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1. i emScon Tracker Programming Interface p Reference Manual Geosystems DE eee See ae ae ee eee Reference Manual emScon TPI Metrology Division fica Metrology Division Geosystems Preface q 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 TPL
2. ES TR AsTransformation ES TR AsOrientation L 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 ES_TrackerProces Specifies the controller type of the Tracker sorlype 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 ES TPMicroProce Specifies the microprocessor type of the Tracker ssorlype Processor in use i486 686 etc Reference Manual emScon TPI Chapter 2 e C Interface e 75 fica Metrology Division Geosystems enum ES TPMicroProcessorType ES_TPM Undefined ES TPM i486 ES TPM 686 L 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 LIS LT D 500 ES_LTS_LT300 ES_LTS_LT600 ES_LTS_LT_D 800 ES_DisplayCoordi Specifies the conversion of the coordinate system nateConversionTy either base to current or vice versa pe enum ES DisplayCoordinateConversionType ES_DCC_BaseToCurrent ES_DCC_CurrentToBase 1 Data Structures This section describes all data structures defined in ES C API Def h The data structures describe t
3. Command structure receiving and sending data type to read the time left in hours and minutes rounded off to nearest 14 hour block to start the laser system restart sets this value to zero The tracker must be switched on 120 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems struct GetLaserOnTimerCT struct BasicCommandCT packetInfo F struct GetLaserOnTimerRT struct BasicCommandRT packetInfo int iLaserOnTimeOffsetHour int iLaserOnTimeOffsetMinute ConvertDisplayCoord Command structure receiving and sending data inatesCT RT type to call the DisplayCoordinateConversion function struct ConvertDisplayCoordinatesCT struct BasicCommandCT packetInfo enum ES DisplayCoordinateConversionType conversionType double dVal1 double dVal2 double dval3 gt struct ConvertDisplayCoordinatesRT struct BasicCommandRT packetInfo double dvall double dval2 double avals Reference Manual lt emScon TPI Chapter 2 e C Interface e 121 Metrology Division fica Geosystems 3 C Interface TPI Class Interface This chapter describes the data structures wrapper classes and a class used for sending commands The C TPI does not provide any additional functions It is built upon the C TPI Like the C interface it consists of one single include file ES_CPP_API_Def h with the base ES C API file q The description of the clas
4. Geosystems Error condition This is a hardware error to be repaired by service personnel 934 Encoder board Azimuth index pulse failed 935 Encoder board Elevation index pulse failed 936 Encoder board Latch signal for counters failed Encoder board disabling of index pulses failed Encoder board cannot switch on the receiver for index pulses 939 Encoder potentiometer adjustments invalid No A D board detected 941 A D board Unipolar Bipolar switch is set wrong A D board 8 16 channel switch is set wrong A D board Analog input multiplexor error A D board A D converter is not working A D board DMA data transfer is not working A D board onboard clock is not working A D board Pacer clock too slow switch is set wrong A D board Pacer trigger is not working A D board External trigger is not working A D board A D voltage range Reference Manual lt emScon TPI Chapter 6 e Appendix B e 181 Seica Geosystems Metrology Division Error condition This is a hardware error to be repaired by service personnel switch is not working 951 A D board A D input offset is out of tolerance 952 A D board DMA transfer synchronization error 953 A D board Ref Voltage Jumper for DAC in wrong 954 D A board Address switch is set to a wrong base address 955 D A board both axes not working 9 D A board Azimuth axis not working 56 957 D A board Elevation
5. mode struct SetStationaryModeParamsCT struct BasicCommandCT packetInfo struct StationaryModeDataT stationaryModeData ae struct SetStationaryModeParamsRT struct BasicCommandRT packetInfo 1 5 struct GetStationaryModeParamsCT struct BasicCommandCT packetIinfo J struct GetStationaryModeParamsRT struct BasicCommandRT packetInfo struct StationaryModeDataT stationaryModeData L See StationaryModeDatal on page 80 for details Set GetContinuousTi Command structures for setting getting the meModeParamsCT R T parameters for the Continuous Time Measurement mode Reference Manual emScon TPI Chapter 2 e C Interface e 97 fica Metrology Division Geosystems struct SetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo struct ContinuousTimeModeDataT continuousTimeModeData y struct SetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo p struct GetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo T struct GetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo struct ContinuousTimeModeDataT continuousTimeModeData ja r See ContinuousTimeModeDataT on page 80 for details Set GetContinuousDi Command structures for setting getting the stanceModeParamsC T RT parameters for the Continuous Distance Measurement Mode struct SetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo struct Conti
6. stdDev3 stdDevTotal covar12 covar13 covar23 pointingErrorH pointingErrorV pointingErrorD aprioriStdDevl1 aprioriStdDev2 aprioriStdDev3 aprioriStdDevTotal aprioriCovarl2 aprioriCovarl3 aprioriCovar 3 temperature pressure humidity in VARIANT BOOL isTryMode 1d 0x0000002b void CenterPoint2Data in ES MeasMode measMode in double in double in double in double vall val2 val3 stdDevl Reference Manual s emScon TPI Metrology Division VisualBasic and VBA Seica Geosystems in double stdDev2 in double stdDev3 in double stdDevTotal in double covarl2 in double covarl3 in double covar23 in double aprioriStdDevl in double aprioriStdDev2 in double aprioriStdDev3 in double aprioriStdDevTotal in double aprioriCovari2 in double aprioriCovarl3 in double aprioriCovar23 in double temperature in double pressure in double humidity in VARIANT BOOL isTryMode id 0x0000002c void CameraParamsData in long contrast in long brightness in long saturation 1d 0x0000002d void StillImageDataReady in ES _StillImageFileType imageFileType in long fileSize in long bytesTotal Access from 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 for VisualBasic VBA
7. struct PacketHeaderT packetHeader enum ES Command command enum ES ResultStatus status This receive only structure ES DT Error packet type describes the packet size and type It contains a standard packet header and a return status ES ResultStatus or a tracker error number P See Appendix B on page 173 for details The command parameter is set to ES_C_Unknown unless the error was a direct reaction to a particular command struct SingleMeasResultT struct ReturnDataT packetInfo enum ES MeasMode measMode ES BOOL bIsTryMode double dVal1 double dVal2 double dVal3 double dstdl double dstd2 double dstd3 2 double dStdTotal double dPointingError1 double dPointingError2 double dPointingError3 double dAprioristd1 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 measurement In addition to the 3 coordinate values there is information on the measurement stream values which make up the averaged measurement The flag bIsTryMode is set if system is in Try Mode This is not relevant for common users Reference Manual s emScon TPI Chapter 2 e C Interface e 87 fica Metrology Division Geosystems q The format of measu
8. 907 Azimuth index mark does not respond 908 Elevation index mark does not respond Azimuth moving range limited can not move 240 degrees 910 Photo sensor is not working properly 911 Photo sensor does not receive enough light 912 Photo sensor intensity signal failed Photo sensor X signal failed Photo sensor Y signal failed Reference Manual lt emScon TPI Chapter 6 e Appendix B e 179 fica Metrology Division Geosystems Error condition This is a hardware error to be repaired by service personnel 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 e g at test into the collar reflector did not work Lost counts signal of the interferometer is not working properly LAN Command line switch error No LANtastic hardware detected LAN Shared RAM did not pass tests LAN Coprocessor did not respond to reset er LAN Interrupt level error No encoder board detected Encoder board Azimuth counter is not working Encoder board Elevation counter is not working Encoder board Interferometer counter is not working 180 e Chapter 6 e Appendix B Reference Manual emScon TPI Metrology Division Seica
9. Excel Access 1 Import LTControl to the project s references list Select Project gt References gt Ltcontrol dll Declare an object of type LTConnect for each TPI tracker LTConnect is the only so called creatable object hence the keyword New 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 Reference Manual emScon TPI Chapter 4 e COM Interface e 159 feica Metrology Division Geosystems When doing so some answers will be 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 ObjAsync As LTCommandAsync 4 Connect to the Tracker Server and initialize interface pointers as is typical in an application startup procedure In Visual Basic this is often the Form Load function Private Sub Form Load On Error GoTo ErrorHandler ObjConnect ConnectEmbeddedSystem 193 8 34 161 ObjConnect 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
10. HRESULT ClearTransformationNominalPointList HRESULT ClearTransformationActualPointList HRESULT AddTransformationNominal Point in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double covl2 in double cov13 in double cov23 HRESULT AddTransformationActualPoint HRESULT SetTransformationInputParams in ES TransResultType transResultType in double transVall in double transVal2 in double transval3 in double rotvall in double rotVal2 in double rotVal3 in double scale in double transStdVall in double transStdVal2 in double transStdval3 in double rotStdVall1 in double rotStdVal2 in double rotStdVal3 in double scaleStd HRESULT GetTransformationInputParams in double vall in double val2 in double val3 in double stil in double std2 in double std3 in double covl2 in double covl3 in double cov23 HRESULT CallTransformation HRESULT GetTransformedPoints HRESULT ClearDrivePointList HRESULT AddDrivePoint in long internalReflectorId in double vall Chapter 4 e COM Interface e 151 fica Metrology Division Geosystems in double val2 in double val3 HRESULT CallIntermediateCompensation HRESULT SetCompensation in long internalCompensationId HRESULT SetStatisticMode in ES StatisticMode stationaryMeasurements in ES S
11. V values even without a reflector locked on Related structures GetDirectionCT and GetDirectionRT e ES C CallOrientToGravity Triggers an Orient to Gravity process The 2 inclination parameters are returned as a result Related structures CallOrientToGravityCT and CallOrientToGravityRT e ES C ClearTransformationNominalPointList Clears the current nominal point list which is used as input data for the Transformation process Related structures ClearTransformationNominalPointListCT and ClearTransformationNominalPointListRT e ES C ClearTransformationActualPointList Clears the current actual point list which is used as input data for the Transformation process Reference Manual emScon TPI Chapter 2 e C Interface e 45 Seica Geosystems 46 e Chapter 2 e C Interface Metrology Division Related structures ClearTransformationActualPointListCT and ClearTransformationActualPointListRT ES C AddTransformationNominalPoint Adds a point to the Transformation input nominal point list Values are expected in current Units Related structures AddTransformationNominalPointCT and AddTransformationNominalPointRT ES C AddTransformationActualPoint Adds a point to the Transformation input actual point list Values are expected in current Units and according to current CS Related structures AddTransformationActualPointCT and AddTransformationActualPointRT ES_C_SetTransformationInputParams Sets the optional
12. amp For version 1 5 and above it is recommended to await the ES_SSC_ServerStarted event before trying to 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 27 Meaning 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 Reference Manual s emScon TPI Metrology Division Seica Geosystems ES RS NoLastMeasuredPoint 28 Meaning This error occurs after a command GoLastMeasuredPoint when no stationary point has been measured since last system boot There 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 29 Meaning 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 connecte
13. id 0x0000000a void StationaryPointMeasData in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double stdTotal in double pointingErrorl in double pointingBrror2 in double pointingError3 in double aprioriStdl in double aprioriStd2 in double aprioristd gt in double aprioriStdTotal Reference Manual s emScon TPI Metrology Division Seica Geosystems double temperature double pressure double humidity VARIANT_BOOL isTryMode id 0x0000000b void Stationary6DMeasData void AdmParamsData in in in id 0x0000000d in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double stdTotal in double pointingErrorl in double pointingError2 in double pointingError3 in double aprioriStdl in double aprioriStd2 in double aprioriStd3 in double aprioriStdTotal in double temperature in double pressure in double humidity in double q0 in double ql in double q2 in double a3 in VARIANT BOOL isTryMode double targetStabilityTolerance long retryTimeFrame long numberOfRetrys void SearchParamsData in in id 0x0000000e double searchRadius long timeOut void SystemStatusData in id 0x0000000c in in id 0x0000000f void TrackerStatusData in i
14. in double spatialDistance in long numberOfPoints in VARIANT_ BOOL useRegion in ES RegionType regionType id 0x0000001f void SphereCenterModeParamsData in double spatialDistance in long numberOfPoints in VARIANT_ BOOL fixRadius in double radius id 0x00000020 void CircleCenterModeParamsData 1d 0x00000021 id 0x00000022 void TargetData in double in double Pad 0x00000023 void DirectionData in double in double id 0x00000024 void OrientToGravityData in double in double id 0x00000025 in double spatialDistance in long numberOfPoints in VARIANT _ in double radius BOOL fixRadius void CoordinateSystemTypeData in ES CoordinateSystemType coordSysType hzAngle vtAngle hzAngle vtAngle omega phi void IntermediateCompensationData in double in double totalRMS maxDev in long errorBitField id 0x00000026 void TransformationInputParamsData in ES TransResultType transResultType in double in double in double in double in double in double in double in double in double in double in double in double in double in double id 0x00000027 void TransformationData transVall transVal2 transVal3 rotvall rotval 2 rotVal3 scale transStdVall transStdVal2 transStdVal3 rotstavall rotStdVal2 rotstavald scale
15. or failed In case of failure the return status may indicate the reason Non data returning commands all share the same basic Reference Manual emScon TPI Chapter 2 e C Interface e 23 Seica Geosystems Property data Returning Command Answers Single Measurement Answers Metrology Division return type structure Find Reflector is an example of a non data returning command 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 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 explicit struct parameters example GetSystemStatusRT Normally there is a command specific sub structure example GetUnitsRT contains a SystemUnitsDataT sub structure Set Get commands rarely fail If a Set command fails return status not OK the supplied parameters are usually out of valid range These are answers to Start lt xxx gt MeasurementCT commands Applies only when the measurement mode is set to stationary e Incase 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 designe
16. rotStdVal2 Reference Manual emScon TPI Chapter 4 e COM Interface e 143 fica Metrology Division Geosystems out double rotStdVal3 out double scalestd HRESULT SetTransformationInputParamsEx in TransformationInputDataT data HRESULT GetTransformationInputParamsEx out TransformationInputDataT data HRESULT CallTransformation out double transvall out double transVal2 out double transVal3 out double rotvall out double rotVal2 out double rotVal3 out double scale out double transStdVall out double transStdVal2 out double transStdVal3 out double rotStdVall out double rotstdVal2 out double rotStdVal out double scalestd out double RMS out double maxDev out double varianceFactor HRESULT GetTransformedPoints HRESULT ClearDrivePointList HRESULT AddDrivePoint in long internalReflectorId in double vall in double val2 in double val3 HRESULT CalliIntermediateCompensation out double totalRMS out double maxDev out long errorBitField HRESULT SetCompensation in long internalCompensationId HRESULT SetStatisticMode in ES StatisticMode stationaryMeasurements in ES StatisticMode continuousMeasurements HRESULT GetStatisticMode out ES StatisticMode stationaryMeasurements out ES StatisticMode continuousMeasurements HRESULT SetCameraParams in long contrast in long brightness
17. Data Type size of TPI Structures 21 FEN 21 BEEN nne EE 21 Current filtered values Base values 22 Communication Basics c ccsceeeesseeeeeeeeenees 23 0 19 ANOS seta emaaoameae nt anainte ani 23 Command Answers esse eee eee eee 23 Non data Returning Command Answers 23 Property data Returning Command Answers 24 Single Measurement Answers 24 Multi Measurement Answers cccceecceeeeeeeeeeees 25 Special Command Answers eee 26 E LOL EVER i sto sotia ama ma ta oaie a ta it e eta e Duda 26 CONSTANT 26 Constants for Transformation see ee eee ee 27 ES FixedStdDev ee 27 ES UnknownStdDev sss sese 27 ES AIS ODE Lnr 27 Enumeration Types r axrnnnnnnnnnnnnnennnnnnennnnnnennnr 27 Reference Manual emScon TPI Contents e v Seica Geosystems vi e Contents Metrology Division ES DANN 27 ES me 30 ES FN SE ceccansevetecnsevsiecoiessiesnestenenausiecnnn 50 ES _MeasMode mansa ate aaa ina ai 61 ES MeasurementStatus rrarnarnarnnnnnrnnrnnnnnenneene 63 ENN 64 ES _TrackerTemperatureRange cccseceeeee 64 ES CoordinateSystemType se eee eee 64 ES LengthUnit eee eee eee eee eee 65 ES MU 66 ES TemperatureUnit arrnrrnannnnrnannnrrnarnnnrnnennner 66 ES PETUR 66 ES FN 67 ES HART MS oE a Matea ate aa ide ta at 67 ES AIS GUS red 67 ES NivelStatus rrrrrrarnnrrrarnarrnnrrannnrrnannnnnnnennnen 68 ES NAP ON 69 ES WeatherM
18. ES RS Parameter1OutOfRangeOK 13 ES RS Parameter1OutOfRangeNOK 14 ES RS Parameter1OutOfRangeOK 15 ES RS Parameter1OutOfRangeNOK 16 ES RS Parameter1OutOfRangeOK 17 ES RS Parameter1OutOfRangeNOK 18 ES RS Parameter1OutOfRangeOK 19 ES RS ParameterlOutOfRangeNOK 20 ES RS Parameter1OutOfRangeOK 21 ES RS Parameter1OutOfRangeNOK 22 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 to atmospheric values such as temperature and pressure The system can still perform the requested action but the result will not be within specifications Note Wi see ES_RS_WrongParameter Reference Manual s emScon TPI Metrology Division Reference Manual s emScon TPI Seica Geosystems 3 q In case of OutOfRangeOK the user should be aware that the system may not deliver highest accuracy ES_RS_WrongCurrentReflector 23 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
19. GetContinuousDistanceModeParamsRT and ContinuousDistanceModeDataT ES_C_SetSphereCenterModeParams Sets the properties for a Sphere Center measurement Related structures SetSphereCenterModeParamsCT SetSphereCenterModeParamsRT and SphereCenterModeDataT ES C GetSphereCenterModeParams Queries the currently valid SphereCenterMode Parameters Related structures GetSphereCenterModeParamsCT GetSphereCenterModeParamsRT and SphereCenterModeDataT ES C SetCircleCenterModeParams Set the properties for a Circle Center measurement Related structures SetCircleCenterModeParamsCT SetCircleCenterModeParamsRT and CircleCenterModeDataT ES C GetCircleCenterModeParams Queries the currently valid Circle Center Mode Parameters Related structures GetCircleCenterModeParamsCT Reference Manual emScon TPI Chapter 2 e C Interface e 39 Seica Geosystems 40 e Chapter 2 e C Interface Metrology Division GetCircleCenterModeParamsRT and CircleCenterModeDataT ES C SetGridModeParams Sets the properties for a Grid measurement Related structures SetGridModeParamsCT SetGridModeParamsRT and GridModeDataT ES C GetGridModeParams Queries the current Grid Mode Parameters Related structures SetGridModeParamsCT SetGridModeParamsRT and GridModeDataT ES C SetReflector Sets the valid reflector type by its numerical ID Related structures SetReflectorCT and SetReflectorRT ES C GetReflector Queries the ID of currentl
20. GoPositionCT RT GoPositionHVDCT RT Seica Geosystems struct SetSphereRegionParamsCT struct BasicCommandCT packetInfo struct SphereRegionDataT sphereRegionData ys struct SetSphereRegionParamsRT struct BasicCommandRT packetInfo p struct GetSphereRegionParamsCT struct BasicCommandCT packetInfo T struct GetSphereRegionParamsRT struct BasicCommandRT packetInfo struct SphereRegionDataT sphereRegionData 1 5 Command structures for setting getting the sphere region parameters r See SphereRegionDataT on page 85 for details struct GoPositionCT struct BasicCommandCT packetInfo double dVal1 double dVal2 double dVal3 ES_BOOL PUseADM by Struct GoPositionRT struct BasicCommandRT packetInfo F These are structures for invoking the GoPosition command With the input parameters set to the selected CS type When bUseADM is set an ADM measurement is performed and the IFM distance is set to this new value q 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 Structures for invoking the GoPositionHVD command Same as GoPosition with the input parameters in a spherical coordinate system type irrespective of the current CS Reference Manual emScon TPI Chapter 2 e C Interface e 107 fica Metrology Division
21. HRESULT GetGridModeParams out double vall out double val2 out double vals out long numberOfPoints out VARIANT BOOL useRegion out ES RegionType regionType HRESULT SetGridModeParamsEx in GridModeDataT data HRESULT GetGridModeParamsEx out GridModeDataT data HRESULT SetContinuousTimeModeParams in long timeSeparation in long numberOfPoints in VARIANT BOOL useRegion in ES RegionType regionType Reference Manual lt emScon TPI Chapter 4 e COM Interface e 141 Seica Geosystems HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT Metrology Division GetContinuousTimeModeParams out long timeSeparation out long numberOfPoints out VARIANT BOOL useRegion out ES RegionType regionType SetContinuousTimeModeParamsEx in ContinuousTimeModeDataT data GetContinuousTimeModeParamsEx out ContinuousTimeModeDataT data SetContinuousDistanceModeParams in double spatialDistance in long numberOfPoints in VARIANT BOOL useRegion in ES RegionType regionType GetContinuousDistanceModeParams out double spatialDistance out long numberOfPoints out VARIANT BOOL useRegion out ES RegionType regionType SetContinuousDistanceModeParamsEx in ContinuousDistanceModeDataT data GetContinuousDist
