/**
* Initializes the tracker.
*
* @param minimum true for minimum initialization, false for full initialization
* @return a message that depends on the success of the initialization
* @throws TrackerException thrown if not connected
*/
String initialize(boolean minimum) throws TrackerException {
isConnected();
trk.initialize();
if (trk.initialized(false)) {
return "Tracker initialized.\n";
}
return "Tracker failed to initialize.\n";
}
/**
* Searches for a reflectable within a circle of specified radius.
*
* @param radius of the search area, in meters
* @return message depending on whether a reflectable was found or not
* @throws TrackerException thrown if not connected, or if no reflectable was found
*/
String search(double radius) throws TrackerException {
isConnected();
trk.search(radius);
if (trk.targetPresent()) {
return "Target found.\n";
} else {
throw new TrackerException("Target not found.\n");
}
}
/**
* 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";
}
private MeasurePointData[] asdf(
double observationRate, int samplesPerObservation, int numObservations)
throws TrackerException {
filter = new AverageFilter();
startTrigger = new NullStartTrigger();
conTrigger = new IntervalTrigger(observationRate);
cfg = new MeasureCfg(samplesPerObservation, filter, startTrigger, conTrigger);
trk.startMeasurePoint(cfg);
MeasurePointData[] data = trk.readMeasurePointData(numObservations);
trk.stopMeasurePoint();
return data;
}
/**
* Queries the tracker's weather station.
*
* @return string containing the relevant weather data
* @throws TrackerException thrown if not connected
*/
String weather() throws TrackerException {
isConnected();
WeatherInformation weather = trk.getWeatherInfo();
String weatherReturn = "";
weatherReturn = weatherReturn + "Pressure" + weather.getAirPressure() + "\n";
weatherReturn = weatherReturn + "Temperature" + weather.getAirTemperature() + "\n";
weatherReturn = weatherReturn + "Humidity" + weather.getHumidity() + "\n";
return weatherReturn;
}
String weatherCsv() throws TrackerException {
isConnected();
WeatherInformation weather = trk.getWeatherInfo();
return weather.getAirTemperature()
+ ","
+ weather.getAirPressure()
+ ","
+ weather.getHumidity();
}
/**
* Constructor for the tracker wrapper.
*
* @param ipAddress IP address of the tracker, "192.168.1.4"
* @param userName "user"
* @param password ""
*/
Tracker(String ipAddress, String userName, String password) {
this.ipAddress = ipAddress;
this.name = userName;
this.password = password;
try {
trk = new smx.tracker.Tracker(TRACKER_TYPE);
trk.setBlocking(BLOCKING);
} catch (TrackerException e) {
e.printStackTrace();
}
}
/**
* 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";
}
/**
* 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");
}
}
/**
* Checks to make sure we're already connected to the tracker before attempting further tracker
* calls.
*
* @throws TrackerException
*/
void isConnected() throws TrackerException {
if (!trk.connected()) {
throw new TrackerException(NOT_CONNECTED);
}
}
/** Returns true if the tracker is pointing at a reflectable, false if not. */
boolean reflPresent() throws TrackerException {
isConnected();
return trk.targetPresent();
}
/**
* Changes the target type to SMR with diameter of 0.022225 meters.
*
* @return "Target type changed.\n"
* @throws TrackerException thrown if not connected
*/
String targetType() throws TrackerException {
isConnected();
trk.changeTargetType(new SMRTargetType(0.022225));
return "Target type changed.\n";
}
/**
* Runs the tracker's startup checks.
*
* @return "StartupChecks started.\n"
* @throws TrackerException thrown if not connected
*/
String startupChecks() throws TrackerException {
isConnected();
trk.startApplicationFrame("StartupChecks", "");
return "StartupChecks started.\n";
}
/**
* Used to send the abort command to the tracker.
*
* <p>This causes the tracker to stop what it is currently doing.
*
* @return "Tracker aborted." if the abort was successful
* @throws TrackerException thrown if not connected
*/
String abort() throws TrackerException {
isConnected();
trk.abort();
return "Tracker aborted.\n";
}
String move(Coordinate coord) throws TrackerException {
isConnected();
trk.move(coord.getPhi(), coord.getTheta(), coord.getRadius(), false);
return "Tracker moved.\n";
}
/**
* Points the tracker to specified spherical coordinates.
*
* @param radius
* @param theta
* @param phi
* @return "Tracker moved.\n"
* @throws TrackerException thrown if not connected
*/
String move(double radius, double theta, double phi, boolean relative) throws TrackerException {
isConnected();
trk.move(phi, theta, radius, relative);
return "Tracker moved.\n";
}
/**
* Sends the tracker to home position.
*
* @return "Tracker moved to home position.\n"
* @throws TrackerException thrown if not connected
*/
String home() throws TrackerException {
isConnected();
trk.home(false);
return "Tracker moved to home position.\n";
}