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2.3 Tracker Programming Interface

1. warning Bit 2 Bit 3 AtLeastOneDistancelsNotInRange At least one of the distances is smaller than 0x4 the minimum or larger than the maximum recommended distance according to the recommendations Bit 4 NotEnoughMeasInTwoOppositeVerticalPlan This warning covers all except the range 0x8 esWithGoodDiffOfVerticalAngle criterion possible criteria which are not fulfilled by the measurement configuration according to the recommendations Bit 5 NotAllCorrectedDoubledTwoFaceErrorsAre Not all measurement residuals are within 0x10 WithinCompensationTolerance recommended tolerances Bit 6 NotAllMechanicalParametersArelnRange Not all three 3 mechanical parameters 0x20 calculated are within recommended tolerance according to hardware specs B2 3 CallTransformation command reserved error range 24000 24999 Number Symbol not exposed Comments Default status in case of command 0 TRAFO_SUCCESS succeeded 24010 TRAFO_ERR_OLECOM_INIT OLE COM initialization failed F 24011 TRAFO_ERR_RESOURCE_READ Reading resource string failed F Error on reading input data from 24012 TRAFO_ERR_READ_ DATA database F 24013 TRAFO_ERR_SAVE_DATA Error on saving results to database F 24020 TRAFO_ERR_FIT_FAILED Least Square Fit failed 24021 TRAFO_ERR_INITIALFIT_FAILED Initial approximation for Fit failed 24022 TRAFO_ERR_TOOMANYUNKNOWNNOMINALS To
2. angle temperature and pressure Steps TPI command 1 Establish TCP IP Depends on TCP IP connection communication API See different samples 2 Setunits length ES_C SetUnits 3 Set current environmental temperature pressure ES_C SetEnvironmentPa rams and humidity 4 Initialize the Laser ES_C Initialize Tracker 5 Select desired 3D ES_C SetMeasurementM Measurement mode lode Stationary ContinuousTime 6 Query all defined ES_C_GetReflectors Reflectors optional 7 Select the Reflector ES_C SetReflector being used 27 8 Go Bird Bath optional if Tracker equipped with an ADM For 6D modes the tracker will move to zero position instead GoBirdBath does not make sense for Probes ES_C_GoBirdBath 9 Set Station Orientation parameters ES_C _ SetStationOrientati onParams 10 Set Transformation parameters ES_C SetTransformation Params 11 Set Coordinate system type RHR LHR 12 SendUMessages should always be enabled boolean in struct SystemSettingsDataT ES_C_SetCoordinateSyst emType ES_C_SetSystemSettings In addition a valid Mechanical Tracker Compensation must be active This is usually always the case supposed the Tracker compensation once has been performed or imported However there can be exceptions when installing new software or importing compensation data The active com
3. struct SetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo struct ContinuousTimeModeDataT cont inuousTimeModeData struct SetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo di struct GetContinuousTimeModeParamsCT struct BasicCommandCT packetInfo i struct GetContinuousTimeModeParamsRT struct BasicCommandRT packetInfo struct ContinuousTimeModeDataT continuousTimeModeData hi See struct ContinuousTimeModeDataT for details Set GetContinuousDistanceModeParamsCT RT Command structures for setting getting the parameters for the Continuous Distance Measurement Mode struct SetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo struct ContinuousDistanceModeDataT continuousDistanceModeData i struct SetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo hi struct GetContinuousDistanceModeParamsCT struct BasicCommandCT packetInfo hi struct GetContinuousDistanceModeParamsRT struct BasicCommandRT packetInfo struct ContinuousDistanceModeDataT cont inuousDistanceModeData hi See struct ContinuousDistanceModeDataT for details Set GetSphereCenterModeParamsCT RT Command structures for setting getting the parameters for the Sphere Center Measurement mode 198 struct SetSphereCenterModeParamsCT struct BasicCommandCT packetInfo struct SphereCenterModeDataT sphereCenterMode
4. working see comment at bottom of worker thread function while true syncl ChangeFace connl DisconnectEmbeddedSystem catch Exception except MessageBox Show except Message private void StausChangeEventHandler LTCONTROLLib ES_SystemStatusChange changeEvent handler for status change events just display to console System Console WriteLine StatusChangeEvent MainThread 0 changeEvent LUANIN CAUNA NAVATA public class OtherThread LTConnect conn2 LTCommandSyne sync2 This method that will be called when the thread is started public void WorkerFunc try comments see corresponding part in main thread conn2 new LTConnect sync2 LTCommandSync conn2 ILTCommandSync conn2 SelectNotificationMethod LTC_NotifyMethod LTC_NM_Event 0 0 sync2 StatusChangeEvent new _ILTCommandSyncEvents_StatusChangeEventEventHandler this StausChangeEventHandler conn2 ConnectEmbeddedSystem 10 62 35 53 700 Thread worker loop here UI commands need to be handled Due to sample nature of this code just do endless change face of tracker2 while tracker 1 does the same in parallel If we started both while in green status each change face will cause status change events hence status change event handlers will be called for both trackers see console output while true endless loop sync2 ChangeFace conn2 DisconnectE
5. Solution Ignore the default case by doing no action at all or one that just has an effect to debug versions default No action at all break or default no effect to retail versions TRACE Unexpected Status ASSERT false break Summary emScon client application only must interpret KNOWN i e defined data according to enums structs in current C API file All other data must be ignored 21 Only if this rule is attended existing emScon client applications will also run with future emScon server upgrades Otherwise application source may need to be adjusted to be compliant to new server versions Applications supporting different server versions If an application is required to support tracker hardware with different capability and or several emScon server versions some important version checking issues apply Consider for example that the same application should be able to deal with emScon V1 5 3D only as well as with emScon V2 0 and up 3D trackers as well 6DoF systems Since newer emScon server versions always are backward compatible that is all previous commands are also covered by the newer versions there is usually no problem to run an already existing application on a newer server version exceptions see previous chapter The problem starts for applications that should support 6DoF systems emScon server V2 0 and up but should also be able to deal wit
6. _ Stopped h o lt 4 er EEES 4 a gt u Q 4 Q e triggered measurements e Realtime Event Trigger In the event trigger mode each positive or negative transition depending on the configuration of the clock signal will take a measurement In event trigger mode the start Stop signal will be ignored e internal clock with external start stop signal The measurement will be controlled by the external Start Stop signal on the trigger board The continuous measurement then will be taken regarding internal settings and is not synchronized to an external signal Trigger Interface Feb 4 2008 Page 4 Leica Geosystems AG Metrology Division 3 2 Event Message Trigger Modes They do not start a measurement just the hardware interface of the trigger card is used to receive the events Since the idea of Event Message Triggers are single incidents they will send up to maximal 3 messages per second Faster incidents will be simply ignored realtime triggers are the better choice therefore e Event Trigger The positive or negative transition depending on the configuration of the Start Stop signal will send a trigger event message It does not start a measurement It s up to the application software to take any action like starting a stationary measurement etc e Start Stop Event Trigger The both transition of the Start Stop signal will send depending on the configuration a start or a stop e
7. 105 memory Also check for potential version conflict ES_RS_ParameterExportToProbeFailed Meaning Exporting of a probe compensation failed Note Check for potential version conflict ES_RS_TrkCompMeasCameraMismatch Meaning The selected Tracker Compensation was not made with a T Cam mounted This compensation must not be used with a Tracker wit T Cam mounted Note Select a different compensation ES_RS NoMeasurementCamera Meaning No T Cam is available Note Mount the T Cam ES_RS_NoActiveMeasurementCamera Meaning The mounted T Cam does not match the one stored in the database Note Make sure mounted T Cam matches the camera information stored in the database ES_RS_ NoMeasurementCamerasInDb Meaning No T Cam is defined in database Note Provide camera information in database ES_RS_NoCameraToTrackerCompSet Meaning No T Cam to tracker compensation is activated Note use the Set CamToTrackerCompensation command to activate a compensation ES_RS_NoCameraToTrackerCompInDb Meaning No T Cam to Tracker compensation is available in database Note Perform a T Cam to Tracker compensation ES_RS_WrongActiveCameraToTracker CompInDb 106 Meaning T Cam to Tracker compensation does not match the mounted camera Note Use the correct camera or provide a compensation ES_RS_NoMeasurementProbe Meaning No probe can be seen by the camera Note Move the probe to the camera s viewing spa
8. 157 e ES_SP_D_SystemLongest3DDistanceADM Cannot be set Only Get supported Returns the longest distance double parameter value the Absolute Distance Meter ADM is able to measure which depends on tracker type e ES_SP_D_SystemLongest6DDistance Cannot be set Only Get supported Returns the longest distance double parameter value the system is able to measure in 6DoF mode which depends on the combination of Tracker and TCam type Note Some settings for example LaserPointerCaptureBeam ES_SP_TcpCommandQueueSize and ShowAll6Dmeasurements are non persistent settings They fall back to the default value in case of server reboot If applies an application must always set these values upon startup ES _ProbeConfigButton Parameter values for ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_Tip parameter type Allows to configure the behavior of the probe buttons enum ES_ProbeConfigButton ES_PCB_SingleClick ES_PCB_StartStop ES_PCB_4ButtonMode e ES _PCB_SingleClick A single button click causes a ES_SSC_MeasurementProbeButtonDown event Typically used in an application to trigger a StartMeasurement Remark This mode has somehow become 158 obsolete An application can always use ES_PCB_StartStop and then only evaluate either the Down or the Up Event or both For that reason the equivalent to ES_PCB_SingleClick is no longer
9. 267 Manual up to emScon 2 3 472 propagated to peek the full packet header 8 bytes In the meantime the very seldom situation that a packet boundary ran across the middle of a packet header was encountered indeed That is the first part 4 Bytes of the header of the next packet is at the tail of the current packet Hence we failed to peek the header for 8 bytes Only 4 bytes were returned To avoid such although rare problems the function was revised in terms it now only peeks for the packet size the first 4 Bytes The sample code shown below demonstrates a method to ensure complete packets if data blocks arrive scattered and to avoid data congestion traffic jams It is based on Winsock 2 0 API functions Remember There exist other approaches to implement safe socket reading Indeed in terms of performance Peeking and then Reading may not be the best solution However it s probably the easiest one to implement A most performing algorithm would probably always read all data that is currently pending and then parse the data on the application side However such an approach is much more complex 268 LRESULT CMsgSink OnMessageReceived UINT uMsg WPARAM wParam LPARAM lParam BOOL amp bHandled The read buffer is kept static for performance reasons In a real application better make it a member variable of CMsgSink Buffer size depends on application data amount and rate Use s
10. 436 Single Fault Diode cable not connected E l 449 Unknown hardware error ESAE I I I III o e a ea en E TIMEOUT Laser Modecounting failed TIMEOUT Laser unable to stabilize meee a l TIMEOUT Looptimer stopped gt Watchdog O T O V T O Absolute Distance Meter HW Errors ADM has no firmware loaded 502 Set frequency not locked Reseved Ses 2 2 O Reserved Ne a ee 550 Light polarization during ADM measurement too unstable happens normally only on large entry angles into prisms ADM measurement distance difference of double measurement out of tolerance ADM measurement invalid temperature ADM communication frame error ADM LTC communication internal software error unknown ADM error C 6 Hardware Error additional error numbers to the 9xx group COON ta ae ee n y Motor Amplifier digital Poti set invalid Motor Amplifier I C Bus failed LTCplus base front panel cable not connected Motor Amplifier digital Poti access error LTCplus base fan cable not connected 606 LTCplus base video output cable not connected ide 609 Motor Amplifier motor power 28V Watchdog has locked ___ o Y IFM count not stable counting error during servo control point measurement Synchronisation line ADM to TP failed 623 Synchronisation line TP to ADM failed 5 Hardware error no LTC ATC card found __ S O 6 Hardware error old version of LTC ATC card __ i O 0 _ Serial
11. ContinuousDistance Grid SphereCenter CircleCenter 6DStationary 6DContinuousTime 6DContinuousDistance 6DGrid 6DSphereCenter 6DCircleCenter E e a e Ue ANNNNNNNNNANN e ES_MM Stationary Stationary measurement mode Also known as Single Point measurement where the 112 target is stationary A stationary measurement is an average value of many tracker measurements The parameters for a stationary measurement number of measurements and the time span can be controlled with the ES_C_SetStationaryModeParams command ES_MM_ContinuousTime Continuous measurement mode with a time interval a measurement is triggered after the time interval The behavior of a continuous measurement can be controlled with the ES_C_SetContinuousTimeModeParams command ES_MM_ContinuousDistance Continuous Measurement mode witha distance interval A measurement is triggered after the distance interval The behavior of a Continuous Distance measurement can be controlled with the ES_C_SetContinuousDistanceModeParams command ES_MM_Grid Continuous Measurement Mode by grid interval A measurement is triggered after the grid interval The behavior of a grid measurement can be controlled with the ES_C_SetGridModeParams command ES_MM_SphereCenter Measurement mode to indirectly measure a sphere center point This is achieved by a continuous measurement scan over the sphere surface
12. Status shown in 3 line a 3 empty interferometer not locked D Hmeas ADM measurement in progress TFM on interferometer locked tracker ready to measure Measurements based Clock ernacor Z on metal Glog LTI LTD 46 MZ 16 meesap y L 1Leims ae ret fess SD xX t ims 3D measurement with a rate of 1000 points sec delay of 1ms mbisesb X IFM omn only 3D reflector display data running but not a measurement peas D 3S L Sms 6D measurement with a rate of 200 points sec delay of 5ms mDisFeb X IFM on only 6D reflector display data running but not a measurement 6 2 External Realtime Trigger trigger mode set IF 192 165 0 1 to external trigger LTI LTOS40 U50 measSl yx ertTridy Pa Ref l r e External Trigger Mode with Start Stop k Display swapping between Trigger Status exLTeis and minimal time _ Start Stop line inactive stop condition delay of e g t 3ms I Start Stop line active waiting for trigger events AM Trigger activity events take measurements Time violation pulses faster then then minimal delay External Trigger Event Mode Display swapping between Trigger Status xLTris and minimal time E Tracker ready waiting for trigger events delay of e g Le Sme AM Trigger activity events take measurements x Time violation pulses faster then the minimal delay Trigger Interface Feb 4 2008 Page 8 Leica Geosystems AG Metrology Division 6 3 External Start Stop Trig
13. type answer has arrived SingleMeasResultT pData4 SingleMeasResultT byteArr if pData4 gt packetInfo status ES_RS_A110K return false break Todo add further case statements for remaining packet types e Declaring variables within case statements which are suitable for masking data require curly brackets around a particular case block Otherwise the compiler will claim e If then else can be used instead of switch statements However switches are more efficient e Frequent items should be treated at the top of a switch statement for example multi measurement results not covered above 250 3 6 C Language TPI Samples Some older Samples distributed with former emScon versions have been dropped because they have expired For Example Samples 1 and Sample 2 do no longer exist for the emScon V2 0 SDK Nevertheless the samples still provided have not been re named That s the reason why Sample 3 is the first one referenced here However even if the names have not changed the samples might have improved since earlier versions Sample 4 see C section has been completely revised for example Make sure to use the samples from the latest SDK version i e the ones that match your current server version 3 6 1 Sample 3 Implements a lightweight C TPI client application with no graphical interface GUI overhead or MFC or ATL This sample fits into a single file with about
14. Implication Comment Calculate and Set index With the input of the of refraction environmental temperature pressure and humidity the system calculates the light refraction index of the interferometer IFM and the absolute distance meter ADM These parameters have a direct influence on the distance measurement A change of 1 C causes a measurement difference of lppm A change of 3 5mbar causes a measurement difference of 1ppm Change environmental parameters when significant changes take place Default values 20 0 C 1013 3 mbar 32 Set Reflector Implication Comment Select a specific reflector A wrong reflector results in a wrong initial IFM distance e g when using the Go Birdbath command This has a direct influence on the distance measurement Tooling ball reflector TBR 5 310 mm Cat eye 59 114 mm There is usually more than one reflector defined These can be queried from the system by using the GetReflectors command This shows the relation between the ID and the Name Reflector Type The ID can then be passed to the SetReflector command to activate it Note that this setting remains persistent Nevertheless it s strongly recommended that an application upon launch at least checks whether the desired Reflector is set More info Chapter 8 Get Reflectors command 33 Set Compensation Implication Comment Select
15. and has a compiled component Reflector ocx 283 which allows use without a Visual C compiler Remarks The Reflector ocx control must be registered before it can be used Only one instance of such a control can be instantiated per Form Dialog box The properties ServerAddress and PortNumber can be specified at Form Dialog design time However this only makes sense if these parameters are constant The more common way is to set these properties programmatically Call the method Initialize after having set the properties and not before the client application has successfully connected to the same address port This lets the client application instead of the Reflector ocx handle any connecting problems The client application must ignore answers from commands triggered by the Reflector ocx Get Reflectors GetReflector and SetReflector Do not implement an Error Event handler for Reflector ocx The control has a built in handler Visual Basic does not allow it it causes a compiler error If correctly applied the component should never fire an error event Here is a code sequence for a VB application Typically executed in Form Load Reflectorl ServerAddress 192 168 0 1 Reflectorl PortNumber 700 Reflectorl Initialize e Itis assumed that the client application has already successfully connected to the same address port before these calls 284 Keyboard Interface Limitation
16. struct AddTransformationNominalPointRT struct BasicCommandRT packet Info hi AddTransformationActualPointCT RT Command structures for adding a Point to the actual point list See struct TransformationPointT and also chapter Transformation Procedure in chapter 8 for details struct AddTransformationActualPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint struct AddTransformationActualPointRT struct BasicCommandRT packetInfo he GetTransformedPointsCT RT Command structures for retrieving the transformed points and residuals after a successful transformation Result values are in current units and CS type like nominal points 219 This command results in as many result packets as specified points through the nominal actual input points list This approach is similar to the GetReflectors command See chapter Transformation Procedure in chapter 8 for details Residuals are the difference between the nominal and the transformed actual points struct GetTransformedPointsCT struct BasicCommandCT packetInfo hi struct GetTransformedPointsRT struct BasicCommandRT packetInfo int iTotalPoints double dVvall double dVal2 double dVal3 double dStdDev1 double dStdDev2 double dStdDev3 double dStdDevTotal double dCovarl12 double dCovarl13 double dCovar23 double dResidualVall double dResidualVal2
17. 98 InvalidinputData Similar to WrongParameter but cannot exactly determine what s wrong 99 NoTriggerBoard Tried to access Trigger Board features but the system is not equipped with a Trigger board 10001 NoMeasurementShankCompSet If we are in Shank mode measurements without shank compensation are not allowed 10002 NoValidADMCompensation The issued command is not available without having a valid ADM compensation import or perform a mechanical tracker compensation 10003 PressureSensorProblem Pressure difference from 2 internal sensors too big 10004 MeasurementStatusNotReady Tried to trigger a measurement while status was not yet ready Remark Range 100 9999 is reserved for Controller Sensor Firmware errors as listed in Appendices C and D hence the gap between error 99 and 10001 B2 TPI status values forwarded from special commands sub processes Remark Not all of the errors listed below may be relevant to application programmers The occurrence of some may be very unlikely Note that symbols other than those in section B1 are not available to application programmers by including certain files they are listed for information only in addition to comments Errors marked with F are unanticipated fatalities and should not occur under normal conditions All the listed errors are additional errors to the ones listed in the section above that is
18. ES_RS_A110K ES_RS_ServerBusy ES_RS_NotImplemented ES_RS_WrongParameter ES_RS_WrongParameterl ES_RS_WrongParameter2 ES_RS_WrongParameter3 ES_RS_WrongParameter4 ES_RS_WrongParameter5 ES_RS_WrongParameter6 ES_RS_WrongParameter7 ES_RS_ParameterlOutOfRangeOK ES_RS_ParameterlOutOfRangeNOK ES_RS_Parameter20utOfRangeOK ES_RS_Parameter20utOfRangeNOK ES_RS_Parameter30utOfRangeOK ES_RS_Parameter30utOfRangeNOK ES_RS_Parameter4OutOfRangeOK ES_RS_Parameter4OutOfRangeNOK ES_RS_Parameter50utOfRangeOK ES_RS_Parameter50utOfRangeNOK ES_RS_Parameter6OutOfRangeOK ES_RS_Parameter6O0utOfRangeNOK ES_RS_WrongCurrentReflector ES_RS_NoCircleCenterFound ES_RS_NoSphereCenterFound ES_RS_NoTPFound ES_RS_NoWeathermonitorFound ES_RS_NoLastMeasuredPoint ES_RS_NoVideoCamera ES_RS_NoAdm ES_RS_NoNivel ES_RS_WrongTPFirmware ES_RS_DataBaseNotFound ES_RS_LicenseExpired ES_RS_UsageConflict ES_RS_Unknown ES_RS_NoDistanceSet ES_RS_NoTrackerConnected ES_RS_TrackerNotInitialized ES_RS_ModuleNotStarted ES_RS_ModuleTimedOut ES_RS_ErrorReadingModuleDb ES_RS_ErrorWritingModuleDb ES_RS_NotInCameraPosition ES_RS_TPHasServiceFirmware ES_RS_TPExternalControl ES_RS_WrongParameter8 ES_RS_WrongParameter9 ES_RS_WrongParameter1l0 ES_RS_WrongParameterll ES_RS_WrongParameter12 ES_RS_WrongParameter13 ES_RS_WrongParameterl14 ES_RS_WrongParameter15 ES_RS_WrongParameterl16 ES_RS_NoSuchCompensation ES_RS_
19. Some other values are just for information for example height above sea level 16 Working ambient conditions Minimum value Maximum value Temperature 5 C 40 C Height above sea level elevation not relevant for software 500 m 3000 m Air pressure 600 mbar 1170 mbar Relative humidity 10 90 Refraction index IFM 1 00015 1 000331 Refraction index ADM 1 000152 1 000336 Level 2 An Error message occurs when trying to set a value outside the specified range The values are rejected Storage ambient conditions extended working range Minimum value Maximum value Temperature 10 C 60 C Height above sea level elevation not relevant for software 2000 m 7000 m Air pressure 330 mbar 1400 mbar Relative humidity 0 100 Refraction index IFM 1 000077 1 000419 Refraction index ADM 1 000078 1 000425 17 2 3 5 Coordinate Parameter Triplets The values of coordinate parameter triplets often named as Val1 Val2 and Val3 in most data structures depend on the currently active coordinate system type and the currently active units In addition measured coordinate values output and positioning values input are transformed according to currently set transformation and orientation parameters Coordinate values for filters
20. Appendix for a more detailed description of trigger issues enum ES_TriggerStartSignal ES_TSS_High ES_TSS_Low e ES TSS Low The trigger start signal is of low level e ES_TSS_High The trigger start signal is of high level ES _SystemParameter Specifies the value to be addressed by the ES_C_Set GetLongSystemParameter command 154 enum ES_SystemParameter ES_SP_KeepLastPositionFlag ES_SP_WeatherMonitorSetting ES_SP_ShowAl116DMeasurements ES_SP_LaserPointerCaptureBeam ES_SP_DisplayReflectorPosition ES_SP_ProbeConfig_Button ES_SP_ProbeConfig_ButtonEvent ES_SP_ProbeConfig_Tip ES_SP_ProbeConfig_SoundVolume ES_SP_ProbeConfig_PowerOffTime ES_SP_QuickReleaseStatus ES_SP_TcpCommandQueueSize ES_SP_SystemMax6DDataRate ES_SP_D_TemperatureThreshold ES_SP_D_PressureThreshold ES_SP_D_HumidityThreshold ES_SP_D_SystemLongest3DDistancelIFM ES_SP_D_SystemLongest3DDistanceADM ES_SP_D_SystemLongest 6DDistance e ES_SP_KeepLastPositionFlag Param value 0 OFF 1 ON Important Enabling the KeepLastPosition flag is compulsory for 6D Measurement Modes Otherwise the Probe will not be recognized If beam catched at zero position Alternatively this setting also can be controlled through the SetSystemSettings command e ES_SP_WeatherMonitorSetting Parameter value see ES_WeatherMonitorStatus Alternatively this setting also can be controlled through the SetSystemSetti
21. Attention The value of T in the formula above becomes huge within only a few minutes If your application implements this formula you must use caution to avoid an overflow of T Either use a 64bit Integer or protect the resulting value for not to exceed MaxInt depends on your platform Example See MeasValueT Position values angular values and statistic parameters are in current units CS type and according to applied orientation transformation parameters 170 The position values relate to the center of the tip ruby sphere Rotation angles are always represented in the interval between PI and PI The following helper structs ease the interpretation of the Rotation Status RotationStatus Note If the SystemParameter flag ES_SP_ShowAll6DMeasurements is set to False which is default then only measurements with Rotation Status OK will arrive Interpreting the Rotation Status only becomes an issue if the ShowAll6DMeasurements is enabled By using the SetLongSystemParameter command The following union can be used to easily interpret the rotation status Assign the returned value a long to URotationStatus 1 then interpret the Error6D and optionally other fields Note that the fields are only valid if Status6D bit is set The evaluation of rotation status in detail is subject of advanced programming Usually it is sufficient just to check for Error6D being 0 success or 1 error while
22. Command structures for setting getting the reflector search parameter values The search time depends on the search radius Large search radii may result in extended search times unless limited by a reasonable SearchTimout See struct SearchParamsDatalT for details 204 Set GetAdmParamsCT RT struct SetAdmParamsCT struct BasicCommandCT packetInfo struct AdmParamsDataT admParams di struct SetAdmParamsRT struct BasicCommandRT packetInfo hi struct GetAdmParamsCT struct BasicCommandCT packetInfo hi struct GetAdmParamsRT struct BasicCommandRT packetInfo struct AdmParamsDataT admParams hi Command structures for setting getting the reflector search parameter values See struct AdmParamsDatalT for details Set GetEnvironmentParamsCT RT struct SetEnvironmentParamsCT struct BasicCommandCT packetInfo struct EnvironmentDataT environmentData hi struct SetEnvironmentParamsRT struct BasicCommandRT packetInfo hi struct GetEnvironmentParamsCT struct BasicCommandCT packetInfo he struct GetEnvironmentParamsRT struct BasicCommandRT packetInfo struct EnvironmentDataT environmentData i Command structures for setting getting the environmental parameter values Environmental values are updated automatically at regular intervals if the weather monitor is on connected and the WeatherMonitorStatus of SystemSettings is one of ES_WMS_ReadOnly
23. Inclination sensor feature information if a Nivel is available Version and Serial Number See also extended command ES_C_ GetNivellInfo2 introduced with emScon V2 3 New applications should always use ES_C_ GetNivelInfo2 The former one is only kept for compatibility reasons 81 ES_C_ SetLaserOnTimer Switches the laser on in predefined time ES_C_GetLaserOnTimer Reads the remaining time left before it is switched on ES_C_ConvertDisplayCoordinates Converts display coordinate triples from base to current and back This is a private function command and is not documented supported It should not be used for any client programming ES_C_GoBirdBath2 Sets the laser beam to the Bird bath by turning tracker head in specified direction clockwise or counter clockwise Note This command only applies to 3D measurement modes See description of ES_C_GoBirdBath for more details ES_C _ SetTriggerSource Sets the Trigger Source for triggering measurements from remote e g Probe buttons or clock signal See Tracker Trigger Interface Appendix for a more detailed description of trigger issues ES_C_GetTriggerSource Get the currently active Trigger source ES_C_GetFace Get the currently active Tracker Face I or IT ES_C_GetCameras Enumerate all Measurement cameras known to the system i e those defined in the database Apart from the internal ID a selection of properties is delivered Name Type