22. Reference Manual emScon TPI Metrology Division MultiMeasResult2T Seica Geosystems continuous measurement A packet consists of the single measurement and an array of MeasValueT parameters attached 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 q The format of measurement and or environmental values depends on current units CS settings struct MultiMeasResult2T struct ReturnDataT packetInfo long l1NumberOfResults enum ES MeasMode measMode ES_BOOL bIsTryMode double dTemperature double dPressure double dHumidity struct MeasValue2T d talll The same as MultiMeasResultT see above in case the statistical mode is set to extended r See also ES_C_SetStatisticMode Reference Manual emScon TPI Chapter 2 e C Interface e 89 fica Metrology Division Geosystems Single6DMeasResultT struct Single6DMeasResultT struct ReturnDataT packetInfo enum ES MeasMode measMode ES BO
23. Related structures SetCameraParamsCT and SetCameraParamsRT ES C GetCameraParams Get current Overview Camera parameters Related structures GetCameraParamsCT and GetCameraParamsRT Reference Manual s emScon TPI Metrology Division fica Geosystems e ES C GetCameraParams Reads the current Overview Camera parameters e ES_C GetCompensation Reads the currently active compensation ID e ES C GetCompensations Reads all compensations stored in the database e ES C CheckBirdBath Carries out Bird bath check routine e ES_C GetTrackerDiagnostics Returns Tracker diagnsotic information e ES C GetADMInfo Returns Absolute Distance Meter information e ES C GetTPInfo Returns Tracker Processor information e ES C GetNivellnfo Returns Nivel information e ES C SetLaserOnTimer Switches the laser on in predefined time e ES C GetLaserOnTimer Reads the remaining time left before it is switched on e ES_C ConvertDisplayCoordinates Converts display coordinate triples from base to current and back This is a private function command and is not documented supported e ES C GoBirdBath2 Sets the laser beam to the Bird bath by turning tracker head in specified direction clockwise or counter clockwise Reference Manual emScon TPI Chapter 2 e C Interface e 49 fica Metrology Division Geosystems ES ResultStatus Defines the supported result status values received as an answer to TPI commands R See Appendix B on pag
24. StationOrientationDatal ss 84 TransformationDataT rrrorornrornrerarnnernnernnrrnnnrnnne 84 BoxRegionDat aD eee eee 84 SphereRegionDataT eee eee 85 Reference Manual s emScon TPI Metrology Division Reference Manual s emScon TPI cica Geosystems ESVersionNumberT rnunnnnnnnnannnnnnnnnnnnnnnnnnnnenenennene 85 TransformationinputDataT rrererorornrrnnrrnnrrnnrnnre 85 TransformationPointT c cc ceceecececeeeeceeeeeeeeeeeeees 86 CameraParamsDataT a aanennenennennnnnnnenrerrrnnnene 86 Packet Data Structures 86 ErrorResponsefT sage acatist n i e ir ta al 87 SingleMeasResultT rrrrnrarannnrannarnnanennnnnranennanennne 87 SingleMeasResult2T r rrrnnnrannnnnnanernnrnnarennnnnnnnennne 88 MultiMeasResultT arannnanavannnnnnnnnnnnnnnnnnnnnnenennnnene 88 MultiMeasResult2T cnc eee 89 Single6DMeasResultT c eee eee 90 Multi6DMeasResultT arannnnananannnnnnnnnnnnnnnnnnenennnnnee 90 NivelResultT 2 0 cece eececeececeececeeceseecesaeeeeaeeeeaeaes 91 ReflectorPosResultT cece eceeeeceeeeeeseseeeeeeeeeees 91 SystemStatusChangeT c eee eee 91 Non Parameter Command Return Types 92 SwitchLaserCT RT c eee eee eee eee 94 FindReflectorCT RT rarnnnnnnnnannnnnnnnnnnnnnnnnnnnnnenennene 95 Set GetCoordinateSystemTypeCT RT s 95 Set GetMeasurementModeCT RT aiaiai 96 Set GetTemperatureRangeCT RT r
25. 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 CaliTransformation ES C GetTransformedPoints ES C ClearDrivePointList ES C AddDrivePoint ES C CallIntermediateCompensation ES C SetCompensation ES C SetStatisticMode ES C GetStatisticMode ES C GetStillImage ES C SetCameraParams ES C GetCameraParams ES C GetCameraParams ES C GetCompensation ES CC GetCompensations ES C CheckBirdBath ES C GetTrackerDiagnostics ES C GetADMInfo ES C GetTPInfo ES C GetNivelInfo ES C SetLaserOnTimer ES C GetLaserOnTimer ES CC ConvertDisplayCoordinates ES C GoBirdBath2 95 e ESC ExitApplication Stop and reset the Tracker Server Related structures ExitApplicationCT and ExitApplicationRT e ES C GetSystemStatus Request status information about the system Related structures GetSystemStatusCT and GetSystemStatusRT e ES C GetTrackerStatus Request status information about the tracker Related structures GetTrackerStatusCT and GetTrackerStatusRT e ES C SetTemperatureRange Set the Tracker working temperature range Related structures Set TemperatureRangeCT and SetTemperatureRangeRT 32 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology
26. attached Related structures PointLaserHVDCT and PointLaserHVDRT ES C MoveHV Command to start laser beam in horizontal vertical or stop movement Related structures MoveHVCT and MoveHVCT The parameters for MoveHV are signed values in order to specify the direction of movement 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 Related structures GoNivelPositionCT and GoNivelPositionRT ES C GoLastMeasuredPoint Positions the laser beam to the location that has been last measured successfully Related structures GoLastMeasuredPointCT and GoLastMeasuredPointRT ES C FindReflector Searches a reflector at the given position Reflector is attached if found m The search time depends on the search radius Large search radii result in extended search times Reference Manual s emScon TPI Metrology Division fica Geosystems r See also SetSearchParams Related structures FindReflectorCT and FindReflectorRT e ES C Unknown Used for initialization purposes only Does not appear as an answer to a command e ES C_LookForTarget Looks for a reflector at the given position and returns H V values if a reflector is present Related structures LookForTargetCT and LookForTargetRT e ES C GetDirection Returns H
27. axis not working Azimuth motor amplifier balance not properly adjusted Elevation motor amplifier balance not properly adjusted 961 CPU board DMA controller failed 964 CPU board CPU clock too slow 68 reserved reserved 9 CPU board not enough memory for dynamic memory 182 e Chapter 6 e Appendix B Reference Manual emScon TPI Metrology Division fica Geosystems Error condition This is a hardware error to be repaired by service personnel allocation reserved LTC internal PSD input cable not connected LTC internal Motor I O cable not connected LTC Digital I O cable not connected LTC COM1 cable not connected LTC COM cable not connected LTC Az Encoder Cable not connected LTC El Encoder cable not connected LTC Cable between PCL and LTC card failed LTC HW Trigger cable LTC card to Encoder card failed LTC Encoder Latch Cable Motor Amplifier to Encoder Card not connected LTC 5V Power Supply failed LTC 7V Power Supply failed LTC 12V Power Supply failed LTC 28V Power Supply failed LTC 5V Reference voltage failed LTC 7V Power Supply failed Reference Manual emScon TPI Chapter 6 e Appendix B e 183 fica Metrology Division Geosystems Error condition This is a hardware error to be repaired by service personnel 986 LTC 12V Power Supply failed 987 LTC Inhibit of 28V Power Supply not working 988 LTC 15V Power Supply failed LTC 15V
28. commands with only one parameter Meaning One of the parameters of the issued command was not accepted and executed This error is issued if for example e A positive value is expected but the user passed a negative one Reference Manual s emScon TPI Metrology Division fica Geosystems e The parameter is out of valid range Very often this is due to wrong 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 e ES RS WrongParameter1 4 e ES RS WrongParameter2 5 e ES RS WrongParameter3 6 e ES RS WrongParameter4 7 e ES RS WrongeParameterb 8 e ES RS WrongParameter6 9 e ES RS WrongParameter7 10 e ES RS WrongParameter8 47 e ES RS WrongParameter9 48 e EFS RS WrongParameter10 49 e FS RS WrongParameter11 50 e EFS RS WrongParameter12 51 e FS RS WrongParameter13 52 e ES RS WrongParameter14 53 e FS RS WrongParameter15 54 e FS RS WrongParameter16 55 Meaning Applies to commands with more than one parameter The symbol specifies which one of the parameters is wrong Note r See ES_RS_WrongParameter 3 e ES RS Parameter1OutOfRangeOK 11 Reference Manual emScon TPI Chapter 2 e C Interface e 53 Seica Geosystems 54 e Chapter 2 e C Interface Metrology Division ES RS Parameter1OutOfRangeNOK 12
29. condition Error digit Tar Hardware error in the TP Categories repair by service personnel addition to 9XX RX X Hardware configuration error repair by user 9XX Hardware error in the TP repair by service personnel System Errors Program too large for Boot to load Program failed reload or reboot Invalid command Boot command unable to open Reference Manual lt emScon TPI Chapter 6 e Appendix B e 173 Seica Geosystems Metrology Division a Error condition Ne file in RAM disk 105 Boot process interrupted by command Tracker not initialized 113 Calibration parameters sent to the wrong tracker 114 Target not defined target offset for ADM measurement 130 ADM not available E Video camera not available Error number Communication Errors 174 e Chapter 6 e Appendix B Nivel not available Command not implemented Error condition Overflow of input buffer Communications timeout the string was not completed within the time period LAN communication too slow TP has run out of resources buffers LAN name conflict more than one station with equal names Communication between IP and laser control processor LCP has failed Reference Manual emScon TPI Metrology Division fica Geosystems ere 221 Communication between TP and ADM has failed 227 Communication between TP and Nivel20 has failed Parameter Errors unde Error condition Invalid value for
30. double double double This struct describes a single measurement of a 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 ITimel1 ITime2 78 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division Meas Value2T Meas Value6DT Reference Manual s emScon TPI struct MeasValue2T Seica Geosystems enum ES MeasurementStatus status long 1Timel long 1Time 2 double avall double dVal2 double dVal3 double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovarl2 double dAprioriCovar13 dAprioriCovar23 double This struct describes a single measurement of a continuous measurement stream in case the statistical mode is set to extended r See ES_C_SetStatisticMode and description of MeasValueT above for details struct MeasValue6DT enum ES MeasurementStatus status long lTimel1 long lTime2 double dVal1 double dVal2 double dVal3 double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovarl2 double dAprioriCovarl3 double dApri oriCovar23 double doo double dol double doz double dos This struct describes a single 6D measurement 6 degrees of freedom in a contin
31. interface queuing several commands Events are not recognized with a console application r See Sample 7 of the emScon TPI User Manual for setting up an event sink for a Windows application L See Sample 9 of the EmScon SDK for a minimal C application demonstrating Reference Manual s emScon TPI Metrology Division fica Geosystems CESCommandApi as well the CESAPIReceive class include lt stdio h gt include lt atlbase h gt include lt atlcom h gt import LTControl dll no namespace named_guids inject statement pragma pack 4 int main int argc char argv CoInitialize NULL extern CComModule Module try ILTConnectPtr g_pLTConnect ILTCommandSyncPtr g pLTCommandSync g pLTConnect CreateInstance uuidof LTConnect Q pLTConnect gt ConnectEmbeddedSystem 127 8 34 61 Q 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 q 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 It is assumed that LTControl dll resides in the current directory otherwise specify the path f
32. pack push 4 elif defined _ li pragma pack 4 elif error Insert here directive to ensure 4 Byte alignment for other platforms Unix MAC endif Non Intel based workstations for example M68000 based workstations like SUN Apple or IBM RS6000 series require different endians in the Reference Manual emScon TPI Chapter 2 e C Interface e 19 Seica Geosystems Preprocessor Statements TPI Boolean Data Type Enumeration Type Members Numerical representation Metrology Division header files with appropriate macros to interpret numerical values correctly q The Tracker Server is Intel based All values are provided in the little endian format 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 ADT DEF H endif 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 rela
33. than the standard SingleMeasResultT This is an advanced feature The default statistic mode is standard compatible to Version 1 0 Related data structure SingleMeasResult2T Reference Manual emScon TPI Chapter 2 e C Interface e 29 Seica Geosystems Metrology Division ES DT MultiMeasResult2 The data packet contains results of a continuous measurement in case the statistic mode is set to extended P See command ES C SetStatisticMode The difference is that Multi MeasResult2T contains more statistical information than the standard MultiMeasResultT This is an advanced feature The default statistic mode is standard compatible to Version 1 0 Related data structure MultiMeasResult2T 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 acknowledgement Vic See BasicCommandCT on page 78 for details 30 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems 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 CC ReleaseMotors ES C ActivateCameraView ES C Park ES C SwitchLaser ES C SetStationOrientationParams ES CC
34. typical example is the Laser Beam Broken event V Command answers contain an error status in case of failure Constants This section names the constants that can be used with C C TPI programming For the COM 26 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division Constants for Transformation ES FixedStdDev ES UnknownStdDev ES ApproxStdDev ES DataType Seica Geosystems interface use the constant numerical values directly rather than the symbol These constants are used for the Weighting Scheme of the Transformation process const double ES FixedStdDev 0 0 Use this value to indicate a parameter as fixed const double ES UnknownStdDev 1 0E35 Use this value to indicate a parameter as unknown not fixed const double ES_ApproxStdDev 1 0E15 Use this value to weigh parameters according to its related Standard Deviation Enumeration Types This section describes all enumeration types and their individual values Where applicable the related structures are referred to 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 E
35. 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 160 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division fica Geosystems Private Sub Initialize Click On Error GoTo ErrorHandler ObjAsync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub q Use only one individual command handler for each function when using the asynchronous interface The user programmer must not trigger another command until a pending one has been completed With the synchronous interface calls can be queued within one function 9 Declare event handlers VB provides automatic code generation for event handler bodies Private Sub ObjAsync_ErrorEvent _ ByVal command As LTCONTROLL ib 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 wit
36. 1 5 Manual release June 2003 Manual order number None ii e Preface Reference Manual s emScon TPI Metrology Division feica Geosystems 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 Reference Manual s emScon TPI Preface e iii Metrology Division fica Geosystems Contents 1 Introduction 11 Prerequisites rarrnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnennnnnnen 11 Tracker Basics Terminology cccceeeeeeeeeeees 11 ae eld AVLE i ge meet soare mii iii d ami ea iei ie 11 ACI ARE sasea oaia a a aa aia ea ea 11 EP PP venec oerrrreranen ere ine AE r 11 TCP IP Communication e s eee eee e eee 12 Tracker Programming Interface sse eee e e e 12 Asynchronous Communication eee 13 Platform and Programming Language Issues 14 Prefixes and Suffixes used in Type Names 15 Working Conditions Error Messages 15 Interpretation of Parameter Value Triplets 17 2 C Interface 19 Low level Programming anrannnnnnnnennnnnnnnnnnnnennnr 19 NEVON eee eee E E E E E ee ere 19 EAN Ne 19 EG BIG ENOS ssesscescensveetusteasseescesiseseneeieeecdenseess 19 Preprocessor Statements eee ee eee ee 20 TPI Boolean Data Type sse 20 Enumeration T ype Members Numerical ODNESEN UO aster oriaoatire oaie o izola pt at ba la a aa 20 Basic C
37. 2 ptVal3 radius GetStationaryModeParams SetGridModeParams double double double in GetGridModeParams val3 long numberOfPoints VARIANT_BOOL useRegion ES RegionType regionType SetContinuousTimeModeParams in in in in long time in VARIANT BOOL useADM vall val2 long timeSeparation long numberOfPoints VARIANT BOOL useRegion ES RegionType regionType GetContinuousTimeModeParams SetContinuousDistanceModeParams in double in in in spatialDistance long numberOfPoints VARIANT_BOOL useRegion ES RegionType regionType GetContinuousDistanceModeParams SetSphereCenterModeParams in double in in in double spatialDistance long numberOfPoints VARIANT BOOL fixRadius radius GetSphereCenterModeParams SetCircleCenterModeParams in double in in in double spatialDistance long numberOfPoints VARIANT BOOL fixRadius radius GetCircleCenterModeParams SetCoordinateSystemType in ES CoordinateSystemType coordSystType 150 e Chapter 4 e COM Interface Reference Manual s emScon TPI Metrology Division Reference Manual s emScon TPI Seica Geosystems HRESULT GetCoordinateSystemType HRESULT LookForTarget in double vall in double val2 in double val3 in double searchRadius HRESULT GetDirection HRESULT CallOrientToGravity
38. Division Seica Geosystems ES_C_GetTemperatureRange Get the Tracker working temperature range Related structures GetTemperatureRangeCT GetTemperatureRangeRT ES C SetUnits Set new current units Native default units are Meter Radian Celsius hPa and percentage rel humidity Related structures SetUnitsCT SetUnitsRT and SystemUnitsDataT ES C GetUnits Queries the currently valid units Related structures GetUnitsCT Get GetUnitsRT and SystemUnitsDataT ES C Initialize Initializes the tracker Related structures InitializeCT and InitializeRT ES C ReleaseMotors Release the motor brakes for horizontal and vertical tracker head movement in order to allow manual laser beam movement Related structures ReleaseMotorsCT and ReleaseMotorsRT ES C ActivateCameraView Activates the camera view The mirror is turned upwards in order to direct camera view towards tracker head orientation Related structures ActivateCameraViewCT and ActivateCameraViewRT ES_C Park Send tracker to park position The laser beam points towards the floor on the opposite side Reference Manual emScon TPI Chapter 2 e C Interface e 33 Seica Geosystems 34 e Chapter 2 e C Interface Metrology Division of the Bird bath Related structures ParkCT ParkRT ES C SwitchLaser Switch the laser off or on Related structures SwitchLaserCT and SwitchLaserRT ES C SetStationOrientationParams Set the 6 orientation paramet
39. ES MS SpeedExeeded Measurement was taken when target was moving with a speed above limit 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 p e ES ST Unknown The target type is unknown e ES ST CornerCube The target is a corner cube reflector e ES ST CatsEye The target is a cat eye reflector e ES ST GlassPrism The target is a glass prism reflector ES TrackerTempe The ambient temperature range for the laser ratureRange tracker enum ES TrackerTemperatureRange ES_TR_Low ES TR Medium ES TR High e ES TR Low Ambient temperatures between 5 and 20 C e ES TR Medium Ambient temperatures between 10 and 30 C e ES_TR_High Ambient temperatures between 20 and 40 C ES_CoordinateSys Coordinate system types supported by the TPI temType 64 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems enum ES CoordinateSystemType ES 5 RAR ES_CS_LHRX ES_CS_LHRY ES_CS_LHRZ ES_CS_CCW ES_CS_CCC SOM SCC ES_CS ES_CS F e ES CS KHK Right Handed Rectangular default type e ES CS LHRX Left Handed Rectangular Set by changing the sign of the X axis e ES CS LHRY Left Handed Rectangular Set by changing the sign of the Y axis e ES CS LHRZ Left Handed Rectangular
40. Extended 1 5 e 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 e 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 q To maintain compatibility with earlier versions Single MultiMeasResultT have not been extended with additional parameters ES_StilllmageFileT Specifies the format of the still image This ype enumeration type is used as a parameter for the ES C GetStilllmage command 74 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems enum ES StillImageFileType ES_SI_Bitmap ES SI Jpeg z e ES SI Bitmap The image arrives in Bitmap format e ES SI Jpeg The image arrives in Jpeg format q This format is not supported ES_TransResultTy Specifies the type of the Transformation pe 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
41. Geosystems struct GoPositionHVDCT struct BasicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance ES BOOL bUseaDM T struct GoPositionHVDRT struct BasicCommandRT packetInfo F q The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m F See also Set GetSearchParamsCT RT on page 104 EE VC Structures for invoking the PositionRelativeHV command The input parameters are angles in the selected units The angles are prefixed with clockwise is and anti clockwise is to specify the direction of movement struct PositionRelativeHVCT struct BasicCommandCT packetInfo double dHzVal double dvtVal a struct PositionRelativeHVRT struct BasicCommandRT packetInfo PointLaserCT RT Structures for invoking the PointLaser command The input parameters are in the selected CS type struct PointLaserCT struct BasicCommandCT packetInfo double dvall double dval2 double dVal3 L struct PointLaserRT struct BasicCommandRT packetInfo L 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 108 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division MoveHVCT RT GoNivelPositionCT R T LookForTargetC
