/**
* 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";
}
/**
* 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");
}
}