24. Samples cccssscscccssssssscscsessscsssssssseseeees 251 3 6 1 SEa aol eS AES S vedi sdsdysshecssveotdensbessessomeoieess 251 4 C INTERFACE iviccciciccccniscncscncucssvencrenanenwancueacs 255 4 1 Class based TPI Programming e sesesssesessesessoesessossescesoesessose 255 4 1 1 Preconditions aena E E E 255 4 1 2 Platform ISSues inen e E 256 4 1 3 TOPP i rane e MONG a hee ee ee SEES 256 4 2 C Language TPI Reference sesoersesereroroesesecocoesoroesesecoeoesossesee 256 4 2 1 CESAPICommand class c ce eeeceeseeceseeeeneeceseeeeeeceseeeeneeees 256 4 2 2 CESAP Receive class cccecceeseeceeseeeeceeeeeeeceeceaeeeeeneenaes 258 4 3 C Language TPI Programming Instructions sss0e 260 4 3 1 Sending Data i iscnhesii ch tiie edd seen 260 4 3 2 R c iyine Data aaier erent oreta e anp eee aa else aa i epee ot 261 4 3 3 Class Design Issues sisao easan eeoa aeaea oeat 261 4 3 4 Data Structure Wrapper Classes ssesseeeeseeeesereeeeeeeeeerrseeee 262 4 3 5 CESAPI Command iistri eiei e ienei ne 263 4 3 6 CESAPIRECEIVE nenna ea a a a ea A R s 265 4 3 7 Queued and Scattered Data ccceccceesseeeceestecesssteeeeees 266 4 3 8 Partial Settings Changes ccessssescseseeceeeeecsseeeeeseeneeeeens 271 4 3 9 Asynchronous Programming Issues 272 4 3 10 Working with multiple trackers 0 eee eeeeeecreeeecneeeeeeene 276 4 4 C Language TPI Samples ccccsccsccccssseccscssssssssessseseee
25. double dResidualVal3 hi GetStilllmageCT RT Command structures for getting a camera still image The data is delivered as a BMP file Jpeg format is not supported yet The result is a binary block given by start address and size in File format It can directly be viewed with a bitmap viewer struct GetStillImageCT struct BasicCommandCT packetInfo enum ES_StillImageFileType imageFileType hi struct GetStillImageRT struct BasicCommandRT packetInfo enum ES_StillImageFileType imageFiletype long lFileSize char cFileStart Only the BMP format is currently supported GoBirdBath2CT RT Command structures for driving the laser to the Bird bath either in clockwise or counter clockwise direction 220 struct GoBirdBath2CT struct BasicCommandCT packetInfo ES_BOOL bClockWise he struct GoBirdBath2RT struct BasicCommandRT packetInfo di GetCompensationCT RT Command structures to read the currently active Compensation ID struct GetCompensationcT struct BasicCommandCT packetInfo di struct GetCompensationRT struct BasicCommandRT packetInfo int iInternalCompensationId hi SetCompensationCT RT Command to activate one of the intermediate tracker compensations delivered by GetCompensations by its ID struct SetCompensationcCT struct BasicCommandCT packetInfo int iInternalCompensationId hi struct SetCompensationRT struct
26. interface Although most of them especially the Set Get functions are named accordingly This inconsistency comes from the high level approach of certain methods However by viewing the list of available functions type library Intellisense it is quite easy to find the proper methods and their relatives to the C C interface where the parameters are described Note that asynchronous methods never return any data Data is returned through events in these cases On the other hand synchronous methods always return the result data if any as parameters Concerning input parameters sent to the tracker server there is no difference between the synchronous and asynchronous approach Note The event id 76 SystemParameterData of the interface _ILTCommandAsyncEvents should no longer be used For new applications 303 use id 80 LongSystemParameterData instead The former one is only kept to ensure compatibility to existing applications Old and new event only differ by name and dispatch ID The parameter list remains unchanged The reason for the name change is to avoid a mess up with the newly introduced event DoubleSystemParameterData 5 2 9 Registering COM Objects COM objects must be registered on the application PC before they can be used For details refer to the Readme txt file that comes with the SDK Lib folder 5 2 10 Synchronous versus Asynchronous Interface When de
27. nothing prevents you to relocate these objects so 351 that they are accessible from event handlers and UI handlers such as ButtonPress handlers The rest of the code does not make sense to a real application We just stop for a few seconds in order to allow receiving the command answers If we would not stop the Main function here it would immediate close connections and exit hence there would be no chance to get the command acknowledgements Note that exiting the Main function means exiting the application In a real Console application the Main function here would rather enter an user interface loop and wait stop loop for user input Thread Sleep 7000 let main thread sleep for a while That is Main function Stops here disconnect from server s Close s2 Close Request receiver Threads be stopped thread Abort thread2 Abort Wait until Threads finished thread Join thread2 Join catch Console WriteLine Main init failed No Connection Console WriteLine Application End Main ren The last thing to consider Check for the cookie in the incoming answer so that we know which tracker the answer came from We could then trigger the next command right here in the answer handler in order to implement synchronized command chains as often used upon application startups This would require reloca
28. 25 NoSphereCenterFound measurements Tracker Processor Controller not 26 NoTPFound detected Missing cable Tried to query meteo data from missing 27 NoWeathermonitorFound or disabled external meteo device 28 NoLastMeasuredPoint Applies to command GoLastMeasuredPoint only No point has been measured yet since last system start Tried to access Video functionality but 29 NoVideoCamera there is no overview video camera Tried to access ADM functionality but 30 NoAdm tracker is not equipped with an ADM Tried to access Level functionality while no inclination sensor Nivel is 31 NoNivel attached enabled Current firmware is not suitable for 32 WrongIPFirmware actual tracker controller 33 DataBaseNotFound Fatal installation problem on emScon server SQL server not running or no DB attached 34 LicenseExpired The copy protection Dongle has expired 35 UsageConflict The issued command does not make sense in current context An unknown not specified error has 36 Unknown occurred Tried to measure HVD while IFM distance not set use GoBirdBath or 37 NoDistanceSet GoPosition FindReflector Tracker not recognized cable 38 NoTrackerConnected connection problem Any command that throws this error requires the tracker being initialized 39 TrackerNotlnitialized first Issue Initialize command first Applies to a child
29. 3 2 3 Error EVD ai st sscesssp ed vecs sh aee aeoaea A iee AE Ep ASEET 51 3 2 4 System Status Change Events sesseseeeseesesreerrereereserrresesrees 51 3 2 5 3D 6 DoF Related commands sessesesereeseeeeereeererereseees 52 3 3 C Language TPI Reference eseessesesseesesoossesecsoesessossesoessesessossee 53 3 3 1 Constants sooo E r a eda E a E 53 3 3 2 Enumeration Types roie aer i eaea e t 54 34 Data Structures seirinin 166 3 4 1 Basic Data Structures ankeedi e ee a ei 166 3 4 2 Packet Data Structures sinisiraan rie 184 3 5 C Language TPI Programming Instructions cceseee 244 3 5 1 TCP IP Connection seere eener ar ee enenge EE EAR ea SESE nt 245 3 5 2 Sending Commands ce ceesesssssecseeeecseeeeceseeeesaeeateseeneeeee 245 3 5 3 Initialization Macros ccccceesceescesceesceesceeeeeeeceeceaeenseeneeaes 246 3 5 4 Excurse C Initialization cccecceesceeceeeeeseeeeeeeeenneeees 246 3 5 5 Answers from Tracker Servet cc ccesceeseeeeeesceseeeseeeseenees 247 3 5 6 Asynchronous Communication ceceeecsescsseereetecseeeeees 247 3 5 7 DataArrived Notification cccceeseesceeeceeeeereeeeeeeeenteenees 247 3 5 8 Data arrival Traffic Jams cccsceesseesseesceeseeeeeeeeeeseeeeeees 248 3 5 9 PacketHeader Masking 0 ceeeeeecsseeeceseceeeeeseeeeeseeneeeeens 249 3 5 10 Command Subtype SWitch oo eee ceeeeeeeeceeeeeeeeeeeeenees 249 3 6 C Language TPI
30. 4217 ZFCI ERROR invalid command parameter 4218 ZFCI ERROR wrong ZFC answer 4250 FLASH REMARK space in err log message sector is running out 4251 FLASH REMARK err log message sector erased successfully 4260 FLASH ERROR err log message sector erase failed 4261 FLASH ERROR writing of a err log message failed 4350 SPI ERROR Receive timeout occurred 4351 SPI ERROR Transmit channel not ready 4400 SYNCH ERROR No external synch input received 4450 CCIR ERROR invalid command parameter 4500 FLTABHD REMARK parameter table is empty 4501 FLTABHD REMARK recovery of the corresponding table failed 4502 FLTABHD WARNING read parameter table is not valid 4510 FLTABHD ERROR FLASH write error 4511 FLTABHD ERROR FLASH read error 4512 FLTABHD ERROR reset of a parameter table failed 4513 FLTABHD ERROR module initialization failed or was not done 4514 FLTABHD ERROR malloc error occurred 4515 FLTABHD ERROR parameter table write error crc check was not successful 4516 FLTABHD ERROR sector erase error 4550 CAM ERROR invalid Z_CAMCOM answer 4551 CAM ERROR no valid camera FPGA version E AIFM Error IDs Upon an above command the AIFM can report the following errors ID Error Text Exception Type Triggered in Module gener
31. 62 63 631 63 63 63 63 63 63 63 63 64 641 64 64 64 64 65 i 651 i i 65 i 65 i l 65 i 65 i 7 656 65 i 65 i 65 i 661 i l 66 i i 66 i 692 AT901x Sensor Az Axis cable not connected AT901x Sensor internal NIVEL cable not connected 694 AT901x Sensor internal Probe cable not connected 699 Sensor Motor cable length measurement error C 7 Operation Errors 701 Target lost tracking has failed Interferometer has failed lost count 703 Azimuth limit has been reached The tracker head has attempted to go beyond the 240 degrees Positioning timeout positioning of the tracker head could not be completed within the timeout period 707 invalid angle on the azimuth axis Radial speed is within bounds Sent after a speed warning when the speed has returned to acceptable bounds Radial speed warning This is a warning that the movement of the reflector in the radial 710 711 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 Intensity overflow on photosensor This error occurs if the intensity value from the photosensor exceeds the range of the A D converter The TP will change the A D range automatically Laser light mode has jumped This means the laser control loop wasn t able to stabilize the laser tube
32. A StartMeasurementRT confirmation is therefore essential for continuous modes 49 A multi measurement stream runs until explicitly stopped StopMeasurement or until specified time or count thresholds are reached Special Command Answers Some commands such as ES_C_GetReflectors and ES_C_GetTransformedPoints ES_C_GetCompensations ES_C_GetTipAdapters do not fit any of the above categories Generally spoken all commands starting with Get and ending with an s i e plural are treated in a special way ES_C_GetReflectors must not to be mixed up with ES_C_GetReflector missing s Convention The answer to these commands is made up of as many answer packets as reflector types or transformed points Compensations Tips are available from the Tracker Server These answers mainly resolve the relation between item name string and item ID numerical ID for example the relation between Reflector name and Reflector ID Apart from different other information the packets also contain redundant information on the total number of items and the number of packets expected to arrive Convention All string type names are in Unicode representation Example short cReflectorName 32 declaration It can consist of a maximum of 32 characters however since short is 16 bit there are 16 bits for every character two Bytes 50 ReflectorPosResultT and ProbePosResultT can also be seen as a special c
33. ErrorHandler MsgBox Err Description Err Description is only a default minimal error text always in English Of course any other error message of your choice can be displayed 295 To get the related error number rather than the default text the error handler may look as follows Exit Sub ErrorHandler MsgBox CStr Error occurred amp _ Ob jConnect LastResultStatus Use the LastResultStatus property The term Err Number relates to a COM error number which is usually not of interest for the application Alternatively the number of the last error LastResultStatus property can also be retrieved with the TPI command GetSystemStatus Additional or different error handling code can be inserted after the ErrorHandler label Exception Handling in C In C applications exception handling is performed through try catch statements The caught exception is of type _com_error See Win32API COM documentation for details of SupportError Interface try pLTCommandSync gt FindReflector 5 0 catch _com_error amp e MessageBox Exception s LPCTSTR e Description e Description returns the appropriate default string same as Err Description in VB Try catch statements may be nested and are required when queuing several synchronous commands within one C function If the error number rather than the default text is of interest use the property objC
34. In an event handler the following code might be typical example ErrorEvent in VBA Private Sub CommandSync_ErrorEvent ByVal command As Long _ ByVal status As Long If command ES_C_Initialize Then do something End If If status ES_RS_NoTPFound Then do something End If End Sub Use extreme caution while typing the symbols with VBA 97 No IntelliSense support is available Summary There is no problem with enums and VBA97 It is just a potential error source due to missing type checking Structs unless locally defined are not supported in VBA97 LTControl always offers an alternative to those functions returning struct parameters None of the event functions has struct parameters technical restriction and have therefore no restriction with VBA97 5 2 14 Continuous measurements and VBA Events of continuous measurements do not directly pass the data See chapter Handling Data Arrival Continuous Measurements for details Handling continuous measurements within VBA requires care Events can be subscribed with the WithEvent keyword and pending data can be read with GetData as shown in See chapter Reading Data Blocks with Visual Basic for details Also see Sample 13 for a working code example 310 Masking Data The unavailability of LTControl structures in VBA prevents masking the data With the byte layout of the data blocks the appropriate bytes can b
35. R SZ CX CZ Sy SX CZ CX SZ Sy SX _ CY SX SZ SX CZ SY CX CZ SX SZ S y CX CYy CX where cx cos xAngle sx sin xAngle and similarly for the other angles 9 2 5 Transformation parameters Transformation and orientation equations are the inverse form to each other as mappings For transformations the map assumes the form T x sR x 9 2 6 Input to transformation computation Orientation or transformation In the orientation transformation procedure the first parameter of the SetTransformationInputParams command is chosen as ES_TR_AsOrientation ES_TR_AsTransformation respectively Nominal points Nominal points are added as in the following example AddNominalPoint 1 0 2 0 3 0 ES_FixedStdDev ES_UnknownStdDev ES_ApproxStdDev 0 0 0 0 0 0 The parameters are the three coordinates together with their standard deviations and covariances see Section 9 1 above We recommend using the following predefined standard deviations see also Section 3 3 1 Coordinate Symbol Value accuracy Fixed exactly ES FixedStdDev 0 0 known Unknown free ES_UnknownStdDev 1 0E35 Approximately ES_ApproxStdDev 1 0E15 known reasonable 392 Coordinate Symbol Value accuracy Weighted gt 0 0 lt 1 0E10 Approximately known coordinates are used to calculate an initial approximation of the orientation or transformation parameters In a min
36. TPI command e g GoPostion This is only possible when the coordinates of the point are known within 2mm otherwise track the reflector manually from the Bird bath 7 Execute the Stationary Measurement in Face I and save it TPI command StartMeasurement 8 Execute the command Change Face which puts the Laser Tracker from Face I to Face II The pointing to a fixed reflector position from a station should be the same in both faces TPI command ChangeFace 9 Execute the Stationary Measurement in Face II and save it TPI command StartMeasurement 10 Execute the command Change face which puts the Laser Tracker from Face II to Face I TPI command ChangeFace 11 Repeat the steps 5 10 for all target locations Procedure Calculation Devv vertical angle Face I vertical angle Face I 385 Devn horizontal angle Face I horizontal angle Face II Both measurements are in Face I representation Face II measurements are represented in Face I Example Devvt 90 7289893 90 7287338 0 0003 Deg Devn 269 9877001 269 9879985 0 0003 Deg Tolerances The recommended tolerances of the deviations are Vertical angle 13cc 0 0012 Deg Horizontal angle 13cc 0 0012 Deg When the tolerance is exceeded an Intermediate Compensation is recommended 386 9 Mathematics 9 1 Point accuracy Throughout Emscon point coordinates are stored together with a 3x3 covariance matrix It is a symmet
37. This can be caused by a fast and large temperature change 722 2 24 1 2 722 Laser stabilization in progress wait until the laser is stable before tracking 7 ADM measuring timeout the communication with the ADM is working but there is no completed measurment within a certain time by the ADM 34 Target was not stable during the ADM measurement Reflector too far from the Tracker to measure the distance with the ADM a O 3D measurement on 6DoF Probe not allowed o eena Eo yool 62 67 Probe model invalid or unsuitable to device Distance measured by the ADM is invalid out of range C 8 Hardware Configuration Errors user correctable Encoder cable from TP to the rack is not connected An new LT LTD500 Sensor in use with an old SMART310 Controller TP not compatible 845 An old SMART310 Sensor cable is in use it isn t compatible with the new LT Controller and LT LTD500 Sensor Elevation encoder interpolation rate wrong C 9 Hardware Error requires service personnel 906 Elevation encoder is not working o y O 909 i i 911 10_ Photo sensor is not working properly S yO 13_ Photo sensor Xsignalfailed o 14 Photo sensor Y signalfailed S O i i 917 918 919 921 923 924 1 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 t
38. Transformation y 0is0 oth te eneee a wnat Maes 390 9 2 3 Nominal and actual coordinates 0 ceeeseeeeceseeeeeeeneeeeen 391 9 2 4 Orientation parameters cc eeceeescseeeceseeeeeeceseeeeeseeneeeeens 391 9 2 5 Transformation parameters ccsescseeseseeeeceseeeeeseeneeeeens 392 9 2 6 Input to transformation COmputation cee eeeeeeeseeeeeee 392 9 2 7 Output of transformation Computation cc eeeeeeeeeeeeeeeee 394 9 2 8 Examplesianah h08 2s ta ate e a eae ae 396 10 APPENDICES sjcciseucvesiventiinaiarirantventeonnnntwanteuat 400 Tracker Trigger Interface A cscscscscsccssscssscsssessseseses 400 Server Error Numbers B cccssscsssscssssssseccccessssssscececees 400 Tracker TP Error Numbers C ccccccssssssessscscssssssserecees 400 T Cam T Probe Error Numbers D ccssssssssssssssesecees 400 AIFM Error Numbers E sssccsssssscssssecesssscccssssccccsseeces 401 2 Introduction 2 1 Prerequisites 2 1 1 Targeted Users and Terminology This manual applies to software developers who need to write software that directly communicates with Leica Tracker hardware or Tracker servers aka emScon servers respectively This manual hence describes the Application Programmers Interface API for Leica Trackers Tracker Servers emScon API is a widely used term in the programming world In order to clearly distinguish from other APIs Win32 A
39. WarningFlags value is a decimal value Use a scientific calculator to convert this value to a binary value to visualize the flagged bits Programmatically in C C a particular bit is set if the following expression evaluates to TRUE lWarningFlags amp dwCode where dwCode is one of the Masks shown above For example 0x10 tests for 5th bit See C reference for details bit operations CallTransformationCT RT Command structures for executing an Transformation process including reception of results Result values are in current units CS type See chapter Transformation Procedure in chapter 8 for details 217 struct CallTransformationCT struct BasicCommandCT packetInfo struct CallTransformationRT struct BasicCommandRT packetInfo double dTransVall double dTransVal2 double dTransVal3 double dRotVall double dRotVal2 double dRotVal3 double dScale double dTransStdVall double dTransStdVal2 double dTransStdVal3 double dRotStdVvall double dRotStdVal2 double dRot StdVal3 double dScaleStd double ARMS double dMaxDev double dVarianceFactor hi Error codes A return status other than ES_RS_AIIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallTransformation command answer status can evaluate to one of the following values Code Description 24010 OLE COM initiali
40. but the result will not be within specifications In case of OutOfRangeOK the user should be aware that the system might not deliver highest accuracy ES_RS_WrongCurrentReflector Meaning An invalid reflector was set e g if the parameter of command SetReflector applies to a non existing reflector ID or to an ID of an existing but inaccurate reflector Note This is usually a programming error in the application The application should not allow the user to set an invalid reflector The application should query the IDs of valid 97 reflectors with the command GetReflectors and then offer these as possible parameters for the SetReflector command ES_RS_NoCircleCenterFound Meaning This error occurs only in the continuous measurement mode CircleCenterMode The calculation of the circle center failed Note The measurements represent either a very small sector of the circle and or describe a circle not within the required accuracy which is not sufficient for calculation The Circle Center Mode parameters may not have been set properly See command SetCircleCenterModeParams ES_RS_NoSphereCenterFound Meaning Similar to ES_RS_NoCircleCenterFound Note The measurements represent a very small sector of the sphere For good results at least half of the sphere should be covered by measurements The Sphere Center Mode parameters may not have been set properly See command SetSphereCenterModeParams ES_RS_NoTPFoun
41. e This component is primarily designed for mouse control and does not work properly with a keyboard interface E g use of arrow keys in VB See VC VBA VB documentation for general information on ActiveX controls and how to include them in applications Further details see Readme txt file in Sample 12 folder and code comments in source files 4 4 4 Sample 19 LiveVideo display C application See Chapter 8 Special Functions Live Image display for details Attention New Live Image Format with emScon 3 0 Up to emScon 2 4 bitmap format frames were used for the live video stream With emScon 3 0 this has changed to JPEG format Sample 19 thus has undergone an extension since emScon 2 4 SDK was released it supports now both Bitmap and Jpeg formats Support of bitmaps is only left for backward compatibility to former emScon servers For Jpeg image conversion and display a public domain Third Party library has been used CxImage by Davide Pizzolato The emScon 3 0 SDK just contains a few parts of the CxImage framework some include files and two libraries for static linking i e only those parts as far as needed to build our sample If interested you may get the complete CxImage source from the internet 285 5 COM Interface 5 1 High level TPI Programming The emScon high level TPI COM interface is convenient for creating applications using Visual Basic MS Excel MS Access and other VBA host
42. here originate at the Tracker or Tracker Processor In contrast to those listed in Appendix B which originate on the emScon server Thus Appendix C extends the listing of Appendix B 10 4 T Cam T Probe Error Numbers D Appendix D This listing continues and extends the list of Appendix C While the list under Appendix C was related to Tracker TP hardware only this list covers Extension Hardware such as T Cam and T Probe 400 10 5 AIFM Error Numbers E Appendix E This listing continues and extends the list of Appendix C It contains new error numbers specific to emScon 3 0 These numbers are related to the new AIFM Absolute Interferometer hardware of AT Tracker series 401 Leica Geosystems AG Metrology Division Tracker Trigger Interface 1 Introduction The LT CONTROLLER plus and base as well as the AT Controller 900 provides a trigger input interface to enable external triggering and synchronization of the tracker measurement With emScon version 2 3 or higher the trigger interface of the Laser Tracker gets a feature enrichment There are now two major categories of external trigger modes e Realtime Triggers gt take measurements triggered by an external clock signal e Event Message Triggers gt do not really measure they only use the same hardware Interface It will send an event message to the application It s up to the application software then to take any action e g start a stationar
43. it makes only sense if the Tracker is equipped with an ADM This flag is cleared by default For 6DoF measurements enabling this flag is compulsory to prevent the laser going to home position upon a beam break Automatically re measures reference distance to the Reflector or T Probe after the laser beam has been lost There are two ways to control this flag either through the command SetSystemSettings or through SetLongSystemParame ter 37 Station Parameters Implication Comment The station parameters describes the translation and rotation of the tracker station in a coordinate system X Y Z Omega Phi Kappa Orientation parameters can be determined using the Transformation functionality of emScon see chapter Points to points Transformation or can be individually set by the application By default the orientation parameters are as follows X 0 Y 0 Z 0 Omega 0 P hi 0 Kappa 0 Transformation Parameters Implication Comment A transformation describes a change into another coordinate system which is different from the tracker coordinate system It has the following parameters X Y Z Omega Phi and Kappa and scale factor Transformation parameters can be determined using the Transformation functionality of emScon see chapter Points to points Transformation or can be individually set by the application B
44. most likely from UI control handlers such as ButtonPress handlers if answer command ES_Command ES_C_ChangeFace Cookie approach it is required that apiCommand and apiCommand2 are visible and public to receiver class if _cookie 1 apiCommand StartMeasurement to first tracker else if _cookie 2 apiCommand2 StartMeasurement to 2nd tracker x RR Alternative with Sender objects passed to Receiver this is a cookie less approach The constructor of CESCSMyAPIReceive then needs looking like this EA public CESCSMyAPIReceive Socket s K CESCSMyAPIReceive apiCmd Li sock _cmd Lif S apicmd _cmd is a CESCSMyAPIReceive member and construction would look like CESCSMyAPIReceive apiReceive new CESCSMyAPIReceive s apiCommand aa CESCSMyAPIReceive apiReceive2 ea new CESCSMyAPIReceive s2 apiCommand2 eh subsequent calls are then automatically directed to the correct tracker there is no need to distinguish the correct target by a cookie However this approach only is suitable if both tracker have the identical sequence of commands to perform _omd StartMeasurement always goes to correct tracker ww KR As soon as we need to apply different commands to answers for different trackers we need the cookies anyway in spite of passing command references if _cookie 1 _comd StartMeas
45. pointers These pointers must be initialized with the related properties of LTConnect e Just after calling the ObjConnect ConnectEmbeddedSystem method initialize the pointers as shown below In the sample this is done in the event handler of the Connect button Further the notification method must be selected SelectNotificationMethod 328 e COM methods throw exceptions in case of failure The sample code shown below shows how to handle these On Error GoTo It s highly recommended to wrap every COM method calling function with an On Error Got Error Handler statement Do not forget the Exit Sub statement just before the ErrorHandler label Here is a stripped down version of the Samples Connect handler It shows only the essential steps See Sample code for a more sophisticated Connect handler with getting the IP address from user interface etc Private Sub Button_Connect_Click On Error GoTo ErrorHandler Ob jConnect ConnectEmbeddedSystem 192 168 0 1 700 This is important if events want to be received Ob jConnect SelectNotificationMethod LTC_NM_Event 0 0 NEVER FORGET to initialize the objects this way Set ObjSynce ObjConnect ILTCommandSync Set ObjAsynce Ob jConnect ILTCommandAsync Exit Sub ErrorHandler MsgBox Err Description End Sub The End statement in the error case exits the application when connection to the
46. receiving data can be derived from the command name as follows e Remove the ES _C_ Prefix from the command e Add CT postfix to get name of related send structure CT stands for CommandType e Add RT postfix to get name of related receive structure RT stands for ReturnType Example Structures related to command ES_C Initialize are InitializeCT and InitializeRT If CT RT structures contain sub structs these are mentioned at each commands description Explanations are available at the command descriptions ES_C_ and also at the related structure descriptions CT RT To avoid too much redundancy descriptions are usually not repeated at both locations Thus it might be 57 necessary to look up command descriptions and related structure descriptions 2 Dimensions Units of Parameters Unless stated explicitly in the command description the following units of all parameters are always in current units That is in those units the application programmer has selected with the SetUnits command Length units Angle units Temperature units Pressure units Humidity units currently only one percent This applies to parameters sent as well as those received such as coordinates standard deviations meteorological values e Currently there is only one exception to this rule The command StartNivelMeasurement delivers the native Nivel inclination readings These are milli r