42. GetStationOrientationParams ES _C SetTransformationParams ES CC GetTransformationParams ES C SetBoxRegionParams ES C GetBoxRegionParams ES C SetSphereRegionParams ES C GetSphereRegionParams ES C GetEnvironmentParams ES C SetRefractionParams ES C GetRefractionParams ES C SetMeasurementMode ES C GetMeasurementMode ES C SetCoordinateSystemType ES C GetCoordinateSystemType ES C SetStationaryModeParams ES CC GetStationaryModeParams ES CC SetContinuousTimeModeParams ES C GetContinuousTimeModeParams ES CC SetContinuousDistanceModeParams ES C GetContinuousDistanceModeParams ES C SetSphereCenterModeParams ES C GetSphereCenterModeParams ES C SetCircleCenterModeParams ES C GetCircleCenterModeParams ES C SetGridModeParams ES C GetGridModeParams ES C SetEnvironmentParams 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 CC StartMeasurement ES C Start6DMeasurement ES C StartNivelMeasurement ES C StopMeasurement ES C ChangeFace ES CC GoBirdBath ES C GoPosition ES C GoPositionHVD ES C PositionRelativeHV ES C PointLaser ES C PointLaserHVD ES C MoveHV Reference Manual emScon TPI Chapter 2 e C Interface e 31 fica Metrology Division Geosystems ES C GoNivelPosition ES C GoLastMeasuredPoint ES C FindReflector ES C
43. GetTransformationInputParamsCT RT 110 Set GetStatisticModeCT RT iasanen 110 Set GetCameraParamsCT RT aaannennnananenenennnn 111 CallOrientToGravityCT RT r rrnnnnnrnnnronnnernnnennnnn 111 CallintermediateCompensationCT RT 112 CallTransformationCT RT s 115 AddTransformationNominalPointCT RT 116 AddTransformationActualPointCT RT 116 Contents e vii fica Metrology Division Geosystems GetTransformedPointsCT RT see 116 AddDrivePointCT RT ceea eee nea 117 SetCompensationCT RT e eee eee eee eee 117 GetStillmageCT RT rarrnrarannnnnennnnenrunenrnurennunennnn 117 GoBirdBath2CT RT rranrarerrnerennnrevruvenrnerennunennnn 118 GetCompensationCT RT ese 118 GetCompensationsCT RT see 118 CheckBirdBathCT RT cccccsececeeeeeeeeeeeeeeetaees 118 GetTrackerDiagnosticsCT RT rrrrrrnnrnnnrnnnrnnnrnnre 119 GetADMInfoCT RT i cincea cantate ci ia are ta 119 GetNivellnfoCT RT ccc eee Renea N yy 9 119 EI 419 lrei H 4 eg 120 SetLaserOnTimerCT RT rrrurnnnrnnnrnnnrnnnrnnnrnnnennne 120 GetLaserOnTimerCT RT rrrrnnnrnnnrnnnennvennrenanenere 120 ConvertDisplayCoordinatesCT RT sse 121 3 C Interface 123 TPI Class Interface ss ca ceia clisee alea eee 123 General Information ee ee ee eee eee 123 Data structure wrapper classes see ee eee 124 Class CGoPositiOn rrarananenarennnnnnnrnnrnnnrnnnnnnnennne 125 CESAPICOMMaA N scxcaceestcrocecaacosuran
44. Interface try objSync gt FindReflector 5 0 true catch com error amp e MessageBox Exception s n 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 The necessary exception handling precludes evaluation of the return status 166 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division Programming Language support for LTControl Seica Geosystems q 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 R 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 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 TErrorlnio pInfo HRESULT Hr GetErrorinto 0 amp pInfo if pInfo amp amp SUCCEEDED piInfo gt GetDescription amp bstrError bstr t errorsStringibstrError pinfo gt Release i
45. Interpretation of The value of parameter name triplets Vall Val2 Parameter Value and Val3 in certain data structures depends on Triplets the currently active coordinate system type Coordinate Val X Y Z Cartesian coordinate values H Horizontal angle V Vertical Angle D Distance Radius C Radius PHI Horizontal Angle H q Different notations of values in different systems Phi instead of H D instead of R maintain continuity with previous releases of application software Reference Manual lt emScon TPI Chapter 1 e Introduction e 17 Metrology Division Seica Geosystems 2 C Interface Overview Byte Alignment Little Big Endians Low level Programming 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
46. O ES RS WrongParameterll ES RS WrongParameterl2 ES RS WrongParameter1l3 ES RS WrongParameter14 ES RS WrongParameter1l5 ES RS WrongParameter1l6 ES RS NoSuchCompensation ES RS MeteoDataOutOfRange ES RS InCompensationMode ES RS InternalProcessaActive ES RS NoCopyProtectionDongleFound ES RS ModuleNotActivated ES RS ModuleWrongVersion ES RS DemoDongleExpired Reference Manual emScon TPI Chapter 2 e C Interface e 51 Seica Geosystems 52 e Chapter 2 e C Interface Metrology Division ES RS AIIOK 0 Meaning The command terminated successfully ES RS ServerBusy 1 Meaning 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 behaviour 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 q This error should not occur when using the synchronous interface of the COM TPI ES_RS_NotImplemented 2 Meaning A command that is already specified in the programming interface but not yet implemented supported was being executed q This may occur in pre releases Beta versions of emScon ES_RS_WrongParameter 3 This error applies to
47. OL bIsTryMode double avall double dVal2 double avald double dStdDevl double dStdDev2 double dStdDev3 double dStdDevTotal double dCovar12 double dCovar13 double dCovar23 double dPointingErrorH double dPointingErrorV double dPointingErrorD double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovari2 double dAprioriCovarl3 double dAprioriCovar23 double dQo double dol double do double dQ3 double dTemperature double dPressure double dHumidity This receive only structure describes the ES_DT_Single6DMeasResult packet type The only difference to an ES DT SingleMeasResult is the additional orientation type parameter values dQ0 dQ1 dQ2 and dQ3 A changed structure since 6D data was not available in earlier versions N struct Multi6DMeasResultT Multi6DMeasResultT struct ReturnDataT packetInfo long l1NumberOfResults enum ES MeasMode measMode ES BOOL bIsTryMode double dTemperature double dPressure double dHumidity struct MeasValue6DT datal l This receive only structure describes the ES DT MultioDMeasResult packet type The only difference to an ES DT MultiMeasResult is the array element types MeasValue6DT has additional orientation type parameters as MeasValueT 90 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division NivelResultT ReflectorPosResultT SystemStatusChange T Sei
48. PI Chapter 2 e C Interface e 71 Seica Geosystems ES LaserProcess orStatus ES SystemStatus Change 72 e Chapter 2 e C Interface Metrology Division 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 ES LPS LCPCommFailed Communication to laser processor failed ES LPS LCPNotAvail Laser processor not available ES_LPS_LaserHeatingUp Laser warming up ES_LPS_LaserReady Laser is ready ES_LPS_UnableToStabilize Laser not able to stabilize ES_LPS_LaserOff Laser is switched off Specifies status change types This enumeration type is used as a parameter for ES_DT_SystemStatusChange notifications Reference Manual s emScon TPI Metrology Division fica Geosystems 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 SSC SystemSettingsChanged ES SSC TemperatureRangeChanged ES SSC CameraParamsChanged ES SSC CompensationChanged ES SSC CoordinateSystemTypeChanged ES SSC BoxRegionParamsChanged ES SSC SphereRegionParamsChanged ES SSC StationOrientationParamsCh
49. PI Chapter 4 e COM Interface e 153 Seica Geosystems Metrology Division id 0x00000001 void ErrorEvent in in id 0x00000002 void ReflectorsData ES Command command ES Res ultStatus status in long reflectorsTotal in long reflectorID in ES TargetType targetType in double surfaceOffset in BSTR reflectorName id 0x00000003 void ContinuousPointMeasDataReady long resultsTotal long bytesTotal in in 1d 0x00000004 void Continuous 6DMeasDataReady long resultsTotal long bytesTotal in in id 0x00000005 void ReflectorPositionData in double vall in double val2 in double val3 154 e Chapter 4 e COM Interface void CenterPointData in ES MeasMode measMode in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double stdTotal in double aprioristdil in double aprioriStd2 in double aprioriStd3 in double aprioriStdTotal in double temperature in double pressure in double humidity in VARIANT BOOL isTryMode 1a 0x00000006 id 0x00000007 void StatusChangeEvent in ES SystemStatusChange statusChange id 0x00000008 void CommandCompletedData in ES Command command id 0x00000009 void NivelMeasurementData in ES NivelStatus nivelStatus in double xTilt in double yTilt in double nivelTemperature
50. Point SCT RT Metrology Division 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 Command structures for adding a Point to the Nominal point list struct AddTr nsformationNominalPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint y struct AddTransformationNominalPointRT struct BasicCommandRT packetInfo F Command structures for adding a Point to the actual point list struct AddTransformationActualPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint struct AddTransformation ActualPointRT struct BasicCommandRT packetInfo J Command structures for retrieving the transformed points and residuals after a successful transformation 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 116 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems q Res
51. Power Supply failed LTC Tacho Power Supply failed located in the measuring head 991 LTC 2 5 3 3V Supply failed on LTC Card LTC 5V Supply failed on Motor Amplifier LTC 12V Supply failed on Motor Amplifier 994 LTC 12V Supply failed on Motor Amplifier 995 LTC 3 3V Supply failed on Tracker Server LTC 12V Supply failed on Tracker Server LTC 12V Supply failed on Tracker Server LTC Power for ventilator on Front Panel failed 999 Unknown hardware error 184 e Chapter 6 e Appendix B Reference Manual s emScon TPI
52. RESULT SetSearchParams in double searchRadius in long timeOut struct SingleMeasResultT 138 e Chapter 4 e COM Interface Reference Manual s emScon TPI Metrology Division Seica Geosystems HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT GetSearchParams out out double searchRadius long timeOut SetSearchParamsEx in struct SearchParamsDataT data GetSearchParamsEx out SetAdmParams in in in GetAdmParams out out out SetAdmParamsEx in GetAdmParamsEx out struct SearchParamsDataT data double targetStabilityTolerance long retryTimeFrame long numberOfRetrys double targetStabilityTolerance long retryTimeFrame long numberOfRetrys struct AdmParamsDataT data struct AdmParamsDataT data SetSystemSettings in in in enum ES WeatherMonitorStatus weatherMonitorStatus VARIANT BOOL applyTransformationParams VARIANT BOOL applyStationOrientationParams VARIANT BOOL keepLastPosition VARIANT BOOL sendUnsolicitedMessages VARIANT BOOL sendReflectorPositionData VARIANT BOOL tryMeasurementMode VARIANT BOOL hasNivel VARIANT BOOL hasVideoCamera HRESULT GetSystemSettings HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT out enum ES WeatherMonitorStatus weatherMonitorStatus out VARIANT BOOL applyTransformationPara
53. RT packetInfo enum ES StillImageFileType imageFiletype long lFileSize char cFileStart ja q Only the BMP format is currently supported GoBirdBath2CT RT Command structure receiving and sending type for driving the laser to the Bird bath either in clockwise or counter clockwise direction struct GoBirdBath2CT struct BasicCommandCT packetInfo ES BOOL bClockWise struct GoBirdBath2RT struct BasicCommandRT packetInfo p rd Command structure receiving and sending type to read the currently active Compensation ID struct GetCompensationCT struct BasicCommandCT packetInfo ji struct GetCompensationRT struct BasicCommandRT packetInfo int iInternalCompensationId GetCompensationsC Command structure receiving and sending type T RT to read all Compensations stored in the database struct GetCompensationsCT struct BasicCommandCT packetInfo struct GetCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalCompensationId unsigned short cTrackerCompensationName 32 tracker compensation name as UNICODE string unsigned short cADMCompensationName 32 ADM compensation name as UNICODE string iG CheckBirdBathCT RT Command structure receiving and sending type to check the Bird bath position of the current selected reflector 118 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems s
54. S_DataType ES_DT_Command ES_DT_Error ES_DT_SingleMeasResult ES_DT_MultiMeasResult ES_DT_Single6DMeasResult ES_DT_Multi6DMeasResult ES_DT_NivelResult ES_DT_ReflectorPosResult ES DT SystemStatusChange ES DT SingleMeasResult2 ES DT MultiMeasResult2 e ES DT Command The data packet contains a command sent Reference Manual lt emScon TPI Chapter 2 e C Interface e 27 Seica Geosystems 28 e Chapter 2 e C Interface Metrology Division or a command answer received Related data structures BasicCommandCT and BasicCommandRT which are used as sub structures of each command related structure ES_DT_Error The data packet contains error information Can be seen as an Error event For example beam broken It is not a reaction of some previous command can occur any time and can only be received Related data structure ErrorRT ES DT SingleMeasResult The data packet contains the result of one single stationary measurement Result type packets can only be received Related data structure SingleMeasResultT ES DT MultiMeasResult The data packet contains results of a continuous 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_Single6DMeasResult The same as SingleMeasResult but with 6 degrees of freedom i e the data bloc
55. Set by changing the sign of the Z axis e ES CS CCW Cylindrical Clockwise system e ES CS CCC Cylindrical Counter Clockwise system e ES CS SCW Spherical Clockwise system e ES CS SCC Spherical Counter Clockwise system ES_LengthUnit Length units supported by the TPI This enumeration type is used as a parameter for ES C SetUnits ES C GetUnits Reference Manual emScon TPI Chapter 2 e C Interface e 65 Seica Geosystems ES AngleUnit ES TemperatureU nit ES PressureUnit 66 e Chapter 2 e C Interface Metrology Division enum ES LengthUnit ES LU Meter ES LU Millimeter ES LU Micron ES LU Foot ES LU Yard ES LU Inch 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 Eze Interface 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 p Pressure units supported by the TPI This enumeration type is used as a parameter for ES C SetUnits ES C GetUnits enum ES PressureUnit ES_PU_Mbar ES_PU ES PU default HPascal same as MBar KPascal 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 I
56. Std Chapter 4 e COM Interface e 157 Seica Geosystems 158 e Chapter 4 e COM Interface Metrology Division in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double 1d 0x00000028 void TransformedPointsData in double in double in double in double in double in double in double in double in double in double in double in double in double transVall transVal2 transVal3 rotVall rotVal2 rotVal3 scale transStdVall transStdVal2 transStdVal3 rotstdvall rotstdVal2 rotstdVal3 scaleStd RMS maxDev varianceFactor vall val2 val3 stdDev1 stdDev2 stdDev3 stdDevTotal covar12 covar13 covar23 residualVall residualVal2 residualVal3 in long totalPoints id 0x00000029 void StatisticModeData in ES StatisticMode stationaryMeasurements in ES StatisticMode continuousMeasurements id 0x0000002a void StationaryPoint2MeasData in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double in double vall val2 val3 stdDev1 stdDev2
57. T struct BasicCommandRT packetInfo 1 5 struct GetCircleCenterModeParamsCT struct BasicCommandCT packetInfo J struct GetCircleCenterModeParamsRT struct BasicCommandRT packetInfo struct CircleCenterModeDataT circleCenterModeData Fi See CircleCenterModeDataT on page 81 for details Set GetGridModePara Command structures for setting getting the msCT RT parameters for the Grid Measurement mode Reference Manual emScon TPI Chapter 2 e C Interface e 99 fica Metrology Division Geosystems struct SetGridModeParamsCT struct BasicCommandCT packetInfo struct GridModeDataT gridModeData y struct SetGridModeParamsRT struct BasicCommandRT packetInfo p struct GetGridModeParamsCT struct BasicCommandCT packetInfo T struct GetGridModeParamsRT struct BasicCommandRT packetInfo struct GridModeDataT gridModeData T r See GridModeDataT on page 81 for details Set GetSystemSetting Command structures for setting getting the SCT RT system settings parameters struct SetSystemSettingsCT struct BasicCommandCT packetInfo struct SystemSettingsDataT systemSettings F struct SetSystemSettingsRT struct BasicCommandRT packetInfo struct GetSystemSettingsCT struct BasicCommandCT packetInfo struct GetSystemSettingsRT struct BasicCommandRT packetInfo struct SystemSettingsDataT systemSettings r See SystemSe
58. T struct BasicCommandCT packetInfo ES BOOL bIson Yi struct SwitchLaserRT struct BasicCommandRT packetInfo FindReflectorC T RT Command structures for invoking a Find Reflector sequence DAproxDistance should be specified in order to apply search radius dependent on the distance from the tracker struct FindReflectorCT struct BasicCommandCT packetInfo double dAproxDistance struct FindReflectorRT struct BasicCommandRT packetInfo Ji q The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m The search radius 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 horiz and vert angles for the tracker from the specified search radius and approx distance Set GetCoordinateSy Command structures for setting getting the stemTypeCT RT current coordinate system type Reference Manual emScon TPI Chapter 2 e C Interface e 95 fica Metrology Division Geosystems struct SetCoordinateSystemTypeCT struct BasicCommandCT packetInfo enum ES CoordinateSystemType coordSysType L struct SetCoordinateSystemTypeRT struct BasicCommandRT packetInfo p struct GetCoordinateSystemTypeCT struct BasicCommandCT packetInfo T struct GetCoordinateSystem
59. T RT Reference Manual s emScon TPI Seica Geosystems struct PointLaserHVDCT struct BasicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance struct PointLaserHVDRT struct BasicCommandRT packetInfo 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 struct MoveHVCT struct BasicCommandCT packetInfo int iHzSpeed int iVtSpeed Fi struct MoveHVRT struct BasicCommandRT packetInfo The speed parameters are prefixed with clockwise is and anti clockwise is to specify the direction of movement struct GoNivelPositionCT struct BasicCommandCT packetInfo enum ES NivelPosition nivelPosition struct GoNivelPositionRT struct BasicCommandRT packetInfo J Structures for invoking the GoNivelPosition command in the orient to gravity procedure The input parameters are the pre defined Nivel positions 1 to 4 q The tracker head moves at a slow speed to minimize affecting the Nivel sensor Structures for invoking the LookFor Target 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 Chapter 2 e C Interface e 109 Seica Geosystems GetDirectionCT RT Set GetTransformatio ninputPa
60. TypeRT struct BasicCommandRT packetInfo enum ES CoordinateSystemType coordSysType J r See ES_CoordinateSystemType on page 64 for details Set GetMeasurement Command structures for setting getting the ModeCT RT current measurement mode struct SetMeasurementModeCT struct BasicCommandCT packet Into enum ES MeasMode measMode F struct SetMeasurementModeRT struct BasicCommandRT packetInfo L struct GetMeasurementModeCT struct BasicCommandCT packetInfo F struct GetMeasurementModeRT struct BasicCommandRT packetInfo enum ES MeasMode measMode r See ES _MeasMode on page 61 for details Set GetTemperatureR Command structures for setting getting the active angeCT RT laser tracker temperature range 96 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems struct SetTemperatureRangeCT struct BasicCommandCT packetInfo enum ES TrackerTemperatureRange temperatureRange ys struct SetTemperatureRangeRT struct BasicCommandRT packetInfo p struct GetTemperatureRangeCT struct BasicCommandCT packetInfo T struct GetTemperatureRangeRT struct BasicCommandRT packetInfo enum ES TrackerTemperatureRange temperatureRange ja L See ES_TrackerTemperatureRange on page 64 for details Set GetStationaryMod Command structures for setting getting the eParamsCT RT parameters for the Stationary Measurement
61. al emScon TPI Chapter 2 e C Interface e 119 Seica Geosystems GetTPInfoCT RT SetLaserOnTimerCT RT GetLaserOnTimerCT RT struct GetNivelInfoCT struct BasicCommandCT F struct GetNivelInfoRT struct BasicCommandRT Metrology Division packetInfo packetInfo int iFirmWareMajorVersionNumber int iFirmWareMinorVersionNumber int iSerialNumber Command structure receiving and sending type to read TP specific diagnostic data struct GetTPInfoCT struct BasicCommandCT F struct GetTPInfoRT struct BasicCommandRT packet Into 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 Command structure receiving and sending data type to set the time in hours and minutes rounded off to nearest 14 hour block to start the laser The tracker must be switched on q The power to the laser can be independently switched off struct SetLaserOnTimerCT struct BasicCommandCT int int y struct SetLaserOnTimerRT struct BasicCommandRT packetInfo iLaserOnTimeOffsetHour iLaserOnTimeOffsetMinute packetInfo
62. al3 out double aprioriStdDevl1 out double aprioriStdDev2 out double aprioriStdDev3 out double aprioriStdDevTotal out double aprioriCovarl2 out double aprioriCovarl3 out double aprioriCovar23 in VARIANT data in long index out ES MeasurementStatus status out long timel out long time2 out double vali out double val2 out double val3 out double aprioriStdDevl out double aprioriStdDev2 out double aprioriStdDev3 out double aprioriStdDevTotal out dotble aprioriCovarl2 out double aprioriCovarl3 out double aprioriCovar23 out double g out double q1 out double q2 out double q3 HRESULT StillImageGetFile in VARIANT packetData out long fileSize HRESULT Continuous6DDataGetat out VARIANT fileData HRESULT WriteDiskFile in VARIANT fileData 134 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division LTC_Constant Seica Geosystems in BSTR diskFileName HRESULT GetConstant in LTC Constant constant out retval double value A client application must prevent accessing subsequent interfaces ILTCommandSync and ILTCommandAsync until ConnectEmbeddedSystem has succeeded ContinuousDataGetHeaderInfo ContinuousPointGetAt and Continuous6DGetAt are convenience functions They allow extracting information out of a data packet of type ES DT MultiMeasRe
