/**
* Attempts to disconnect from the tracker.
*
* @return "Tracker disconnected.\n" if the disconnect was successful
* @throws TrackerException thrown if not connected, or if the disconnect attempt failed
*/
String disconnect() throws TrackerException {
isConnected();
trk.disconnect();
Bookkeeper.getInstance().toggleTrkCon();
if (trk.connected()) {
throw new TrackerException("Failed to disconnect from the tracker.\n");
}
return "Tracker disconnected.\n";
}
/**
* Connects to the tracker. Also checks to see if the tracker is ready to be initialized and
* checks the measurement mode of the tracker.
*
* @return ready to be initialized Y/N, measurement mode
* @throws TrackerException thrown if already connected, or if the connect attempt failed
*/
String connect() throws TrackerException {
String info;
if (trk.connected()) {
throw new TrackerException("Already connected to the tracker.\n");
}
trk.connect(ipAddress, name, password);
if (trk.connected()) {
Bookkeeper.getInstance().toggleTrkCon();
info = "Connected to tracker on IP address: " + ipAddress + "\n";
if (trk.initialized(false)) {
info += "Tracker initialized.\n";
} else {
if (trk.readyToInitialize(false)) {
info += "Tracker ready to be initialized.\n";
} else {
info += "Tracker not ready to be initialized.\n";
}
}
String s = trk.distanceMeasureMode().toString();
if (s.contains("ADM") && s.contains("Only")) {
info += "Distance Measure Mode is ADM only.\n";
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.ADM);
} else if (s.contains("Interferometer")) {
if (s.contains("ADM")) {
info += "Distance Measure Mode is IFM set by ADM.\n";
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.IFMBYADM);
} else {
info += "Distance Measure Mode is IFM.\n";
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.IFM);
}
}
return info;
} else {
throw new TrackerException("Connection to the tracker failed.\n");
}
}
/**
* Set the tracker's measurement mode.
*
* @param mode must be one of: "ADM", "IFM", "IFM set by ADM"
* @return confirmation that the mode was changed
* @throws TrackerException thrown if not connected
*/
String setMeasureMode(TrackerMeasureMode mode) throws TrackerException {
if (mode == null) throw new NullPointerException("New measurement mode is null.");
isConnected();
switch (mode) {
case IFM:
trk.changeDistanceMeasureMode(new InterferometerOnly());
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.IFM);
break;
case ADM:
trk.changeDistanceMeasureMode(new ADMOnly());
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.ADM);
break;
case IFMBYADM:
trk.changeDistanceMeasureMode(new InterferometerSetByADM());
Bookkeeper.getInstance().setTrkMeasmode(TrackerMeasureMode.IFMBYADM);
break;
default:
assert false; // There are only three measurement modes.
}
return "Measure mode set to: " + mode + ".\n";
}