47. struct BasicCommandCT packetInfo hi struct GoBirdBathRT struct BasicCommandRT packetInfo hi struct GoLastMeasuredPointCT struct BasicCommandCT packetInfo di struct GoLastMeasuredPointRT struct BasicCommandRT packetInfo de struct ChangeFaceCT struct BasicCommandCT packetInfo i struct ChangeFaceRT struct BasicCommandRT packetInfo de struct StartNivelMeasurementCT struct BasicCommandCT packetInfo he struct StartNivelMeasurementRT struct BasicCommandRT packetInfo i struct StartMeasurementCT struct BasicCommandCT packetInfo he struct StartMeasurementRT struct BasicCommandRT packetInfo 193 struct StopMeasurementCT struct BasicCommandCT packetInfo i struct StopMeasurementRT struct BasicCommandRT packetInfo hi struct ExitApplicationcT struct BasicCommandCT packetInfo hi struct ExitApplicationRT struct BasicCommandRT packetInfo di struct ClearTransformationNominalPointListCT struct BasicCommandCT packetInfo di struct ClearTransformationNominalPointListRT struct BasicCommandRT packetInfo hi struct ClearTransformationActualPointListCT struct BasicCommandCT packetInfo di struct ClearTransformationActualPointListRT struct BasicCommandRT packetInfo hi struct ClearDrivePointListCT struct BasicCommandCT packetInfo i struct ClearDrivePoint
48. to ask for the currently active probe Get SetProbeCompensationCT RT Command structures to get set the ID of active Probe compensation The Get SetProbeCompensation command takes delivers the compensation ID as only parameter struct SetProbeCompensationCT struct BasicCommandCT packetInfo int iInternalProbeCompensationId struct SetProbeCompensationRT struct BasicCommandRT packetInfo struct GetProbeCompensationCT struct BasicCommandCT packetInfo hi struct GetProbeCompensationRT struct BasicCommandRT packetInfo int iInternalProbeCompensationId di GetTipToProbeCompensationsCT RT Command structures to get Tip to probe compensation properties The GetTipToProbeCompensations command retrieves all such compensations defined in the 233 Tracker Server The answer consists of as many answer packets as tips are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as underlying probe compensations comment etc serve as information mainly used for user interface purpose This command should no longer be used It is only kept for compatibility reasons Rather use GetTipToProbeCompensations2 Introduced with
49. 350 lines of code including comments and empty lines and compiles into a small executable file This sample implements only Initialize Tracker and Get Direction commands Since no Windows Message Loop is available the application needs a multi threaded approach and therefore requires events and threads For TCP IP communication the Winsock API functions are used Further details see Readme txt file in Sample 3 folder and code comments in source files Console Application To create this or a similar sample from the scratch the VC AppWizard or a text editor can 251 be used to create a Console Application skeleton and to implement the C standard entry function int main int argc char argv Add all the source code save the file c or cpp extension and invoke the C compiler from the command line Comments These comments refer to the file EmsyCApiConsoleClient cpp The following include files are required include lt stdio h gt standard C input output include lt Winsock2 h gt win32 socket stuff include lt process h gt thread stuff e The main function first does a TCP IP connection by calling the function TcpIpConnect starts the Data Receiver thread and enters an endless User Interface loop The default IP address 192 168 0 1 should be adjusted to the actual server address Alternatively the IP address can be passed as command line argumen
50. 5035 Unterentfelden Switzerland Phone 41 62 737 67 67 Fax 41 62 723 07 34 www leica geosystems com metrology 1 Contents A CONTEN oone 4 2 INTRODUCTION iis iiiscccccniccrincuisccdscciacncnauancudscctaevenan 8 Del PRETEQUISICES cisrisscecsececccicseccsecavaesssosasccavecndaabanceacsedoesdectoossssabecedessooss 8 2 1 1 Targeted Users and Terminology eeceseescsseecessecneeseeeeees 8 2 1 2 Common Abbreviations 0 0 0 0 eee ceeceeceseceecesecseeceeeseeeeeeeeees 8 2 1 3 Supported Leica Hardware cee ceescseeecseeeceeeeeeeeneeeeens 10 2 1 4 Network requirement 0 0 eee eeeeceeesceeeceseeesecesecnseceeeneeees 10 2 1 5 Programming EnvironMent cceeceesecseeeeceeeeeceeceeseenees 11 2 2 TCP IP Communication sssccsssssssessssessesessersesssessesesserseseseens 11 2 2 1 SOCKEt FUNCHONS syees5 ne oireen eeaeee 11 2 3 Tracker Programming Interface sscscssccssssessssesssessseseesees 13 2 3 1 Platform and Programming Language Issues se1 14 2 3 2 Prefixes and Suffixes used in Type Names cseseeeeees 15 2 3 3 Asynchronous Communication ccceeecseecsseeeeesecneeeeeners 15 2 3 4 Working Conditions sceeecsseeccssecseesecneeeeceeseecsaeeaseseeneeees 16 2 3 5 Coordinate Parameter Triplets 0 cece cee cseeese cee cneeereeeee 18 2 3 6 Persistency ie n a a eda E E o E E mess 19 2 3 7 Default Setin ESen iveene e En a E a tebe 19 2 3 8 Application Backward
51. Assembly Stylus Assembly Combination of Tip and Tip Adapter Note that the terms Tip and Stylus are equivalent The former is used in by the TPI while the Compensation Application mainly uses the latter A TipAssembly StylusAssembly addresses the actual combination of Tip and TipAdapter The TipAssembly is designed as a property of a TipAdapter and mainly consists of Tip Length and the diameter of the ruby sphere There is one and only one TipAssembly for each TipAdapter TipAssemblies can only be defined from within the Compensation Module apart from importing TipAdapters with already existing valid TipAssembly The TipAssembly must be redefined each time a different Type of Tip Stylus is attached to a TipAdapter Moreover a TipAssembly definition must be followed by a TipToProbe Compensation Note that a particular Tip other than a TipAdapter does not have its own ID For that reason there is no GetTips command Tips can only be identified indirectly through the TipAdapter they are mounted to It is the users responsibility to correctly define length and radius upon defining a TipAssembly for a particular TipAdapter 84 These values in addition to a user defined comment can be retrieved through the command GetTipAdapters ES_C_GetTipAdapter Gets the ID of the currently active Tip Adapter ES_C_GetTCamToTrackerCompensations Reads all T Cam to Tracker compensations s
52. BasicCommandRT packetInfo hi GetCompensationsCT RT Command structures to read all Tracker Compensations stored in the database Particularly the relation between ID and compensation name is given As many packets as compensations exist are delivered similar to the GetReflectors command 221 struct GetCompensationsCT struct BasicCommandCT packetInfo hi struct GetCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalCompensationId unsigned short cTrackerCompensationName 32 unsigned short cTrackerCompensationComment 128 unsigned short cADMCompensationName 32 ES_BOOL bHasMeasurementCameraMounted GetCompensations2CT RT Enhanced version of GetCompensationsCT RT with some additional information GetCompensationsCT RT has been left only for backward compatibility Newer applications should use GetCompensations2CT RT struct GetCompensations2CT struct BasicCommandCT packetInfo i struct GetCompensations2RT struct BasicCommandRT packet Info int iTotalCompensations int iInternalCompensationId unsigned short cTrackerCompensationName 32 unsigned short cTrackerCompensationComment 128 unsigned short cADMCompensationName 32 unsigned short cADMCompensationComment 128 ES_BOOL bHasMeasurementCameraMounted ES_BOOL bIsActive hi Note We do no longer recommend evaluating the blsActive flag in you
53. Board Multi Tracker Boards are not yet supported ES ADMType Specifies the type of the Absolute Distance Meter 163 enum ES_ADMType ES_AMT_Unknown ES_AMT_LeicaADM ES_AMT_LeicaAIFM e ES AMT Unknown The type is unknown or cannot be determined e ES AMT_LeicaADM The ADM is a Leica type ADM e ES AMT LeicaAIFM The tracker is equipped with an absolute interferometer ADM type ES_TrkAccuracyModel Specifies the accuracy model of the tracker enum ES_TrkAccuracyModel ES_TAM_Unknown ES_TAM_2005 hi e ES TAM Unknown The accuracy model cannot be determined This is mostly due to old firmware e ES_TAM_2005 The accuracy model represents the revision from 2005 ES _NivelType Specifies the type of the Nivel inclination sensor Note that the range of most precise measurement of the Nivel 230 is smaller 1 1 mrad than the one of the Nivel 20 1 5 mrad Details see Nivel hardware Manuals enum ES_NivelType ES_NT_Unknown ES_NT_Nivel20 ES_NT_Nivel1230 e ES NT_Unknown The Nivel type is unknown or cannot be determined 164 e ES_NT_Nivel20 The type is a classic Nivel20 inclination sensor e ES_NT_Nivel230 The type is of anew Nivel230 released 2005 ES_TipToProbeCompensationType Specifies the type of the TipToProbe Compensation See command GetTipToProbeCompensations2 where this parameter is delivered
54. Console WriteLine Application Start try Create 2 sockets s and s2 for two trackers and connect to servers note hardcoded IP s due to sample Socket s new Socket AddressFamily InterNetwork SocketType Stream ProtocolType Tcp System Net IPAddress ipAdd System Net IPAddress Parse 10 62 34 30 System Net IPEndPoint remoteEP new IPEndPoint ipAdd 700 s Connect remoteEP Socket s2 new Socket AddressFamily InterNetwork SocketType Stream ProtocolType Tcp System Net IPAddress ipAdd2 System Net IPAddress Parse 10 62 35 53 System Net IPEndPoint remoteEP2 new IPEndPoint ipAdd2 700 s2 Connect remoteEP2 Create sender and receiver class 2 instance of same Command and Receiver class only the cookie and socket parameter of course is different CESCSMyAPICommand apiCommand new CESCSMyAPICommand s CESCSMyAPIReceive apiReceive new CESCSMyAPIReceive s 1 CESCSMyAPICommand apiCommand2 new CESCSMyAPICommand s2 CESCSMyAPIReceive apiReceive2 new CESCSMyAPIReceive s2 2 j We need a receiver thread due to the Console application nature of this sample NOT primarily because of two trackers However it makes sense here to dedicate a separate receiver thread to every tracker although we could principally deal with one shared thread we would have to pass both sockets and both receiver objects to the ReceiverThread worker function and
55. Continuous measurement packets mostly contain more than one measurement value Iteration through an array of measurements is necessary A code fragment on how to process a continuous measurement packet using the event mechanism is shown below This is a client implementation stripped down and altered from sample 7 of the ContinuousPointMeasDataReady event which exists for both _ILTCommandSyncEvents and _ILTCommandAsyncEvents interfaces 338 void __stdcall OnContinuousPointDataReady long resultsTotal long bytesTotal CString s VARIANT vt VariantInit amp vt if m_pLTConnect NULL return m_pLTConnect gt GetData amp vt MultiMeasResultT pData MultiMeasResultT vt parray gt pvData ASSERT pData gt lNumberOfResults resultsTotal for int i 0 i lt pData gt lNumberOfResults i s Format TIT S 71LE 3 71 S 71LE pData gt data i dVall pData gt data i dVal2 pData gt data i dVal3 this is application dependent May differ in your app m_pMainWnd gt m_edit_Result SetWindowText s for OnContinuousPointMeasDataReady eOn using a Windows message notification method LTC_NM_WM_Notify it looks quite similar However with the event method there is a unique event function for just receiving continuous results With message notify methods all types of data packets come in through the same message handler The data must be interpreted with
56. ES_TPS_Initialized e ES TPS _NoTPFound No Tracker Processor could be recognized e ES _TPS_TPFound Tracker Processor is recognized but connection from processor to tracker failed e ES_TPS_NBOpen Connection from processor to tracker is established but booting failed e ES _TPS_Booted Tracker Processor booted but there is no valid compensation e ES_TPS_CompensationSet Compensation set available tracker not yet initialized e ES_TPS_Initialized Initialization was OK tracker is ready ES _LaserProcessorStatus Additional information about the laser processor This enumeration type is used as a parameter for ES_C_GetSystemStatus enum ES_LaserProcessorStatus ES_LPS_LCPCommFailed ES_LPS_LCPNotAvail ES_LPS_LaserHeatingUp ES_LPS_LaserReady ES_LPS_UnableToStabilize ES_LPS_LaserOff e ES _LPS_LCPCommFailed Communication to laser processor failed 134 This indicates a hardware problem Report to Leica service representative ES_LPS_LCPNotAvail The Laser processor is not available This indicates a hardware problem Report to Leica service representative ES_LPS_LaserHeatingUp Laser is warming up This is the normal case after switching on the laser controller takes about 20 minutes ES_LPS_LaserReady Laser is ready From now on the tracker can be used but first needs to be initialized See chapter Application Initial Steps Note There is an alternative of repe
57. For further information see commented code in Sample 20 LtcDelphiClient where this property is set to 1 Example Delphi LTConnect Set_ExceptionHandlingPolicy 1 313 5 2 17 Multi Tracker Applications For multi tracker applications create a separate instance of LTConnect for each tracker controller For single threaded applications the usage of the asynchronous interface is compulsory in order to allow parallel control of multiple trackers If using the synchronous interface the application will not be able to do parallel calls to multiple trackers That means the application waits for pending answers from any tracker before another command to the same or another tracker can be issued As an example consider a 2 tracker application using the synchronous interface that wants to initialize both trackers upon startup With a single threaded approach initialization can only be performed for one tracker after another Especially for long time taking commands like Initialize it would of course be convenient to execute this command in parallel for both trackers In order to do so the application must provide a separate thread for every instance of the LTControl LTConnect Note that LTControl is designed to run in so called Apartment Threaded context For details about this refer to Microsoft documentation For our purpose there is no need to go too far into details we just provide
58. Handlers LtSync_ReflectorsData LtSync_ReflectorPositionData because usually no COM functions are called there subsequently On Error GoTo ErrorHandler 1 Get the data Dim data As Variant ObjConnect GetData data 2 Get header info Calling this function is optional the only thing we need here is numResults However it s the same as resultsTotal passed to the functions Dim numResults As Long Dim measMode As Long Dim temperture As Double Dim pressure As Double Dim humidity As Double Dim mstatus As ES_MeasurementStatus Dim timel As Long Dim time2 As Long Dim dVall As Double Dim dVal2 As Double Dim dVal3 As Double Ob jConnect ContinuousDataGetHeaderInfo data numResults _ measMode temperture pressure humidity False since we have numResults twice from different paths lets check them for compliance If Not numResults resultsTotal Then MsgBox Fatal Error unexpected discrepancy End If since we know how many results we can loop over the index Note that index runs form 0 to numResults 1 For Index 0 To numResults 1 data and index are input parameters rest output Ob jConnect ContinuousPointGetAt data Index mstatus _ timel time2 dVall dVal2 dVal3 TODO do something with each result here Next Exit Sub ErrorHandler MsgBox Err Description End Sub ContinuousPointGetAt Continuous6DDataGetAt may have an impact on performance They have been primarily des
59. LTConnect ltc LTCommandAsync async ltc new LTConnect ltc ConnectEmbeddedSystem 10 62 34 30 700 this asynce LTCommandAsync ltc ILTCommandAsync ltc SelectNotificationMethod LTC_NotifyMethod LTC_NM_Event 0 0 Other than VB 6 applications VB NET and C natively support multi threading For multithreaded VB NET and C applications which usually only make sense when using synchronous calls for two or more trackers in 322 parallel the following important requirement applies Any secondary thread must call thread ApartmentState ApartmentState STA This has essentially the same effect as calling Colnitialize for C VB threads STA stand for Single Threaded Apartment All the rest is essentially the same as already discussed for multithreaded C applications above There is a worker function for the secondary thread Instantiation of LTControl objects for the 2nd thread needs to occur within this function Hence the code samples below for VB NET and C should not leave open any questions Note that mainly only our code is shown in VB NET sample Missing standard and or generated code is indicated by Note that a separate class is required for implementing secondary threads in C 323 Imports LTCONTROLLib Imports System Threading Public Class Forml Objects for main thread Forml LTConectl can be instantiated here with New could also omit the New here
60. SetReflectorRT struct BasicCommandRT packetInfo hi struct GetReflectorCT struct BasicCommandCT packetInfo he struct GetReflectorRT struct BasicCommandRT packetInfo arty iInternalReflectorId di struct GetReflectorsCT struct BasicCommandCT packetInfo di 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 202 types defined in the server database These resolve the relation 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 targetType and the surfaceOffset Surface offset is in current length units The reflector name is in Unicode format short cReflectorName 32 declaration It can consist of a maximum of 32 characters Each tracker compensation has its own set of reflector definitions However the mapping between reflector name and ID remains the same throughout all available tracker compensations Example A T Cam is mounted on the tracker hence the active tracker compensation is one that was performed with a mo
61. Sphere Box Grid differ from case to case Details and exceptions are explained in the reference section 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 Switching off these filters through the appropriate system settings flags may result in a more performing data throughput apart from this the values are the same as if default values were set while parameter settings actually are other than default Coordinate Vall Val2 Val3 system type Cartesian X Y Z RHR LHR Spherical H V D R Cylindrical R Phi H Z X Y Z Cartesian coordinate values H Horizontal angle V Vertical Angle D Distance Radius R Radius 18 PHI Horizontal Angle H Different notations of values in different systems Phi instead of H D instead of R maintain continuity with previous releases of application software 2 3 6 Persistency The tracker server keeps most settings such as Units CS type Reflector type etc persistently Recent values will be restored on restart of the Tracker server It is recommended to initially set the required settings on every client startup as good programming practice An application should never rely on certain settings already be done another application user may
62. The targetHandle and cookie of the SelectNotificationMethod method should be Zero e LTC _NM Event Events are used to notify the client on asynchronous answers sync and async interface The targetHandle and cookie of the SelectNotificationMethod method should be 293 zero This is the most commonly used approach 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 See Win32 API documentation on WM_COPYDATA for details The handle of the window that gets the message must be passed through targetHandle If there are multiple LTControl instances more than one tracker the call of SelectNotificationMethod for each LTControl instance must get a different cookie in order to identify incoming messages with the respective tracker The number of cookies is not limited 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 t
63. The behavior for a Sphere Center measurement can be controlled with the ES_C_SetSphereCenterModeParams command ES_MM_ CircleCenter Circle measurement similar to 113 ES_MM_SphereCenter The behavior for a Circle Center measurement can be controlled with the ES_C_SetCircleCenterModeParams command e ES_MM_6DStationary The Probe 6DoF relative of ES_MM_Stationary mode See description there e ES MM 6DContinuousTime The Probe 6DoF relative of ES_MM_ContinuousTime mode See description there e ES _ MM _ 6DContinuousDistance The Probe 6DoF relative of ES_MM_ContinuousDistance mode See description there e ES_MM_6DGrid The Probe 6DoF relative of ES_MM_ Grid mode See description there e ES_MM_6DSphereCenter The Probe 6DoF relative of ES_MM_SphereCenter mode See description there e ES MM 6DCircleCenter The Probe 6DoF relative of ES_MM_CircleCenter mode See description there ES MeasurementStatus Additional status information to be delivered with each single measurement of a continuous measurement stream Measurements with a status other than ES_MS AIIOK should be treated with care 114 enum ES_MeasurementStatus ES_MS_A110K ES_MS_SpeedWarning ES_MS_SpeedExeeded ES_MS_PrismError ES_MS_TriggerTimeViolation e ES _MS_AIlOK Measurement was carried out within specified target speed movement e ES_MS_SpeedWarning Measurement was taken when target was moving with
64. This command is convenient during development of an application when crashes or immediate stopping upon debugging occurs Nevertheless it s a good idea to perform this call every time at startup of an application even for retail versions Attention It is recommended to execute this command upon startup and only upon startup of a client application i e just after connecting to emScon server This command may only be called with caution later at runtime It may have side effects the application is not aware of ES_C_GoAndMeasure The GoAndMeasure command is just for convenience Its primary intention is for automated inspection tasks GoAndMeasure combines the functionality of the command GoPosition and a stationary 3D measurement The advantage is an improved speed especially if a T Cam is mounted A 91 traditional Go Position if a T Cam is mounted takes a longer time because the system first needs to detect whether the target is a Probe or just a Reflector The GoAndMeasure command since restricted to 3D can surpass this detection task Note that GoAndMeasure always performs a 3D stationary measurement regardless of the current measurement mode However the measurement parameters are the same as those set with SetStationaryModeParams The three input values of GoAndMeasure have the same meaning as those of the command GoPosition They specify the location where the laser is direc
65. a switch statement This is done in the ProcessData function Use of the CESAPIReceive class of the C interface is another possibility eThe following implementation demonstrates receiving not only data of continuous measurements but also any kind of data LRESULT CCPPClientDlg OnNotifyMsg WPARAM wParam LPARAM 1Param CString s VARIANT vt VariantInit amp vt m_pLTConnect gt GetData amp vt wParam msg ID cookie ProcessData vt parray gt pvData wParam return true return non zero if msg handled Activating this function calls SelectNotificationMethod with the following parameters 339 cookie must be in the valid range for a user defined message m_pLTConnect gt SelectNotificationMethod LTC_NM_WM_Notify long m_hWnd MY_NOTIFY_MSG The message ID which also acts as a cookie here is defined as define MY_NOTIFY_MSG WM_USER 99 Entry in the message map must exist as follows ON_MESSAGE MY_NOTIFY_MSG OnNotifyMsg Provide the ProcessData subroutine Not every type of data packet is fully implemented 340 void CCPPClientDlg ProcessData void ptr int nCookie CString s s2 PacketHeaderT pHeader PacketHeaderT ptr switch pHeader gt type case ES_DT_MultiMeasResult most frequent ones on top MultiMeasResultT pData MultiMeasResultT ptr for int i 0 i l
66. a method ReceiveData which is called on data arrival events as well as numerous virtual member functions Dealing with C data structures for receiving data is no longer required as they are completely hidden Use the related virtual member functions of CESAPIReceive instead 4 3 3 Class Design Issues All class member functions are defined inline Neither a library nor a cpp file is required One single include file makes up the C interface The C interface is thus fully transparent with complete source code provided The C interface implements two classes named CESAPICommand and CESAPIReceive apart from wrapper classes for each data structure of the C TPI A class design has the advantage of constructors to delegate initialization issues The class CESAPICommand has a virtual function SendPacket which must be overwritten using Send command functions While the CESAPICommand class is used to send data to the tracker server the class CESAPIReceive is used to receive data The principle is as follows Derive your own class from CESAPIReceive class and override those virtual functions on whose data you are 261 interested in Details see below in CESAPIReceive chapter Insertion of the statement define ES_USE_EMSCON_NAMESPACE before the inclusion of the ES_CPP_API_Def h file defines a namespace EmScon for the TPI CPP classes This is only required in case of potential na
67. all essential initial steps for a successful system start and accurate results with some disabled code which demonstrates all other variants of notification methods which may be more familiar to programmers than event handling See comments in source code Message Notifications The disadvantages of message notifications are e The result parameters cannot be received directly 335 e There are only general messages for all types of answers e Usually only the size of a data block is passed with the message e The data block must be first read with GetData except for WM_COPYDATA and then interpreted Interpretation is done with a switch statement with the ProcessData sample code See chapter Handling Data Arrival Continuous Measurements See also Sample4 Step5 This sample uses directly the emScon C interface rather than COM from C like Sample7 does This sample also shows one of the features not shown so far How to retrieve the reflectors known to the system It also demonstrates continuous measurements View the source code for details Note that this code contains a relatively big overhead needed for user interface issues The Tracker Server specific part is not that dominant Source Code Description e Information that is displayed in list boxes such as units CS type is automatically read from the Tracker Server upon startup What is seen has been actually selected e Chang
68. an application to call GetCameraParameters as part of the control s initialization process i e before calling StartLivelmage for the first time Since GetCameraParameters is an asynchronous command calling this command upon initialization was a somehow struggling task because the application had to wait for the event coming back a synchronization issue which is prone to bugs If GetCameraParameters was omitted the deltaHz and deltaVt values of the click event were not correct for certain types of video cameras LTVideo2 OCX versions 2 0 0 15 and higher delivered with emScon versions gt 2 0 55 do no longer require calling GetCameraParameters explicitly by the application The application may call it for informational issues but in most applications GetCameraParameters may never get used Attention emScon 3 0 servers require Version 3 0 of LTVideo2 ocx Up to emScon 2 4 bitmap format frames were used for the live video stream With emScon 3 0 this has changed to JPEG format This change 371 requires using LTVideo2 o0cx Version 3 0 x or higher This new version of the control it comes with SDK 3 0 is backward compatible to earlier emScon server versions That means it is able to handle JPEG as well as BITMAP formatted video frames and will therefore also work with older emScon servers Old versions of LTVideo2 ocx however will not be able to di
69. an explicit ES_C_SetRefractionParams is required The ES_WMS_ReadOnly mode is therefore suitable if the environmental 131 values come from the WM but the application wants to use its own formula to calculate refraction parameters from these values The mode of operation is hence as follows ES C GetEnvironmentParams delivers values last read from weather monitor Calculate ADM and IFM refraction indices with application specific formula Set the calculated refraction parameters with ES_C _ SetRefractionParams This mode is therefore rarely used The normal mode of operation is to use ES_WMS_ReadAndCalculateRefractions see below e ES WMS _ ReadAndCalculateRefractions This is the normal mode of operation if using a weather monitor It acts the same as the ES_WMS_ReadOnly mode but in addition the current refraction parameters are automatically recalculated and updated The ES_C_GetEnvironmentParams and ES_C_ GetRefractionParams commands can be used to retrieve the current values while the ES_C SetEnvironmentParams and ES_C SetRefractionParams both are not available in this mode would return with an usage conflict error Attention The weather monitor should be switched on before starting the emScon server The weather monitor requires some initialization 132 time after switching on If values are queried during this initialization phase wrong values may be returned and th
70. and instantiate object later Public _LTConnectl As New LTConnect Public WithEvents _ObjSyncl As LTCommandSync Objects for 2nd Thread ATTENTION If we did a New for _LTConnect2 here this object would be owned by the main thread and we would not be able to access it from within the thread worker function unless you pass it somehow through a parameter to the worker function Public _LTConnect2 As LTConnect NO New Public WithEvents _ObjSync2 As LTCommandSync Thread object Private _thl As Thread Private Sub Forml_Load ByVal sender As On Error GoTo ErrorHandler Form_Load first starts 2nd thread then does its own tasks _thl New Thread AddressOf exeCommandeTh1 This is VERY Important since LTControl runs as STA Otherwise you will get QueryIntrface fails exceptions _thl ApartmentState ApartmentState STA _thl Start start secondary thread connect to first tracker _LTConnect1 ConnectEmbeddedSystem 10 62 34 20 700 _LTConnect1 SelectNotificationMethod _ LTCONTROLLib LTC_NotifyMethod LTC_NM_Event 0 0 _ObjSynel _LTConnect1 ILTCommandSync Exit Sub ErrorHandler MsgBox Exception in form load main thread _ Err Description End Sub Private Sub exeCommandeThl secondary thread worker function On Error GoTo ErrorHandler create 2nd instance within new thread not in main thread _LTConnect2 New LTCONTROLLib LTConnect connect to 2nd tracker _LTConnect2 ConnectE