63. ance long lNumberOfPoints ES BOOL bFixRadius double dRadius Used for parameters Set GetSphereCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly 80 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division CircleCenterModeDat aT GridModeDataT SearchParamsDataT AdmParamsDataT Leica Geosystems struct CircleCenterModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bFixRadius double dRadius Used for parameters Set GetCircleCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly struct GridModeDataT double dvall double dVal2 double dVal3 long lNumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType T Used for parameters of Set GetGridModeParams commands The 3 values describe the grid size in the CS A INumberOfPoints value of zero means infinite must be stopped explicitly struct SearchParamsDataT double dSearchRadius double 1 Timeout Used for parameters of Set GetSearchParams commands TimeOut is in milliseconds q The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m struct AdmParamsDataT double dTargetStabilityTolerance double lRetryTimeFrame double 1NumberOfRetrys Used for parameters of Set GetAdmParams commands Re
64. anceModeParamsEx out ContinuousDistanceModeDataT data SetSphereCenterModeParams in double spatialDistance in long numberOfPoints in VARIANT BOOL fixRadius in double radius GetSphereCenterModeParams out double spatialDistance out long numberOfPoints out VARIANT BOOL fixRadius out double radius SphereCenterModeDataT data SetSphereCenterModeParamsEx in GetSphereCenterModeParamsEx out SphereCenterModeDataT data SetCircleCenterModeParams in double spatialDistance in long numberOfPoints in VARIANT BOOL fixRadius in double radius GetCircleCenterModeParams out double spatialDistance out long numberOfPoints out VARIANT BOOL fixRadius out double radius SetCircleCenterModeParamsEx in CircleCenterModeDataT data GetCircleCenterModeParamsEx out CircleCenterModeDataT data SetCoordinateSystemType in ES CoordinateSystemType coordSysType GetCoordinateSystemType out ES CoordinateSystemType coordSysType LookForTarget in double vall in double val2 in double val3 in double searchRadius out doubl ex hzAngle out double vtAngle 142 e Chapter 4 e COM Interface Reference Manual s emScon TPI Metrology Division fica Geosystems HRESULT GetDirection out double hzAngle out double vtAngle HRESULT CallOrientToGravity out double omega out double phi HRESULT ClearTransformat
65. and structures for setting getting the station orientation parameters Ki See StationOrientationDatal on page 84 for details Reference Manual emScon TPI Chapter 2 e C Interface e 105 fica Metrology Division Geosystems struct SetTransformationParamsCT Set GetTransformatio nParamsCT RT struct BasicCommandCT packetInfo struct TransformationDatar transformationData F struct SetTransformationParamsRT struct BasicCommandRT packetInfo p struct GetTransformationParanscCT struct BasicCommandCT packetInfo T struct GetTransformationParamsRT struct BasicCommandRT packetInfo struct TransformationDataT transformationData 1 5 Command structures for setting getting the Transformation parameters r See TransformationDataT on page 84 for details struct SetBoxRegionParamsCT Set GetBoxRegionPar amsCT RT struct BasicCommandCT packetIinfo struct BoxRegionDataT boxRegionData F struct SetBoxRegionParamsRT struct BasicCommandRT packetInfo L struct GetBoxRegionParamsCT struct BasicCommandCT packetInfo F struct GetBoxRegionParamsRT struct BasicCommandRT packetInfo struct BoxRegionDataT boxRegionData Command structures for setting getting the Box Region parameters r See BoxRegionDataT on page 84 for details 106 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division Set GetSphereRegion ParamsCT RT
66. anged 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 e ES SSC DistanceSet This event is fired as soon as the beam is locked on to the target and an ADM measurement has been performed a few seconds after the beam is broken q It is not fired when the system flag Keep Last Position is not active e ES SSC LaserWarmedUp This event is fired once the tracker is warmed up after system start or laser is switched on e ES SSC XXX Changed These event are fired whenever one of the system settings Parameters Modes and Regions change Reference Manual emScon TPI Chapter 2 e C Interface e 73 fica Metrology Division Geosystems e ES SSC MeasStatus_XXXX These events indicate the measurement status Busy Ready and Not Ready e ES SSC MeasurementCountReached Stop a continuous measurement when the max number of measurements are reached 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
67. anual emScon TPI Chapter 2 e C Interface e 37 Seica Geosystems 38 e Chapter 2 e C Interface Metrology Division ES_C_SetStationaryModeParams Sets the properties for a stationary measurement viz measurement time and ADM use Measurement time must lie between 500 ms and 100000 ms 0 5 100 seconds Related structures SetStationaryModeParamsCT SetStationaryModeParamsRT and StationaryModeDataT ES C GetStationaryModeParams Queries the currently valid Stationary Mode Parameters Related structures GetStationaryModeParamsCT GetStationaryModeParamsRT and StationaryModeDataT ES C SetContinuousTimeModeParams Sets the properties for a continuous time measurement Related structures SetStationaryModeParamsCT SetStationaryModeParamsRT and Continuous TimeModeDataT ES C GetContinuousTimeModeParams Queries the currently valid Stationary Mode Parameters Related structures GetStationary ModeParamsCT GetStationaryModeParamsRT and Continuous TimeModeDataT ES C SetContinuousDistanceModeParams Sets the properties for a continuous distance measurement Related structures SetContinuousDistanceModeParamsCT Reference Manual s emScon TPI Metrology Division Seica Geosystems SetContinuousDistanceModeParamsRT and ContinuousDistanceModeDatal ES C GetContinuousDistanceModeParams Queries the currently valid Continuous Distance mode parameters Related structures GetContinuousDistanceModeParamsCT
68. any time and are not direct reactions to a command The Tracker Server high level interface COM provides both asynchronous and synchronous communication Some answer types remain asynchronous even when using synchronous communication The versatility of emScon TPI with TCP IP allows its use on different operating systems Windows Linux and Macintosh 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 program based on the TPI low level interface 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 amp Translations are not provided in this Manual Only a simple Visual Basic sample application is provided for documentation L See Sample 2 in the emScon TPI User Manual The use of programming languages other than C C is not recommended for TPI programming and no support is provided Translating the TPI s Enumeration Types and Data Structures into other language s syntax has potential errors Reference Manual emScon TPI Metrology Division feica Geosystems different size of basic data types byte alignment issues etc e A C interface is recommended instead of the C interface The C interface defines Class wrappers around the basic data s
69. asMode measMode Reference Manual s emScon TPI Metrology Division fica Geosystems HRESULT GetMeasurementMode out ES MeasMode measMode HRESULT SetBoxRegionParams in double pti1Vall in double pt1Val2 in double pt1Val3 in double pt2vall in double pt2Val2 in double pt2Val3 HRESULT GetBoxRegionParams out double ptilvall out double pt1Val2 out double ptlVal3 out double pt2Val1 out double pt2Val2 out double pt2Val3 HRESULT SetBoxRegionParamsEx in BoxRegionDataT data HRESULT GetBoxRegionParamsEx out BoxRegionDataT data HRESULT SetSphereRegionParams in double ptvall in double ptVal2 in double ptval3 in double radius out double ptvall out double ptval 2 out double ptVal3 out double radius HRESULT SetSphereRegionParamsEx in SphereRegionDataT data HRESULT GetSphereRegionParamsEx out SphereRegionDataT data HRESULT SetStationaryModeParams in long time in VARIANT BOOL useADM HRESULT GetStationaryModeParams out long time HRESULT GetSphereRegionParams out VARIANT BOOL useADM HRESULT SetStationaryModeParamsEx in StationaryModeDataT data HRESULT GetStationaryModeParamsEx out StationaryModeDataT data HRESULT SetGridModeParams in double vall in double val2 in double val3 in long numberOfPoints in VARIANT BOOL useRegion in ES RegionType regionType
70. ation type is used as a parameter for various regions sphere box enum ES RegionType ES RT Sphere ES RT Box ES RT Sphere Region type is a sphere ES RT Box Region Type is a box The sequence of this enum is important It shows the state of the tracker processor during startup Reference Manual s emScon TPI Metrology Division feica Geosystems of the Tracker Server The value issued describes the status of the startup procedure e The tracker can only be booted if there is a connection to emScon e tcan have a valid compensation only if it is booted e Itcan be initialized only if it has a valid compensation e The tracker is ready only if it is initialized This enumeration type is used as a parameter of ES_C_GetSystemStatus enum ES TrackerProcessorStatus ES TPS NoTPFound ES TPS TPFound ES TPS NBOpen ES TPS Booted ES TPS CompensationSet Initialized ES TPS 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 but tracker failed to initialize e ES TPS Initialized Initialization was OK tracker is ready Reference Manual lt emScon T
71. bl vald out double rotl out double rot2 out double rots SetStationOrientationParamsEx in StationOrientationDataT data GetStationOrientationParamsEx out StationOrientationDataT data SetTransformationParams in double vall in double val2 in double val3 in double rotl in double rot2 in double rot3 in double scale GetTransformationParams out deuble vali out double vald out double vals out doubl rotl out doubl rot2 out double rota out double scale SetTransformationParamsEx in TransformationDataT data GetTransformationParamsEx out TransformationDataT data SetTemperatureRange in ES TrackerTemperatureRange temperatureRange GetTemperatureRange out ES TrackerTemperatureRange temperatureRange SetEnvironmentParams in double temperature in double pressure in double humidity GetEnvironmentParams out double temperature out double pressure out double humidity SetEnvironmentParamsEx in EnvironmentDataT data GetEnvironmentParamsEx out EnvironmentDataT data SetRefractionParams in double ifmRefractionIndex in double admRefractionIndex GetRefractionParams out double ifmRefractionIndex out double admRefractionIndex SetRefractionParamsEx in RefractionDataT data GetRefractionParamsEx out RefractionDataT data SetMeasurementMode in ES Me
72. ble double double vall Vala val3 rotl rot rot3 scale void TemperatureRangeData in ES_TrackerTemperatureRange id 0x00000016 temperatureRange void EnvilronmentParamsData in in in id 0x00000017 double double double void RefractionParamsData in in id 0x00000018 double double temperature pressure humidity 1imRetractionindex admRefractionIndex void MeasurementModeData in ES MeasMode measMode id 0x00000019 void BoxRegionParamsData in id 0x0000001a double double double double double double ptivall pt1Val2 ptival3 pt2vall pt2val 2 pt2Val3 void SphereRegionParamsData in an dn in id 0x0000001b double double double double ptvall ptval2 ptval3 radius 156 e Chapter 4 e COM Interface void StationaryModeParamsData in long time in VARIANT BOOL useADM 1d 0x0000001c void GridModeParamsData in double vall in double val2 in double val3 in long numberOfPoints in VARIANT BOOL useRegion in ES RegionType regionType id 0x00000014d Reference Manual s emScon TPI Metrology Division Reference Manual s emScon TPI void ContinuousTimeModeParamsData in long timeSeparation in long numberOfPoints in VARIANT BOOL useRegion in ES RegionType regionType id 0x0000001e void ContinuousDistanceModeParamsData
73. c structure is a part of all data blocks transmitted over the TCP IP network The IPacketLength has been introduced for programmer s convenience The value of the data structure contains the size in Bytes of received packets Upon sending packets this value is ignored It is good programming practice to initialize this value with the correct size even on sending data q C programmers have the sizeof operator This is inappropriate in other languages to determine the size of data structures 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 Reference Manual lt emScon TPI Chapter 2 e C Interface e 77 Seica Geosystems BasicCommandCT Meas Value Metrology Division struct BasicCommandCT struct PacketHeaderT packetHeader enum ES Command command je This is a generic structure used to derive all other command types It serves as a general basis for sending commands q Instead of using typedef for all basic command types commands that do not take additional parameters a structure containing only one BasicCommandCT member has been introduced This approach enables naming consistency with respect to struct nesting depth r See Non Parameter Command Return Types on page 92 struct MeasValueT enum ES MeasurementStatus long long
74. ca Geosystems q Name of structure changed 6D data is not available in earlier versions struct NivelResultT struct ReturnDataT packetInfo enum ES NivelStatus nivelStatus double dXTilt double dYTilt 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 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 struct ReflectorPosResultT struct ReturnDataT packetInfo double dvall double dVal2 double dVal3 F 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 bSendReflector Position Data struct SystemStatusChangeT struct ReturnDataT packetHeader enum ES SystemStatusChange systemStatusChange FG This receive only structure describes the ES DT SystemStatusChange packet type These are received when the system status has changed Fi See enum ES_SystemStatusChange on page 72 for supported notification types Reference Manual emScon TPI Chapter 2 e C Interface e 91 Seica Geosyste
75. ce Manual s emScon TPI Metrology Division Commands Command Answers Non data Returning Command Answers Seica Geosystems Communication Basics The Tracker Server can be controlled only through commands sent over TCP IP Commands differ in the count of parameters e Initialize Tracker 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 property setting Set lt CommandName gt The syntax of each command whether taking parameters or not is defined by its lt CommandName gt CT structure eo These structures need to be initialized properly Refer to the User Manual for details Every command causes an asynchronous answer with an acknowledgement 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 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 This command answer type essentially consists of a command type cookie with the return status succeeded
76. ct BasicCommandRT packetInfo struct AdmParamsDataT admParams Command structures for setting getting the reflector search parameter values Fix See AdmParamsDatal on page 81 for details 104 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division Set GetEnvironmentP aramsCT RT Set GetStationOrienta tionParamsCT RT Seica Geosystems struct SetEnvironmentParamsCT struct BasicCommandCT packetInfo struct EnvironmentDataT environmentData ys struct SetEnvironmentParamsRT struct BasicCommandRT packetInfo p struct GetEnvironmentParamsCT struct BasicCommandCT packetInfo T struct GetEnvironmentParamsRT struct BasicCommandRT packetInfo struct EnvironmentDataT environmentData 1 5 Command structures for setting getting the environmental parameter values q Environmental values are updated automatically at regular intervals if the weather monitor is on and connected Fr See EnvironmentDataT on page 83 for details struct SetStationOrientationParamsCT struct BasicCommandCT packetInfo struct StationOrientationDataT stationOrientation ae struct SetStationOrientationParamsRT struct BasicCommandRT packetInfo struct GetStationOrientationParamsCT struct BasicCommandCT packetInfo J struct GetStationOrientationParamsRT struct BasicCommandRT packetInfo struct StationOrientationDataT stationOrientation Comm
77. ct SetStatisticModecT struct BasicCommandCT packetInfo enum ES StatisticMode stationaryMeasurements enum ES StatisticMode continuousMeasurements J struct SetStatisticModeRT struct BasicCommandRT packetInfo J3 struct GetStatisticModeCT struct BasicCommandCT packetinto p3 struct GetStatisticModeRT struct BasicCommandRT packetInfo enum ES StatisticMode stationaryMeasurements enum ES StatisticMode continuousMeasurements We q Changing the statistical mode is for advanced purposes only Default statistical mode is Standard and ensures compatibility to earlier versions eo aParam Command structures for setting getting the i Camera parameters struct SetCameraParamsCT struct BasicCommandCT packetInfo struct CameraParamsDataT cameraParams y5 struct SetCameraParamsRT struct BasicCommandRT packetInfo T struct GetCameraParamsCT struct BasicCommandCT packetInfo J3 struct GetCameraParamsRT struct BasicCommandRT packetInfo struct CameraParamsDataT cameraParams GN ientToGravityC Command structures for executing an Orient To Gravity process including reception of results Reference Manual lt emScon TPI Chapter 2 e C Interface e 111 Seica Geosystems Error codes Metrology Division struct CallOrientToGravityCT struct BasicCommandCT packetInfo F struct CallOrientToGravityRT struct BasicCommandRT packetInfo do
78. d measurement type related data packet example packet type ES_DT_NivelResult NivelResultT structure is received i A successful measurement always returns such a data packet 24 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division Seica Geosystems Multi Measurement These apply to tracker related continuous Answers 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 these packets contains a various sized array of single atomic measurements Fr See also structures MultiMeasResult I on page 88 MultiMeasResult2T on page 89 and MultibDMeasResultT on page 90 Only the first element of the measurement array is covered by these structures although the index is valid from 0 INumberOfResults 1 There is another significant difference to single measurements Before the measurement data packet stream 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 essential for continuous m
79. d set the SystemStatusFlag HasVideoCamera to zero Command SetSystemStatus The application should not call camera related commands if there is no camera attached ES RS NoAdm 30 Meaning command could not access the 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 this probably indicates a hardware failure Refer to Leica service Applications driving an LT tracker should not issue ADM related commands such as GoPosition These LT trackers must always start in Birdbath position after a beam broken event ES RS NoNivel 31 Meaning command could not access the extern Nivel20 inclination sensor Either it is Reference Manual emScon TPI Chapter 2 e C Interface e 57 Seica Geosystems 58 e Chapter 2 e C Interface Metrology Division 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 32 ES RS DataBaseNotFound 33 ES_RS_LicenseExpired 34 Meaning These errors indicate an incorrect software installation They should never occur on a correctly installed system Note Re install emScon server software ES_RS_UsageConflict 35 Meaning Some system modes di
80. d 0x00000010 void ReflectorData in 1d 0x00000011 ES ResultStatus LastResultStatus ES TrackerProcessorStatus trackerProcessorStatus ES LaserProcessorStatus laserStatus ES ADMStatus admStatus long majorVersionNumber long minorVersionNumber long buildNumber ES WeatherMonitorStatus weatherMonitorStatus long flagsValue long trackerSerialNumber ES TrackerStatus trackerStatus long reflectorID void SystemSettingsData in in in in in in in in Reference Manual s emScon TPI ES WeatherMonitorStatus weatherMonitorStatus VARIANT BOOL applyTransformationParams VARIANT BOOL applyStationOrientationParams VARIANT BOOL keepLastPosition VARIANT BOOL sendUnsolicitedMessages VARIANT BOOL sendReflectorPositionData VARIANT BOOL tryMeasurementMode VARIANT BOOL hasNivel Chapter 4 e COM Interface e 155 Seica Geosystems Metrology Division in iad 0x00000012 void UnitsData id 0x00000013 VARIANT BOOL hasVideoCamera ES LengthUnit lengthUnit ES AngleUnit angleUnit ES TemperatureUnit temperatureUnit ES PressureUnit pressureUnit ES HumidityUnit humidityUnit void StationOrientationParamsData in 1d 0x00000014 double double double double double double vall val val3 rotl rot rot3 se void TransformationParamsData in id 0x00000015 double double double double dou
81. d at the correct port ES RS ModuleNotActivated 61 ES_RS_ModuleWrongVersion 62 ES_RS_DemoDongleExpired 63 Meaning The dongle is not activated or has expired Note Refer to a Leica representative A field upgrade might be provided This enumeration type names the currently implemented measurement modes Used as a Reference Manual emScon TPI Chapter 2 e C Interface e 61 Seica Geosystems Metrology Division parameter for the ES_C_SetMeasurementMode command enum ES MeasMode ES MM Stationary ES MM ContinuousTime ES MM ContinuousDistance ES MM SphereCenter ES MM CircleCenter 62 e Chapter 2 e C Interface 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 For moving targets 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 For moving targets a measurement is triggered after the distance interval The behavior of a C
82. dity 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 p e ES WMS NotConnected There is no weather monitor connected to the system or it is switched off Use ES C SetEnvironmentParams to set current environment parameters explicit method Reference Manual emScon TPI Chapter 2 e C Interface e 69 Seica Geosystems ES RegionType ES TrackerProces sorStatus 70 e Chapter 2 e C Interface Metrology Division ES WMS ReadOnly If weather monitor is connected the system automatically reads values periodically 20 seconds and updates current parameters implicit method Error event is generated if no values are read q The ES_C_GetEnvironmentParams command returns the current values and does not trigger a reading from the weather monitor A ES_C_GetEnvironmentParams command may require time on entering mode or on startup to succeed Refraction values are not influenced by the periodical update of environmental parameters To change refraction values an explicit ES C SetEnvironmentParams must be executed ES WMS ReadAndCalculateRefractions In addition to the ES WMS ReadOnly function current refraction parameters are automatically recalculated and updated Do not use ES C SetRefractionParams in this mode This enumer
