is more than one these can be queried from the system by using the GetProbeCompensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetProbeCompensation command in order to activate it Note that this setting remains persistent Nevertheless it s a good idea that an application upon launch at least checks whether the desired compensation is set Command GetProbeCompensation The principle of dealing with probe compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 32 Keep Last Position Flag Implication Comment Makes the laser beam Enabling this flag is stay at its current optional for 3D position if the beam is broken measurements it makes only sense if the Tracker is equipped with an ADM This flag is cleared b
292. urements 23 2 4 3 Command Sequence for DOF Measu rements syed cal ca EE EEEE teva EEEn 25 2 4 4 Initial Steps Description in Detail 00 27 C Interface 3 1 Low level TPI Programming 0008 37 3 1 1 PRECOMGIONSicariccicariettincintiaeepdisieigieimeeticess 37 3 1 2 Recommendation cccceeeceeeeeeeeeeeeeeeeeeeeees 37 3 1 3 Byte Alignment n e 38 3 1 4 Little Big Endians eeeeeeeeneneeeeeeeeerernnnneeene 38 3 1 5 Preprocessor Statements ccceeeeeeeeeeeees 39 3 1 6 TPI Boolean Data Type ccceeeeeeeeeeees 39 3 1 7 Enumeration Type Members Numerical representaatio Miia a a E 40 3 1 8 Basic C Data Type size of TPI Structures 40 3 2 Communication BaSiCs sseeeeee 40 3 2 1 Commands fined cst vied lasssecless tees iada silanes 40 3 2 2 Command Answers cccccccceeeeeeeeeeeeeeeeeeeeeees 41 3 2 3 EMOMEVCIIS saat aliases nla hadansraliabies 45 3 2 4 System Status Change Events 0000 45 3 2 5 3D 6 DOF Related command 46 3 3 C Language TPI Reference ccsssssseee 47 Deu PEROT PSS EAMES ee EE EA entreaties EEEE 47 3 3 2 Enumeration Types ccccceeeeeeeeeeeeeeeees 48 3 4 Data Structures cccccsssseeeessessseeeeeeeees 133 3 4 1 Basic Data Structures cc ceeceeeeeeeeeeeeees 133 3 4 2 Packet Data Structures ceeeceeeeeeeeeees 150 3 5 C La
293. urse any other error message of your choice can be displayed To get the error number rather than a text the error handler would may look as follows Exit Sub ErrorHandler MsgBox CStr Error occurred amp ObjConnect LastResultStatus Do not use the term Err Number This is a COM error number which is useless to the application Alternatively the number of the last error lastResultStatus can also be retrieved with the command GetSystemStatus T Additional or different error handling code can be inserted after the ErrorHandler label Exception Handling in C In C applications exception handling is performed through try catch statements The caught exception is of type _com_error 251 See Win32API COM documentation for details of ISupportError Interface try objSync gt FindReflector 5 0 true catch _com_error amp e MessageBox Exception s LPCTSTR e Description An e Description returns the appropriate string that describes the reason of the failure Try catch statements may be nested and are required when queuing several synchronous commands within one C function If the error number rather than the default text is of interest use the property objConnect LastResultStatus try objSync gt FindReflector 5 0 true catch _com_error amp e MessageBox Error Nr d objConnect LastResultStatus Alternatively
294. us Additional status information to be delivered with each single measurement of a continuous measurement stream Measurements with a status other than ES_MS_AIlOK should be treated with care enum ES_MeasurementStatus ES_MS_A110K ES_MS_SpeedWarning ES_MS_SpeedExeeded ES_MS_PrismError ES_MS_TriggerTimeViolation ES_MS_AIlOK Measurement was carried out within specified target speed movement ES_MS_SpeedWarning Measurement was taken when target was moving with a speed above warning threshold ES_MS_SpeedExeeded Measurement was taken when target was moving with a speed above limit ES_MS _PrismError Measurement could not be taken due to a prism error Reflection is probably too weak ES_MS_ TriggerTimeViolation Those measurements marked with 101 TriggerTimeViolation in a trigger controlled stream could not be taken in exact coincidence with the trigger pulse This situation can occur if the trigger pulse rate is very close to the maximum measurement rate If it is even beyond the maximum measurement rate probably all of the measurements will be marked with TriggerTime Violation ES _ TargetType This enumeration type names the known target types prism types It is used as one of the ES_C_SetSystemSettings command parameters enum ES_TargetType ES_TT_Unknown ES_TT_CornerCube ES_TT CatsEye ES_TT_GlassPrism ES_TT_RFIPrism ES_