71. are always in current units and coordinate system CS type where applicable unless specified otherwise 3 4 1 Basic Data Structures 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 166 PacketHeaderT struct PacketHeaderT long 1PacketSize enum ES_DataType type hi This basic structure is a part of all data blocks transmitted over the TCP IP network The PacketSize has been introduced for programmer s convenience The value of the data structure contains the size in Bytes of received packets New for emScon V2 0 and up The PacketSize value is no longer ignored It is compulsory to correctly initialize this value Otherwise command calls will mostly fail Note that due to this change existing V1 2 V1 5 emScon C clients who did not initialize these length variables may fail with emScon servers newer than V2 0 Such client applications need to be fixed at source level C programmers may use the sizeof operator to determine the size of data structures ReturnDataT struct ReturnDataT struct PacketHeaderT packetHeader enum ES_ResultStatus status This basic structure is part of all result data blocks It comprises a PacketHeaderT and a ES_ResultStatus Note the variable status cannot only take values of the enum ES_ResultStatus In addition it may t
72. as shown reside on one single line It is assumed that LTControl dll resides in the current directory otherwise specify 292 the path for example ES_ SDK lib LTControl dll Other than VB applications COM TPI based C applications need to call CreateInstance using the statement g_pLTCommandSync g_pLTConnect gt GetILTCommandSync replaces the related VB call Set Ob jSynce ObjConnect ILTCommandSync See Sample 7 for setting up an event sink for a Windows application Although this approach is not recommended 5 2 3 Notification Method The following enumeration type defines the different methods the SelectNotificationMethod can take Only one of these methods can be active at a time Therefore SelectNotificationMethod should be called only once with one of the following values enum LTC_NotifyMethod 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 1Param e LTC NM None Neither events nor Windows messages are sent Hence neither a continuous measurement nor trapping error events beam broken etc is possible This option therefore only makes sense for applications that strictly use synchronous calls
73. available in 4Button mode ES_PCB_StartStop A first button click causes a ES_SSC_MeasurementProbeButtonDown event releasing the button causes a ES_SSC_MeasurementProbeButtonUp event Typically used to perform a continuous measurement while the Button is being hold down i e Start the measurement upon pressing the button and stop it on releasing button ES_PCB_4ButtonMode This mode has been introduced with emScon V2 3 It allows addressing each one of the 4 probe buttons individually Behaves like ES_PCB_StartStop but individually for each one of the four buttons In addition double click events have been defined for future issues However these are not supported so far V3 0 Consequently the following events are issued ES_SSC_ProbeButton 1 4 Down ES_SSC_ProbeButton 1 4 Up See enum ES_SystemStatusChange The events ES_SSC_MeasurementProbeButtonDown and ES_SSC_MeasurementProbeButtonUp are void in 4Button mode Only newer probes with appropriate firmware support this mode See also ES_ProbeButtonType Double click events are not yet available 159 with emScon versions V3 0 ES _ProbeConfigTip Parameter values for ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_Tip parameter type enum ES_ProbeConfigTip ES_PCT_OnlyWithTip ES_PCT_NoTipAllowed ES_PCT_OnlyWithShankCompensation e ES_PCT_OnlyWithTip Probe requires a Tip attached to allow measu
74. by the rotation angles xAngle yAngle zAngle or the quaternion q0 q1 q2 q3 In terms of rotation angles the rotation matrix R is defined as in Section 9 2 4 In terms of the quaternion it is given by 398 Rxx q0 q0 q1 q1 q2 q2 q3 q3 Rxy 2 q1 q2 q0 q3 Rxz 2 q1 q3 q0 q2 Ryx 2 q1 q2 q0 q3 Ryy q0 q0 q1 ql q2 q2 q3 q3 Ryz 2 q2 q3 q0 q1 Rzx 2 q1 q3 q0 q2 Rzy 2 q3 q2 q0 q1 Rzz q0 q0 q1 q1 q2 q2 q3 q3 This matrix is used to transform directions from the probe coordinate system to the user system through directionUser R directionProbe EmScon 3 0 TPI Programmers Manual Revision May 26 2008 399 10 Appendices 10 1 Tracker Trigger Interface A Appendix A A detailed description of Trigger issues of the Tracker emScon 10 2 Server Error Numbers B Appendix B This listing comprises the error numbers and partly symbols an emScon programmer may encounter for the ResultStatus of TPI commands and or TPI Error Events It is meant as a Summary Quick Reference for information already documented in the main sections of the manual but spread among several chapters This listing applies to TPI errors that originate on the emScon server i e not on Controller Tracker Firmware 10 3 Tracker TP Error Numbers C Appendix C This listing comprises the error numbers an emScon programmer may encounter for the ResultStatus of TPI commands and or TPI Error Events The errors listed
75. compensation Name ID CCR 1 5in 2 TBR 0 5in 5 If reflector ID 7 was the active one at the time the camera was removed you will now get a wrong current reflector error message on executing reflector dependent commands Thus the application must first set one of the now available IDs 2 or 3 with the SetReflector command The fact that the relation between reflector ID and Name remains the same throughout all tracker compensations may be convenient to application programmers since there is no need to re query all reflector mappings upon a tracker compensation change 8 1 2 Still Image Command For trackers equipped with an Overview Camera the GetStilllmage command takes an image and delivers it as a file image data block Related Commands e GetStilllmage e SetCameraParams e GetCameraParams e StilllmageGetFile COM not in C e WriteDiskFile COM only 361 These commands are available on all TPI levels C C COM Set GetCameraParameters is not explained here further Preconditions The following preconditions have to be fulfilled e Camera mounted on tracker e System settings Has video flag activated e Tracker must be in camera view command ActivateCameraView Application of GetStilllmage C C The application of GetStilllmage is explained below using code fragments GetStilllmage must be called with the parameter ES_SI_ Bitmap The parameter ES_SI_Jpeg is not supported yet
76. copy protection key 60 NoCopyProtectionDongleFound Dongle 61 ModuleNotActivated Current module not activated on Dongle Version of current module is not suitable not up to date Re install 62 ModuleWrongVersion server software 63 DemoDongleExpired Get a new demo license or use a non demo Dongle 64 ParameterlmportFromProbeFailed Probe attached cable and power ON 65 ParameterExportToProbeFailed Probe attached cable and power ON 66 TrkCompMeasCameraMismatch Selected Mechanical tracker compensation relates to a compensation with camera but no one is mounted or vice versa 67 NoMeasurementCamera Tried to access 6DoF T Cam functionality without having a camera mounted or recognized 68 NoActiveMeasurementCamera 6DoF camera T Cam is not active 69 NoMeasurementCamerasInDb Selected T Cam is not present in Database fatal error Remove camera and remount it then Re Initialize 70 NoCameraToTrackerCompSet The system has no active CameraToTracker compensation use Set CamToTrackerCompensation 71 NoCameraToTrackerCompInDb TCamToTracker compensation missing import a suitable one or perform a TCamToTracker compensation 72 ProblemStoringCameraToTrackerFactorySet T Cam hardware information not recognized plug and play fatal error 73 ProblemWithCameralnternalCalibration Something is w
77. does no longer provide ANSI versions of LTControl dll and LTVideo2 ocx This means that the operating systems Win95 98 ME are no longer supported by emScon 2 4 client software Development Platforms For Visual Basic or Office the ActiveX controls must be added as a reference For VC a wrapper class is generated using Add to Project Components gt Controls gt Controls type library from Visual Studio LTVideo2 tlb LTVideo2 tlb is the related type library delivered for convenience LTVideo2 ocx contains all type information required Server Address LTVideo2 o0cx has a property server address which must be set according to your server address The port number is 5001 Any changes to the port number must also be done on the server side The size must have a width height proportion of 4 3 The image must be started stopped by invoking the method Start StopLivelmage See Microsoft documentation for further information on how to use ActiveX controls in general Events Methods The essential methods of the camera OCX are e StartLivelmage 369 e StopLivelmage To alter the default frame rate 15 sec the following methods are used e FrameRateStepUp e FrameRateStepDown In addition there is a Method for advanced usage details see below upon event description e GetCameraParameters Moreover the following events are defined void VideoClick double deltaHz double del
78. e ES WMS NotConnected There is no weather monitor connected to the system or it is switched off The application must use ES_C SetEnvironmentParams to set the 130 environment parameters explicit method SetEnvironmentParams also updates the refraction parameters Therefore it is not necessary to use ES C SetRefractionParams If ES_C_ SetRefractionParams is called anyway the refraction parameters are updated with the values provided however the next call to ES_C SetEnvironmentParams will overwrite these values again ES_WMS_ReadOnly While in this mode if weather monitor is connected and correctly working the system automatically reads the environmental values periodically 20 seconds from the monitor and internally updates the current environment parameters implicit method Error events repeatedly occur if no values can be read weather monitor switched off or cable connection broken The ES_C GetEnvironmentParams command can be used to retrieve the current values Note this command does not immediately trigger a measurement from the weather monitor it just returns the emScon internally buffered meteo values i e those last read from the WM while the command ES_C_SetEnvironmentParams is not available in this mode Returns with an usage conflict error Refraction parameters are not influenced by the periodical update of environmental parameters To change refraction values
79. e ES_PCT_IRWideAngle There is a wireless connection through Infrared wide angle sensor ES _ProbeButtonType Specifies the measurement probe measurement button trigger This enumeration type is used as a parameter for the GetMeasurementProbelInfo command enum ES_ProbeButtonType ES_PBT_None ES_PBT_Measurement ES_PBT_4Button hi e ES PBT None The probe is not equipped with a trigger button e ES PBT Measurement The probe is equipped with one or several trigger buttons If more than one usually 4 all buttons have the same functionality usually used to trigger a measurement hence the name e ES PBT 4Button The probe is equipped with 4 Buttons Each one of these may cause an individual trigger event Note that this is not the default behaviour of a 4Button probe This mode must be explicitly enabled See ES_ProbeConfigButton Only newer probes with appropriate firmware support this mode ES _ TipType Specifies the measurement tip type This enumeration type is used as a parameter for the GetTipAdapters command Note There exist alternate terms for Tip Some talk of Stylus 152 enum ES_TipType ES_TT_None ES_TT_Fixed ES_TT_Scanner ES_TT_TouchTrigger hi e ES TT None Tip type is undefined or could not be determined e ES TT Fixed Tip tip type is a fixed standard tip e ES_TT Scanner Tip tip type is a scanner I e a virtual tip e ES
80. e The answer to a successfully executed GetStilllmage command results in a GetStilllmageRT data structure e Apart from the common header information this structure echoes the file type imageFiletype ES_SI_Bitmap the size of the file FileSize and the first Byte of the file cFileStart e The following code accesses the core file data and writes it to a physical disk file 362 assume pData contains the data block received to a GetStillImage ES_SI_Bitmap command long 1FileSize GetStillImageRT pData gt lFileSize char cFileStart GetStillImageRT pData gt cFileStart FILE pFile NULL if pFile fopen C Temp img bmp wb NULL long 1Written fwrite amp cFileStart 1 1lFileSize pFile if lWritten 1FileSize printf File could not be written n else printf wrote d bytes n lWritten fclose pFile The disk file can be skipped and a memory mapped file can be used instead or With the file structure of the Bitmap file the bitmap information can be extracted from the data block and used directly with GDI functions In the code above it was assumed that pData contained a complete GetStillImageRT structure with complete file data padded WinSock2 API MFC CAsyncSocket Using WinSock2 API or MFC CAsyncSocket to read directly from the socket must consider the implications of large file data Since the file data is relatively bi
81. effect will be that the Find Reflector feature by clicking to the live video image by mouse pointer will move the tracker inaccurately typically the tracker will move double or half the amount of the clicked distance ES_RS NoAdm Meaning A command could not access the absolute distance meter of the tracker This error should only occur if a tracker is not equipped with an ADM i e LT AT series only Note If this error occurs for LTD AT trackers this probably indicates a hardware failure Refer to Leica service 100 ES_RS_NoNivel Meaning A command could not access the external Leica Nivel inclination sensor Either it is not present or not correctly connected Note If there is a Nivel connected check the cable If no Nivel is present set the SystemStatusFlag HasNivel to zero Command SetSystemStatus The flag must be 0 in order to access the Nivel ES_RS_WrongTPFirmware Meaning The installed Firmware on the Tracker controller does not match the actual hardware Note Upgrade the firmware Refer to Leica service ES_RS_DataBaseNotFound Meaning No database could be found on the tracker server Note There are no compensation parameters found for the attached sensor Send the respective parameter files to the emScon server using the transfer tool ES_RS_LicenseExpired Meaning The Copy Protection Dongle has expired Probably due to a demo dongle Note Request for a dong
82. emScon 2 4 struct GetTipToProbeCompensationsCT struct BasicCommandCT packetInfo hi struct GetTipToProbeCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalTipToProbeCompensationId int iInternalTipAdapterId int iTipAdapterInterface ipt iInternalProbeCompensationId ES_BOOL bMarkedForExport unsigned short cTipToProbeCompensationName 32 unsigned short cTipToProbeCompensationComment 128 GetTipToProbeCompensations2CT RT Command structures to get Tip to probe compensation properties This struct applies to the extended version of the former command GetTipToProbeCompensations which is only kept for compatibility reasons New applications should always use GetTipToProbeCompensations 2 and the related GetTipToProbeCompensations2CT RT structs The only difference to the former struct see above are the new properties compensationType and shank compensation name 234 struct GetTipToProbeCompensations2CT struct BasicCommandCT packetInfo hi struct GetTipToProbeCompensations2RT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalTipToProbeCompensationId int iInternalTipAdapterId int iTipAdapterInterface int iInternalProbeCompensationId ES_BOOL bMarkedForExport enum ES_TipToProbeCompensationType compensationType unsigned short cTipToProbeCompensationName 32 unsigned short cTipToProbeCompe
83. enum ES_OverviewCameraType cameraType unsigned short cCameraName 32 UNICODE ES_BOOL biIsColorCamera double dFocalLength double dHorizontalChipSize double dVerticalChipSize ES_BOOL bMirrorImageHz ES_BOOL bMirrorImageVt Get SetDoubleSystemParamCT RT Command structures to set get individual system settings parameters of type double Further details see description of ES_Command ES_C_ Set GetOverviewCameralnfo 241 struct GetDoubleSystemParamCT struct BasicCommandCT packetInfo enum ES_SystemParameter systemParam i struct GetDoubleSystemParamRT struct BasicCommandRT packetInfo enum ES_SystemParameter systemParam double dParameter hi struct SetDoubleSystemParamCT struct BasicCommandCT packetInfo enum ES_SystemParameter systemParam double dParameter he struct SetDoubleSystemParamRT struct BasicCommandRT packetInfo GetADMInfo2CT RT Command structures to read ADM specific properties and feature data The tracker must be equipped wit an ADM dMax dMinDistance specifies the measuring range in current length units iMaxDataRate gives the maximum measuring frequency the ADM is capable to measure with dAccuracyADMDistance informs about the specified accuracy of the measured distance struct GetADMInfo2CT struct BasicCommandCT packetInfo hi struct GetADMInfo2RT struct BasicCommandRT packetInfo enum ES_ADMType admType uns
84. example of a non data returning command 47 Property data Returning Command Answers Properties are the current system settings of the Tracker Server Properties can be retrieved by Get lt xxx gt commands All Get lt xxx gt commands return their results in a Get lt xxx gt RT structure The RT structure for each command differs with respect to its data members Data members with only a Get with no corresponding Set command can be individual basic type or enum parameters int double enum Example GetSystemStatusRT However the normally there is a command specific sub structure example GetUnitsRT contains a SystemUnitsDataT sub structure In other words a sub structure is available when the same parameters are used for more than one command This avoids code duplication Set Get commands rarely fail If a Set command fails return status not OK the supplied parameters are usually out of valid range The return status informs about the failure reason Single Measurement Answers These are answers that follow to a previously issued Start lt xxx gt MeasurementCT command Single measurements are often also referred to as Stationary measurements This 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
85. extended Principally the same as MeasValueT but with statistic information in addition Position values and statistic parameters are in current units CS type and according to applied orientation transformation parameters See command SetStatisticMode and description of struct MeasValueT above for details 169 ProbeMeasValueT struct ProbeMeasValueT enum ES_MeasurementStatus status enum ES_TriggerStatus triggerStatus long 1RotationStatus long 1Timel long 1Time2 double dPositionl double dPosition2 double dPosition3 double dStdDevPositionl double dStdDevPosition2 double dStdDevPosition3 double dStdDevPositionTotal double dCovarPositionl2 double dCovarPositionl13 double dCovarPosition23 double dQuaternion0o double dQuaternionl double dQuaternion2 double dQuaternion3 double dRotationAnglex double dRotationAngleyY double dRotationAnglez double dStdDevRotationAnglex double dStdDevRotationAngleyY double dStdDevRotationAngleZ double dStdDevRotationAngleTotal double dCovarRotationAnglexyY double dCovarRotationAnglexzZ double dCovarRotationAngleYZ hi This struct describes a single measurement 6 degrees of freedom in a 6DoF continuous measurement stream Time1 indicates seconds expired since a measurement start Time2 indicates microseconds expired within the last second The total elapsed time in microseconds is T ms 10e6 ITime1 1Time2
86. gt MeasurementRT not designed to take sensor results a specifically designed measurement type related data packet is received For example a 48 ES_DT_SingleMeasResult type indicates a SingleMeasResultT structure and ES_DT_StationaryProbeMeasResult indicates arrival of a ProbeStationaryResultT A successful measurement always returns such a data packet Multi Measurement Answers These apply to tracker related continuous measurements only The measurement mode is set to one of the non stationary modes In case of failure as with single measurement answers a Start lt xxx gt MeasurementRT with error code is returned In case of success not only one packet but also a series of multi measurement packets arrive Each one of these packets contains a various sized array of single atomic measurements See also structures MultiMeasResultT MultiMeasResult2T and ProbeContinuousResultT Only the first element of the measurement array is covered by these structures although the index is valid from 0 numberOfResults 1 There is another significant difference to single measurements Before the measurement data packet stream starts a StartMeasurementRT with command status OK arrives acknowledge that the start command has arrived Single measurement results always arrive within a certain time span This is not the case with continuous measurements Grid Mode big time separation criteria
87. more than one packet This may occur on high frequency continuous measurement streams The application has to make provisions to correctly treat such cases The PacketSize value is most convenient when parsing the byteArr buffer On the other hand if the byteArr buffer is completely filled with data it is likely that the last packet in the byteArr is incomplete The packet fragment needs to be saved and padded to complete upon the subsequent read call See chapter Queued and Scattered Data for details on how to properly treat such situations 12 Assuming a received data block has been read into a byte buffer named byteArr In order to interpret the data a mask is required This requires knowledge of the type of data packet enum ES_DataType A typical 248 PacketHeader interpreting code is as follows 3 5 9 PacketHeader Masking PacketHeaderT pData PacketHeaderT byteArr 13 Type and the size of the packet can be accessed like pData gt type pData gt lPacketSize The packet size is only for convenience Sizeof data type alternatively could be used to calculate the packet size This redundancy may be used for consistency checks and is helpful when using programming languages other than C that lack the sizeof operator From emScon Version 2 0 and up lPacketSize must be initialized correctly also on sending packets This information is essential and no longer ignored by the track
88. name and type information struct GetNivelInfo2CT struct BasicCommandCT packetInfo hi struct GetNivelInfo2RT struct BasicCommandRT packetInfo enum ES_NivelType nivelType unsigned short cNivelName 33 long 1SerialNumber int iFirmwareMajorVersionNumber int iFirmwareMinorVersionNumber double dMeasurementRange double dMeasurementAccuracyOffset double dMeasurementAccuracyFactor RestoreStartupConditionsCT RT Command structures for the RestoreStartupCondition command This command has no parameters 243 struct RestoreStartupConditionsCT struct BasicCommandCT packetInfo hi struct RestoreStartupConditionsRT struct BasicCommandRT packetInfo hi GoAndMeasureCT RT Command structures for the GoAndMeasure command The parameters specify the location where to drive the laser beam and take the 3D measurement Remember GoAndMeasure is just a convenient i e speed optimized combination of the two tasks GoPosition and a stationary measurement Details see description of item ES_C_GoAndMeasure of enum ES_ Command struct GoAndMeasureCT struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 hi struct GoAndMeasureRT struct BasicCommandRT packetInfo 3 5 C Language TPI Programming Instructions The C TPI is made up of a pure collection of enumeration types and data structures The data structu
89. or transformation parameters The major input to these calculations are the coordinates of a set of reference points together with the corresponding measured coordinates The result of the calculation is a seven parameter transformation of the measured points onto the reference points 9 2 1 Orientation Orientation refers to the alignment of a tracker with respect to a world coordinate system WCS The world coordinate system may be defined by the principal measurement station Fig 1 or by a CAD model Fig 2 The coordinates of a point with respect to the principal station or CAD model respectively are called nominal or reference coordinates The coordinates as measured by the active station are called actual coordinates Orientation WCS Active station Principal station Fig 1 389 Setting the calculated parameters as orientation parameters with the SetStationOrientationParams command and re measurement of the reference points yields actual coordinates approximately equal to the nominal coordinates Orientation Fig 2 9 2 2 Transformation A transformation defines a local object coordinate system In this case the object coordinates play the role of nominals Fig 3 Activating the calculated transformation parameters and re measurement yields actual coordinates approximately equal to the nominal coordinates if Object coordinate system i Transformatio
90. packetInfo hi struct GetMeasurementStatusInfoRT struct BasicCommandRT packetInfo enum ES_ResultStatus lastResultStatus long ilMeasurementStatusInfo GetCurrentPrismPositionCT RT Command structures to get the 3D position of the prism the laser is currently attached to Delivers the same values as a stationary measurement would deliver however less accurate than stationary measurements Do NOT use these values as measurements where precise measurements are required See command description GetCurrentPrismPosition for a typical application of this command 239 struct GetCurrentPrismPositionCT struct BasicCommandCT packetInfo hi struct GetCurrentPrismPositionRT struct BasicCommandRT packetInfo double dVall double dVal2 double dVal3 hi GetObjectTemperatureCT Command structures for the GetObject Temperature command Details see description of ES_Command ES_C_GetObjectTemperature struct GetObjectTemperatureCT struct BasicCommandCT packetInfo hi struct GetObjectTemperatureRT struct BasicCommandRT packetInfo double dobjectTemperature hi ClearCommandQueueCT RT Command structures for the ClearCommandQueue command Input parameter clearQueueType see enum ES_ClearCommandQueueType This is for advanced programming issues Remember that the command queuing mechanism must be enabled explicitly by setting a value between 1 10 See
91. packetInfo double dHzAngle double dvtAngle i Set GetStatisticModeCT RT Command structures for setting getting the statistic mode Depending on the mode stationary and or continuous 3D measurement packets will contain more or less statistical information Note that different data packets for the measurement apply depending on which mode is used See enum ES_StatisticMode description for details struct SetStatisticModeCT struct BasicCommandCT packetInfo enum ES_StatisticMode stationaryMeasurements enum ES_StatisticMode cont inuousMeasurements struct SetStatisticModeRT struct BasicCommandRT packetInfo di struct GetStatisticModeCT struct BasicCommandCT packetInfo di struct GetStatisticModeRT struct BasicCommandRT packetInfo enum ES_StatisticMode stationaryMeasurements enum ES_StatisticMode cont inuousMeasurements hi Changing the statistical mode is for advanced purposes only Default statistical mode is Standard and ensures compatibility to earlier 212 versions Set GetCameraParamsCT RT Command structures for setting getting the Camera parameters See also description of struct CameraParamsDataT struct SetCameraParamsCT struct BasicCommandCT packetInfo struct CameraParamsDataT cameraParams hi struct SetCameraParamsRT struct BasicCommandRT packetInfo i struct GetCameraParamsCT struct BasicCommandCT pack
92. precise tooling you need exact measurements to improve quality and productivity So when it has to be right professionals trust Leica Geosystems metrology products to help collect analyze and present 3 dimensional 3D data for industrial measurement Leica Geosystems Metrology is best known for its broad array of control and industrial measurement products including high precision industrial theodolites and total stations laser trackers and 6 Degrees of Freedom based 6DOF Portable CMM systems The latter include the Leica T Probe hand held armless probe Leica T Scan hand held laser scanner and Leica T Mac tracking device for automated applications Leica Geosystems also offers a broad range of 3D metrology software solutions Those who use the metrology products by Leica Geosystems every day trust them for their dependability the value they deliver and the world class service and support that s second to none Precision reliability and service from Leica Geosystems metrology products When it has to be right 2008 Copyright Leica Geosystems AG Heerbrugg Switzerland For more information please contact info metrology leica geosystems com L m e when it has to be right Seica Geosystems
93. radii result in extended search times See also command SetSearchParams A FindReflector command in progress can be interrupted with ES_C_StopMeasurement ES_C_ Unknown Used for initialization purposes only Does not appear as an answer to a command ES_C_LookForTarget Looks for a reflector at the given position and returns H V values if a reflector is present Values are in current angular units This command is mainly useful for LT series of Tracker without ADM and should not be used in general ES_C _GetDirection Returns H V values even without a reflector locked on Values always are in current angular units 75 ES_C_CallOrientToGravity Triggers an Orient to Gravity process The 2 inclination parameters are returned as a result Result values are in current angular units and are typically used as RotVall1 RotVal2 input values for the SetStationOrientationParams command Note this is a rather long taking command It can be interrupted with ES_C_StopMeasurement ES_C_ClearTransformationNominalPointList Clears the current nominal point list which is used as input data for the Transformation process For all transformation related commands see Section 9 2 for details ES_C_ClearTransformationActualPointList Clears the current actual point list which is used as input data for the Transformation process ES_C_AddTransformationNominalPoint Adds a point to the transformation