83. e 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 AverageVerticallwoFaceErrorlsTooHigh 0x1 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 Bit 2 AtLeastOneVerticalTwoFaceErrorlsTooHig 0x2 h If Bit 1 not raised there is probably a very high error within a single two face measurement q If Bit 1 is raised too ignore warning Bit 2 Bit 3 AtLeastOneDistancelsNotInRange 0x4 At least one of the distances is smaller than the minimum or larger than the maximum recommended distance according to the recommendations Bit 4 NotEnoughMeasInTwoOppositeVerticalPla 0x8 nesWithGoodDiffOfVerticalAngle This warning covers all except the range criterion possible criteria which are not fulfilled by the measurement configuration according to the recommendations Bit 5 NotAllCorrectedDoubledTwoFaceErrorsAr 114 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems 0x10 eWithinCompensationTolerance Not all measurement residuals are within recommended tolerances Bit 6 NotAllMechanicalParametersArelnRange 0x20 Not a
84. e 173 for a listing of error numbers 50 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems enum ES ResultStatus ES RS AI1OK ES RS ServerBusy ES RS NotImplemented ES RS WrongParameter ES RS WrongParameterl ES RS WrongParameter2 ES RS WrongParameter3 ES RS WrongParameter4 ES RS WrongParameterb ES RS WrongParameter6 ES RS WrongParameter ES RS ParameterlOutOfRangeOK ES RS ParameterlOutOfRangeNOK ES RS Parameter20utOfRangeOK ES RS Parameter20utOfRangeNOK ES RS Parameter3O0utOfRangeOK ES RS Parameter3O0utOfRangeNOK ES RS Parameter4OutOfRangeOK ES RS ParameterZ4OutOfRangeNOK ES RS Parameter5OutOfRangeOK ES RS Parameter5O0utOfRangeNOK ES RS Parameter60utOfRangeOK ES RS Parameter60utOfRangeNOK ES RS WrongCurrentReflector ES RS NoCircleCenterFound ES RS NoSphereCenterFound ES RS NoTPFound ES RS NoWeathermonitorFound ES RS NoLastMeasuredPoint ES RS NoVideoCamera ES RS NoaAdm 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 ErrorReadingModuleDb ES RS ErrorWritingModuleDb ES RS NotInCameraPosition ES RS TPHasServiceFirmware ES RS TPExternalControl ES RS WrongParameterB8 ES RS WrongParameter9 ES RS WrongParameter1lQ
85. eatearontedsaranecied 126 A class for sending commands 126 Virtual override of SendPacket c sceeeees 126 Command Methods sese eee 127 COM Interface Advanced programming 129 4 COM Interface 131 Tracker Server High Level Interface 131 Drawbacks eee 131 MON 131 METTE 132 Type Custom cc eee eee eee 132 Type Connection Point IDispatch 133 ILTConnect Custom Interface 133 EIC eir masea amic ai it ate i ri aa a taia 135 ILTCommandSync Custom Interface 136 ILTCommandSyncEvents Connection Point Interface EE 145 ILTCommandAsync Custom Interface 147 _ILTCommandAsyncEvents Connection Point ME VS 152 Access from applications cesses ecce ecce eee lt 159 VisualBasic and VBA eee eee 159 RAN ONC AMON S aaa ia seism bul ab ua bebei Baal 162 Notification Method Selection eee eee 163 Exceptions and Return Typ s cccceceeeeees 165 Exception Handling in Visual Basic 166 Exception Handling in C eee 166 Evaluating the Return status 166 Programming Language support for LTControl 167 EN 169 viii e Contents Reference Manual s emScon TPI Metrology Division feica Geosystems 5 Appendix A 171 Manuals and Files raranrnnravvarnnvnnvnvvnnvarnavnnv 171 Programming interfaces eee e eee 171 6 Appendix B 173 Tracker error numbers css ccc c cc eee 173 Cate
86. ed in order to retrieve the data The method SelectNotificationMethod is defined as follows q Implementing an event sink in a Windows application using the LTC_NM_WM_COPYDATA or LTC NM WM Noy is recommended r See emScon TPI User Manual for code Samples of the different methods Exceptions and All methods interfaces have a HRESULT return Return Types type as per COM design Applications are Reference Manual emScon TPI Chapter 4 e COM Interface e 165 Seica Geosystems Exception Handling in Visual Basic Exception Handling in C Evaluating the Return status Metrology Division usually not required to test these return codes since method failures are signalled 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 Each VB function calling interface methods must provide the following statement before the first call At the bottom of the function before the EndSub statement the following minimal code block must be inserted Exit Sub ErrorHandler MsgBox Err Description eo Additional or different error handling code can be inserted after the ErrorHandler label In C applications exception handling is performed through try catch statements The caught exception is of type _com_error r See Win32API COM documentation for details of ISupportError
87. en the mode is activated Coordinates are in current CS and units Related structures SetBoxRegionParamsCT SetBoxRegionParamsRT and BoxhegionDatal ES_C_GetBoxRegionParams Queries the currently valid box region parameters Related structures GetBoxRegionParamsCT GetBoxRegionParamsCT and BoxhegionDatal ES_C_SetSphereRegionParams Same as SetBoxRegionParams except that the region is a sphere A point and a radius describe the region Related structures GetSphereRegionParamsCT GetSphereRegionParamsCT and SphereRegionDataT ES C GetSphereRegionParams Queries the currently valid sphere region parameters Reference Manual emScon TPI Chapter 2 e C Interface e 35 Seica Geosystems 36 e Chapter 2 e C Interface Metrology Division Related structures GetSphereRegionParamsCT GetSphereRegionParamsCT and SphereRegionDataT ES C SetEnvironmentParams Sets the environment parameters temperature pressure and humidity Values are in current units Related structures SetEnvironmentParamsCT SetEnvironmentParamsRT and EnvironmentDataT r See ES_WeatherMonitorStatus on page 69 for details on explicit and implicit updates of environmental parameters ES C GetEnvironmentParams Queries the currently valid environment parameters Related structures GetEnvironmentParamsCT GetEnvironmentParamsRT and EnvironmentDataT Fi See ES_WeatherMonitorStatus on page 69 for details on explicit and implicit updat
88. ers e Taking the data as one single struct parameter r Refer to SDK class CsetContinuousTimeModeParams in ES_CPP_API_Def h file The user of the C TPI can ignore all struct wrapper classes except the class CESAPICommand which is defined at the end of the ES CPP API Def h file In order to use the C TPI a class from the CESAPICommand class must be derived This derived class a pure virtual function SendPacket must be implemented This function cannot be implemented in the ESAPICommand class without knowledge of the TCP IP communication functions in use The implementation of SendPacket depends on the TCP IP communication functions library The SendPacket function expects a pointer to a data packet and the size of that packet Derived from CESAPICommand 126 e Chapter 3 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems class CMyEsCommand public CESAPICommand public CMyEsCommand 1 virtual CMyEsCommand virtual function override bool SendPacket void pPacketStart long Packetsize Todo add members and methods used for TCP IP communication CMyEsCommand CMyEsCommand Implementation Todo add initialization code if any CMyEsCommand CMyEsCommand Todo add cleanup code if any k virtual function override bool CMyEsCommand SendPacket void pPacketStart long lPacketSize Todo impleme
89. ers Invariant orientation parameters are 0 0 0 0 0 0 With these settings the tracker delivers data in the instrument s CS These values are ignored if the applyTransformationParams system settings flag is not set Related structures SetStationOrientationParamsCT SetStationOrientationParamsRT and StationOrientationDataT ES C GetStationOrientationParams Queries the currently valid 6 orientation parameters Related structures GetStationOrientationParamsCT GetStationOrientationParamsRT and StationOrientationDataT ES C SetTransformationParams Set the 7 transformation parameters Invariant transformation parameters are 0 0 0 0 0 0 1 With these settings the tracker delivers data in the instrument s CS or in the oriented system if non invariant orientation parameters are present These values are ignored if the applyStationOrientationParams system settings flag is not set Related structures SetTransformationParamsCT Reference Manual s emScon TPI Metrology Division Seica Geosystems SetTransformationParamsRT and TransformationDataT ES C GetTransformationParams Queries the currently valid 7 transformation parameters Related structures SetTransformationParamsCT SetTransformationParamsRT and TransformationDataT ES C SetBoxRegionParams Sets the box region parameters i e coordinates of 2 points describing two corners of a box The tracker delivers measurements only within this region wh
90. es Refer also to C documentation q Only a few class definitions are described in detail r Win32 platforms have a high level interface See COM Interface on page 131 for details Refer also to the ES_CPP_API_Def h in the SDK Over 90 of the file size is used for definition of wrapper classes of data structures which are intended 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 RI since the C TPI does not provide class support for receiving data r Refer to the TPI User Manual for extension of the C class interface in order to receive data conveniently 124 e Chapter 3 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems q The sample has no wrapper classes for data returning RT structures Wrapper classes are only required on the server side which is hidden from the client programmer Similar to struct wrapper classes all members are public S class CGoPosition Class CGoPosition public CGoPosition CGoPosition DataPacket packetInfo packetHeader lPacketSize sizeof GoPositionCT DataPacket packetInfo packetHeader type ES DT Command DataPacket packetInfo command ES C GoPosition DataPacket dVall 0 DataPacket dVal2 DataPac
91. es of environmental parameters ES C SetRefractionParams Set explicit Refraction Parameters for Interferometer and ADM q A change of the environment parameters automatically causes an internal implicit refraction parameter setting Related structures SetRefractionParamsCT and SetRefractionParamsRT Reference Manual s emScon TPI Metrology Division Seica Geosystems ES C GetRefractionParams Get Refraction Parameters for Interferometer and ADM Related structures GetRefractionParamsCT and GetRefractionParamsRT ES C SetMeasurementMode Sets the measurement mode of the tracker Depending on this mode a Start measurement command will result in a Stationary measurement single point measurement a Continuous measurement etc r See ES_MeasMode on page 61 for a list of modes supported Related structures SetMeasurementModeCT and SetMeasurementModeRT ES C GetMeasurementMode Queries the currently active measurement mode Related structures GetMeasurementModeCT and GetMeasurementModeRT ES_C_SetCoordinateSystemType Sets the coordinate system type See ES_CoordinateSystemType for a list of CS types supported Default is RHR Right handed rectangular Related structures SetCoordinateSystemType CT and SetCoordinateSystemTypeRT ES_C_GetCoordinateSystemType Queries the currently active CS type Related structures SetCoordinateSystemTypeCT and SetCoordinateSystemTypeRT Reference M
92. f In case of command failure E FAIL is returned This automatically leads to an exception thrown by the COM framework e Visual C e All Interfaces supported e User defined TypeLibrary enum structs supported e Event and message notification methods supported e VisualBasic Reference Manual emScon TPI Chapter 4 e COM Interface e 167 fica Metrology Division Geosystems e All interfaces supported e User defined TypeLibrary enum structs supported e Event and WM Message Notification methods supported Events to be preferred e VisualBasic for Applications VBA Excel Word and Access e All interfaces supported e User defined types of TypeLibrary enum structs supported with Office 2000 but not fully supported with Office 97 e Event notification methods supported WM Messages not supported e Scripting Languages VBS JavaScript Currently not supported Support of these languages requires Dual or Dispatch COM interfaces COM Idispatch wrapper around the LTControls custom interface 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 bas
93. gories ENE 173 System ENOS ieee sincronizarea eco ic uta ard ne ela asia 173 Communication ErTOrS 174 Parameter Errors 175 Operation CN Ol Sx oaze aa e taia i n ca bata ai tt aaa 175 Configuration errors eee eee 177 Hardware errors TH 178 Reference Manual s emScon TPI ContentsIntroduction e ix Metrology Division Seica Geosystems 1 Introduction Tracker Basics Terminology Abbreviations Hardware TCP IP Protocol Prerequisites 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 TPI Tracker Programming Interface TS Tracker Server CS Coordinate System ADM Absolute Distance Meter IFM Interferometer TP Tracker Processor NYI Not yet implemented LT Leica Tracker The emScon TPI supports the following Leica Trackers e LT300 e L1500 amp LTD500 e LT600 amp LTD600 LTD700 e LT800 amp LTD800 Communication to the tracker server is based on TCP IP The client PC must be equipped with a TCP IP enabled LAN Board Reference Manual lt emScon TPI Chapter 1 e Introduction e 11 Seica Geosystems TCP IP Communication Minimum functions include Tracker Programming Interface 12 e Chapter 1 e Introduction Metrology Division V This manual does not cover hardware and installation issues Communication
94. h struct type casts For VB and VBA ILTConnect provides some convenient functions Fk See detailed description of VB implementation of ContinuousPointDataReady event in emScon TPI User Manual Reference Manual emScon TPI Chapter 4 e COM Interface e 161 Seica Geosystems C Applications 162 e Chapter 4 e COM Interface Metrology Division 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 dVal2 dVal3 Todo Do something with the measurement data here Next Exit Sub ErrorHandler MsgBox Err Description End Sub ContinuousDataGetHeaderInfo 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 extract continuous measurements Fi Refer to the emScon TPI User Manual for details A complete C console application is shown below It shows import of the LTControl and how to declare and initialize objects The application uses the synchronous
95. he laser tube This can be caused by a fast and large temperature change For proper measuring accuracy the user must wait until the laser ready flag switches again to an active state and then run a new initialization to make sure that the sensor works with a correct servo control point 722 Laser stabilization in progress wait until the laser is stable before tracking 176 e Chapter 6 e Appendix B Reference Manual s emScon TPI Metrology Division fica Geosystems Error condition 723 Laser is unable to stabilize 724 Laser light is switched off 731 Reflector too close to the tracker for measuring the distance with the ADM 732 ADM gets no signal from the reflector 739 ADM measuring timeout the communication with the ADM is working but there is no completed measurement within a specified time by the ADM 734 Target was not stable during the ADM measurement 735 Reflector too far away from the Tracker to measure the distance with the ADM 736 Distance measured by the ADM is invalid out of range 750 Reserved Power switch from the rack is off Power switch for tracker motor is off Cables from TP to the rack are not connected DA cable from TP to the rack is not connected Encoder cable from TP to the rack is not connected Communication from the TP Reference Manual lt emScon TPI Chapter 6 e Appendix B e 177 Configuration errors 801 802 810 11 8 812 813 Seica Ge
96. he 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 76 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division Basic Data Structures PacketHeaderT ReturnDataT Seica Geosystems 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 This section describes those data structures that are not directly exchanged as packets They are used as sub structures to compose the real Packet data types struct PacketHeaderT long lPacketLength enum ES DataType type h This basi
97. ibrary for a list of methods no longer supported since version 1 3 r See the TPI User Manual for examples of the following methods Reference Manual lt emScon TPI Chapter 4 e COM Interface e 147 Seica Geosystems HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT 148 e Chapter 4 e COM Interface Metrology Division Initialize ReleaseMotors ActivateCameraView Park SwitchLaser in VARIANT BOOL isOn ExitApplication GoBirdBath ChangeFace GoPosition in double valli in double val2 in double val3 GoPositionHVD in double hzAngle in double vtAngle in double distance in VARIANT BOOL useADM PositionRelativeHV in double hzAngle in double vtAngle PointLaser in double wall in double val2 in double val3 PointLaserHVD in double hzAngle in double vtAngle in double distance FindReflector in double approxDist StartNivelMeasurement StartContinuousPointMeasurement StartContinuous6DMeasurement MeasureStationaryPoint MeasureStationary6DData StopContinuousMeasurement MoveHV in long horizontalSpeed in long ve
98. ic data types as a work around Because of lack of support of enum types they need to be passed as 4 Byte long values Therefore the numerical representation of particular enum values must be known In C 168 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division Example Seica Geosystems language these values are implicitly enumerated by starting with zero for the first value R See TPI C API Def h in SDK for enum definitions A type library viewer will also show the numerical values Enum definition enum ES_TrackerTemperatureRange ES_TR_Low ES TR Medium ES TR High ES TR Low 0 TR Medium 1 and ES_TR_High 2 e Command in a VB application e Command in VBA Obj Sync SetTemperatureRange 2 Reference Manual emScon TPI Chapter 4 e COM Interface e 169 Metrology Division feica Geosystems 5 Appendix A Manuals and Files Programming The software development kit SDK includes the interfaces following files e ESC API Def h and ES CPD API Def h Enum h e LTControl dll e LTControl tlb The SDK is distributed together with the Reference and User Manuals for the TPI Reference Manual lt emScon TPI Chapter 5 e Appendix A e 171 Metrology Division fica Geosystems 6 Appendix B Tracker error numbers This list is an extract of the error numbers sent with all answers The first digit of the 3 digit number indicates the category of the error
99. iduals are the difference between the nominal and the measured transformed points struct GetTransformedPointsCT struct BasicCommandCT packetInfo T struct GetTransformedPointskET struct BasicCommandRT packetInfo int iTotalPoints double dvall double dval2 double dVal3 double dStdDevl double dStdDev2 double dStdDev3 double dStdDevTotal double dCovar12 double dCovar13 double dCovar23 double dResidualvall double dResidualval2 double dResidualval3 ju AddDrivePointCT RT Command to add a point to the Drive Point List to be used by the Intermediate Compensation process struct AddDrivePointCT struct BasicCommandCT packetInfo int iInternalReflectorId double dvall double dVal2 double avald ja struct AddDrivePointERT struct BasicCommandRT packetInfo T nin CT Command to activate one of the internal intermediate compensations struct SetCompensationCT struct BasicCommandCT packetInfo int iInternalCompensationId ae struct SetCompensationRT struct BasicCommandRT packetInfo GetStilllmageCT RT Command structures for getting a camera still image The data is delivered as a BMP file Reference Manual lt emScon TPI Chapter 2 e C Interface e 117 fica Metrology Division Geosystems struct GetStillImageCT struct BasicCommandCT packetInfo enum ES StillImageFileType imageFileType i struct GetStillImageRT struct BasicCommand
100. iggers an Intermediate Compensation process and calculation Related structures CallIntermediateCompensationCT and CallIntermediateCompensationRT q A successful result will not automatically become the active compensation e ES C SetCompensation Sets the specified compensation as the active one Currently only 0 is accepted as ID which means the last compensation that was Reference Manual lt emScon TPI Chapter 2 e C Interface e 47 Seica Geosystems 48 e Chapter 2 e C Interface Metrology Division successfully calculated Related structures SetCompensationCT and SetCompensationRT 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 Related structures SetStatisticModeCT and SetStatisticModeRT See difference between Single MultMeasResultT standard and Single MultMeasResult2T enhanced ES C GetStatisticMode Gets the current statistic mode Related structures GetStatisticModeCT and GetStatisticModeRT ES C GetStilllmage Requests a still image in case the tracker is equipped with an Overview Camera Related structures GetStilllmageCT and GetStilllmageRT ES C SetCameraParams Sets the current contrast and brightness parameters of the Overview Camera
101. in long saturation HRESULT GetCameraParams out long contrast out long brightness out long saturation HRESULT SetCameraParamsEx in CameraParamsDataT data 144 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division _ILTCommandSyncE vents Connection Point Interface Seica Geosystems HRESULT GetCameraParamsEx out CameraParamsDataT data HRESULT GetStilliImage in ES _StillImageFileType imageFileType out long fileSize out VARIANT fileData The ILTCommandSyncEvents interface provides an event sink mechanism for asynchronous answers of the synchronous interface Using events are convenient and recommended for Visual Basic and VBA Excel Access For Visual C applications using event sinks for ATL COM objects e g LT Control there is no Class Wizard support q Use this interface only if the event LTC NM Event notification method is selected q Connection Point interfaces are of type IDispatch by design where each event has a numerical ID when implementing event sink maps in VC applications F See Notification Method Selection on page 163 for details r See C Interface on page 19 for details of method parameters r See type library for a list of methods no longer supported since version 1 3 Fe Refer to Microsoft documentation or an appropriate book e g ATL COM Programmers Reference by Richard Grimes Wrox R See the E