295. use usually no COM functions are called there subsequently On Error GoTo ErrorHandler 1 Get the data Dim data As Variant LtConnect GetData data 2 Get header info Calling this function is optional the only thing we need here is numResults However it s the same as resultsTotal passed to the functions Dim numResults As Long Dim measMode As Long Dim temperture As Double Dim pressure As Double Dim humidity As Double LtConnect ContinuousDataGetHeaderInfo data numResults measMode temperture pressure humidity since we have numResults twice from different paths lets check them for compliance If Not numResults resultsTotal Then MsgBox Fatal Error unexpected discrepancy End If since we know how many results we can loop over the index Note that index runs form 0 to numResults 1 For index 0 To numResults 1 data and index are input parameters rest output LtConnect ContinuousPointGetAt data index status _ timel time2 dVall dVal2 dVal3 TODO do something with each result here Next Exit Sub ErrorHandler MsgBox Err Description End Sub ContinuousPointGetAt Continuous6DDataGetAt may have an impact on performance They have been primarily designed for use with VB A For C applications more efficient ways to extract continuous measurements exist VBA applications depending on data processing may not have enough performance when using continuous high data
296. used to figure out which modifier keys are pressed during the click The flags parameter is the same as provided by the OnLButtonDown standard message See Microsoft MFC documentation for details e Server address and Port number must be passed as properties e AnRGB triplet can be passed to alter the color of the crosshair 307 The following event is fired on a GetCameraParameters method call void CameraParams long brightness long contrast double focalLength double horizontalChipSize double verticalChipSize VARIANT_BOOL mirrorImageHz VARIANT_BOOL mirrorImageVt This is usually done once upon initialization to get the actual overview properties FocalLength Chip characteristics and mirror status are for advanced programming issues If one wants to implement it s own image click handler i e determine relative tracker movement parameters out of image coordinates Important Remark Up to LTVideo2 OCX version 2 0 0 13 part of emScon 2 0 54 release it was essential for an application to call GetCameraParameters as part of the control s initialization process i e before calling StartLivelmage for the first time Since GetCameraParameters is an asynchronous command calling this command upon initialization was a somehow struggling task because the application had to wait for the event coming back a synchronization issue which is prone to bugs If GetCameraPara
297. using the emScon COM LTControl synchronous interface See Chapter Proper Interface Selection Further details see description of ES_C_StopMeasurement ES_C_ StartNivelMeasurement Triggers a Nivel 20 inclination sensor measurement if sensor is available Note result are in native Nivel20 units milli radiant Celsius regardless of the currently set angular and temperature units This is an exception to the common convention Reason It does not make sense to provide very small angles parts of milli radiants in Degrees or Gons ES_C_StopMeasurement Stopping a continuous measurement is the main purpose of this command However this command can also be used to interrupt other long taking but deterministic actions This is a new feature introduced with V2 0 and is not available on earlier emScon versions Commands that can be interrupted include Stationary Measurements if a long measurement time is applied those Positioning Commands including a spiral reflector search GoPosition FindReflector and finally the OrientToGravity and Automated Intermediate Compensation processes Note the Tracker Initialize command cannot be interrupted 65 Interruption of long taking commands is also not possible when using the emScon COM LTControl synchronous interface If an issue use the asynchronous COM interface For details see chapter Proper Interface Selection ES_C_Cha