94. settings only in case of actual points Nominal points are not influenced by transformation settings For details see Section 9 2 For the StdDev parameters use values as specified in chapter Constants 183 CameraParamsDataT struct CameraParamsDataT int iContrast int iBrightness int iSaturation hi Used for parameters of the Set GetCameraParams command Values of Contrast Brightness range from 0 to 256 Saturation is currently not used and must be set to zero 3 4 2 Packet Data Structures These data types describe the real data blocks exchanged over the TCP IP network between the Tracker Server and the application PC There are 9 main types of packets see enum ES_DataType The structures of ES_DT_Command type packets differ for different commands All packet types contain directly or through another sub structure such as ReturnDataT BasicCommandCT or BasicCommandRT a sub structure of type PacketHeaderT with the size and type of the packet e Command type packets apart from a certain number of parameters always contain an ES_Command command type parameter e Return type packets command error and measurements always contain a status parameter ErrorResponseT struct ErrorResponseT struct PacketHeaderT packetHeader enum ES_Command command enum ES_ResultStatus status hi This receive only structure ES_DT_Error packet type describes the packet
95. state It will not be accepted and activated before confirmed with SetCompensation 0 The reason for that is that an application will show the quality results RMS etc of the Intermediate Compensation to the user Based on these results the user decides whether to accept or to discard this compensation Sending SetCompensation 0 means Accept Doing nothing respectively re start another intermediate compensation means discard Note that the philosophy used here is very 79 similar to a Manual Intermediate or Full compensation performed with the Compensation application An in work compensation is being created upon the first measurement When all measurements done the compensation result is calculated and displayed Based on these results the user decides to Accept the result or not ES_C_GetCompensation Reads the currently active compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetCompensations ES_C _ SetStatisticMode Switches the statistic mode between standard and extended This mode only influences the Single and Multi measurement results This is an advanced feature Extended statistic mode should only be used if enhanced statistical information is required This is for example the case when using stationary measurements as input to the transformation routine See difference between Si
96. struct BasicCommandCT enum ES_SystemParameter long hi struct SetLongSystemParamRT struct BasicCommandRT hi struct GetLongSystemParamCT struct BasicCommandCT enum ES_SystemParameter i struct GetLongSystemParamRT struct BasicCommandRT enum ES_SystemParameter long hi packetInfo systemParam lParameter packetInfo packetInfo systemParam packetInfo systemParam lParameter GetMeasurementStatusInfoCT RT Command structures to get information about status of all types of compensations and related hardware Such information is useful in cases where the Tracker Status is not ready and one wants to figure out why Without the information of this command investigation could be difficult because there are numerous conditions why a 238 system is not ready to measure Missing compensations Beam not attached no accurate Reflector This especially applies to 6DoF modes A look to the bits of IMeasurementStatusInfo immediately shows the reason The information data is delivered as a long value representing a bit mask Use the enum ES_MeasurementStatusInfo values to decode mask the IMeasurementStatusInfo parameters flags information Note the terminology with the s GetMeasurementStatusInfo This is because this command relates to different types of compensations and hardware which are always related struct GetMeasurementStatusInfoCT struct BasicCommandCT
97. structures to read tracker diagnostic data This is acommand mainly used for service purposes struct GetTrackerDiagnosticsCT struct BasicCommandCT packetInfo struct GetTrackerDiagnosticsRT struct BasicCommandRT packetInfo double dTrkPhotoSensorxVal double dTrkPhotoSensoryYVal double dTrkPhotoSensorIVal double dRefPhotoSensorxVal double dRefPhotoSensoryYVal double dRefPhotoSensorIVal double dADConverterRange double dServoControlPointxX double dServoControlPointyY double dhLaserLightRatio int iLaserControlMode double dSensorInsideTemperature int iLCPRunTime int iLaserTubeRunTime di GetADMInfoCT RT Command structures to read ADM specific properties and feature data The tracker must be equipped wit an ADM Note with emScon V2 3 variable names have changed from iFirmWare to iFirmware This 223 will not have any influence to existing applications at runtime Upon compilation with the new API include files these names need to be adjusted in the code of the application struct GetADMInfoCT struct BasicCommandCT packetInfo hi struct GetADMInfoRT struct BasicCommandRT packetInfo int iFirmwareMajorVersionNumber int iFirmwareMinorVersionNumber int iSerialNumber hi GetNivellnfoCT RT Command structures to read Nivel specific properties and feature data The tracker must have a Leica Nivel inclination sensor connected and enabled Note
98. supported with your programming environment 5 2 6 Proper Interface Selection Unlike the C and C TPI the COM TPI is a DLL library and not an include file This DLL provides an easy to use programming interface for the Tracker Server This makes it suitable for programmers with minimal programming expertise to design simple tracker applications The COM TPI also opens doors to programming languages such as VisualBasic Delphi C VB NET VBA Office Macro Languages etc The interface is made up of a so called COM component It is designed as an ATL DLL COM server The DLL is named LTControl dll and comes as part of the emScon SDK LTControl provides built in TCP IP communication The LTControl COM object DLL is based on the tracker server C TPI the Win32 Sockets 2 0 API 300 and VC ATL The LTControl dll is in a sense a Tracker Server C Client However it acts as Server from applications based on LTControl point of view The programmer is not required to deal with TCP IP communication libraries or system programming interfaces The high level TPI supports both synchronous and asynchronous methods Note Using the synchronous interface may provide some convenient properties However there are also some disadvantages Long taking actions cannot be interrupted FindReflector OrientToGravity as this is possible with asynchronous communication on using StopMeasurement command Synch
99. the coordinate system type See ES_CoordinateSystemType for a list of CS types supported All coordinate type parameters of all TPI commands are represented in the currently selected CS type ES_C_GetCoordinateSystemType Queries the currently active CS type ES_C_SetStationaryModeParams Sets the properties for a stationary measurement i e Measurement time and ADM use usually do not use ADM upon measurement Measurement time must lie between 500 ms and 100000 ms 0 5 100 seconds Related structure StationaryModeDataT ES_C_GetStationaryModeParams Queries the currently valid Stationary Mode Parameters Related structure StationaryModeDataT ES_C_ SetContinuousTimeModeParams Sets the properties for a continuous time measurement Related structure ContinuousTimeModeDataT ES_C_GetContinuousTimeModeParams Queries the currently valid Continuous Time 67 Mode Parameters Related structure ContinuousTimeModeDataT ES_C_ SetContinuousDistanceModeParams Sets the properties for a continuous distance measurement Distance parameter is in current Length units No range limitation applies to distance parameters in theory but there is a practical limitation given by tracker working space Related structure ContinuousDistanceModeDataT ES_C_GetContinuousDistanceModeParams Queries the currently valid Continuous Distance mode parameters Related structure ContinuousDistanceModeDataT ES_C_SetSphere
100. the related Get command It is obvious that these information apply to both Set and Get Although the valid range information is obsolete for Get commands 59 enum ES_Command ES_C_ExitApplication ES_C_GetSystemStatus ES_C_GetTrackerStatus ES_C_SetTemperatureRange ES_C_GetTemperatureRange ES_C_SetUnits ES_C_GetUnits ES_C_Initialize ES_C_ReleaseMotors ES_C_ActivateCameraView ES_C_Park ES_C_SwitchLaser ES_C_SetStationOrientationParams ES_C_GetStationOrientationParams ES_C_SetTransformationParams ES_C_GetTransformationParams ES_C_SetBoxRegionParams ES_C_GetBoxRegionParams ES_C_SetSphereRegionParams ES_C_GetSphereRegionParams ES_C_SetEnvironmentParams ES_C_GetEnvironmentParams ES_C_SetRefractionParams ES_C_GetRefractionParams ES_C_SetMeasurementMode ES_C_GetMeasurementMode ES_C_SetCoordinateSystemType ES_C_GetCoordinateSystemType ES_C_SetStationaryModeParams ES_C_GetStationaryModeParams ES_C_SetContinuousTimeModeParams ES_C_GetContinuousTimeModeParams ES_C_SetCont inuousDistanceModeParams ES_C_GetCont inuousDistanceModeParams ES_C_SetSphereCenterModeParams ES_C_GetSphereCenterModeParams ES_C_SetCircleCenterModeParams ES_C_GetCircleCenterModeParams ES_C_SetGridModeParams ES_C_GetGridModeParams ES_C_SetReflector ES_C_GetReflector ES_C_GetReflectors ES_C_SetSearchParams ES_C_GetSearchParams ES_C_SetAdmParams ES_C_GetAdmParams ES_C_SetSystem
101. tracker controller captures the trigger event point of interest in its own time system Then a measurement is interpolated to exactely that point The timestamp captured with the trigger event will be sent together with the measurement The time of the first measurement after the measurement start command or a the external start signal will always be set to 0 User Time 0 1 2 3 4 System 5 6 7 8 Time i Trigger Signal fo be ge for f 1 Pointsof i interrest triggered A U measurements io 7 ii 5 JAn er pemen aa Tracker Time System Time Drift between the clock systems The drawing above shows the effect of the drift between the 2 time systems The measurement is taken in the exact point of interest but the time measured in the tracker may differ from a reference time taken externally A drift of 10 20 microseconds per second is not unusual As an example 10microsec second is equal to a drift of about 1 second in a day 4 2 Time and Trigger Accuracy The internal clock bases on a cristall osillator with an overall stability of 100ppm including temperature changes within operating range shock and vibration aging of 1 year etc Catching a measurement with an external trigger signal has an accuracy of 5ysec including acquisition of the trigger signal and several components of a measurement Trigger Interface Feb 4 2008 Page 6 Leica Geosy
102. tracker server has failed To disconnect from Tracker Server use a handler as shown below Only essential code is shown Private Sub Button_Disconnect_Click ObjConnect DisconnectEmbeddedSystem End Sub See Sample 7 for an explanation of the call SelectNotificationMethod LTC_NM_Event 0 0 However for VisualBasic applications it usually does not make sense to call this method with other parameters Implementing Synchronous Commands Add a button named InitSync The button handler should be completed with the following code 329 Private Sub InitSync_Click On Error GoTo ErrorHandler Ob jSync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub Since this is a synchronous call e ObjSync Initialize will not return before the tracker has finished initializing e The Exit Sub statement will not be reached until initialization is finished A real application would at least display an hourglass cursor while the program resides in the InitSync function The error handler should be implemented in every command button handler otherwise the application will terminate in case of an error unhanded exception Add another Button Handler Measure Single Point and implement the handler as shown below It is presumed the tracker server is set to stationary when triggering this command In Sample 5 code this is ensured in the Button_Connect_Click handler Of cou
103. 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 Such translations require some advanced programming knowledge and are not covered by this Manual The use of programming languages other than C C is not recommended for low level TPI programming and no support is provided Translating the TPI s Enumeration Types and Data Structures into other language s syntax may encounter potential errors different size of basic data types byte alignment issues etc Applications therefore should not be based directly on the C native interface Usage of provided C C or COM emScon interfaces is highly recommended instead 14 2 3 2 Prefixes and Suffixes used in Type Names Prefixes ES DT C RS SSC Suffixes T RT CT Embedded System or emScon They identify type names of the TPI Data type Packet type Command Result Status System Status Change Events Type usually used for general sub structures Return Type used for data transfer from server Command Type used for data transfer to server These are only the most frequent ones Other prefixes explain themselves as they mostly are derived from the enum type names 2 3 3 Asynchronous Communication As for any TCP IP communication low level communication C C to the tracker server is asynchronous In particular this means e A SendData f
104. two constructors e Taking the data as one single struct parameter e Taking the data as individual parameters Example class CSetUnits class CSetUnits public inline CSetUnits SystemUnitsDataT unitsSettings DataPacket packetInfo packetHeader 1PacketSize sizeof SetUnitsCT DataPacket packetInfo packetHeader type ES_DT_Command DataPacket packetInfo command ES_C_SetUnits DataPacket unitsSettings unitsSettings inline CSetUnits ES_LengthUnit lenUnitType ES_AngleUnit angUnitType ES_TemperatureUnit tempUnitType ES_PressureUnit pressUnitType ES_HumidityUnit humUnitType DataPacket packetInfo packetHeader 1PacketSize sizeof SetUnitsCT DataPacket packetInfo packetHeader type ES_DT_Command DataPacket packetInfo command ES_C_SetUnits DataPacket unitsSettings lenUnitType lenUnitType DataPacket unitsSettings angUnitType angUnitType DataPacket unitsSettings tempUnitType tempUnitType DataPacket unitsSettings pressUnitType pressUnitType DataPacket unitsSettings humUnitType humUnitType SetUnitsCT DataPacket hi 4 3 5 CESAPICommand A class for sending commands The user of the C TPI may ignore all struct wrapper classes The only important class to be used for programming is CESAPICommand which is defined at the end of the ES_CPP_API_Def h file Virtual override of SendPacket In order to use the C TPI a class from the CESAPICommand class must be deri
105. we would leave this function the thread dies and connection to 2nd tracker gets lost A real application needs a correct thread termination mechanism and should do cleanup tasks for the instantiated interfaces and objects TRACE _T ChangeFace n pLTCommandSync2 gt ChangeFace it EOE return 0 never be reached in this sample in a real application the for loop would have a thread control flag that would cause to exit the loop if flag status changes SecondTrackerThread Finally we must start the thread This is done most likely at the end of the main dialogs OnInitDialog member function HANDLE hSecondTrackerThreadHandle 0 hSecondTrackerThreadHandle HANDLE AfxBeginThread SecondTrackerThread this if hSecondTrackerThreadHandle 0 TRACE _T Failed to start thread for 2nd tracker n return FALSE Note that the shown code fragments only contain essential stuff A real application would probably do extra error diagnostic and of course more proper thread termination and cleanup tasks Important The shown code fragments do not yet include implementation of an event sink to receive data from the 2nd tracker see commented block in the code above The existing event sink for tracker 1 cannot be shared for use with tracker 2 We either need a separate event sink for tracker 2 or we would have to make some adjustments to the provided Sample 7 cod
106. with 6 degrees of freedom i e the data block contains 3 angular values in addition to 3 coordinate values apart from other data Related data structure ProbeStationaryResultT ES_DT_ContinuousProbeMeasResult The equivalent to MultiMeasResult but with 6 degrees of freedom that is the data block contains measurements each with 3 rotation parameters in addition to 3 coordinate position values apart from other data Related data structure ProbeContinuousResultT ES_DT_NivelResult The data packet contains the result of a Leica Nivel sensor inclination sensor measurement Requires a Leica Nivel inclination sensor of type Nivel20 or Nivel230 being connected to the Tracker directly Result type values can only be received Related data structure NivelResultT 55 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 Related data structure ReflectorPosResultT ES_DT_SystemStatusChange The data packet contains information about a status change Other than an error event a SystemStatusChange event does not mean a failure Related data structure SystemStatusChangeT ES_DT_SingleMeasResult2 The data packet contains the result of one single stationary measurement in case the statistic mode is set to extended These types are mainly used for measurements used as input
107. 0 variables for first tracker Dim ObjConnect As New LTConnect Dim WithEvents ObjAsync As LTCommandAsync 2nd set of variables for 2nd tracker Dim ObjConnect2 As New LTConnect Dim WithEvents ObjAsync2 As LTCommandAsync connect to both trackers servers ObjConnect ConnectEmbeddedSystem 192 168 0 1 700 Ob jConnect2 ConnectEmbeddedSystem 10 62 35 53 700 Ob jConnect SelectNotificationMethod LTC_NM_Event 0 0 ObjConnect2 SelectNotificationMethod LTC_NM_Event 0 0 Set ObjAsynce Ob jConnect ILTCommandAsync Set ObjAsync2 Ob jConnect2 ILTCommandAsync Trigger a stationary measurement for both trackers parallel ObjAsync MeasureStationaryPoint ObjAsync2 MeasureStationaryPoint Independent event handlers are required for both trackers Implementation of function bodies of these is supported by the VB IDE Do not manually create these Note that not all parameters are listed here due just sample code fragment Private Sub ObjAsync_StationaryPointMeasData _ ByVal vall As Double ByVal val2 As Double MsgBox vall just display one param End Sub Private Sub ObjAsync2_StationaryPointMeasData _ ByVal vall As Double ByVal val2 As Double MsgBox vall just display one param End Sub If trying to create a multi threaded VB application nevertheless the same rules apply as described above for C applications The second thread needs to call Colnitialize for the main thread this call for VB appli
108. 59 1 2 2 5 The call to SetReflector must pass the reflector ID not the list box index A frequent source of a programming error Reflector Name Unicode Format The reflector name is always in Unicode format irrespective of whether the application is in Unicode or ANSI Names in C C applications may have to be converted accordingly See Sample 7 which implements reflector handling with a list box It uses rather complicated a MFC Map as a lookup table Simple solutions can be achieved with just an integer array See also Sample 9 on how to interpret reflector names in Unicode format correctly Persistence of Reflector Name ID Mapping Each tracker compensation has its own set of reflector definitions However the mapping between reflector name and ID remains the same throughout all available tracker compensations Example A T Cam is mounted on the tracker hence the active tracker compensation is one that was performed with a mounted camera Assume this tracker compensation has definitions for three valid reflectors as follows Name ID CCR 75mm 7 CCR 1 5in 2 TBR 0 5in 5 360 Now the T Cam is removed and hence another tracker compensation becomes active one that was performed without a mounted T Cam Let s assume that this compensation has only two reflector definitions CCR 1 5in and TBR 0 5in Conveniently the mapping between name and ID remained the same as it was in the previous
109. CW Spheric 123 e ES_CS_SCC Spherical Counter Clockwise system 0 P lt H lt V D 124 Addendum Probe Coordinate Systems T Probe These Pictures relate to RHR CS Type Further details about Probe Coordinate Systems see Chapter 9 Mathematics Chapter 9 3 in particular 125 ES _LengthUnit Length units supported by the TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_LengthUnit ES_LU_Meter ES_LU_Millimeter ES_LU_Micron ES_LU_Foot ES_LU_Yard ES_LU_Inch hi ES _AngleUnit Angle units supported by TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_AngleUnit ES_AU_Radian ES_AU_Degree ES_AU_Gon hi ES_TemperatureUnit Temperature units supported by TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_TemperatureUnit ES_TU_Celsius ES_TU_Fahrenheit hi ES PressureUnit Pressure units supported by the TPI This enumeration type is used as a parameter for ES_C_SetUnits ES_C_GetUnits enum ES_PressureUnit ES_PU_Mbar default ES_PU_HPascal same as MBar ES_PU_KPascal ES_PU_MmHg ES_PU_Psi ES_PU_InH20 ES_PU_InHg e ES PU_Mbar Millibar e ES_PU_Hpascal HectoPascal Millibar 126 e ES_PU_Kpascal KiloPascal e ES_PU_MmHg Millimeter Mercury e ES PU Ps Pounds p
110. C_API_Def h as its basis The C interface implements two classes CESAPICommand and CESAPIReceive apart from wrapper classes for each data structure of the C TPI 255 CESAPICommand handles sending of commands from the client application to the Tracker server and CESAPIReceive supports receiving and parsing data sent by the Tracker Server back to the client application The advantage of a class design is the availability of constructors to perform struct initialization Using the TPI C interface is preferable to the C low level native interface if a C compiler is available 4 1 2 Platform Issues Tracker Server client programming remains platform independent since C compilers are available for virtually every platform 4 1 3 TCP IP This chapter does not touch TCP IP basic issues See C TPI section since this topic is independent from the interface type used except COM interface where communication is embedded 4 2 C Language TPI Reference 4 2 1 CESAPICommand class SendPacket virtual bool SendPacket void PacketStart long PacketSize This is a pure virtual function that must be implemented in the class derived from CESAPICommand Its implementation depends on the selected TCP IP socket library API Command Functions Only a few sample of the class command member functions are listed here since these can be derived directly from the C interface 256 Example for a comm
111. CenterModeParams Sets the properties for a Sphere Center measurement Radius and SpatialDistance parameters are in current Length units No range limitation apply to distance and radius parameters in theory but there is a practical limitation given by tracker working space Related structure SphereCenterModeDataT ES_C_GetSphereCenterModeParams Queries the currently valid SphereCenterMode Parameters Related structure SphereCenterModeDataT ES_C_ SetCircleCenterModeParams Set the properties for a Circle Center measurement Radius and SpatialDistance parameters are in current Length units No range limitation apply to distance and radius parameters in theory but there is a practical limitation given by tracker working space Related structure CircleCenterModeDataT 68 ES_C _GetCircleCenterModeParams Queries the currently valid Circle Center Mode Parameters Related structure CircleCenterModeDataT ES_C _ SetGridModeParams Sets the properties for a Grid measurement Grid value parameters are in current units and according current CS type No range limitation apply to grid parameters in theory but there is a practical limitation given by tracker working space Related structure GridModeDataT ES_C_GetGridModeParams Queries the current Grid Mode Parameters Related structure GridModeDataT ES_C SetReflector Sets the valid reflector type by its numerical ID Attention Reflector ID s must not be hard cod
112. Compatibility eee eeeeeeeeeeenees 20 2 3 9 Sample Coders prin segessey ce puedes eoghesse ce soceee verdes EEE 23 2 4 Application Initial Steps seseosossesoosessossesoosseseosossessossesoessesoosossee 25 2 4 1 Essential Steps nnen eip eneee a E e E E depres soos 25 2 4 2 Command Sequence for 3D Measurements eseees 27 2 4 3 Command Sequence for 6DoF Measurements 000 29 2 4 4 Initial Steps Description in Detail eee eeeeeeeteereeeeenees 31 2 4 5 Automatic External Device Recognition 40 3 Ge INTEREAG Evccttninsuttalsantetes ciidetnniseteteceitatibnas 43 3 1 Low level TPI Programming ccssscsssccsscscsssesceessecesessseseses 43 3 1 1 PreCONAIEONS isp ae e ee e settee te ns csepidets E 43 3 1 2 R commend tiom tsere se eeaeee nena aoi r eiei 43 3 1 3 Byte Aligime t sennie raa n Aided anand 44 3 1 4 Little Big Endians i sis uneste mni eea i aS 44 3 1 5 Preprocessor Statements sesenssereeeesererereseerersreeeeserererereesee 45 3 1 6 TPI Boolean Data Type 0 0 eee ec eeceeceeecnsecesecesecneeeneeees 45 3 1 7 Enumeration Type Members Numerical representation 46 3 1 8 Basic C Data Type size of TPI Structures 46 3 2 Communication BasICS ssrerssersessssessersesessersscessersesssersesesves 46 3 2 1 Sending Commands 0 ce cecesessessecseesecnereeceeeeeceaeeeeeeeeneeeeens 46 3 2 2 Command AnswetfS 0 cece ceeeeceeeceeseesecesecesecesecnsesaeeaeeees 47
113. Data he struct SetSphereCenterModeParamsRT struct BasicCommandRT packetInfo di struct GetSphereCenterModeParamsCT struct BasicCommandCT packetInfo i struct GetSphereCenterModeParamsRT struct BasicCommandRT packetInfo struct SphereCenterModeDataT sphereCenterModeData hi Se struct SphereCenterModeDataT for details Set GetCircleCenterModeParamsCT RT Command structures for setting getting the parameters for the Circle Center Measurement Mode struct SetCircleCenterModeParamsCT struct BasicCommandCT packetInfo struct CircleCenterModeDataT circleCenterModeData di struct SetCircleCenterModeParamsRT struct BasicCommandRT packetInfo he struct GetCircleCenterModeParamsCT struct BasicCommandCT packetInfo struct GetCircleCenterModeParamsRT struct BasicCommandRT packetInfo struct CircleCenterModeDataT circleCenterModeData hi See struct CircleCenterModeDatalT for details Set GetGridModeParamsCT RT Command structures for setting getting the parameters for the Grid Measurement mode 199 struct SetGridModeParamsCT struct BasicCommandCT packetInfo struct GridModeDataT gridModeData he struct SetGridModeParamsRT struct BasicCommandRT packetInfo di struct GetGridModeParamsCT struct BasicCommandCT packetInfo i struct GetGridModeParamsRT struct BasicCommandRT packetInfo struct GridModeDataT gridModeData hi See s
114. Dim tp As VbVarType Dim sz As Long ObjConnect GetData data tp VarType data type we expect a Byte arryay If tp vbArray vbByte Then Byte Array sz UBound data 1 index is zero based If bytesTotal sz Then MsgBox sz display of bytes received Else MsgBox CStr Unexpected size amp sz _ amp CStr expected amp bytesTotal End If End If End Sub It is not necessary to read data here with GetData Answers may be filtered out and only those data packets of interest can be read With TCP IP data must be read at socket level see previous samples otherwise no notification will arrive again The principles shown here also apply to message handlers if one of the message notification mechanisms is selected See chapter Answers from Tracker Server on how to mask evaluate incoming data blocks 5 2 13 VBA Macro Language Support Excel Word Access The LTControl COM component can also be used with VBA Visual Basic for Applications the 307 built in Macro language of MS Excel Word and Access with the exception that structs and enums are not fully supported with VBA that comes with Office 97 Ex functions that take struct parameters cannot be used VBA that comes with Office 2000 no longer has such limitations It is highly recommended to use Office 2000 or higher for Tracker Server VBA Programming Office 97 Excel 97 Word 97 apart from a missing UDT contain s
115. DoubleClick not supported ES_SSC_ProbeButton3Down ES_SSC_ProbeButton3Up ES_SSC_ProbeButton3DoubleClick not supported ES_SSC_ProbeButton4Down ES_SSC_ProbeButton4uUp ES_SSC_ProbeButton4DoubleClick ES_SSC_QuickReleaseOpend ES_SSC_QuickReleaseClosed ES_SSC_LaserReachingLimit ES_SSC_LaserNotStabilized ES_SSC_CompensationModeStart ES_SSC_CompensationModeEnd ES_SSC_EmsysFilesImported ES_SSC_CopyProtectionRemoved ES_SSC_TPConnectionClosing ES_SSC_ServerClosing ES_SSC_ServerStarted not supported ES_SSC_DistanceSet Precondition is that the system is equipped with an ADM and is set to 137 KeepLastPosition one of the parameters controlled by Set GetSystemSettings This event is fired as soon as the beam is re locked on to the target and an ADM measurement has been performed a few seconds after the target has been placed to a stable position while beam attached From now on measurements can be continued This mode is very convenient since it is not necessary to go back to the BirdBath after a beam break For Probe 6DoF measurements the KeepLastPosition flag MUST always be set as true The ES_SCC_DistanceSet event is not fired when the system flag Keep Last Position is not set ES_SSC_LaserWarmedUp This event is fired once the tracker is warmed up after system laser start about 20 minutes after the laser was switched on Also see description of enum ES_La