102. input params for the transformation In case where certain input parameters need to be fixed or weighted Values are expected in current Units Related structures SetTransformationInputParamsCT and SetTransformationInputParamsRT ES C GetTransformationInputParams Gets the currently active transformation input parameters Related structures GetTransformationInputParamsCT and GetTransformationInputParamsRT ES C CallTransformation Triggers the transformation parameter calculation process The 7 Transformation parameters including statistical information are returned as a result Reference Manual s emScon TPI Metrology Division fica Geosystems Related structures CallTransformationCT and CallTransformationRT e ES C GetTransformedPoints Retrieves the secondary transformation results transformed points including statistical information and their residuals to nominal points after a successful CallTransformation Related structures GetTransformedPointsCT and GetTransformedPointsRT e ES C ClearDrivePointList Clears the current drive point list used as input data for the Intermediate Compensation Related structures ClearDrivePointListCT and ClearDrivePointListRT e ES C AddDrivePoint Add a point to the drive point list for the Intermediate Compensation Values are expected in current Units and CS Related structures AddDrivePointCT and AddDrivePointRT e ES_C CalllntermediateCompensation Tr
103. ion fica Geosystems struct SphereRegionDataT 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 q These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enabled together with Sphere region type struct ESVersionNumberT ESVersionNumberT int iMajorVersionNumber int iMinorVersionNumber int iBuildNumber 14 Used for one of the parameters of the GetSystemStatus command Contains version info of the currently installed tracker server software struct TransformationInputDataT TransformationinputD ataT enum ES TransResultType resultType double dTransvall double dTransval2 double dTransVal3 double dRotVall double dRotVal2 double dRotVal3 double dScale double dTransStdVali double dTransstdval2 double dTr nsstdaval3 double dRotsStavall double dRotSsStdVal2 double dRotSsStdVal3 double dScaleStd Used for parameters of the Set GetTransformationInputParams command Used in order to specify Fixing Weighting transformation result values r For the StdDev parameters use values as specified in Constants on page 26 Reference Manual emScon TPI Chapter 2 e C Interface e 85 fica Metrology Division Geosystems struct TransformationPointT TransformationPoin
104. ionNominalPointList HRESULT ClearTransformationActualPointList HRESULT AddTransformationNominalPoint in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double covl2 in double covl3 in double cov23 HRESULT AddTransformationNominalPointEx an TransformationPointT data HRESULT AddTransformationActual Point in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double covI2 in double cov13 in double cov23 HRESULT AddTransformationActualPointEx in TransformationPointT data HRESULT SetTransformationInputParams in ES TransResultType transResultType in double transvall in double transVal2 in double transVal3 in double rotvall in double rotVal2 in double rotVal3 in double scale in double transStadvVall in double transStdVal2 in double transStdVal3 in double rotStdVall in double rotStdVal2 in double rotStdVal3 in double scaleStd HRESULT GetTransformationInputParams out ES TransResultType transResultType out double transvall out double transVal2 out double transVal3 out double rotvall out double rotval 2 out double rotVal3 out double scale out double transStavall out double transstaval out double transStdval3 out double rotStdVall out double
105. ision Leica Geosystems Input is in current units CS and CS type Related structures GoPositionCT and GoPositionRT q The search time depends on the search radius Large search radii result in extended search times r See also SetSearchParams 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 Related structures GoPositionHVDCT and GoPositionHVDRT q The search time depends on the search radius Large search radii result in extended search times Fr See also SetSearchParams PositionRelativeHV Position relative the tracker head to the given horizontal and vertical angles The angles are signed values in order to specify the direction Related structures PositionRelativeHVCT and PositionRelativeHVRT ES C PointLaser Same as ES C GoPosition but laser beam is sent to the specified location but the reflector is neither searched for nor attached Related structures PointLaserCT and PointLaserRT Reference Manual emScon TPI Chapter 2 e C Interface e 43 Seica Geosystems 44 e Chapter 2 e C Interface Metrology Division ES C PointLaserHVD Same as ES_C_GoPositionHVD laser beam is sent to the specified location but the reflector is neither searched for nor
106. ivelMeasurementCT struct BasicCommandCT packetInfo J struct StartNivelMeasurementRT struct BasicCommandRT packetInfo Reference Manual emScon TPI Chapter 2 e C Interface e 93 fica Metrology Division Geosystems LG struct StartMeasurementCT struct BasicCommandCT packetInfo I struct StartMeasurementRT struct BasicCommandRT packetInfo F struct Start6DMeasurementCT struct BasicCommandCT packetinto i struct Start6DMeasurementRT struct BasicCommandRT packetInfo L struct StopMeasurementCT struct BasicCommandCT packetInfo ja struct StopMeasurementRT struct BasicCommandRT packetInfo a struct ExitApplicationCT struct BasicCommandCT packetInfo hy struct ExitApplicationRT struct BasicCommandRT packetInfo ry struct ClearTransformationNominalPointListCT struct BasicCommandCT packetInfo FG struct ClearTransformationNominalPointListRT struct BasicCommandRT packetInfo hg struct ClearTransformationActualPointListCT struct BasicCommandCT packetInfo a struct ClearTransformationActualPointListRT struct BasicCommandRT packetInfo struct ClearDrivePointListCT struct BasicCommandCT packetInfo struct ClearDrivePointListRT struct BasicCommandRT packetInfo L SwitchLaserCT RT Command structures for switching the laser on off 94 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems struct SwitchLaserC
107. k contains 3 angular values in addition to 3 coordinate values Related data structure Single6DmeasResultT ES DT _Multi6DMeasResult The same as MultiMeasResult but with 6 degrees of freedom that is the data block contains single measurements each with 3 Reference Manual s emScon TPI Metrology Division Seica Geosystems orientation parameters in addition to 3 coordinate values Related data structure Multi6DmeasResultT 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 type values can only be received Related data structure NivelResultT ES DT ReflectorPosResult The data packet contains position information about the reflector This type of information is foreseen for special purposes and can be suppressed Result type values can only be received Related data structure ReflectorPosResultT ES DT SystemStatusChange The data packet contains information about a status change Similar to an error event a SystemStatusChange can be seen as a notification event 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 r See command ES C SetStatisticMode The difference is that SingleMeasResult2T contains more statistical information
108. ker Server High Level Interface The TS high level interface is convenient for creating quick applications using Visual Basic MS Excel MS Access and MS Word 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 The TS high level interface is made up of a COM object as an ATL DLL COM server or LTControl dll and it is part of the TPI SDK COM objects have to be registered on the Application Computer 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 COM Components provide standardized programming interfaces LTControl provides several custom interfaces and Connection Point Reference Manual emScon TPI Chapter 4 e COM Interface e 131 Seica Geosystems Interfaces Type Custom Metrology Division 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 q All enumeration types and
109. ket dval3 DataPacket bUseaDM 0 0 0 0 0 false CGoPosition CGoPosition double dvall double dVal2 double dval3 bool bUseADM DataPacket packetInfo packetHeader 1PacketSize sizeof GoPositionctT 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 Fi 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 there are two constructors e A default constructor without parameters e One taking all the GoPosition command specific parameters q The default constructor will not be used within the C TPI file The C rule that every class should have a default constructor might be helpful to client programmers in some situations There is only one constructor for non parameter taking command struct wrapper classes the default constructor Reference Manual emScon TPI Chapter 3 e C Interface e 125 Seica Geosystems CESAPICommand A class for sending commands Virtual override of SendPacket Class CmyEsCommand Metrology Division r Refer to SDK class CgetCoordinateSystemType in ES CPP API Def h file Certain wrapper classes implement two non default constructors e Taking the data as individual paramet
110. ll three 3 mechanical parameters calculated are within recommended tolerance according to hardware specs q The IWarningFlags value is a decimal value Use a scientific calculator to convert this value to a binary value to visualize the flagged bits q 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 ex 0x10 tests for 5th bit CallTransformationtC Command structures for executing an T RT l A s Transformation process including reception of results struct CallTransformationCT struct BasicCommandCT packet Into T struct CallTransformationRT struct BasicCommandRT packetInfo double dTransvall double dTransval2 double dTransval3 double dRotVall double dRotVal2 double dRotVal3 double dscale double dTransstdvVall double dTransstdVal2 double dTransstdval3 double dRotStdVali double dRotStdVal2 double dRotSsStdVal3 double dscalestd double ARMS double dMaxDev double dVarianceFactor Error codes A return status other than ES RS AllOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallTransformation command Reference Manual emScon TPI Chapter 2 e C Interface e 115 Seica Geosystems AddTransformationN ominalPointCT RT AddTransformationA ctualPointCT RT GetTransformed
111. mScon TPI User Manual for examples of the following events Reference Manual emScon TPI Chapter 4 e COM Interface e 145 fica Metrology Division Geosystems id 0x00000001 void ErrorEvent in ES Command command in ES ResultStatus status 1d 0x00000002 void ReflectorsData in long reflectorsTotal in long reflectorID in enum ES_TargetType targetType in double surfaceOffset in BSTR reflectorName Pad 02200000003 void ContinuousPointMeasDataReady in long resultsTotal in long bytesTotal id 0x00000004 void Continuous6DMeasDataReady in in id 0x00000005 long resultsTotal long bytesTotal void ReflectorPositionData in double vall in double val2 in double val3 void CenterPointData in ES MeasMode measMode 1a 0x00000006 in double vall in double val2 in double val3 in double stdl in double std2 in double std3 in double stdTotal in double aprioristdl in double aprioriStd2 in double aprioriStd3 in double aprioriStdTotal in double temperature in double pressure in double humidity in VARIANT BOOL isTryMode id 0x00000007 void StatusChangeEvent in ES SystemStatusChange statusChange id 0x00000008 void TransformedPointsData in double vall in double val2 in double val3 in double stdDevl in double stdDev2 in double
112. ms Non Parameter Command Return Types Metrology Division Lists all non parameter command structures They are derived from the BasicCommandCT command types client to Server and the BasicCommandRT return types Server to client r For the special cases for Start lt xxx gt MeasurementRT types see Command Answers on page 23 for details 92 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems struct InitializetT struct BasicCommandCT packetInfo F struct InitializeRT struct BasicCommandRT packetInfo struct ReleaseMotorsCT struct BasicCommandCT packetInfo F struct ReleaseMotorsRT struct BasicCommandRT packetInfo 1 7 struct ActivateCameraViewCT struct BasicCommandCT packetInfo J struct ActivateCameraViewRT struct BasicCommandRT packetInfo F struct ParkCT struct BasicCommandCT packetInfo struct ParkRT struct BasicCommandRT packetInfo ys struct GoBirdBathCT struct BasicCommandCT packetInfo 1 7 struct GoBirdBathRT struct BasicCommandRT packetInfo J struct GoLastMeasuredPointCT struct BasicCommandCT packetInfo L struct GoLastMeasuredPointRT struct BasicCommandRT packetInfo F struct ChangeFaceCT struct BasicCommandCT packetInfo ys struct ChangeFaceRT struct BasicCommandRT packetInfo 1 7 struct StartN
113. ms out VARIANT BOOL applyStationOrientationParams out VARIANT BOOL keepLastPosition out VARIANT BOOL sendUnsolicitedMessages out VARIANT BOOL sendReflectorPositionData out VARIANT BOOL tryMeasurementMode out VARIANT BOOL hasNivel out VARIANT BOOL hasVideoCamera SetSystemSettingsEx in struct SystemSettingsDataT data GetSystemSettingsEx out struct SystemSettingsDataT data SetUnits in ES LengthUnit lengthUnit in ES AngleUnit angleUnit in ES TemperatureUnit temperatureUnit in ES PressureUnit pressureUnit in ES_HumidityUnit humidityUnit GetUnits out ES LengthUnit lengthUnit out ES AngleUnit angleUnit out ES TemperatureUnit temperatureUnit out ES PressureUnit pressureUnit out ES HumidityUnit humidityUnit SetUnitsEx in SystemUnitsDataT data GetUnitsEx out SystemUnitsDataT data SetStationOrientationParams in double vall Reference Manual s emScon TPI Chapter 4 e COM Interface e 139 Seica Geosystems 140 e Chapter 4 e COM Interface Metrology Division HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT in double val2 in double val3 in double rotl in double rot2 in double rot3 GetStationOrientationParams out double vali out douple sala out dou
114. n Use of the ILTConnect interface is required for applications using LTControl This interface provides the function for connecting disconnecting to from the Tracker Server and serves as an anchor for setting up subsequent interfaces that provide tracker control functions r See type library for a list of methods no longer supported since version 1 3 ILTConnect provides the following methods Reference Manual emScon TPI Chapter 4 e COM Interface e 133 Seica Geosystems Metrology Division HRESULT HRESULT HRESULT HRESULT HRESULT ConnectEmbeddedSystenm BSTR adress long address in in DisconnectEmbeddedSystem SelectNotificationMethod in LTC_NotifyMethod notifyMethod in long targetHandle in long cookie GetData out VARIANT data ContinuousDataGetHeaderiInfo in VARIANT data out long numberOfResults out enum ES MeasMode measMode out double dTemperature out double dPressure out VARIANT BOOL isTryMode HRESULT ContinuousPointGetAt in VARIANT data in long index out enum ES MeasurementStatus status out long timel out long time2 out double vali out double val2 out double val3 HRESULT ContinuousPoint2GetAt in VARIANT data in long index out ES_MeasurementStatus status out long timel out long time2 out double vall out double val2 out double v
115. nIndex Used for parameters of Set GetRefractionParams commands Reference Manual emScon TPI Chapter 2 e C Interface e 83 fica Metrology Division Geosystems q The refraction parameters also are updated set implicitly on setting new environment parameters Fk See Working Conditions on page 15 5 struct StationOrientationDataT StationOrientationDat double dVall af double dVal2 double dval3 double dRot1l double dRot2 double dRot3 Used for parameters of Set GetStationOrientationParams commands These settings can be enabled disabled through the system flag bUseStationOrientationParams E struct TransformationDataT TransformationDataT double dvall double dVal2 double dVal3 double dRot 1 double dRot2 double dRot3 double dScale Used for parameters of Set GetTransformationParams commands These settings can be enabled disabled through the system flag bUseLocalTransformationMode l struct BoxRegionDataT BoxRegionDataT double dP1Vall double dP1Val2 double dP1Val3 double dP2Vall double dP2Va 12 double dp2val3 Used for parameters of Set GetBoxRegionParams commands The parameters describe two diagonal points of a box These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enabled together with the Box region type 84 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Divis
116. nOrientationParams in double vall in double val2 in double val3 in double rotl in double rot2 in double rot3 GetStationOrientationParams SetTransformationParams in double vall in double val2 in double val3 in double rotl in double rot2 in double rot3 in double scale GetTransformationParams SetTemperatureRange in ES TrackerTemperatureRange temperatureRange GetTemperatureRange SetEnvironment Params in double temperature in double pressure in double humidity GetEnvironmentParams SetRefractionParams Reference Manual s emScon TPI Chapter 4 e COM Interface e 149 Seica Geosystems Metrology Division HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT double double in in GetRefractionParams SetMeasurementMode in GetMeasurementMode SetBoxRegionParams in double in double in double in double in double in double GetBoxRegionParams SetSphereRegionParams in double in double in double in double GetSphereRegionParams SetStationaryModeParams in ifmRefractionIndex admRefractionIndex ES MeasMode measMode ptlVali ptival 2 ptival3 pt2vall pr2val pt2Val3 ptVall1 ptVal
117. nch Reference Manual s emScon TPI Metrology Division ES HumidityUnit ES TrackerStatus ES ADMStatus Seica Geosystems e ES PU InH20O Inch Water Height e ES PU InHg Inch Mercury Humidity units supported by the TPI This enumeration type is used as parameter for ES C SetUnits ES C GetUntts enum ES HumidityUnit ES HU RH F3 e ES_HU_RH Relative humidity which is expressed in percentage This enumeration type names the possible tracker Ready states It is used as the ES_C_GetTrackerStatus command parameter The Tracker Status is related to the LED indicator on the tracker head enum ES_TrackerStatus ES TS NotReady ES TS Busy ES TS Ready Ji p e ES TS NotReady Tracker not ready currently not attached to a target e ES TS Busy Tracker is currently measuring e ES TS Ready Tracker attached to a target and is ready to measure Additional information about the ADM of the laser tracker This enumeration type is used as a parameter for ES C GetSystemStatus Reference Manual emScon TPI Chapter 2 e C Interface e 67 Seica Geosystems Metrology Division enum ES ADMStatus ES AS NoADM ja ES AS ADMCommFailed ES AS ADMReady ES AS ADMBusy ES AS HWError 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 HW Er
118. nt 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 functions completely hide command struct and struct initialization known from the C interface There is only one method for each one of the command structs described A derived class such as CMyEsCommand inherits all these methods Reference Manual lt emScon TPI Chapter 3 e C Interface e 127 fica Metrology Division Geosystems Fk See Packet Data Structures on page 86 for details q The methods for sending commands are asynchronous and can only be used for sending commands r See CESAPIReceive on page 128 for methods of receiving answers See Sample 4 EmsyCPPApiClient in the TPI User Manual for a complete application CESAPIReceive C TPI also provides a class for data receiving CESAPIReceive A class can be derived from CESAPIReceive In this derived class the virtual function
119. nterface The targetHandle and cookie of the SelectNotification Method method may be zero unused in this case e LTC_NM_WM_CopyData The client is notified by a WM_COPYDATA message upon data arrival The arrived data block is transferred with the message r 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 164 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division fica Geosystems SelectNotification Method for each LTControl instance must get a different cookie in order to identify incoming messages with the respective tracker The number of cookies is 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 XXX 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 IParam The GetData method of the LTConnect interface must be call
120. nuousDistanceModeDataT continuousDistanceModeData i struct SetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo F struct GetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo struct GetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo struct ContinuousDistanceModeDataT continuousDistanceModeData r See struct ContinuousDistanceModeDataT on page 80 for details Set GetSphereCenter Command structures for setting getting the ModeParamsCT RT parameters for the Sphere Center Measurement mode 98 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems struct SetSphereCenterModeParamsCT struct BasicCommandCT packetInfo struct SphereCenterModeDataT sphereCenterModeData struct SetSphereCenterModeParamsRT struct BasicCommandRT packetInfo struct GetSphereCenterModeParamsCT struct BasicCommandCT packetInfo J struct GetSphereCenterModeParamsRT struct BasicCommandRT packetInfo struct SphereCenterModeDataT sphereCenterModeData ja r See SphereCenterModeDataT on page 80 for details Set GetCircleCenterM Command structures for setting getting the odeParamsCT RT parameters for the Circle Center Measurement Mode struct SetCircleCenterModeParamsCT struct BasicCommandCT packetInfo struct CircleCenterModeDataT circleCenterModeData ae struct SetCircleCenterModeParamsR
121. o 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 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 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 q The ES_C_API_Def h file should not be changed on any account 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 acknowledgement Hence Commands and Answers always occur pair wise Some commands however cause more than one result packet Reference Manual emScon TPI Chapter 1 e Introduction e 13 Seica Geosystems Platform and Programming Language Issues 14 e Chapter 1 e Introduction Metrology Division Some error event types for example beam broken can occur at