298. value for parameter xx where xx is the number of the parameter The number of the parameter depends on the command Several parameters are invalid 10 1 4 Laser Control Processor HW Errors 4xx more error numbers will be defined in the future 10 1 5 Absolute Distance Meter HW Errors 501 ADM has no firmware loaded 502 Set frequency not locked 503 Set frequency illegal state internal software error 504 Measurement cycles exceeded 505 Reserved Resne O O OO OOOO S 506 508 509 512 513 514 515 516 501 502 503 504 505 506 508 509 512 513 514 515 516 335 Pea pe ed 550 Light polarization during ADM measurement too unstable happens normally only on large entry angles into prisms ase ADM communication frame error ADM LTC communication internal software error unknown ADM error 10 1 6 Hardware Error additional error numbers to the 9xx group eo S S O 606 LTCplus base video output cable not connected o o Z i O 609 Motor Amplifier motor power 28V Watchdog has locked IFM count not stable counting error during servo control point measurement 632 Serial port COM1 reserved SSS O 635 Serial port COM2 reserved __ SS O No Trigger Card No internal TCAM Probe cable No internal Trigger I O cable No Cable Trigger to Mot Amp Card Incompatible program on Trigger Card FPGA 10 1 7 Opera
299. vt if m_pLTConnect NULL return m_pLTConnect gt GetData amp vt MultiMeasResultT pData MultiMeasResultT vt parray gt pvData ASSERT pData gt 1lNumberOfResults resultsTotal for int i 0 i lt pData gt lNumberOfResults i s Format _T 71f 71f 71f pData gt data i dVall pData gt data i dVal2 pData gt data i dVal3 this is application dependent May differ in your app m_pMainWnd gt m_edit_Result SetWindowText s buff for OnContinuousPointMeasDataReady eOn using a Windows message notification method LTC_NM_WM_Notify it looks quite similar However with the event method there is a unique event function for just receiving continuous results With message notify methods all types of data packets come in through the same message handler The data must be interpreted with a switch statement This is done in the ProcessData function Use of the CESAPIReceive class of the C interface is another possibility eThe following implementation demonstrates receiving not only data of continuous measurements but also any kind of data LRESULT CCPPClientDlg OnNotifyMsg WPARAM wParam LPARAM lParam CString s VARIANT vt VariantInit amp vt m_pLTConnect gt GetData amp vt wParam msg ID cookie ProcessData vt parray gt pvData wParam return true return non zero if msg handled Activating this funct
300. xtract from an Excel application The image is displayed in an Image dialog control named Imagel1 Private Sub GetStillImage_Click On Error GoTo ErrorHandler Dim fileData As Variant Dim size As Long ObjSync GetStillImage ES_SI_Bitmap size fileData ObjConnect WriteDiskFile fileData C Temp img bmp Now load picture into sheet Imagel Picture LoadPicture C Temp img bmp Exit Sub ErrorHandler MsgBox Err Description End Sub Event handler Within an event handler the file data structure must be extracted first since GetData delivers the complete data packet including header information A similar helper function is required in VB since no casting to GetStilllmageRT is available See chapter Continuous measurements and VBA for 304 similar method using Continuous DataGet Header Info Private Sub ObjAsync_StillImageDataReady ByVal imageFileType As LTCONTROLLib ES_StillImageFileType ByVal fileSize As Long ByVal bytesTotal As Long Dim fsize as Long dummy ObjConnect GetData data Get whole packet incl header 1 retrieve out size and file data ObjConnect StillImageGetFile data fsize file ObjConnect WriteDiskFile file img bmp Now load picture into sheet Imagel Picture LoadPicture img bmp End Sub Although designed for use with VB StilllmageGetFile and WriteDiskFile can also be used in LTControl based C applications Image Click Posi
301. y 3 noPoints 7 2 330 Pure dilation AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 O O 0 SetInputParams 0 0 0 0 0 0 1 Unknown Unknown Unknown Unknown Unknown Unknown Fixed In this example the desired transformation is the identity with parameters 0 0 0 0 0 0 1 The length of all residuals is 0 1 2 Their covariance matrix is 10 0 covar 0 10 0 0 0 10 The weight matrix is 10 0 0 weight 0 10 0 0 0 10 Thus RSS 4 10 0 12 80000 redundancy 12 6 6 varianceFactor 13333 Weighting To illustrate the influence of nominal or actual standard deviations consider the following example AddNominalPoint 1l 1 1 0 0 002 Fixed Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 002 Fixed Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 001 Fixed Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 001 Fixed Fixed 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E