116. ES _MC_TCam700 ES MC _TCam_LR T Cam is of indicated type ES ProbeType Specifies the measurement probe type This enumeration type is used as a parameter for the GetMeasurementProbeInfo command enum ES_ProbeType ES_PT_None ES_PT_Reflector ES_PT_TProbe ES_PT_TScan ES_PT_MachineControlProbe ES_PT_TCamToTrackerTool ES_PT_ZoomArtifactTool e ES PT None Type could not be determined Should not occur under normal conditions e ES PT Reflector The probe is a reflector No 6DoF measurements are possible 150 ES_PT_TProbe Probe is a standard T Probe ES_PT_TScan Probe is a T Scan ES_PT_MachineControlProbe Probe is of type Machine Control Probe ES_PT_TCamToTrackerTool Probe is the T Cam to tracker compensation tool ES_PT_ZoomArtifactTool Probe is the T Cam to tracker compensation tool ES _ProbeConnectionType Specifies the measurement probe type This enumeration type is used as a parameter for the GetMeasurementProbeInfo command enum ES_ProbeConnectionType ES_PCT_None ES_PCT_CableController ES_PCT_CableSensor ES_PCT IRLaser ES_PCT_IRWideAngle ES_PCT_None No connection could be determined ES_PCT_CableController Connection is through cable to controller ES_PCT_CableSensor Connection is through cable to sensor skipping the controller ES_PCT_IRLaser There is a wireless connection through Infrared Laser 151
117. ES_SSC_IsFace2 This event is fired whenever the tracker changes to Face II ES_SSC_ExternalControlActive This event is fired whenever the tracker server enters external control e g Axyz While under external control control through TPI commands are blocked ES_SSC_ServiceSoftwareActive This event is fired whenever the tracker server runs with service software While running service software control through TPI commands is limited 139 ES_SSC_TcamToTrackerCompensation Deleted ES_SSC_MeasurementProbeCompensation Deleted ES_SSC_MeasurementTipCompensation Deleted Above three events inform about compensation deletion ES_SSC_ManyMechanicalCompensations InDB The recommended maximal number of mechanical compensations has been reached Please delete some older compensations ES_SSC_MeasurementProbeButtonDown This event is fired whenever one of the probe buttons measurement trigger is pressed Exception The system parameter ES_SP_ProbeConfig_ Button is set to ES_PCB_4ButtonMode ES_SSC_MeasurementProbeButtonUp This event is fired whenever the previously pressed probe button is released Exception The system parameter ES_SP_ProbeConfig_ Button is set to ES_PCB_4ButtonMode ES_SSC_ExternalTrigger Event This event is fired whenever an external Trigger Pulse occurs ES_SSC_ExternalTriggerStartEvent This event is fired whenever an external Trigger Start Pulse trigger signal rising flank o
118. ES_SystemParameter ES_SP_TcpCommandQueueSize Further details see description of ES_Command ES_C_ _ClearCommandQueue struct ClearCommandQueueCT struct BasicCommandCT packetInfo enum ES_ClearCommandQueueType clearQueueType hi struct ClearCommandQueueRT struct BasicCommandRT packetInfo hi GetTriggerBoardinfoCT RT Command structures to get the properties features of the trigger board such as type see enum ES_TriggerCardType frequency 240 etc This is for advanced programming issues Further details see description of ES_Command ES_C_GetTriggerBoardInfo See also Tracker Trigger Interface Appendix for a more detailed description of trigger issues struct GetTriggerBoardInfoCT struct BasicCommandCT packetInfo struct GetTriggerBoardInfoRT struct BasicCommandRT packetInfo enum ES_TriggerCardType triggerCardType long 1FPGAVersion long 1MaxTriggerFrequency long lErrorCode 0 gt All OK GetOverviewCameralnfoCT RT Command structures to get the properties features of the overview camera such as name type see enum ES_OverviewCameraType chip size focal length etc This is for advanced programming issues Further details see description of ES_Command ES_C_GetOverviewCameralInfo struct GetOverviewCameraInfoCT struct BasicCommandCT packetInfo he struct GetOverviewCameraInfoRT struct BasicCommandRT packetInfo
119. FC library permits a very convenient class wrapper around the Winsock2 API Refer to the CAsyncSocket and CSocket classes in C section for details Attention The MFC CSocket class may cause problems when transferring very high rated amounts of data High frequency continuous measurements See Sample4 Step5 and Step6 ReadmeStep5 txt ReadmeStep6 txt files for details and how to avoid these problems 254 4 C Interface 4 1 Class based TPI Programming 4 1 1 Preconditions Using the C interface requires sufficient knowledge of object oriented programming A programmer should at least know about class design class inheritance virtual functions member function overloads asynchronous programming concepts and TCP IP socket programming This chapter describes wrapper classes for data structures and two main classes used for sending commands and receiving answers The description of the classes in this chapter may be slightly discrepant to the contents of the ES_CPP_API_Def h file in the SDK In case of discrepancies the information in the ES_CPP_API_Def h file should be regarded as correct Sample 4 former Sample 4_2 in emScon 1 5 comprises all these topics This sample is most suitable for introduction into emScon C programming The C TPI does not provide any additional functions for the Tracker Server It is built upon the C interface and is made up of one include file ES_CPP_API_Def h with ES_
120. Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 002 Fixed Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 001 Fixed Fixed 0 0 0 AddNominalPoint 1 1 1 0 0 001 Fixed Fixed 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 AddActualPoint 1 1 0 1 0E 35 1 0E 35 1 0E 35 0 0 0 The resulting orientation has translation 0 06 0 0 and no rotation The residual vectors are 0 16 0 0 0 16 0 0 0 04 0 0 0 04 0 0 The weighted residuals divide by square of standard deviation have equal length 40000 3 2 1 Alignment AddNominalPoint 1l 2 3 Fixed Fixed Approx 0 0 0 AddNominalPoint 2 3 4 Fixed Fixed Fixed 0 0 0 AddNominalPoint 0 4 2 Approx Fixed Approx 0 0 0 SetInputParams 0 0 0 0 0 O 1 Unknown Unknown Unknown Unknown Unknown Unknown Fixed This is a minimum configuration since redundancy 2 3 1 6 0 The approximate coordinates are necessary to select a unique solution from the eight possible solutions This fact can be easily observed in the following example AddNominalPoint 0 0 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 0 0 Unknown Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Unknown Unknown Fixed 0 0 0 Here each of the rotation angles can be 0 or n T
121. GERR ERROR attachement ring buffer overrun 2200 PARMGR MESSAGE New parameter initialisation 2201 PARMGR ERROR CRC on parameter table 2202 PARMGR ERROR not allowed range for this parameter 2203 PARMGR ERROR unknown parameter id 2204 PARMGR REMARK parameter table is full 2205 PARMGR WARNING table size defined in code and that saved in flash differs 2206 PARMGR WARNING error occure during load 2207 PARMGR ERROR error occure during save 2208 PARMGR ERROR invalid command parameter 2210 PARTBL ERROR flash table not found 2211 PARTBL ERROR invalid table block number 2212 PARTBL ERROR invalid table data 3000 CMDI ERROR unknown keyword 3003 CMDI ERROR not allowed command in this mode 3004 CMDI ERROR to long string parameter 3050 DCSC ERROR wrong value for T Cam mode 3052 DSPHL ERROR timeout during V_INIT command 3054 DSPHL ERROR timeout during V_INFO command 3110 TGT Command parameter invalid command not executed 3111 TGT FGIF data invalid data block discarded 3112 TGT Section list overflow line discarded 3113 TGT Invalid image item data item skipped 3114 TGT Objects per line overflow further objects discarded 3115 TGT Objects in total overflow further objects discarded 3116 TGT Too many objects surrounding feature feature not tracked 3117 TGT Timeout in TGT extraction 3150 VTT ERROR invalid angle 3151 VTT ERROR invalid distance 3153 VTT ER
122. IF ERROR GBPS data failure 4059 FGIF ERROR GBPS synchronisation error 4060 FGIF ERROR mailbox overflow in full picture mode 4100 MOT ERROR encoder failure 4101 MOT ERROR wrong encoder counter direction 4102 MOT ERROR motor controller failure 4103 MOT ERROR motor unit is blocked or braked 4104 MOT ERROR reflexion sensor failure 4105 MOT ERROR unknown error in open loop check 4106 MOT ERROR function call not allowed 4107 MOT ERROR standstill error while closed loop check 4108 MOT ERROR timeout during closed loop check 4109 MOT ERROR timeout during reference search 4110 MOT ERROR no index position found 4111 MOT ERROR no cable feedback signal 4112 MOT ERROR encoder status error 4113 MOT ERROR encoder signal error 4114 MOT ERROR over temperature on sensor 0 4115 MOT ERROR over temperature on sensor 1 4116 MOT ERROR over current on motor 0 4117 MOT ERROR over current on motor 1 4150 PROBE ERROR wrong command parameter 4200 ZFCI INFO zoom controller is connected again to the DSP 4210 ZFCI ERROR no zoom controller connected to the DSP 4211 ZFCI ERROR dsp avr synchronisation error 4212 ZFCI ERROR checksum failure 4213 ZFCI ERROR incorrect flash or eeprom address 4214 ZFCI ERROR flash or eeprom address already written 4215 ZFCI ERROR zoom controller reports an error command not executed 4216 ZFCI ERROR command may not be executed at the moment
123. Initialize command can be issued recommended See also See also enum ES_TrackerTemperatureRange This event only applies to new AT series trackers E_SSC_CompensationModeStart This event is fired when the system enters compensation mode While the system is in compensation mode ordinary commands are blocked and will return with a System is in compensation mode error Setting the compensation mode is not a public TPI command and therefore not under control of the application programmer However if the compensation BUI is running or launched besides an application it might be useful to the application to know when the system is in enters leaves compensation mode This is an advanced programming issue ES_SSC_CompensationModeEnd This event is fired when the system leaves compensation mode All ordinary TPI commands are available again This is an advanced programming issue ES_SSC_EmsysFilesImported This event is fired when a data import has completed For example sending 143 compensation data emsys files to the server on using the transfer client tool ES_SSC_CopyProtectionRemoved This event is fired if the copy protection device dongle is removed System control through TPI commands is locked ES_SSC_TPConnectionClosing This event is fired if the server connection gets lost Server control through TPI commands is no longer possible Server probably needs a reboot ES_SSC_ServerClosi
124. ListRT struct BasicCommandRT packetInfo di SwitchLaserCT RT Command structures for switching the laser on off The laser should only be switched off during long breaks overnight while the controller is not shut down Switching laser on again will take about 20 minute to stabilize struct SwitchLaserCT struct BasicCommandCT packetInfo ES_BOOL bIsOn hi struct SwitchLaserRT struct BasicCommandRT packetInfo di FindReflectorCT RT Command structures for invoking a Find Reflector sequence dApproxDistance should be specified in order to apply search radius 194 dependent on the distance from the tracker Approx distance is in current length units struct FindReflectorCT struct BasicCommandCT packetInfo double dApproxDistance de struct FindReflectorRT struct BasicCommandRT packetInfo The search time depends on the search radius and timeout set by the SetSearchParams command Large search radii result in extended search times unless limited by a reasonable SearchTimeout See SetSearchParams for details The real search radius in addition depends on the specified approx distance An approx distance which is 50 off the actual value will also influence the search radius by 50 The system cannot directly work with the radius It calculates horizontal and vertical angles for the tracker from the specified search radius and approximate Distance A
125. MeasuredPoint if no stationary point has been measured since last system boot ES_RS_ NoVideoCamera Meaning A command could not access the Overview Camera This error can only occur if no Overview Camera is attached to the system Note If no camera is connected set the SystemStatusFlag HasVideoCamera to zero Command SetSystemStatus The application should not call camera related commands if there is no camera attached 99 There exist different types of overview cameras that differ in internal parameters focus distance CCD chip size Older emScon versions were not able to detect whether an overview camera was mounted or not not to speak of type recognition indeed it was the overview camera hardware that did not support type recognition For that reason the flag HasVideoCamera was originally introduced Thus the user had to tell the system when an overview camera was mounted Newer EmScon versions 2 0 and up are able to detect the camera type automatically Hence this flag theoretically has become obsolete However currently the camera type is recognized only when the hHas VideoCamera flag is enabled If your system is equipped with an overview camera it is highly recommended to always having this flag checked default is unchecked Otherwise the system may not detect the correct camera type and use wrong default parameters However wrong parameters do not cause any fatal failures The only
126. MeteoDataOutOfRange ES_RS_InCompensationMode ES_RS_InternalProcessActive ES_RS_NoCopyProtectionDongleFound ES_RS_ModuleNotActivated ES_RS_ModuleWrongVersion ES_RS_DemoDongleExpired ES_RS_ParameterImportFromProbeFailed ES_RS_ParameterExportToProbeFailed ES_RS_TrkCompMeasCameraMismatch ES_RS_NoMeasurementCamera ES_RS_NoActiveMeasurementCamera ES_RS_NoMeasurementCamerasInDb ES_RS_NoCameraToTrackerCompSet ES_RS_NoCameraToTrackerCompInDb ES_RS_ProblemStoringCameraToTrackerFactorySet ES_RS_ProblemWithCameraInternalCalibration ES_RS_CommunicationWithMeasurementCameraFailed ES_RS_NoMeasurementProbe ES_RS_NoActiveMeasurementProbe ES_RS_NoMeasurementProbesInDb ES_RS_NoMeasurementProbeCompSet ES_RS_NoMeasurementProbeCompInDb ES_RS_ProblemStoringProbeFactorySet r o o o o ES_RS_WrongActiveMeasurementProbeCompInDb ES_RS_CommunicationWithMeasurementProbeFailed ES_RS_ ES_RS_ ES_RS_ easurementTip ActiveMeasurementTip easurementTipsInDb 94 ES_RS_NoMeasurementTipCompiInDb ES_RS_NoMeasurement TipCompSet ES_RS_ProblemStoringTipAssembly ES_RS_ProblemReadingCompensationDb ES_RS_NoDataToImport ES_RS_ProblemSettingTriggerSource 6DModeNotAllowed Bad6DResult oTemperatureFromwWM oPressureFromwM oHumidityFromwM D n o ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS ES_RS easurementFace2NotAllowed validInputData TriggerBoard oMeasurement
127. PI Winsocket API referenced in this manual we are rather using the term Tracker Programming Interface TPI TPI therefore stands as a synonym for Leica Tracker API throughout this manual Note that this is not a User Manual for trackers Users of this Reference Manual need to be familiar with tracker operation concepts and tracker specific terms such as Bird bath Absolute Distance Meter etc These terms are usually not explained here The Programmers Manual just means an extension to the provided User Reference and Training Manuals for Leica Trackers and emScon 2 1 2 Common Abbreviations IT Windows Microsoft specific API Application Programmers Interface ATL Active Template Library COM DLL GUI IDE IDL LAN LED OCX NYI TCP IP UI VB VBA VCH VS Leica emScon specific ADM BB BUI CS DoF ES FW HV Component Object Library Dynamic Link Library Graphical User Interface Integrated Development Environment Interface Description Language Local Area Network Light Emitting Diode ActiveX Control Not yet implemented Transmission Control Protocol Internet Protocol User Interface Visual Basic Visual Basic for Applications a subset of VB Macro Language Visual C Visual Studio IDE Absolute Distance Meter BirdBath sometimes also BallBar Base User Interface Coordinate System Degrees of Freedom mainly used as 6DoF Embedded System se
128. ParamsChanged ES_SSC_TransformationParamsChanged ES_SSC_MeasurementModeChanged ES_SSC_StationaryModeParamsChanged ES_SSC_ContinuousTimeModeParamsChanged ES_SSC_ContinuousDistanceModeParamsChanged ES_SSC_GridModeParamsChanged ES_SSC_CircleCenterModeParamsChanged ES_SSC_SphereCenterModeParamsChanged ES_SSC_StatisticModeChanged ES_SSC_MeasStatus_NotReady ES_SSC_MeasStatus_Busy ES_SSC_MeasStatus_Ready ES_SSC_MeasurementCountReached ES_SSC_TriggerSourceChanged ES_SSC_IsFacel ES_SSC_IsFace2 ES_SSC_ExternalControlActive ES_SSC_ServiceSoftwareActive ES_SSC_MeasurementCameraChanged ES_SSC_MeasurementCameraModeChanged ES_SSC_ProbeChanged ES_SSC_TipChanged ES_SSC_TCamToTrackerCompensationChanged ES_SSC_ProbeCompensationChanged ES_SSC_TipToProbeCompensat ionChanged ES_SSC_ExternTriggerParamsChanged ES_SSC_TCamToTrackerCompensationDeleted ES_SSC_MeasurementProbeCompensationDeleted ES_SSC_Measurement TipCompensationDeleted ES_SSC_ManyMechanicalCompensationsInDB ES_SSC_MeasStatus_6DstatusInvalid ES_SSC_MeasurementProbeButtonDown ES_SSC_MeasurementProbeButtonuUp ES_SSC_ExternalTriggerEvent ES_SSC_ExternalTriggerStartEvent ES_SSC_ExternalTriggerStopEvent ES_SSC_ObjectTemperatureChanged ES_SSC_OverviewCameraChanged ES_SSC_NivelSensorChanged ES_SSC_ProbeButton1lDown ES_SSC_ProbeButtonluUp ES_SSC_ProbeButton1lDoubleClick not supported ES_SSC_ProbeButton2Down ES_SSC_ProbeButton2Up ES_SSC_ProbeButton2
129. ROR invalid command parameter 3154 VTT ERROR command not allowed 3156 VTT ERROR timeout command function 3157 VTT ERROR mode changing not possible 3158 VTT ERROR error during V_OFFSET procedure 3200 DARK ERROR timeout while getting image 3203 DARK ERROR timeout of blende command 3204 DARK ERROR camera access error 3205 DARK ERROR in a state 3300 DIFF ERROR timeout while getting image 3301 DIFF ERROR in a state 4000 COM WARNING too many active ethernet clients 4001 COM WARNING ethernet client id not found 4010 COM ERROR ethernet module already initialized 4011 COM ERROR init of the ethernet module failed 4012 COM ERROR trying to access ethernet module in uninitialized state 4013 COM ERROR receiving error occurred error code u 4014 COM ERROR transmit error occurred error code u 4015 M ERROR transmit buffer is too big for appending 4050 FGIF ERROR image memory overflow 4051 FGIF ERROR image data not picked up 4052 FGIF ERROR command not allowed 4053 FGIF ERROR invalid command parameter 4054 FGIF ERROR timeout command function 4055 FGIF ERROR 100Hz synchronisation failure 4056 FGIF ERROR FPGA watchdog failure 4057 FGIF ERROR FPGA data overflow error 4058 FG
130. S type 207 and according to applied orientation transformation parameters When bUseADM is set which is the normal case for this command an ADM measurement is performed and the IFM distance is set to this new value If ADM flag is not set the IFM distance is calculated from the supplied coordinates and is set as the valid one To be used with caution The useADM flag should always be set for trackers equipped with an ADM No range limitations apply to these parameters in theory but there is a practical limitation given by tracker working volume GoPosition can be seen as a combination of commands PointLaser followed by a FindReflector The search time depends on the search radius Large search radii may result in extended search times A typical value is 0 05 m An approx distance entry is required only for the FindReflector command UseADM should normally be true for this command GoPositionHVDCT RT Structures for invoking the GoPositionHVD command Same as GoPosition with the input parameters in a spherical tracker coordinate system type irrespective of the current CS type Values are in current units Range limitations apply with respect to the tracker elevation limits The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the provided distance is taken as new IFM distance To be used with caution 208 struct GoPositionHVDCT struct B
131. S_C Park Send tracker to park position The laser beam points towards the floor on the opposite side of the Bird bath ES_C_ SwitchLaser Switch the laser off or on Usually used to switch off the laser overnight ES_C _ SetStationOrientationParams Set the 6 orientation parameters to be applied to measurements and positioning coordinates Invariant orientation parameters are 0 0 0 0 0 0 With these default settings the tracker delivers measured coordinate values and takes positioning values in the instrument s CS Orientation parameters values are also ignored if the applyStationOrientationParams system settings flag is not set Station orientation parameters itself are in current units and current CS type but neither according to applied transformation settings nor to applied orientation settings which would mean recursive No range limitations apply Related structure StationOrientationDataT ES_C_ GetStationOrientationParams Queries the currently applied 6 orientation parameters Related structure StationOrientationDataT ES_C SetTransformationParams Set the 7 transformation parameters to be applied to measurements and positioning coordinates and to part of the input filters 63 such as region parameters Invariant transformation parameters are 0 0 0 0 0 0 1 With these default settings the tracker delivers data in the instrument s CS or in the oriented system if non invariant orientation param
132. S_MeasMode for details Set GetTemperatureRangeCT RT Command structures for setting getting the active laser tracker temperature range A value different than ES_TR_Medium default should be selected only if special environmental conditions apply 196 struct SetTemperatureRangeCT struct BasicCommandCT packetInfo enum ES_TrackerTemperatureRange temperatureRange hi struct SetTemperatureRangeRT struct BasicCommandRT packetInfo struct GetTemperatureRangeCT struct BasicCommandCT packetInfo struct GetTemperatureRangeRT struct BasicCommandRT packetInfo enum ES_TrackerTemperatureRange temperatureRange hi See enum ES_TrackerTemperatureRange for details Set GetStationaryModeParamsCT RT Command structures for setting getting the parameters for the Stationary Measurement mode struct SetStationaryModeParamsCT struct BasicCommandCT packetInfo struct StationaryModeDataT stationaryModeData di struct SetStationaryModeParamsRT struct BasicCommandRT packetInfo di struct GetStationaryModeParamsCT struct BasicCommandCT packetInfo di struct GetStationaryModeParamsRT struct BasicCommandRT packetInfo struct StationaryModeDataT stationaryModeData hi See struct StationaryModeDatalT for details Set GetContinuous TimeModeParamsCT RT Command structures for setting getting the parameters for the Continuous Time Measurement mode 197
133. Serial number This approach is the same as used for the command ES_C_ GetReflectors or ES_C_GetCompensations 82 ES_C_GetCamera Get the currently active i e mounted camera Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetCameras ES_C_ SetMeasurementCameraMode This command only applies to tracker systems equipped with a T Cam Allows to switch between Measurement and Overview mode If in Overview mode the T Cam plays the role of a classic camera as already available with LT D 500 series That is commands such as ActivateCameraView Set GetCameraParams GetStilllmage apply ES_C_GetMeasurementCameraMode Get the currently active T Cam mode Measurement Overview ES_C_GetProbes This command only applies to tracker systems equipped with a T Cam Delivers all T Probes known to the system including ID and other properties This command is the 6DoF relative to ES_C_GetReflectors of a 3D system ES_C_GetProbe Gets the ID of the currently active Probe ES_C_GetTipAdapters This command only applies to tracker systems equipped with a T Cam It delivers all Measurement Tip Adapters known to the system including ID and other properties This command is similar to ES_C_GetReflectors of a 3D system Explanation of Terms 83 Probe Ee Tip Adapter Interfaces p Tip Adapter rl lip Stylus Tip
134. Settings ES_C_GetSystemSettings ES_C_StartMeasurement ES_C_StartNivelMeasurement ES_C_StopMeasurement ES_C_ChangeFace ES_C_GoBirdBath ES_C_GoPosition ES_C_GoPositionHVD ES_C_PositionRelativeHV ES_C_PointLaser ES_C_PointLaserHVD ES_C_MoveHV ES_C_GoNivelPosition ES_C_GoLastMeasuredPoint ES_C_FindReflector ES_C_Unknown ES_C_LookForTarget ES_C_GetDirection ES_C_CallOrientToGravity ES_C_ClearTransformationNominalPointList ES_C_ClearTransformationActualPointList ES_C_AddTransformationNominalPoint ES_C_AddTransformationActualPoint ES_C_SetTransformationInputParams ES_C_GetTransformationInputParams ES_C_CallTransformation ES_C_GetTransformedPoints ES_C_ClearDrivePointList ES_C_AddDrivePoint ES_C_CallIntermediateCompensation ES_C_SetCompensation ES_C_SetStatisticMode ES_C_GetStatisticMode ES_C_GetStillImage ES_C_SetCameraParams ES_C_GetCameraParams ES_C_GetCompensation ES_C_GetCompensations 60 ES_C_CheckBirdBath ES_C_GetTrackerDiagnostics ES_C_GetADMInfo ES_C_GetTPInfo ES_C_GetNivellInfo ES_C_SetLaserOnTimer ES_C_GetLaserOnTimer ES_C_ConvertDisplayCoordinates ES_C_GoBirdBath2 ES_C_SetTriggerSource ES_C_GetTriggerSource ES_C_GetFace ES_C_GetCameras ES_C_GetCamera ES_C_SetMeasurementCameraMode ES_C_GetMeasurementCameraMode ES_C_GetProbes ES_C_GetProbe ES_C_GetTipAdapters ES_C_GetTipAdapter ES_C_GetTCamToTrackerCompensations ES_C_GetTCamTo
135. ShankCompSet 10001 oValidADMCompensation 10002 PressureSensorProblem 10003 ES_RS_ E easurementStatusNotReady 10004 e ES_RS_AILOK Meaning The command terminated successfully e ES_RS_ServerBusy Meaning A previously invoked command was being processed when the next command was invoked The next command was not executed Note The application should always wait until the previous command has terminated before issuing the next command This is due to the asynchronous communication behavior of the emScon C C TPI This indicates a programming error in the application The application did not await the termination of the previous command before issuing a new one This error should not occur when using the synchronous interface of the COM TPI e ES_RS_NotImplemented Meaning A command that is already specified in the programming interface but not yet implemented supported was being executed This may occur in pre releases Beta versions of emScon e ES_RS_WrongParameter This error applies to commands with only one parameter Meaning The parameter of the issued 95 command was not accepted and executed This error is issued if for example A positive value is expected but the user passed a negative one The parameter is out of valid range Very often this is due to wrong unit selection Note Check the valid range and current unit of the command parameter see co
136. Status6D is 1 171 struct RotationStatus unsigned Status6D 1 0 gt no rotation status 1 gt rotation status valid unsigned Error6D 1 1 gt ERROR in rotation status unsigned NotEnoughLED 1 unsigned RMSToHigh 1 unsigned AngleOutOfRange 1 Hz or Vt see RotStatus values unsigned Frozen6DValues 1 6D values are not updated unsigned DistanceOutOfRange 1 dist too short or too long unsigned Reservedi 1 always 0 unsigned RotStatLeftRight 3 see documentation unsigned RotStatUpDown 3 see documentation unsigned GoodGauge 2 0 gt All bad 1 gt 33 good 2 gt 66 good unsigned Face2 1 0 gt Facel 1 gt Face2 unsigned Reserved2 15 always 0 union URotationStatus long l struct RotationStatus rotStat di StationaryModeDataT struct StationaryModeDataT long 1MeasTime ES_BOOL bUseADM Caution has no effect in 6D mode hi Used as parameters for the Set GetStationaryModeParams commands The measurement time parameter must lie between 500 ms 2500 ms if useADM is true and 100 000 ms 0 5 2 5 100 seconds The useADM flag is false by default If this flag is set to true an ADM measurement is always performed prior to the stationary measurement which is based on the IFM This usually does not make sense and will also slow down the measurement process significantly Only in exceptional cases this fla
137. T In addition apart from a valid Mechanical Tracker Compensation see 3D compensations must be present and active for TCamToTracker Probe and TipToProbe supposed all these compensations have once been performed or imported Active compensations are persistent settings that can be changed by the several Set Compensation TPI commands or by selection within the compensation tree representation in the Compensation application See description of Get Compensations Get Compensation Set Compensation Selection of TCam and Probe compensation only mean a hint to the system The compensations themselves only become really active if a matching TCam i e compensation matches the serial number of TCam is mounted respectively if a matching Probe is connected and recognized by the camera 30 2 4 4 Initial Steps Description in Detail Description of some commands that require more explanation Initialize Laser Tracker Implication Comment Initialize encoders and internal components This command has to be performed every time you set up a new Leica Tracker system station It is strongly recommended to use this function 2 3 times a day to initialize encoders and its internal components This is important due to thermal expansion of the tracker hardware which has a direct influence on the measurements 31 Set Current Environmental Parameters
138. That is the BUI becomes part of the client application The client application BUI host is mainly used to catch measurements triggered by the BUI in order to do further data processing The application shows how to perform initial settings that cannot be set with the BUI and how to catch the measurements triggered from the BUI These measurement results are just written to the applications dialog which does not really make sense because they are already displayed on the BUI Page A real application would do further processing such as storing the measurements into a database etc The sample is in Visual Basic However the principles would not change for a C application Further details see Readme txt file and code comments in BUILaunch frm source file in Sample13 Folder Also refer to BUI documentation User Manual for details Hint Even if you are not interested in a BUI controlled application this sample may still be useful to demonstrate the handling of continuous measurements on using the COM LTControl interface That is if writing emScon application with VisualBasic or VBA Excel etc At the very end of the file BUILaunch frm you can find an event handler function that demonstrates on how to receive continuous measurements through the emScon COM interface 356 8 Selected Commands in Detail 8 1 Special Functions Some of the more complex commands procedures which have been