122. odes q A multi measurement stream runs until explicitly stopped StopMeasurement or until specified time or count thresholds are reached Reference Manual emScon TPI Chapter 2 e C Interface e 25 Seica Geosystems Special Command Answers Convention Error Events Metrology Division The commands ES C GetReflectors and ES C GetTransformedPoints do not fit any of the above categories T ES_C_GetReflectors is not to be confused with ES C GetReflector missing s The answer to these commands is made up of as many answer packets as reflector types or Transformed points are available from the Tracker Server In the case of reflectors these answers mainly resolve the relation between reflector name string and reflector ID numerical The packets contain redundant information on the total number of reflectors or transformed points and the number of packets expected to arrive The reflector name is in Unicode format short cReflectorName 32 declaration It can consist of a maximum of 32 characters A ReflectorPosResultT can also be seen as a special command answer These are ES DT ReflectorPosResult type packets and are received whenever the tracker is locked onto a reflector 3 measurements per second The receipt of these measurements can be switched on off It is switched off by default Most error type data packets ES DT Error are not direct reactions to commands They are unsolicited A
123. onitorStatus see ee eee eee 69 ES RENN YDO sccetcasecssanssoacecancsacecoveresceascanceosass 70 ES TrackerProcessorStatuS eee eee ee 70 ES LaserProcessorStatus mrrurrnrnnrenrnnneneensener 72 ES SystemStatusChange see eee eee 72 ES SIGUSTICIVIOGS cinimnastesicstassienstasrieesteeriencaseenns 74 ES StilllmageFile Type see 74 ES TranSResult Type ccccceccsecceeeseeeeeeeeeneees 15 ES_TrackerProcessorType ceea 75 ES TPMicroProcessor Type cccceceeeeeeeeeeees 15 ES LI SENSON K s 76 ES _DisplayCoordinateConversionType 76 Data Structures ranrnnnnnnnnnnennnnnnnnnnnnnnnnnennnnnnunnn 76 Basic Data Structures rrrrrrarenrrnarrnrenarnnnenernnnnn TT PacketHeaderr eee eee eee Tf FEET oa eta catea a td ra Tf BasicCommanaCT eee eee 78 VIEGAS V AUC EE 78 WIG ASV ANUS LG 19 MeasValue6DT eee ee eee eee 19 StationaryModeDatal eee eee 80 Continuous TimeModeDatal ccccceeeeeeeeeeeees 80 ContinuousDistanceModeDatal reraneraneranernnnnr 80 SphereCenterModeDataT arnnnnnurnnnnnnnnnnnnnnnnrnnnen 80 CircleCenterModeDataT ss 81 GrndModeData eta iaca e ae Deianira it a oaia 81 SearchParamsDataT cccceccssceeeeeeeeeeseeeseeeneees 81 AdmParamsDataT eee eee 81 SystemSettingsDataT ss 82 SystemUnitsDataT eee eee 83 EnvironmentDataT sese 83 RefractionDataT eee eee eee 83
124. ontinuous Distance measurement can be controlled with the ES C SetContinuousDistanceModeParams command ES MM Grid Continuous Measurement Mode by grid Reference Manual s emScon TPI Metrology Division ES Measurement Status Seica Geosystems 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 Additional status information to be delivered with each single measurement of a continuous measurement stream Measurements with a status other than ES MS AllOK should be treated with care enum ES MeasurementStatus ES MS ALLOK ES MS SpeedWarning ES MS SpeedExeeded ES MS AHOK Measurement was carried out within specified target speed movement ES MS SpeedWarning Measurement was taken when target was moving with a speed above set warning threshold Reference Manual emScon TPI Chapter 2 e C Interface e 63 fica Metrology Division Geosystems e
125. or example VES SDK lib LTControl dll q Other than in VB applications make calls to Createlnstance and the statement g_pLTCommandSync g pLTConnect gt GetILTCommandSync replaces the related VB call Notification The following enumeration type defines the Method Selection different methods the SelectNotificationMethod can take Only one of these methods can be active at a time Therefore SelectNotificationMethod should Reference Manual emScon TPI Chapter 4 e COM Interface e 163 fica Metrology Division Geosystems be called only once with one of the following values enum LTC_NotifyMethod LTC NM None No notification using nothing else but 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 through lParam PG e LTC NM None In combination with the synchronous interface neither events nor Windows messages are sent The asynchronous exceptions of the synchronous interface cannot be caught Hence neither a continuous measurement nor trapping error events beam broken etc is possible The targetHandle and cookie of the SelectNotificationMethod method may be zero unused in this case e LTC NM Event Events are used to notify the client on asynchronous answers sync and async i
126. osystems 841 Hardware errors TP 178 e Chapter 6 e Appendix B Metrology Division Error condition to the rack is not connected Cables from the rack to the sensor tube are not connected Elevation index offset is not suitable for this measuring Azimuth encoder interpolation rate wrong Elevation encoder interpolation rate wrong Error condition This is a hardware error to be repaired by service personnel Boot failed firmware file has invalid signature for LT Controller plus Laser emergency lock laser output power overflow Distance measurement aborted by another command LTC invalid Motor Amplifier potentiometer data set LTC Motor Amplifier PC Bus access to digital potentiometers failed LTC 2C Bus access failed LTC cable to front panel not connected LTC Fan cable s not connected LTC Video cable not Reference Manual emScon TPI Metrology Division Seica Geosystems Error condition This is a hardware error to be repaired by service personnel connected LTC Video cable on frame erabber not connected LTC cable from motor amplifier to PC not connected LTD800 sensor connected to a LT500 Controller Azimuth axis is not working Elevation axis is not working Azimuth Tacho signal failed LTC watchdog of 28V motor power supply locked 904 Elevation Tacho signal failed 905 Azimuth encoder is not working Elevation encoder is not working
127. packetInfo dTotalRMS dMaxDev lWarningFlags A return status other than ES RS AllOK 0 means that the command could not be completed In addition to the values defined in ES ResultStatus the CalllntermediateCompensation command answer status can evaluate to one of the following values Code 23011 23012 23013 23014 23020 23021 23022 23030 23031 23032 23033 23501 23502 23503 Description EmScon database open failure F EmScon database read failure F EmScon database write failure F No points to measure in database Tracker initialization failed Tracker getting parameters failed Tracker setting parameters failed There was an unexpected command answer F Sending data via TCP IP failed Error on receiving data communication error Insufficient memory to create data F At least one of the 3 calculated mechanical parameters is not in range specified Too few less than 2 measurements available Calculation cannot be performed Either not enough driving points or not all could be found and or measured Minimum vertical angle difference not met Reference Manual s emScon TPI Chapter 2 e C Interface e 113 Seica Geosystems Warning flags Metrology Division 23998 An unknown error occurred Errors marked with F are unanticipated fatalities Warning flags are available upon a successful compensation Status ES_RS_AIIOK 0 The parameter WarningFlags is a 32 bit valu
128. parameter xx where xx is the number of the parameter The number of the parameter depends on the command 39 Several parameters are invalid Operation errors Error condition Target lost tracking has failed 702 Interferometer has failed lost count 703 Azimuth limit has been reached The tracker head has attempted to go beyond 240 degrees 704 Elevation limit has been reached 705 Positioning timeout positioning of the tracker head could not be completed within the timeout period 706 Abort command 707 Invalid angle on the azimuth axis 708 Invalid angle on the elevation axis 710 Radial speed is within bounds Sent after a speed warning when the speed has returned Reference Manual lt emScon TPI Chapter 6 e Appendix B e 175 fica Metrology Division Geosystems Error condition 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 712 Radial speed error This indicates that the radial speed has exceeded the capacity of the interferometer and there is a likely loss of accurate distance setting 720 Intensity overflow on photo sensor This error occurs if the intensity value from the photo sensor exceeds the range of the A D converter The TP will change the A D range automatically 721 Laser light mode has jumped This means the laser control loop was not able to stabilize t
129. r e bSendReflectorPositionData If this flag is set to true and a reflector is locked on by the tracker the system sends 82 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division SystemUnitsDataT EnvironmentDataT RefractionDataT Seica Geosystems the current reflector position max 20 measurements per second e blryMeasurementMode If this flag is set to true the system delivers all results in the try mode e bHasNivel This flag tells the system that a Nivel20 sensor is attached Measurements with the sensor are now possible e bHasVideoCamera This flag tells the system that an Overview Camera is attached struct SystemUnitsDataT enum ES LengthUnit lenUnitType enum ES AngleUnit angUnitType enum ES TemperatureUnit tempUnitType enum ES PressureUnit pressUnitType enum ES HumidityUnit humUnitType Used for parameters of Set GetUnits commands struct EnvironmentDataT double dTemperature double dPressure double dHumidity 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 r See Working Conditions on page 15 struct RefractionDataT double dIfmRefractionIndex double dAdmRefractio
130. ramsCT RT Set GetStatisticMode CT RT Metrology Division struct LookForTargetCT struct BasicCommandCT packetInfo double avall double dval2 double dVal3 double dSearchRadius T Struct LookForTargetRT struct BasicCommandRT packetInfo double dHzAngle double dvtAngle ae q The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m Structures for invoking the GetDirection command The output parameters are always angles related to the tracker coordinate system in the current angle unit settings struct GetDirectionCT struct BasicCommandCT packetInfo T struct GetDirectionRT struct BasicCommandRT packetInfo double dHzAngle double dvtAngle Command structures for setting getting the Transformation Input parameters struct SetTransformationInputParamsCT struct BasicCommandCT packetInfo struct TransformationInputDataT transformationData L struct SetTransformationInputParamsRT struct BasicCommandRT packetInfo je struct GetTransformationInputParamsCT struct BasicCommandCT packetInfo T struct GetTransformationInputParamsRT struct BasicCommandRT packetInfo struct TransformationInputDataT transformationData Command structures for setting getting the statistical mode 110 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems stru
131. rement and or environmental values depends on current units CS settings struct SingleMeasResult2T SingleMeasResult2T struct ReturnDataT packetInfo enum ES MeasMode measMode ES BOOL bIsTryMode double avall double aval 2 double dVal3 double dStdDevl double dStdDev2 double dStdDev3 double dStdDevTotal double dCovar12 double dCovar13 double dCovar23 double dPointingErr rH double APointingErrorV double dPointingErrorD double dAprioriStdDev1 double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovarl2 double dAprioriCovarl3 double dAprioriCovar23 double dTemperature double dPressure double dHumidity This receive only structure describes the ES DT SingleMeasResult packet type in case of extended statistical mode The flag blsTryMode is set if system is in Try Mode This is not relevant for common users R See also ES_C_SetStatisticMode q The format of measurement and or environmental values depends on current units CS settings struct MultiMeasResultT MultiMeasResultT struct ReturnDataT packetInfo long l1NumberOfResults enum ES MeasMode measMode ES BOOL bIsTryMode 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 88 e Chapter 2 e C Interface
132. rence Manual emScon TPI Chapter 2 e C Interface e 101 feica Metrology Division Geosystems TR Motor switch is on Encoder angle error struct GetTrackerStatusCT GetTrackerStatusCT RT struct BasicCommandCT packetInfo L struct GetTrackerStatusRT struct BasicCommandRT packetInfo enum ES TrackerStatus trackerStatus k Command structures for getting the tracker status Fk See ES_TrackerStatus on page 67 for details SJCT Command structures for getting setting the current reflector by its numerical ID 102 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division fica Geosystems struct S tReflectorlCT struct BasicCommandCT packetInfo int iInternalReflectorId L struct SetRetlectorRT struct BasicCommandRT packetInfo p struct GetReflectorCT struct BasicCommandCT packetInfo T struct GetReflectorRT struct BasicCommandRT packetInfo int iInternalReflectorId p struct GetRetlectorscT struct BasicCommandCT packetInfo p struct GetReflectorsRT struct BasicCommandRT packetInfo int iTotalReflectors int iInternalReflectorId enum ES_TargetType targetType double dSurfaceOffset short cReflectorName 32 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 rela
133. rnnnnnnnnnnnnnne 96 Set GetStationaryModeParamsCT RT see 97 Set GetContinuous TimeModeParamsCT RT 97 Set GetContinuousDistanceModeParamsCT RT 98 Set GetSphereCenterModeParamsCT RT 98 Set GetCircleCenterModeParamsCT RT 99 SeUuOGetOGrndVodebParamsC TRT 99 Set GetSystemSettingsCT RT r rrnnnnnnnnnnnanennnnn 100 Set GetUnitsCT RT rrrvnnnnnnnvnnrnnrvnnvnnnvnnrrnrnvenennnnn 100 GetSystemStatusCT RT rrrarnnnrnnnrnnnrnnrrnnnrnnnrnnre 101 GetTrackerStatusCT RT aaseneeeennnenenennnnnnnnnennnnn 102 Set Getheflector s CT RT rrrrarnnannrnnnnnanrnnnnennnnn 102 Set GetSearchParamsCT RT o ae 104 Set GetAdmParamsCT RT ccceceeseceeceeeeseeeeeeees 104 Set GetEnvironmentParamsCT RT rarrunnrnvnnvvnrr 105 Set GetStationOrientationParamsCT RT 105 Set GetTransformationParamsCT RT 000 106 Set GetBoxRegionParamsCT RT cccccceeeeeee 106 Set GetSphereRegionParamsCT RT c0086 107 GoPositionCT RT arnrnnnnnnnnrnnnnnnvnnennnnnnennnnnnnvenen 107 GoPositionHVDCT RT rarnnnnnrnvnnrnnrvnnnvnnrrnrnennennenn 107 PositionRelativeHVCT RT 108 PointLaserCT RT cmc eee eee aaa aa e 108 PointLaserHVDCTIRT cnc ae aa aa 108 MOVerWET RI iute tor tat ua na oi na i 109 GoNivelPositionCT RT m eee eee 109 LookForTargetCT RT cc eee eee eee 109 GetDirectionCT RT 00 0 cece ee cececeeceeeeeeceeeeeaeeeeess 110 Set
134. ror Unspecified hardware error 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 68 e Chapter 2 e C Interface ES NS NoNivel ES NS AI1OK ES NS OutOfRangeOK ES NS OutOfRangeNOK ES NS NoNivel No Nivel20 sensor found connected to tracker ES NS AHOK Nivel measurement OK ES NS OutOfRangeOK Result within measurement range but warning threshold exceeded ES NS OutOfRangeNOK No measurement could be taken out of range Reference Manual s emScon TPI Metrology Division ES NivelPosition ES WeatherMonit orStatus Seica Geosystems Positions during orient to gravity procedure This enumeration type is used as a parameter for ES_C_GoNivelPosition command enum ES NivelPosition ES _NP_Posl 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 degrees 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 humi
135. rticalSpeed MoveLeft MoveRight Moveup MoveDown StopMove GoNivel Position in enum ES NivelPosition GoLastMeasuredPoint GetSystemStatus GetTrackerStatus Reference Manual s emScon TPI in VARIANT BOOL useADM nivelPosition Metrology Division Seica Geosystems HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT HRESULT GetReflectors SetReflector in long reflectorID GetReflector SetSearchParams in double searchRadius in long timeOut GetSearchParams SetAdmParams in double targetStabilityTolerance in long retryTimeFrame in long numberOfRetrys GetAdmParams SetSystemSettings in enum ES WeatherMonitorStatus weatherMonitorStatus in VARIANT BOOL applyTransformationParams in VARIANT BOOL applyStationOrientationParams in VARIANT BOOL keepLastPosition in VARIANT BOOL sendUnsolicitedMessages in VARIANT BOOL sendReflectorPositionData in VARIANT BOOL tryMeasurementMode in VARIANT BOOL hasNivel in VARIANT BOOL hasVideoCamera GetSystemSettings SetUnits in ES LengthUnit lengthUnit in ES AngleUnit angleUnit in ES TemperatureUnit temperatureUnit in ES PressureUnit pressureUnit in ES_HumidityUnit humidityUnit GetUnits SetStatio
136. s required for the client application is overridden There is a virtual function for every answer type q Sample 4 TPI User Manual EmsyCPPApiClient has a data receiving class showing implementation of a custom Receiver Class Availability of CESAPIReceive renders self implementation of the receiver class obsolete and is not recommended The sample is included for downwards compatibility and for its other features F Refer to Sample 9 TPI User Manual EmsyCPPApiConsoleClient demonstrating an application using the new C CESAPIReceive data receiving class The sample also shows a safe method to receive jammed data See ES_CPP_API def h SDK file q The C class interface can be adapted in contrast to the enum and struct types defined in the C TPI which must not be changed 128 e Chapter 3 e C Interface Reference Manual emScon TPI Metrology Division fica Geosystems COM Interface Making TPI C data types transparent to COM Advanced interfaces programming e Use the C TPI through an IDL e Introduce a preprocessor statement define C API INC THROUGH IDL before the include location of ES CPP API Def h in order to prevent duplicate type enum definitions r Refer to SDK for usage of C API INC THROUGH IDL symbol in file ES CDD APIDef h Reference Manual emScon TPI Chapter 3 e C Interface e 129 Metrology Division Seica Geosystems 4 COM Interface Drawbacks Introduction Trac
137. sable 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 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 Reference Manual s emScon TPI Metrology Division Seica Geosystems SetRefractionParams if these values are automatically updated by the weather station as per system settings ES RS Unknown 36 Meaning An unknown error occurred Should never occur as a response to a command ES RS NoDistanceSet 37 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 GoPosition or if close to a reflector FindReflector If Keep last position is enabled the system tries to re e
138. ses in this chapter may be 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 Fk Refer to the User Manual for information on setting up TCP IP connections General The C interface implements a class named information CESAPICommand apart from wrapper classes for each data structure of the C TPI A class design has the advantage of constructors to delegate initialization issues A C compiler is preferable to the C low level interface Client programming in TPI is platform independent since C compilers are available for many platforms The class CESAPICommand has a pure virtual function SendPacket which must be overwritten using Send command functions C data Reference Manual emScon TPI Chapter 3 e C Interface e 123 Seica Geosystems Data structure wrapper classes Metrology Division structures for sending commands are no longer required are hidden The C interface does not offer class support for receiving data With respect to receiving data there is no difference to the C interface Insertion of the statement 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 r Refer to Sample 4 in the emScon TPI User Manual for namespace techniqu
139. stablish the distance automatically as soon as a reflector can be tracked For trackers without a ADM e Place the reflector in the Birdbath Do a Go Birdbath e Move reflector to the measuring position without interrupting the beam ES RS NoTrackerConnected 38 Meaning The connection between controller and tracker is broken Note Check all cables between controller and tracker ES RS TrackerNotlInitialized 39 Meaning The tracker is not initialized Note Execute the Initialise command Set the environmental parameters manually weather station before initialisation Fr See also chapter Initial Steps in IPI User Manual Reference Manual emScon TPI Chapter 2 e C Interface e 59 Seica Geosystems 60 e Chapter 2 e C Interface Metrology Division ES RS ModuleNotStarted 40 ES_RS ModuleTimedOut 41 ES_RS_ErrorReadingModuleDb 42 ES_RS_ErrorWritingModuleDb 43 Meaning These errors indicate a software installation problem on the emScon server Note Reinstall emScon software ES RS NotInCameraPosition 44 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 45 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 TPE
140. stdDev3 in double stdDevTotal in double covarl2 in double covarl3 in double covar23 in double residualvall in double residualval2 in double residualval3 in long totalPoints id 0x00000009 void CenterPoint2Data in ES MeasMode measMode in double vall in double val2 in double val3 in double stdDevl in double stdDev2 in double stdDev3 146 e Chapter 4 e COM Interface Reference Manual s emScon TPI Metrology Division fica Geosystems in double stdDevTotal in double covar12 in double covar13 in double covar23 in double aprioriStdDevl in double aprioriStdDev2 in double aprioriStdDev3 in double aprioriStdDevTotal in double aprioriCovarl2 in double aprioriCovarl3 in double aprioriCovar23 in double temperature in double pressure in double humidity in VARIANT BOOL isTryMode ILTCommandAsync The ILTCommandAsync interface provides Custom Interface asynchronous TPI and tracker controlling functions methods These methods do not wait for completion of the requested action and are thus not able to return results where applicable through output parameters All answers are delivered through events or Windows message notifications We See _ILTCommandAsyncEvents Connection Point Interface on page 152 for details of answer events Fk See C Interface on page 19 for details of method parameters Fk See type l
141. stdl out double std2 out double std3 out double stdTotal out double pointingErrorl out double pointingError2 out double pointingError3 out double aprioriStdl out double aprioriStd2 out double aprioriStd3 out double aprioriStdTotal out double temperature out double pressure out double humidity out double q0 out double q1 out double q2 out double q3 out VARIANT BOOL isTryMode HRESULT MeasureStationary6DDataEx out struct Single6DMeasResultT result HRESULT StopContinuousMeasurement HRESULT MoveHV in long horizontalSpeed in long verticalSpeed HRESULT MoveLeft HRESULT MoveRight HRESULT MoveUp HRESULT MoveDown HRESULT StopMove HRESULT GoNivelPosition in ES NivelPosition nivelPosition HRESULT GoLastMeasuredPoint HRESULT GetSystemStatus out enum ES ResultStatus lastResultStatus out enum ES TrackerProcessorStatus trackerProcessorStatus out enum ES LaserProcessorStatus laserStatus out enum ES ADMStatus admStatus out long majorVersionNumber out long minorVersionNumber out long buildNumber out enum ES WeatherMonitorStatus weatherMonitorStatus out long flagsValue out long trackerSerialNumber HRESULT GetTrackerStatus out ES Trackerstatus trackerStatus HRESULT GetReflectors HRESULT SetReflector in long reflectorID HRESULT GetRetlector out long reflectorID H