302. y default For 6DOF measurements enabling this flag is compulsory to prevent the laser going to home position upon a beam break automatically remeasures reference distance to the Reflector or T Probe after the laser beam has been lost There are two ways to control this flag either through the command SetSystemSettings or through SetLongSystemParame J ter See also 1 4 3 33 Station Parameters Implication Comment The station parameters describes the translation and rotation of the tracker station in a coordinate system X Y Z Omega Phi Kappa Orientation parameters can be determined using the Transformation functionality of emScon see 8 1 Points to points Transformation or can be individually set by the application By default the orientation parameters are as follows X 0 Y 0 Z 0 Omega 0 P hi 0 Kappa 0 Transformation Parameters Implication Comment A transformation describes a change into another coordinate system which is different from the tracker coordinate system It has the following parameters X Y Z Omega Phi and Kappa and scale factor Transformation parameters can be determined using the Transformation functionality of emScon see 8 1 Points to points Transformation or can be individually set by the application By default the transformation parameters are as follows X 0 Y 0 Z 0 Omeg
303. y enabling this flag bHasVideoCamera A hardware Configuration issue This flag 144 tells the system that an Overview Camera is present If your system is equipped with an overview camera it is recommended to always having checked this flag even when the camera is temporarily removed Otherwise leave it always unchecked default In the meantime there exist different types of overview cameras that differ in internal parameters focus distance CCD chip size Older emScon versions were not able to detect whether an overview camera was mounted or not not to speak of type recognition indeed it was the overview camera hardware that did not support type recognition For that reason the flag HasVideoCamera was originally introduced Thus the user had to tell the system when an overview camera was mounted Newer EmScon versions 2 0 and up are able to detect the camera type automatically Hence this flag theoretically has become obsolete However currently the camera type is recognized only when the hHas VideoCamera flag is enabled If your system is equipped with an overview camera it is highly recommended to always having this flag checked default is unchecked Otherwise the system may not detect the correct camera type and use wrong default parameters However wrong parameters do not cause any fatal failures The only effect will be that the Find Reflector feature by clicking to the live video
304. ype parameters are a requirement in order to use these functions with older versions of VBA Excel Access For programming languages supporting user defined data types VC Visual Basic having a function with only one struct parameter would be more convenient LTControl provides a collection of such extended functions Note that such extended functions cannot be provided for Event handlers Technical limitation One of these extended functions MeasureStationaryPointEx is implemented in the sample Private Sub StartMeasEx_Click Dim result As SingleMeasResultT On Error goo error handler ObjSync MeasureStationaryPointEx result display the result MsgBox result packetInfo status amp CStr amp _ result packetInfo packetHeader Type amp _ CStr 7 amp result dVal Tl E CSET T gM e result dVal2 amp CStr amp result dVal3 Exit Sub ErrorHandler MsgBox Err Description End Sub The data type SingleMeasResultT from the C TPI is transparent through the COM interface The VB application knows this type through its reference to the LTControl Remark Do not test explicitly against the VB keyword True if using the Get lt FunctionName gt Ex methods of the LTControl for those commands returning Boolean data within their result structure This is because the Boolean member in these structures if true are 1 However the VB keyword True evaluates to 1

2.3 Tracker Programming Interface

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