139. ToTrackerCompensation GetTCamToTrackerCompensations that is querying all compensations the system currently knows is a rather expensive call A well designed application usually does such a call upon start up and then only when a compensation is being added to or removed from the system which is not a everyday task While this list remains unchanged in memory the active compensation may change quite often during runtime It would be awkward if we always had to reload the entire list just because the active compensation has changed However if we would rely on the blsActive flag we would have to do so So better use GetTCamToTrackerCompensation to figure out the currently active compensation and do not rely on the blsActive in the compensations list This flag may only reliable just after reading the list 231 Get SetTCamToTrackerCompensationCT RT Command structures to get set the ID of the active T Cam to tracker compensation The Get SetTCamToTrackerCompensation command takes delivers the compensation ID as parameter struct SetTCamToTrackerCompensationCT struct BasicCommandCT packetInfo int iInternalTCamToTrackerCompensationId di struct SetTCamToTrackerCompensationRT struct BasicCommandRT packetInfo hi struct GetTCamToTrackerCompensationCT struct BasicCommandCT packetInfo struct GetTCamToTrackerCompensationRT struct BasicCommandRT packetInfo int iInternalTCamTo
140. TrackerCompensation ES_C_SetTCamToTrackerCompensation ES_C_GetProbeCompensations ES_C_GetProbeCompensation ES_C_SetProbeCompensation ES_C_GetTipToProbeCompensations ES_C_GetTipToProbeCompensation ES_C_SetExternTriggerParams ES_C_GetExternTriggerParams ES_C_GetErrorEllipsoid ES_C_GetMeasurementCameralInfo ES_C_GetMeasurementProbeInfo ES_C_SetLongSystemParameter ES_C_GetLongSystemParameter ES_C_GetMeasurementStatusInfo ES_C_GetCompensations2 ES_C_GetCurrentPrismPosition ES_C_SetDoubleSystemParameter ES_C_GetDoubleSystemParameter ES_C_GetObjectTemperature ES_C_GetTriggerBoardiInfo ES_C_GetOverviewCameralInfo ES_C_ClearCommandQueue ES_C_GetADMInfo2 ES_C_GetTrackerInfo ES_C_GetNivellInfo2 ES_C_RestoreStartupConditions ES_C_GoAndMeasure ES_C_GetTipToProbeCompensations2 ES_C_ExitApplication Stop and reset the Tracker Server Other than most commands ExitApplication takes effect even while another command may still be busy Initialization FindReflector However there might be a delayed reaction in certain cases This command thus can be used for emergency aborts in those cases where StopMeasurement is not sufficient Applications cannot rely on that this command will send any confirmation command completed SystemStatus change events Depending on context there may be a reaction or not Applications should close the TCP IP connection after having sent the 61 Exi
141. TrackerCompensationId hi GetProbeCompensationsCT RT Command structure to get Probe Compensation properties The GetProbeCompensations command retrieves all such compensations defined in the Tracker Server The answer consists of as many answer packets as probes are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as tracker Serial Number comment etc serve as information mainly used for user interface purpose There is a flag blsActive which is true for exactly one compensation 232 struct GetProbeCompensationsCT struct BasicCommandCT packetInfo hi struct GetProbeCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalProbeCompensationId int iInternalProbeld int iFieldNumber ES_BOOL bIsActive ES_BOOL bMarkedForExport ES_BOOL bPreliminary unsigned short cProbeCompensationName 32 unsigned short cProbeCompensationComment 128 i Note See important note about blsActive flag in the chapter describing the command GetTCamToTrackerCompensations The same applies to Probe compensations We do no longer recommend evaluating the bIsActive flag Rather use GetProbeCompensation
142. _TT_TouchTrigger Tip tip type is equipped with a touch trigger ES ClockTransition Specifies the trigger clock transition This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure enum ES_ClockTransition ES_CT_Positive ES_CT_Negative hi e ES_CT Negative The negative clock transition triggers the event e ES _CT Positive The positive clock transition triggers the event ES_TriggerMode Specifies the trigger mode This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure See Tracker Trigger Interface Appendix for a more detailed description of trigger issues 153 enum ES_TriggerMode ES_TM_EventTrigger ES_TM_ContinuousExternalClockWithStartStop ES_TM_InternalClockWithExternalStartStop hi e ES_TM_EventTrigger The measurement is triggered by an event trigger button touch trigger e ES TM ContinuousExternalClockWithStart Stop The measurement start stop is triggered by an external clock e ES_TM_InternalClockWithExternalStartStop The measurement is triggered by the internal clock with external start stop ES_TriggerStartSignal Specifies the level of the trigger start signal This enumeration type is used as a parameter for the Get SetExternTriggerParams command ExternTriggerParamsT sub structure See Tracker Trigger Interface
143. a and provide 3 coordinate values as command parameters The compiler will not detect if for example an ES_DT_SingleMeasResult as type or an ES_C_SwitchLaser as command is assigned to a GoPositionCT variable Inappropriate initialization values cause the command to fail GoPosition initialization sample 245 GoPositionCT data declare packet variable data packetInfo packetHeader type ES_DT_Command data packetInfo packetHeader 1PacketSize sizeof data data packetInfo command ES_C_GoPosition data dVall 1 879 data dVal2 2 011 data dVal3 0 551 data bUSeADM FALSE Note emScon Version 1 5 was tolerant in not initializing packetHeader PacketSize upon sending commands This is no longer the case for emScon V2 0 and up Correct Initialization of PacketSize is compulsory 3 5 3 Initialization Macros 6 To avoid initialization errors which may happen through copy paste errors and are difficult to trace it is recommended to use initialization macros for correct assignment of type size and command values An INITStopMeasurement macro for example requires two statements the parameter declaration and the parameter initialization macro call The StopMeasurement has no additional command parameters If there are any these can be incorporated into the macro StopMeasurementCT cmdStop declaration INITStopMeasurement cmdStop initialization 3 5 4 Excurse C Initi
144. a specific Mechanical Tracker Compensation More than one mechanical Tracker Compensation may be defined for a tracker although often there is only one If there is more than one these can be queried from the system by using the GetCompensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetCompensation command in order to activate it Note that this setting remains persistent Nevertheless it s a good idea that an application upon launch at least checks whether the desired compensation is set Command GetCompensation The principle of dealing with compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 34 Set T Cam To Tracker Compensation Implication Comment Select a specific T Cam to Tracker Compensation Related to 6DoF modes only More than one T Cam to Tracker Compensation may be defined for a tracker camera although often there is only one If there are more than one these can be queried from the system by using the GetICamToTrackerCom pensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetTCamToTrackerCom pensation command in order to activate it Note that this
145. a speed above warning threshold e ES_MS_SpeedExeeded Measurement was taken when target was moving with a speed above limit e ES MS PrismError Measurement could not be taken due to a prism error Reflection is probably too weak e ES_MS_ TriggerTimeViolation Those measurements marked with TriggerTimeViolation in a trigger controlled stream could not be taken in exact coincidence with the trigger pulse This situation can occur if the trigger pulse rate is very close to the maximum measurement rate If it is even beyond the maximum measurement rate probably all of the measurements will be marked with TriggerTime Violation ES _ TargetType This enumeration type names the known target types prism types It is used as one of the ES_C_SetSystemSettings command parameters 115 enum ES_TargetType ES_TT_Unknown ES_TT_CornerCube ES_TT ES_TT_GlassPrism ES_TT_RFIPrism CatsEye ES_TT_ Unknown The target type is unknown ES_TT_CornerCube The target is a corner cube reflector ES_TT_CatsEye The target is a cats eye reflector ES_TT_GlassPrism The target is a glass prism reflector ES_TT_RFIPrism The target is an RFI Reflector for fixed installations reflector ES_TrackerTemperatureRange The ambient temperature range for the laser tracker enum ES_TrackerTemperatureRange ES_TR_Low ES_TR_Medium ES_TR_High ES_TR_Automatic ES_TR_Low Ambient temper
146. able or when disabled by the bUseWeatherMonitor setting Otherwise these parameters are updated implicitly and the current values can be retrieved with the GetEnvironmentParams See also description of enum ES_WeatherMonitorStatus See chapter Working Conditions RefractionDataT struct RefractionDataT double difmRefractionIndex double dAdmRefractionIndex hi Used for parameters of Set GetRefractionParams commands See also description of enum ES_WeatherMonitorStatus This is a command for advanced and special usage It should only be used in combination with the WeatherMonitorStatus mode ES_WMS_ReadOnly See description there 180 Normal application should not explicitly set refraction parameters They are set indirectly by using the SetEnvironmentParams command if no weather monitor available or by selecting the mode ES_WMS_ReadAndCalculateRefractions if a WM is connected Under certain conditions the refraction parameters are updated set implicitly on setting new environment parameters See description of enum ES_WeatherMonitorStatus See chapter Working Conditions StationOrientationDataT struct StationOrientationDataT double dVall double dVal2 double dVal3 double dRotl double dRot2 double dRot 3 hi Used as parameters for Set GetStationOrientationParams commands Values are in current units and CS type These settings can b
147. adiants and degrees Celsius regardless of currently selected units e Other units include Time units These are always in milliseconds unless stated differently Example a Stationary Measurement Time of 2000 means two seconds e String type parameters Strings as far as handled through the TPI are always in UNICODE arrays of unsigned short That is two bytes are reserved for each character As far as pure ANSI text is used an application can just ignore each second byte See sample applications for examples e Enumeration type parameters These are type safe with the related enum definition The 58 parameters are described at the enum definition location 3 Valid Parameter Ranges This applies to parameters being sent to the system typically with one of the Set command Where limitations apply these are mentioned at the command description See also chapter Working Conditions in the Introduction main chapter of this manual Note that it is never possible to violate valid parameter ranges in such that the related Set commands do not accept values outside valid range and therefore will return with an error Reading Instructions Set Get Command pairs Information about parameter representation in terms of current Units Coordinate System Type CS type Transformation and Orientation is provided at the Description of the Set command but not repeated at the description of
148. ake any hardware controller error as listed in the Appendix of this manual BasicCommandCT struct BasicCommandCT struct PacketHeaderT packetHeader enum ES_Command command hi This is a generic structure used to derive all other command types from It serves as a general basis for sending commands 167 BasicCommandRT struct BasicCommandRT struct PacketHeaderT packetHeader enum ES_Command command enum ES_ResultStatus status i This is a generic structure used to derive all other result types from It serves as a general basis for receiving commands Instead of using typedef for all basic command types result types commands that do not take additional parameters or do not return date two data structure containing only BasicCommandCT BasicCommandRT member have been introduced This approach enables naming consistency with respect to struct nesting depth See also chapter Non Parameter Command Return Types Note the variable status cannot only take values of the enum ES_ResultStatus In addition it may take any hardware controller error as listed in the Appendix of this manual Meas ValueT struct MeasValueT enum ES_MeasurementStatus status long 1Timel long 1Time2 double dVall double dVal2 double dVal3 hi This struct describes a single measurement of a continuous 3D measurement stream Time1 indicates seconds expired since a mea
149. al aifm errors AifmException 7000 no interferometer available AifmException CommandOld 7001 unknown spiral cable state AifmException CommandOld 7002 unknown CBL_CHK_NIV state AifmException CommandOld 7003 unknown CBL_CHK_PRB state AifmException CommandOld 7004 unknown Quick Release state AifmException CommandOld 7005 checksum error AifmException CommandOld 7006 invalid temperature AifmException CommandOld 7007 undefined feature table request AifmException CommandOld 7099 undefined AdmException indefinite adm errors AdmException 7100 flap motor failed AdmException Flap00 7101 flap not initialized AdmException Flap00 7102 flap not initialized no free resources AdmException Flap00 7103 positioning error flap possibly jammed AdmException Flap00 7104 flap positioning error faulty hardware AdmException Flap00 7105 cannot start EOM test invalid mode AdmException Flap00 7106 EOM test in progress or incorrect parameters AdmException Flap00 7130 resonator not calibrated AdmException Resonator00 7131 calibration flap position timeout AdmException Resonator00 7132 flap during flap calibration out of range AdmException Resonator00 7133 flap calibration amplitude jump error due to flap AdmException Resonator00 vibraions 7134 flap calibration amplitude overflow AdmException Resonator00 7135 calibration maximum not found AdmException Resonator00 7136 calibration frequency position polynom fit failed AdmExceptio
150. alPoint 1l 2 3 Fixed Fixed Fixed 0 0 0 AddNominalPoint 2 3 4 Fixed Fixed Fixed 0 0 0 AddNominalPoint 0 4 2 Fixed Fixed Fixed 0 0 0 SetInputParams 0 0 0 0 0 0 1 Unknown Unknown Unknown Unknown Unknown Unknown Unknown In this example redundancy 3 noPoints 7 2 Pure dilation AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddNominalPoint 1 1 0 Fixed Fixed Fixed 0 0 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 0 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 AddActualPoint 1 1 1 1 0 0 001 0 001 0 001 0 O 0 SetInputParams 0 0 0 0 0 0 1 Unknown Unknown Unknown Unknown Unknown Unknown Fixed In this example the desired transformation is the identity with parameters 0 0 0 0 0 0 1 The length of all residuals is 0 1V2 Their covariance matrix is 10 0 covar 0 10 0 0 0 10 The weight matrix is 10 0 O weight 0 10 0 0 0 10 Thus 2 RSS 4 10 0 1V2 80000 redundancy 12 6 6 varianceF actor 13333 Weighting To illustrate the influence of nominal or actual standard deviations consider the following example 396 AddNominalPoint 1 1 1 0 0 002 Fixed
151. alization C offers a much more elegant way for initialization the constructor approach which eases the initialization issues The good thing is that these initializations are already done implicitly in the C interface Other than when programming with the C interface these initializations do not need be done repeatedly by the application programmer See a C programmers reference for details 7 After initialization of the data variable send it to the tracker server using the TCP IP SendData function or whatever this function is called Depending on the TCP IP communication 246 library used the data packet may need to be packed into a Variant vrtData variable followed by a SendData vrtData call Alternatively a Send function takes the address and size of the data packet variable Send amp data sizeof data 3 5 5 Answers from Tracker Server 8 The SendData function does not wait for the Tracker Server tracker to complete the requested action SendData will return immediately On completion of the requested action the tracker server sends an answer back to the client Depending on the command it may take a few seconds between sending the command and receiving an answer This requires some type of notification or callback mechanism That is as soon as data arrives from the Tracker Server some sort of event needs to trigger a ReadData procedure in the client application Depend
152. all errors are caused through commands e g Beam broken In such cases the command parameter is unknown For status values see enum ES_ResultStatus and error numbers in the Appendix of this manual e OnSystemStatusChange is called for every status change event For status values see enum ES_SystemStatusChange Note that virtual functions are only called if defined int the derived receiver class Particular arrival data can be ignored if the appropriate virtual function definition is omitted Attention Make sure the signature of the virtual function in the derived class exactly matches the signature in CESAPIReceive However the keyword virtual is optional in the derived class Mismatching signatures will result in not calling the functions The compiler cannot detect such kind of errors It is therefore recommended to copy paste the virtual function header from CESAPIReceive to the derived class 4 3 C Language TPI Programming Instructions 4 3 1 Sending Data The class CESAPICommand contains a virtual function SendPacket which must be overwritten This approach allows convenient Send command functions 260 Dealing with C data structures for sending commands is no longer required as they are completely hidden Use the related member functions of CESAPICommand instead 4 3 2 Receiving Data In order to select the data the application is interested in CESAPIReceive offers
153. ame like applications based on the native C interface The approach for multi tracker controlling is therefore very similar to what s said under section 4 Working with multiple trackers apart from the language specific differences that apply between C and C Multi threading is neither required nor recommended in order to support multiple trackers except if there is a Console application where multi threading is required even for a single tracker application Just designate an instance of a Sender and Receiver object to each one of the trackers as described above for the C interface and like applied in Sample 17 However be aware that Sample 17 is a Console application and therefore requires multi threading by design If it was an ordinary Windows application we would not require receiver threads since the Windows messaging mechanism could be used for handling incoming data Again The secondary thread in Sample 17 or even 2 of them if using 2 trackers is NOT due to multiple tracker support it is because a Console applications main thread blocks while waiting for user input hence we need a separate listener thread to process incoming data during blocking periods Other than with the C SDK Samples the Sender and Receiver classes of Sample 17 do not share any common data and therefore can just be 349 instantiated for several trackers without redesign The only thing one may want to do Introducing a coo
154. ammer s convenience Other properties such as cameraType serial Number comment etc serve as information mainly used for user interface purpose struct GetCamerasCT struct BasicCommandCT packetInfo hi struct GetCamerasRT struct BasicCommandRT packetInfo int iTotalCameras int iInternalCamerald long 1SerialNumber enum ES_MeasurementCameraType cameraType unsigned short cName 32 unsigned short cComment 128 hi GetCameraCT RT Command structure to get the ID of the active Camera The GetCamera command delivers the currently active measurement camera by its ID Currently set as the active one in the database However since this camera may have been removed an additional flag indicates whether the active camera is mounted or not 227 struct GetCameraCT struct BasicCommandCT packetInfo hi struct GetCameraRT struct BasicCommandRT packetInfo int iInternalCamerald ES_BOOL bMeasurementCameralIsMounted hi Set GetMeasurementCameraModeCT RT Command structures for setting getting the measurement camera mode struct SetMeasurementCameraModeCT struct BasicCommandCT packetInfo enum ES_MeasurementCameraMode cameraMode i struct SetMeasurementCameraModeRT struct BasicCommandRT packetInfo hi struct GetMeasurementCameraModeCT struct BasicCommandCT packetInfo di struct GetMeasurementCameraModeRT struct BasicCommandRT packe
155. and also demonstrated in Sample 7 Especially receiving data is complicated in such applications The advantage of the COM TPI in contrast to the C TPI is however that synchronous calls can be used for many commands and that all the socket communication functionality is already implemented On the other hand using the COM interface for VisualBasic VB NET VBA and even C is very convenient including receiving data through Event handlers Refer to Samples 5 VB and Sample 8 Excel for further information on how to apply the emScon COM TPI for Visual Basic VBA clients Sample 7 shows the usage from within C although we do not recommend this For C applications we rather recommend to use the C API directly Samples 14 and 15 show the usage of the COM TPI from VB NET and C applications respectively 5 2 COM TPI Programming Instructions 5 2 1 VisualBasic and VBA Applications Due to several problems and bugs in Office 97 it is recommended to use at least Office 2000 Excel 2000 Word 2000 for VBA client programming 288 The following steps apply to VisualBasic VBA Excel Access 1 Import LTControl to the project s references list Select Project gt References gt LTControl dll You may need to browse if the DLL is not shown in the list Make sure the selected one matches the one registered 2 Declare an object of type LTConnect LTConnect is the only so called creatable object hence th
156. and possibly some minor code adjustments in order to compile under VB NET 2 2 TCP IP Communication Communication through TCP IP requires platform specific communication functions These are not part of the emScon TPI they are provided by the Operating System or by the IDE There exist several so called Socket APIs Keywords under Windows VC include Win32 Sockets API or if using MFC CAsyncSocket and CSocket Visual Studio even contains a TCP IP communication library MSWinsck ocx as an ActiveX control COM object Any of these socket interfaces may be used in order to communicate with emScon 2 2 1 Socket Functions For writing emScon applications only few socket functions are required names may be different depending on used Library API e Connect Establishes a TCP IP connection from the application to the Tracker Server IP address hostname and port number of 11 the Tracker Server are required as parameters SendData Send a packet of data to the server usually by passing a pointer to a byte array data block and the size of that block ReceiveData Callback or Event Notification A mechanism to notify the application when data has arrived from the server and is ready to be read ReadData To read waiting data into a byte array buffer upon a notification Close Closes a previously established TCP IP connection Availability of socket functions There are several options The dec
157. and structure to set the time in hours and minutes rounded off to nearest 1 4 hour block to start the laser previously switched off by a SwitchLaser off command The tracker controller and emScon server must be switched on Since the laser takes about 20 minutes to stabilize this command is useful to program laser on in the morning so the system is ready when work is scheduled to begin The laser can be independently switched off struct SetLaserOnTimerCT struct BasicCommandCT packetInfo int iLaserOnTimeOffsetHour int iLaserOnTimeOffsetMinute di struct SetLaserOnTimerRT struct BasicCommandRT packetInfo i GetLaserOnTimerCT RT Command structures to read the time left in hours and minutes rounded off to nearest 1 4 hour block to start the laser A system restart sets this value to zero The tracker processor emScon server must be switched on 225 struct GetLaserOnTimerCT struct BasicCommandCT packetInfo struct GetLaserOnTimerRT struct BasicCommandRT packetInfo int iLaserOnTimeOffsetHour int iLaserOnTimeOffsetMinute di ConvertDisplayCoordinatesCT RT Command structures to call the DisplayCoordinateConversion function DisplayCoordinateConversion is a private function command and is not documented supported It should not be used for any client programming struct ConvertDisplayCoordinatesCT struct BasicCommandCT packetInfo enum ES_Disp
158. and taking no parameters Initialize the tracker bool Initialize Example for a command taking basic type parameters bool SetContinuousTimeModeParams long l1TimeSeparation long 1lNumberOfPoints bool bUseRegion ES_RegionType regionType Example for a command taking a struct parameter bool SetContinuousTimeModeParams ContinuousTimeModeDataT continuousTimeModeData The latter two functions are different overloads of the same function Many of the command functions exist in two different overloads Depending on context it may be more suitable for an application to use one or the other overload A complete listing of all these functions is available from the CESAPICommand class definition in the file ES_CPP API Def h file Rather than redundantly listing all of these member functions in this chapter a general rule is presented on how to derive the function names from the related C TPI structures The text in brackets shows the rule applied to a sample e Look up the command of interest in the enum ES_Command C TPI Reference ES_C_SetContinuousTimeModeParams e Remove the prefix ES_C_ from the command tag name This will be the name of the C function SetContinuousTimeModeParams e For finding the input parameters add the Postfix CT to the remaining command tag 257 name SetContinuousTimeModeParamsCT e Look up this CT structu
159. ansparent through the COM interface The VB application knows this type through its reference to the LTControl Remark Do not test explicitly against the VB keyword True if using the Get lt FunctionName gt Ex methods of the LTControl for those commands returning Boolean data within their result structure This is because the Boolean member in these structures if true are 1 However the VB keyword True evaluates to 1 Always test the variable directly or against Not False 334 Example Dim dataout As ContinuousDistanceModeDataT ObjSync GetContinuousDistanceModeParamsEx dataout If dataout bUseRegion Then MsgBox bUseRegion is True End If or If Not dataout bUseRegion False Then MsgBox bUseRegion is True End If are both correct However the following would evaluate to a wrong result If dataout bUseRegion True Then MsgBox bUseRegion is True No message even flag is true End If Further details see Readme txt file in Sample 5 folder and code comments in source files 5 3 2 Sample 7 The LtcCPPClient provides a dialog based MFC C application It uses the synchronous interface but also implements an event sink to catch asynchronous answers continuous measurements and error events Programmers need to be familiar with ATL COM in order to understand the event sink implementation Refer to a COM book for further details The LtcCPPClient covers
160. any of the shared errors from section B1 might also apply to the special commands mentioned here B2 1 CallOrientToGravity command reserved error range 20000 20999 Number Symbol not exposed Comments 0 OTG_SUCCESS Default status in case of command succeeded 20010 OTG_ ERR UNSOLICITED An unsolicited error occurred 20011 OTG_ERR_INIT SOCKET Socket initialization failed F 20012 OTG_ERR_OLECOM INIT OLE COM initialization failed F 20013 OTG_ERR_RESOURCE_READ Reading resource string failed F 20014 OTG_ERR_SEND DATA Error on sending data F 20015 OTG_ERR_RECEIVE DATA Error on receiving data F 20016 OTG_ERR_RESPONSE_TIMEOUT No answer within reasonable time 20017 OTG_ ERR _ SAVE _ DATA Error on saving results to database 20018 OTG_ERR_TOO_MANY_RETRIES Too many retries due unstable Nivel liquid Invalid count of samples specified min 2 max 20019 OTG_ERR_INVALID SAMPLE COUNT 10 F 20020 OTG_ERR_BAD_COMMAND_ANSWER There was a command answer other than OK 20021 OTG_ERR_OUT_OF_VALID_RANGE Some Nivel results are out of valid range 20022 OTG_ERR_NIVEL_NOT RESPONDING No Nivel connected or Nivel flagged off POS270 or POS90 expected as 20023 OTG_ERR_INVALID_ MOUNTING_ARG commandline argument F 20024 OTG_ERR_FORCED_TERMINATION Process terminated from outside B2 2 CalllntermediateCompensation command reserve
161. are what notification mechanism to use We did this with the statement shown below Without calling this function in the initialization part of the application no notification mechanism will be activated See remarks on continuous measurement in chapter Handling Data Arrival Continuous Measurements Ob jConnect SelectNotificationMethod LTC_NM_Event 0 0 e As soon as the WithEvents keyword is declared the ObjAsync object or whatever the variable is called is listed in the top left list box of the Form s source code window Just as an experiment Remove WithEvents and save the code the list entry will vanish 332 elf ObjAsync is selected in the list box a list of all available event handlers is shown in the right drop down list eTo generate the code framework for an event handler select it from the right list Selecting ErrorEvent will generate a function named ObjAsync_ErrorEvent Do this and complete the generated function frame with a message box to read as follows Private Sub Ob jSync_ErrorEvent _ ByVal command As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus MsgBox command amp CStr y amp status End Sub This event handler will now be triggered for example on a Beam Broken Event Note The 6Dof part of the interface contains some event types with a huge count of parameters To mention Stationary ProbeMeasData which is th