142. structures defined in the C TPI are also provided by the LTControl s COM interface 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 Open the viewer OLE COM Object Viewer in Visual Studio e Launch the tools menu of VC 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 Where performance and customized TCP IP communication are an issue the C C interface is recommended q In case of inconsistencies in the description of the interface methods of the LTControl tlb dll file Refer to the source LTControl tlb dll file in the SDK for a valid description LTControl library exposes the following interfaces e ILTConnect e ILTCommandSync 132 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division Type Connection Point IDispatch ILTConnect Custom Interface feica Geosystems e ILTCommandAsync e ILICommandSyncEvents e _ILICommandAsyncEvents q The interface ILTPrivate also shown in the type library provides no function for the user All interface functions methods provide a HRESULT return type COM desig
143. sult or ES DT Multi6DMeasResult The GetConstant method retrieves the constants defined under C Interface Constants These constants are not directly available in the emScon COM interface and are provided here through return values of a method The type LTC_Constant is an enum available only in the COM interface r See type library for a list of methods no longer supported since version 1 3 enum LIC Constant LTC C FixedStdDev LTC _C_UnknownStdDev LTC_C_ApproxStdDev F F See Notification Method Selection on page 163 for details ILTConnect provides additional properties HRESULT ILTCommandAsync out retval IUnknown pVal HRESULT ILTCommandSync out retval IUnknown pVal HRESULT LastResultStatus lout retval enum ES_ResultStatus pVal HRESULT Version out retval long pVersion The first two properties provide so called Smart Pointers to two different interfaces ILTCommandSync and ILTCommandAsync provided for tracker control These pointers implicitly also offer access to the related connection point interfaces Reference Manual emScon TPI Chapter 4 e COM Interface e 135 Seica Geosystems IL TCommandSync Custom Interface 136 e Chapter 4 e COM Interface Metrology Division e The property LastResultStatus provides the status code of the latest data packet that has arrived This might be useful while evaluating exceptions e The property Version provides the c
144. tT double dVal1 double dVal2 double dVal3 double dstd1 double dStd2 double dstd3 double dCov12 double dCov13 double dCov23 Ji It is used as a sub structure for the AddNomina AddActualTransformationPoint commands in order to weight fix particular parameters r For the StdDev parameters use values as specified in Constants on page 26 truet CameraParamsDataT CameraParamsDataT int LContrast int iBrightness int iSaturation Ji Used for parameters of the Set GetCameraParams command Values of Contrast Brightness range from 0 to 256 q Saturation is currently not used and must be set to zero Packet Data These data types describe the real data blocks Structures exchanged over the TCP IP network between the Tracker Server and the application PC There are 9 main 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 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 86 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division ErrorResponseT SingleMeasResultT Seica Geosystems e Return type packets command error and measurements always contain a status parameter struct ErrorResponseT
145. tatisticMode continuousMeasurements HRESULT GetStatisticMode HRESULT SetCameraParams in long contrast in long brightness in long saturation HRESULT GetCameraParams HRESULT GetStilliImage in ES _StillImageFileType imageFileType _ILTCommandAsync The ILTCommandAsyncEvents interface provides Events Connection Point Interface an event sink mechanism for asynchronous answers of the asynchronous interface Using events are convenient and recommended for Visual Basic and VBA Excel Access For Visual C applications using event sinks for ATL COM objects e g LTControl is not supported by Class Wizard q This interface can only be used if the event LTC_NM_ Event notification method is selected q Connection point interfaces are of type IDispatch by design where each event has a numerical ID when implementing event sink maps in VC applications F See Notification Method Selection on page 163 for details Fk See type library for a list of methods no longer supported since version 1 3 152 e Chapter 4 e COM Interface Reference Manual emScon TPI Metrology Division feica Geosystems Fi Refer to Microsoft documentation or an appropriate book e g ATL COM Programmers Reference by Richard Grimes Wrox r See C Interface on page 19 for details of method parameters r See the TPI User Manual for examples of the following events Reference Manual emScon T
146. tes 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 Enumeration type members in C are internally represented by integer values Numbers can be assigned explicitly to particular enum values this is done in exceptional cases only By default the first value of an enumeration type always starts with 0 20 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division Basic C Data Type size of TPI Structures Persistency Default Settings Leica Geosystems q This is relevant for languages such as Visual Basic based directly on the low level TPI It is not relevant for C C programming r See Visual Basic example Sample 2 in the emScon TPI User Manual 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 Short 2 Bytes for Unicode strings exclusively Double 8 Bytes ES_BOOL 4 Bytes int 32 or long The Tracker Server keeps settings such as Units CS Type Reflector type etc persistently Recent values will be restored on restart of the TS q It is recommended to initially set the required settings on every client star
147. tion between 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 targetT ype and the surfaceOffset a The reflector name is in Unicode format short cheflectorNamel32 declaration It can consist of a maximum of 32 characters Reference Manual emScon TPI Chapter 2 e C Interface e 103 Seica Geosystems Set GetSearchParams CT RT Set GetAdmParamsC T RT Metrology Division struct SetSearchParamsCT struct BasicCommandCT packetInfo struct SearchParamsDataT searchParams y struct SetSearchParamsRT struct BasicCommandRT packetInfo p struct GetSearchParamsCT struct BasicCommandCT packetInfo T struct GetSearchParamsRT struct BasicCommandRT packetInfo struct SearchParamsDataT searchParams 1 5 Command structures for setting getting the reflector search parameter values q The search time depends on the search radius Large search radii may result in extended search times Fr See SearchParamsDatal on page 81 for details struct SetAdmParamsCT struct BasicCommandCT packetInfo struct AdmParamsDataT admParams ae struct SetAdmParamsRT struct BasicCommandRT packetInfo struct GetAdmParamsCT struct BasicCommandCT packetInfo J struct GetAdmParamsRT stru
148. to set an invalid reflector The 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 24 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 r See Command SetCircleCenterModeParams ES_RS_NoSphereCenterFound 25 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 Chapter 2 e C Interface e 55 Seica Geosystems 56 e Chapter 2 e C Interface Metrology Division by measurements The Sphere Center Mode parameters may not have been set properly E See Command SetSphereCenterModeParams ES RS NoTPFound 26 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
149. truct CheckBirdBathCT struct BasicCommandCT packetInfo F struct CheckBirdBathRT struct BasicCommandRT packetInfo double dInitialHzAngle double dInitialVtAngle double dInitialDistance double dHzAngleDiff double dvtAngleDiff double dDistanceDiff GetTrackerDiagnostic Command structure receiving and sending type SCT RT s to read tracker diagnostic data 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 dLaserLightRatio int iLaserControlMode double dSensorInsideTemperature int iLCPRunTime int iLaserTubeRunTime GetADMInfoCT RT Command structure receiving and sending type to read ADM specific diagnostic data The tracker must have an ADM which is selected struct GetADMInfoCT struct BasicCommandCT packetInfo struct GetADMInfoRT struct BasicCommandRT packetInfo int iFirmWareMajorVersionNumber int iFirmWareMinorVersionNumber int iSerialNumber GetNivellnfoC T RT Command structure receiving and sending type to read NIVEL20 specific diagnostic data The tracker must have a NIVEL20 which is selected Reference Manu
150. tructures of the C interface easing programming for sending commands and receiving answers F See the emScon TPI User Manual for a C client sample Prefixes and Suffixes Prefixes used in Type Names ES Tracker programming interface DT Data type Packet type C Command Suffixes T Type usually used for general sub structures RT Return type used for data transfer from ES CT Command type used for data transfer to ES Working Conditions Error message when range exceeded Values Error Messages l s es oe avai S outside working ambient conditions but within storage ambient conditions To be used with caution Reference Manual emScon TPI Chapter 1 e Introduction e 15 Seica Geosystems Level 2 Metrology Division Working Minimum value Maximum value ambient conditions Height above sea level elevation not relevant for software 500 m 3000 m ve k humidity 10 90 i eons home IFM 1 00015 1 000331 Aw oos EI ADM 1 000152 1 000336 Error message when range exceeded and the values are rejected Storage ambient Minimum value Maximum value conditions extended working range Height above sea level elevation not relevant for software 2000 m 7000 m 330 mbar 1400 mbar Relative humidity 0 100 i index 1 000077 1 000419 peel index 1 000078 1 000425 16 e Chapter 1 e Introduction Reference Manual emScon TPI Metrology Division fica Geosystems
151. tryTimeFrame is in milliseconds Reference Manual emScon TPI Chapter 2 e C Interface e 81 fica Metrology Division Geosystems struct SystemSettingsDataT SystemSettingsDataT enum ES WeatherMonitorStatus weatherMonitor EG BOOL bApplyTransformationParams ES_BOOL bApplyStationOrientationParams ES BOOL bKeepLastPosition ES BOOL bSendUnsolicitedMessages ES BOOL bSendReflectorPositionData ES BOOL bTryMeasurementMode ES BOOL bHasNivel ES BOOL bHasVideoCamera Used for parameters of Set Get SystemSettings commands 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 transform the measurements into a user specified coordinate system If set to true transformation as per transformation parameters is carried out 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 10 0 0 0 0 0 0 0 0 0 0 0 e bKeepLastPosition If this flag is set to true and the laser beam is broken it does not leave the current position 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 e bSendUnsolicitedMessages If this flag is set to true the system sends all error messages as they occu
152. ttingsCT GetSystemSettingsRT and SystemSettingsDataT e ES C StartMeasurement Triggers a measurement regardless of the measurement mode Reference Manual lt emScon TPI Chapter 2 e C Interface e 41 Seica Geosystems 42 e Chapter 2 e C Interface Metrology Division Related structures StartMeasurementCT and StartMeasurementRT ES C StartbDmeasurement Triggers a 6 degrees of freedom DOF measurement regardless of the measurement mode Related structures Start6DmeasurementCT and Start6DmeasurementRT ES C StartNivelMeasurement Triggers a Nivel 20 inclination sensor measurement if sensor is available Related structures StartNivelMeasurementCT and StartNivelMeasurementRT ES C StopMeasurement Stops a current continuous measurement Has no effect on stationary measurement in progress Related structures StopMeasurementCT and StopMeasurementkT ES_C_ChangeFace Changes the tracker face before the laser beam is attached to the same position Related structures ChangeFaceCT and ChangeFaceRT ES C GoBirdBath Laser beam is sent to the Bird bath followed by an implicit Find reflector The beam is attached to the reflector in the Bird bath Related structures GoBirdBathCT GoBirdBathRT 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 Reference Manual s emScon TPI Metrology Div
153. ttingsData T on page 82 for details Set GetUnitsCT RT Command structures for setting getting the units settings 100 e Chapter 2 e C Interface Reference Manual s emScon TPI Metrology Division GetSystemStatusCT RT Seica Geosystems struct SetUnitsCT struct BasicCommandCT packetInfo struct SystemUnitsDataT unitsSettings ys struct SetUnitsRT struct BasicCommandRT packetInfo p struct GetUnitsCT struct BasicCommandCT packetInfo T struct GetUnitsRT struct BasicCommandRT packetInfo struct SystemUnitsDataT unitsSettings ja r See SystemUnitsDataT on page 83 for details Command structures for getting the system status struct GetSystemStatusCT struct BasicCommandCT packetIinfo f 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 1FlagsValue long 1TrackerSerialNumber Fk See description of Enumeration Types on page 27 for details The IFlagsValue member contains some additional status information about the tracker tracker processor for advanced programming q The description of the nu bit of the IFlagsValue start with least o bit mn Jbesepton Interferometer locked Refe
154. tup as good programming practice List of the most common parameters settings and their default values e Orientation parameters 10 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 Metre e Angle Radian e Temperature Celsius Reference Manual lt emScon TPI Chapter 2 e C Interface e 21 Seica Geosystems Current filtered values Base values Metrology Division 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 e Continuous measurement number of points 100 e Statistic mode Standard e Region and grid mode parameters Arbitrary q Must be set explicitly Unless specified parameters supplied to and received from TPI commands are always in current units and orientation transformation filters i e represented in Object CS and Type where applicable 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 22 e Chapter 2 e C Interface Referen
155. uble double F dOmega dPhi A return status other than ES RS AllOK 0 means that the command could not be completed In addition to the values defined in ES ResultStatus the CallOrient ToGravity 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 CallintermediateCom Command structures for executing an pensationCT RT l S l Intermediate Compensation sequence including reception of quality result parameters 112 e Chapter 2 e C Interface Reference Manual emScon TPI Metrology Division Error codes Seica Geosystems struct CallIntermediateCompensationCT struct BasicCommandCT packetInfo F struct CallIntermediateCompensationRT struct BasicCommandRT double double long I
156. uous 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 ITimel1 ITime2 a New structure added 6D data is not available in earlier versions Chapter 2 e C Interface e 79 fica Metrology Division Geosystems struct StationaryModeDataT StationaryModeDataT long lMeasTime ES BOOL bUseADM z Used for parameters Set GetStationaryModeParams commands The measurement time parameter must lie between 500 ms and 100000 ms 0 5 100 seconds The useADM flag is set to false if the ADM measurement was performed upon laser beam attachment FindReflector GoPosition struct ContinuousTimeModeDataT ContinuousTimeMode DataT long 1TimeSeparation long lNumberOfPoints ES BOOL bUseRegion enum ES RegionType regionType F Used for parameters Set GetContinuousTimeModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly struct ContinuousDistanceModeDataT ContinuousDistance f ModeDataT double dSpatialDistance long lNumberOfPoints ES BOOL bUseRegion enum ES RegionType regionType Used for parameters Set GetContinuousDistanceModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly struct SphereCenterModeDataT SphereCenterModeDa taT double dSpatialDist
157. urrent version of the current COM interface LTControl type library It returns a long value with LoWord and HiWord containing the Minor and Major version q Custom interface properties in C client wrapper classes are exposed in two different ways The example uses LastResultStatus Ki See Notification Method Selection on page 163 and Exceptions and Return Types on page 165 for details The ILTCommandSync interface provides synchronous TPI and tracker controlling functions methods These methods wait for completion of the requested action and are thus able to return results where applicable through output parameters Exceptions where results which cannot be delivered in a synchronous manner are mainly continuous measurement streams and error events Fi See _ILTCommandSyncEvents Connection Point Interface on page 145 and C Interface on page 19 for details of method parameters F See the emScon TPI User Manual for examples of the following methods Reference Manual s emScon TPI Metrology Division Seica Geosystems HRESULT Initialize HRESULT ReleaseMotors HRESULT ActivateCameraView HRESULT Park HRESULT SwitchLaser in VARIANT_BOOL isOn HRESULT ExitApplication HRESULT GoBirdBath HRESULT ChangeFace HRESULT GoPosition in double vall in double val2 in double val3 in VARIANT BOOL useADM HRESULT GoPositionHVD in double h
158. with TCP IP requires platform specific communication functions which are not handled here q The high level emScon TPI handles platform specific communication functions Connect Build a TCP IP connection between the Application Processor and Tracker Server Specify the IP address hostname and port number of the Tracker Server SendData Send a packet of data usually by specifying a pointer to a byte array data block and the size of that block ReceiveData callback mechanism To be notified when data arrives and to read process this data On Win32 Windows messages are usually used for notification Read Data To read arrived data into a byte array buffer upon a notification Close Closes a previously established TCP IP connection Availability of TCP IP functions Operating system TCP IP API e g Winsock 2 0 API of Windows This approach requires some advanced programming knowledge Third party TCP IP communication library or component Self developed TCP IP library TCP IP means sending and receiving byte array blocks over a LAN The emScon TPI low level interface is a collection of Data Types namely Reference Manual emScon TPI Metrology Division Asynchronous Communication Seica Geosystems Enumeration Types and Data Structures These data types fully describe the structure of the data blocks to be exchanged over the network They are required to construct blocks t
159. xternalControl 46 Meaning The controller is running under external AXYZ control Note Reboot the tracker processor ES RS NoSuchCompensation 56 Meaning The ID of a non existent Compensation was passed to the SetCompensation command Note Use the GetCompensations command to get a list of valid Compensations ES RS MeteoDataOutOfRange 57 Meaning The current environmental parameters Temperature Pressure Humidity are out of range Note Use SetEnvironmtalParams command to set these parameters correctly If a weather Reference Manual s emScon TPI Metrology Division ES MeasMode Seica Geosystems 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 ES_RS_InCompensationMode 58 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 59 Meaning The server is still busy with a command Note The application must wait until the previous command has finished before issuing a new command asynchronous behaviour ES_RS_NoCopyProtectionDongleFound 60 Meaning The copy protection dongle is missing Note Make sure the dongle is connecte
160. y valid Reflector type Related structures GetReflectorCT and GetReflectorRT ES C GetReflectors Queries all known reflectors of the Tracker Server Delivers the association between reflector names and their numerical IDs Related structures GetReflectorsCT and GetReflectorsRT ES C SetSearchParams Set criteria for reflector search abort search radius and time out i The search time depends on the search radius Large search radii result in extended search times Reference Manual s emScon TPI Metrology Division fica Geosystems Related structures SetSearchParamsCT SetSearchParamsRT and SearchParamsDataT e ES C GetSearchParams Queries the currently valid criteria for aborting a reflector search Related structures GetSearchParamsCT GetSearchParamsRT and SearchParamsDataT e ES C SetAdmParams Set parameters for the ADM stability time retries Related structures SetAdmParamsCT SetAdmParamsRT and AdmParamsDataT e ES C GetAdmParams Queries the currently valid ADM parameters Related structures SetAdmParamsCT SetAdmParamsRT and AdmParamsDataT e ES_C SetSystemSettings Sets system settings a collection of flags to control the behavior of Tracker Server r See SystemSettingsDataT on page 82 for details Related structures SetSystemSettingsCT SetSystemSettingsRT and SystemSettingsDataT e ES C GetSystemSettings Queries the currently valid System Settings Related structures GetSystemSe
161. zAngle in double vtAngle in double distance in VARIANT BOOL useADM in double hzAngle in double vtAngle HRESULT Pointlaser in double vall in double val2 in double val3 HRESULT PointLaserHVD in double hzAngle in double vtAngle in double distance HRESULT FindReflector in double approxDist HRESULT PositionRelativeHV HRESULT StartNivelMeasurement out enum ES NivelStatus nivelStatus out double Tilt out double yTilt out double nivelTemperature HRESULT StartNivelMeasurementEx out struct NivelResultT result HRESULT StartContinuousPointMeasurement 1 HRESULT StartContinuous6DMeasurement HRESULT MeasureStationaryPoint out double vall out double val2 out double val3 out double stdl out double std2 out double std3 out double stdTotal out double pointingErrorl out double pointingError2 out double pointingError3 out double apriorist dl out double aprioriStd2 out double aprioriStd3 out double aprioriStdTotal out double temperature out double pressure out double humidity out VARIANT BOOL isTryMode Reference Manual s emScon TPI Chapter 4 e COM Interface e 137 Seica Geosystems Metrology Division HRESULT MeasureStationaryPointEx out result HRESULT MeasureStationary6DData out double vall out double val 2 out double val3 out double

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