162. asic functionality provided See chapter Procedure Measurement Procedure Preparation The procedure requires the following three setups 1 Two measurements on a straight line 2 One measurement set on a vertical line 3 One measurement plus or minus 90 to the vertical line Measurements on a Straight Line 1 The two measurements must be taken on a straight line ray at the same level as the as the Tilting mirror of the Tracker Point A lt 0 5 m and Point B within 5 10 m Measurements on a Vertical Line 2 All 3 measurements should be taken in a vertical line 1 Mid point 0 at Tracker head height 2 Upper measurement at 40 deg 383 3 Lower measurement at 40 deg During measurements the Birdbath should not point in the direction of measurement Ps g Measurement 90 to the Vertical Line 3 Setup the tripod at 90 as shown in the graphic below The Tracker is setup such that it can turn to the 90 position without running into stop 384 Procedure Measurement 1 Set up the tracker 2 Set the coordinate system type to spherical clock wise SCW TPI command SetCoordinateSystemType 3 Set the Stationary Measurement Mode TPI command SetMeasurementMode 4 Set the Stationary measurement parameter MeasTime to 10000ms TPI command SetStationaryModeParams 5 Attach the reflector to the target location 6 Point the tracker to the target location
163. asicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance ES_BOOL bUseADM hi struct GoPositionHVDRT struct BasicCommandRT packetInfo hi The search time depends on the search radius Large search radii result in extended search times unless limited by a reasonable SearchTimeout A typical value is 0 05 m UseADWM should normally be true for this command See also command SetSearchParams PositionRelativeHVCT RT Structures for invoking the PositionRelativeHV command The input parameters are angles in the current units The angles are prefixed with clockwise is and anti clockwise is to specify the direction of movement In contrast to the MoveHV command PositionRelative means a one time movement struct PositionRelativeHVCT struct BasicCommandCT packetInfo double dHzVal double dvtVal hi struct PositionRelativeHVRT struct BasicCommandRT packetInfo hi PointLaserCT RT Structures for invoking the PointLaser command The input parameters are in current units CS type and according to applied orientation transformation parameters 209 struct PointLaserCT struct BasicCommandCT packetInfo double dVvall double dVal2 double dVal3 struct PointLaserRT struct BasicCommandRT packetInfo hi PointLaserHVDCT RT Structures for invoking the PointLaserHVD command Same as PointLaser with the input para
164. ata especially when using the asynchronous interface Most of these pass their results through basic data type parameters See chapter Handling Data Arrival Continuous Measurements See also Sample 13 Message notification methods with VB are not demonstrated here However there are some exceptions where the data must be retrieved explicitly upon an incoming event These types of events can be identified by the DataReady term in their names The continuous measurement events are among these The code below shows an implementation of the Continuous PointMeasDataReady event handler It does not demonstrate the processing of the data received This handler does some diagnostics checks whether the size of read data complies with the passed parameter If OK the size is displayed otherwise an error message is shown 306 By calling the ObjConnectGetData function the arrived data that caused the event is being read into a local buffer The application interprets and processes the data In order to get the measurement values loop through the array and interpret the array elements with MeasValueT not shown here VB may not be the right choice to process high rate continuous measurements especially when running the interpreter The VB project must be compiled first Private Sub ObjAsync_ContinuousPointMeasDataReady _ ByVal resultsTotal As Long _ ByVal bytesTotal As Long Dim data As Variant
165. ate Compensation routine requires that all target locations are fitted with reflectors recommended 0 5 Tooling Ball or Corner Cube before the routine is started Area Required Make sure that no one walks around the area during the whole Compensation procedure Vibration can affect the measurement and walking through the beam causes the signal to break If a measurement fails the system 379 automatically repeats the measurement to achieve a successful measurement a maximum of three times Procedure Requirements The automated Intermediate Compensation can only be started when the Leica Tracker system is ready to measure For the initial setup it is required that the locations of the fixed targets are measured manually These locations provide the information for the driver points e Six Two Face measurements in two groups of 3 each e Each group of 3 points is in an approximate vertical line e Minimum distance from the tracker is 2m e The high and low measurements should be more than 30 degrees from the horizontal e The groups should have a horizontal angle separation of about 180 degrees i e all measurements should lie approximately in the same vertical plane Minimum Measurements A minimum of 4 measurements is required mathematically More measurements reduce the influence of errors In addition unstable conditions such as vibrations and rapid temperature changes make it necessary for m
166. ate to one of the following values Code Description 23011 EmScon database open failure F 23012 EmScon database read failure F 23013 EmScon database write failure F 23014 No points to measure in database 23015 Creation of compensation failed 23016 Saving Updating of compensation failed 23017 Reading Drive Point failed 23018 An In work compensation already exists 23019 Failed to delete In work compensation F 23020 Measurement timeout expired 23021 Getting tracker parameters failed 23022 Setting tracker parameters failed 215 23023 23030 23031 23032 23033 23501 23502 23503 23998 23999 Timeout in Positioning no reflector within searched range There was a command answer other than OK Unknown error Sending data via TCP IP failed F Error on receiving data communication error F Process terminated from outside 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 An unsolicited error occurred F Unknown error F Errors marked with F are unanticipated fatalities Warning flags Warning flags are available upon a successful compensation Status ES_RS_AJIOK 0 The parameter WarningFlags is a 32 bit value If the value is ze
167. atedly polling with ES_C_GetSystemStatus to figure out whether the laser is ready As soon as the laser is ready emScon issues a so called SystemStatusChange event This is a packet of the type ES_DT_SystemStatusChange containing a status parameter In case of laser ready this parameter is ES_SSC_LaserWarmedUp ES_LPS_UnableToStabilize Laser not able to stabilize This probably indicates a rapidly changing up and down of the environment temperature or a wrong active Temperature Range Make sure the tracker is used in an environment with stable temperature This rarely happens Usually the laser just takes a longer warm up phase if environment temperature is not that stable ES_LPS_LaserOff The Laser is switched off Use ES _SwitchLaser to switch laser on 135 ES _ SystemStatusChange Specifies status change types This enumeration type is used as a parameter for ES_DT_SystemStatusChange notifications 136 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_StationOrientation
168. atistics See also SetStatisticMode command 3 3 C Language TPI Reference 3 3 1 Constants This section names the constants that can be used with C C TPI programming The application needs to include the file Constant h in addition to ES_C API Def h Constants for Transformation These constants are used exclusively for the Weighting Scheme of the Transformation process see Section 9 2 6 ES FixedStdDev const double ES FixedStdDev 0 0 Use this value 0 0 to indicate a parameter as fixed ES UnknownStdDev const double ES UnknownStdDev 1 0E 35 Use this value to indicate a parameter as unknown not fixed ES ApproxStdDev const double ES_ApproxStdDev 1 0E 15 Use this value to weigh parameters according to its related Standard Deviation See command SetTransformationInputParams for details 53 Other Constants The other constants defined in Constant h Unit Conversion related constants are for informational reasons only and should not be directly referenced by emScon applications 3 3 2 Enumeration Types This section describes all enumeration types and their individual values ES DataType The ES_DataType enumeration values are used to identify the type of data packets that are sent to received from the Tracker Server on TCP IP There are 11 different packet types that differ in size and structure The ES_DT_Command comprises many sub types that all differ in size and s
169. atures between 5 and 20 C ES_TR Medium Ambient temperatures between 10 and 30 C ES_TR_High Ambient temperatures between 20 and 40 C ES_TR_Automatic This value applies to new AT series trackers only AT trackers no longer require manual selection of temperature range Their only valid setting is ES_TR_Automatic which is set by default Other settings will be rejected with a wrong parameter error On the other hand ES_TR Automatic will be rejected for older non AT tracker types 116 ES _CoordinateSystemType Coordinate system types supported by the TPI enum ES_CoordinateSystemType ES_CS_RHR ES_CS_LHRX ES_CS_LHRY ES_CS_LHRZ ES_CS_CCW ES_CS_CCC ES_CS_ ES_CS_ SCW SCC hi e ES_CS_RHR Right Handed Rectangular default type Z P x y z l l l l l l Jq 7 117 ES_CS_LHRX Left Handed Rectangular Achieved by changing the sign of the X axis P x y Z 9 l l l 7 4 l l l J Z 118 e ES_CS_LHRY Left Handed Rectangular Achieved by changing the sign of the Y axis Z P x y z 119 ES_CS_LHRZ Left Handed Rectangular Achieved by changing the sign of the Z axis X P x y z 120 e ES_CS_CCW Cylindrical Clockwise system P R lt H z 121 Cylindrical Counter Clockwise system Eo CS CCC P R lt lt H z 122 al Clockwise system e ES CS S
170. ber long 1ZoomSerialNumber long 1ZoomAdjustment IdNumber long 1Zoom2DCompensationIdNumber long 1ZoomProjCenterCompIdNumber double dMaxDistance double dMinDistance long 1NrOfPixelsxX long 1NrOfPixelsyY double dPixelSizex double dPixelSizeyY long 1lMaxDataRate GetMeasurementProbelnfoCT RT Command structures to read Probe property information and features of the active probe Note with emScon V2 3 variable names have changed from iFirmWare to iFirmware This will not have any influence to existing applications at runtime Upon compilation with the new API include files these names need to be adjusted in the code of the application 237 struct GetMeasurementProbeInfoCT struct BasicCommandCT hi struct GetMeasurementProbeInfoRT struct BasicCommandRT int int long ES_ProbeType long long ES_ProbeConnectionType long ES_ProbeButtonType long ES_BOOL long long long packetInfo packetInfo iFirmwareMajorVersionNumber iFirmwareMinorVersionNumber 1SerialNumber probeType 1CompensationIdNumber lActiveField connectionType lNumberOfTipAdapters probeButtonType lNumberOfFields bHasWideAngleReceiver l1NumberOfTipDataSets l1NumberOfMelodies lNumberOfLoudnesSteps Get SetLongSystemParamCT RT Command structures to set get individual system settings parameters of type long See enum ES_SystemParameter struct SetLongSystemParamCT
171. bility reasons Rather use ES_C_GetTipToProbeCompensations2 instead see further below ES_C_GetTipToProbeCompensation Reads the currently active TipToProbe compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetTipToProbeCompensations ES_C_SetExternTriggerParams Set the behavior of the external trigger related structure ExternTriggerParamsT See Tracker Trigger Interface Appendix for a more detailed description of trigger issues ES_C_GetExternTriggerParams Set the parameters of the external trigger ES_C_GetErrorEllipsoid Convenience function to calculate an error ellipsoid from a given point with Standard Deviations and Covariance Input is in current units current CS type and applied orientation transformation settings Output is always in RHR ES_C_GetMeasurementCameralnfo Returns Measurement Camera feature information See Tracker T Cam hardware manual for details See also GetMeasurementCameraInfoRT structure 86 ES_C_GetMeasurementProbelInfo Returns Probe feature information See Tracker Probe hardware manual for details See also GetMeasurementProbeInfoRT structure ES_C_SetLongSystemParameter This is an advanced command to set SystemSettings parameters of type Long Boolean and enum types individually This approach was chosen to avoid extending the existing SystemSettingsDataT structure Th
172. call depending on 266 your communication tools this can be recv GetData CSocket Receive etc These read functions are not able to recognize packet boundaries Read functions read all data that is currently available In practice the data will be read in one read cycle only limited to current buffer size Thus the buffer may now contain several congested packets The other special case is if there is only a fraction of a packet Problem Solution There are several possible approaches e Provide a sufficient read buffer and read all that is currently pending The client application parses the data block into packets using the header information and size of each packet With a fragmented last packet the next read cycle is started and the two fragments from the previous and the current reading are assembled together This is probably the most efficient method since it minimizes the number of reading interrupts However it is also the most complex one in terms of data parsing e Read only the first 4 Bytes to determine the size of the first pending packet The rest of the packet is estimated by reading packet Size 4 bytes Alternate method Peek instead of Read the packet size without removing data from the socket With known size read as many bytes as indicated by packetSize See code sample below This is the method we propagate for all our samples Note Earlier versions of the Samples
173. cations happens implicitly when referencing COM controls The COM objects need to be instantiated within the 2nd thread and event handlers need to be defined independently for both threads Using COM control for Multi tracker support in VB NET and C Addressing COM controls from within VB NET and C is simple and does not much differ from the approach used for VB 6 The same rules as for VB 6 applications apply here Multi threading is not required unless one wants to use synchronous calls to different 321 trackers in parallel For all other cases single threaded applications are sufficient Here are some code fragments showing how to instantiate LTControl within VB NET and C respectively Note that LTControlLib must be added as reference to the VB NET or C project in order to get access to it Only declarations are shown and for one tracker only asynchronous interface just duplicate variables for a 2nd tracker The IDE then provides available methods and properties Intellisense as well as implementation of event handlers even more sophisticated than with VB 6 VB NET Imports LTCONTROLLib Public _LTConnectl As New LTConnect Public WithEvents _ObjAsyncl As LTCommandAsync _LTConnect1 ConnectEmbeddedSystem 10 62 34 30 700 _LTConnect1 SelectNotificationMethod _ LTCONTROLLib LTC_NotifyMethod LTC_NM_Event 0 0 _ObjAsyncel _LTConnect1 ILTCommandAsync CH using LTCONTROLLib
174. ccurs ES_SSC_ExternalTriggerStopEvent This event is fired whenever an external 140 Trigger Stop Pulse trigger signal falling flank occurs ES_SSC_ObjectTemperatureChanged This event is fired when the object temperature has changed more than the tolerance value since the last time this event was fired The object temperature tolerance value is a System Parameter and must be set as ES_SP_D_ObjectTemperatureTolerance by using the SetDoubleSystemParamter command See also description of ES_C_GetObjectlemperature command The hardware configuration issues described there also apply here ES_SSC_OverviewCameraChanged This event is fired when an overview camera either gets removed or mounted to a tracker An application then can use the GetOverviewCameraInfo command to get further information Note older hardware may not support this feature ES_SSC_NivelSensorChanged This event is fired when a Nivel inclination Sensor either gets removed or mounted to a tracker Note older hardware may not support this feature ES_SSC_ProbeButton1Down ES_SSC_ProbeButton1Up ES_SSC_ProbeButton2Down ES_SSC_ProbeButton2Up ES_SSC_ProbeButton3Down ES_SSC_ProbeButton3 Up ES_SSC_ProbeButton4Down ES_SSC_ProbeButton4Up 141 The Probe button interface has been improved with emScon V2 3 in terms than each one of the 4 buttons can be addressed individually This feature is disabled by default in order to keep com
175. ce ES_RS_ NoActiveMeasurementProbe Meaning The detected probe cannot be set as active Note Make sure probe communication is OK cable problem ES_RS_ NoMeasurementProbesInDb Meaning No Probes are available in database Note Import probe information ES_RS_NoMeasurementProbeCompSet Meaning No probe compensation is activated Note use the SetProbeCompensation command to activate a compensation ES_RS_NoMeasurementProbeCompInDb Meaning No probe compensation can be found in database Note Import or provide a probe compensation ES_RS_WrongActiveMeasurementProbe CompInDb Meaning The probe seen by the camera does not match the information in database Note Replace the probe by the matching one or provide database information suitable to active probe ES_RS_CommunicationWithMeasurement ProbeFailed Meaning Possibly a hardware failure The 107 probe should be detected automatically Note Relocate the probe to try again Try with a cable connection if using a cordless probe Refer to Leica service if problem still remains ES_RS_NoMeasurementTip Meaning No Tip is mounted at the probe Note Mount a tip ES_RS_NoActiveMeasurementTip Meaning The detected Tip cannot be set as active Note Make sure probe communication is OK cable problem ES_RS_NoMeasurementTipsInDb Meaning No Tips can be found in database Note Provide tip definition ES_RS_NoMeasurementTipCompInDb Meaning No Ti
176. ces All coordinates of the first point must be less than those of the second one If this condition fails on input the corresponding coordinates are switched Related structure BoxRegionDataT ES_C_GetBoxRegionParams Queries the currently valid box region parameters Note that the retrieved point coordinate values can be different from those previously set by SetBoxRegion Because of the condition that the coordinates of the first point must be less than those of the second one However the defined box will remain the same Related structure BoxRegionDataT ES_C_ SetEnvironmentParams Sets the environment parameters Temperature pressure and humidity Parameters are in current units For valid parameter ranges refer to chapter Working Conditions in the Introduction main chapter of this manual Trying to set values outside the valid ranges will result in command failure Related structure EnvironmentDataT See enum ES_WeatherMonitorStatus for details on explicit and implicit updates of environmental parameters Like for any Set command a Status Change Event is thrown supposed the change exceeds the currently valid threshold In this case it will be 65 ES_SSC_EnvironmentParamsChanged event ES_C_GetEnvironmentParams Queries the currently valid environment parameters Related structure EnvironmentDataT See enum ES_WeatherMonitorStatus for details on explicit and implicit update
177. cess terminated from outside 23501 At least one of the 3 calculated mechanical no symbol parameters is not in the range specified 23502 Too few less than 2 measurements available Calculation cannot be performed Either not enough driving points or not all no symbol could be found and or measured 23503 no symbol Minimum vertical angle difference not met 23998 IMC_ERR UNSOLICITED An unsolicited error occurred 23999 IMC_ERR_ UNKNOWN Unknown error Warning Flags Warning flags are a special issue applicable to Automated Intermediate Compensation IMC only Warning flags are available upon a successful calculation The parameter IWarningFlags is a 32 bit integer value to be interpreted as a bit mask If the value is zero none of the bits set then the intermediate compensation process completed with no warnings at all Otherwise each raised bit means a particular warning There can be more than one warning at a time Here is the meaning of the particular bits Bit Symbol not exposed Comments Bit 1 AverageVerticalTwoFaceErrorls TooHigh Tracker service from Leica Geosystems 0x1 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 AtLeastOneVerticalTwoFaceErrorlsTooHigh If Bit 1 not raised there is probably a very 0x2 high error within a single two face measurement If Bit 1 is raised too ignore
178. cess to threading functionality within a VB application lots of functions need to be imported from the Win API since they are not natively available within VB Such declarations or better call it code hacks would then typically look like as follows 319 Declare Function CreateThread Lib kernel32 ByVal _ lpSecurityAttributes As Long ByVal dwStackSize As Long _ ByVal lpStartAddress As Long ByVal lpParameter As Long _ ByVal dwCreationFlags As Long lpThreadId As Long _ As Long Declare Function CoInitialize Lib ole32 d1ll _ dwCoInit As Long As Long No multi threading means no parallel synchronous calls to multiple trackers However you may nevertheless instantiate two or more instances of LTControl for two different trackers in your single threaded VB application If using the synchronous interface there is just a restriction that you can issue commands only sequentially to either tracker for example initialize one tracker after another not in parallel If using the asynchronous interface even parallel command execution for both trackers is possible without multi threading The price to pay is just that all commands need to be synchronized by the application Instantiating second instances of COM objects is quite simple within VB Just duplicate all involved variables and calls Here are some code fragments using the asynchronous interface See further comments within code block below 32
179. cked Note Quit the Compensation Application Web App Remark In rare situations for example after a crash of the Compensation Application it may happen that the system remains in 104 compensation mode and the server can neither be accessed by the TPI nor by the Web Application In this case the tracker server needs to be rebooted For further details see remark at chapter Application Initial Steps Essential Steps ES_RS_InternalProcessActive Meaning The server is still busy with a command Note The application must wait until the previous command has finished before issuing anew command asynchronous behavior ES_RS_NoCopyProtectionDongleFound Meaning The copy protection dongle is missing Note Make sure the dongle is connected at the correct port ES_RS_ ModuleNotActivated Meaning The copy protection dongle does not qualify to use the specified module Note Refer to Leica representative to get a dongle field upgrade ES_RS_ModuleWrongVersion Meaning The copy protection dongle does not qualify to use the specified module version Note Refer to Leica representative to get a dongle field upgrade ES_RS_DemoDongleExpired Meaning The dongle is not activated or has expired Note Refer to a Leica representative A field upgrade might be provided ES_RS_ParameterImportFromProbeFailed Meaning Importing of a probe compensation failed Note Make sure Probe has information in its
180. d 265 CESAPIReceive class in order to receive the results In order to track errors you always also should override the virtual function OnErrorAnswer const ErrorResponseT amp error Class CMyESAP Receive Code Sample only class and function declaration is shown here not the implementation Refer to samples for complete code class CMyESAPIReceive public CESAPIReceive override virtual functions of those answers you are interested in protected void OnErrorAnswer const ErrorResponseT amp void OnGetSearchParamsAnswer const SearchParamsDataT amp searchParams See Sample 9 EmsyCPPApiConsoleClient for a complete example on how to implement the two classes derived from CESAPICommand and CESAPIReceive Further see the revised Sample 4 former Sample 4 2 in emScon 1 5 on how to deal with the CESAPICommand class ESCppClient_Step3 and the CESAPIReceive class ESCppClient_Step4 4 3 7 Queued and Scattered Data When the Tracker Server delivers more data through the TCP IP network than the client is able to process this may result in traffic jams Although the TCP IP network buffers such data up to the configured buffer size single data packets will be queued That is there are no more gaps between the data packets When the client is notified from the TCP IP communication framework that data has arrived it has to react to this notification by a Read
181. d Meaning There is no communication between the tracker controller and the tracker server Either the connection is broken or the tracker controller did not boot and connect properly Often this error occurs if the application tries to access the tracker server before the boot process is finished or if the boot process failed for some reason For emScon version 1 5 and higher it is recommended to await the ES_SSC_ServerStarted event before trying to issue a command 98 Note This problem can occur with use of an External Tracker Server cable unplugged damaged plugged to wrong connector This problem is minimized for LT Controller plus base since both the tracker server and controller are integrated in one unit ES_RS_ NoWeathermonitorFound Meaning A command or polling mechanism could not access an external weather station The weather station is not present connected switched on Note If there is a weather station connected check the cable and make sure the power is switched on If no weather station is connected set the SystemStatusFlag HasWeatherMonitor to zero Command SetSystemStatus The flag must be 0 in order to access the weather station ES_RS_NoLastMeasuredPoint Meaning This error occurs after a command GoLastMeasuredPoint when no stationary point has been measured since last system boot There is no last measured point to go to Note Ensure that the user or the application does not call GoLast
182. d error range 23000 23999 Number Symbol not exposed Comments 0 IMC_SUCCESS Default status in case of command succeeded The intermediate compensation cannot be 23010 IMC_ERR_COMPNOTCALC calculated due to incomplete input data 23011 IMC_ERR_OPEN_ESDB Open database failed F Reading current compensation from database 23012 IMC_ERR_READ_CRT_COMP failed 23013 IMC_ERR_ SAVE MEAS Writing measurements to database failed No drive points in database Use 23014 IMC_ERR_NO_DRVPOINTS AddDrivePoint command 23015 IMC_ERR_ CREATE COMP Creation of compensation failed in database 23016 IMC_ERR SAVE COMP Saving compensation to database failed 23017 IMC_ERR_READ_DRIVEPT Reading drive points failed A full compensation is in work cannot 23018 IMC_ERR_FULL_COMP_INWORK continue 23019 IMC_ERR DELETE _INWORK Could not delete In work compensation 23020 IMC_ERR MEAS TIMEOUT Measurement Timeout 23021 IMC_ERR _SVR_ GETTING Getting tracker parameters failed 23022 IMC_ERR_SVR_SETTING Setting tracker parameters failed Timeout in Positioning no reflector within 23023 IMC_ERR_ POSITION_ TIMEOUT searched range 23030 IMC_ERR_BAD_CMD_ ANSWER There was a command answer other than OK 23031 IMC_ERR_SEND DATA Sending data via TCP IP failed F 23032 IMC_ERR_ RECEIVE DATA Error on receiving data via TCP IP F 23033 IMC_ERR_ FORCED TERMINATION Pro
183. de Only the last call of SelectNotificationMethod is effective there should be only one call to this function See chapter Handling Data Arrival Continuous Measurements for details on obtaining data in general and continuous measurements in particular Handling Data Arrival Continuous Measurements Continuous measurement streams are always handled asynchronous That is even if only a LTCommandSync is implemented through which 337 the Start Measurement command may be invoked the continuous measurement packets will arrive asynchronously A continuous measurement may last very long It is not suitable to block execution all the time Methods to Catch Packets Provide a LTCommandSync object with a call to SelectNotificationMethod with LTC_NM_Event as first parameter This setting allows catching the continuous measurement packets through the event mechanism This is especially convenient for Visual Basic Use one of the Windows Messages notification methods See Sample 7 where this method is shown disabled in the source code These may be methods preferred with VC clients especially if the programmer is not familiar on setting up event sinks On the other hand receiving Windows messages within VB application is permissible The MultiMeasResultT structure only covers the first item of the array The rest of the INumberOfResults 1 array elements are padded to the packet without gaps
184. de comments in source files Handling Continuous Measurements on using the emScon C interface directly which is much more common than using the COM interface from a C application can be found in Sample4 Step5 Other sources for VB can be found in Sample13 See Readme txt files at the Samples locations 5 3 3 Sample 8 This sample works only with Excel 2000 and higher and consists of an Excel sheet with a VBA macro LtcExcel Tracker server client VBA programming with Excel 97 Office 97 is not recommended See chapter VBA Macro Language Support Excel Word Access The essential difference between a VB client and an Excel client is that the Excel sheet takes the role of a VB Form That is data input output goes through cells Further details see Readme txt file in Sample 8 folder and code comments in source files 5 3 4 Sample 14 This sample shows integration of emScon COM TPI to a C application The focus of this sample is on how accessing COM methods from C An application just calling SetCameraParams GetCameraParams using synchronous interface may not be very much related to practice This sample is preliminary an might be improved in future SDK versions 342 Note In order to build run this sample the _NET framework and VisualStudio V7 VisualStudio NET is required Further details see Readme txt file in Sample 14 folder and code comments in source files 5 3 5 Sample 15 Th
185. dedController600 ES_TT_ATC900 ES_TPMicroProcessorType Specifies the microprocessor type of the Tracker Processor in use i486 686 etc enum ES_TPMicroProcessorType ES_TPM_Undefined ES_TPM_i486 ES_TPM_686 i ES LTSensorType Specifies the type of sensors that are defined LT300 LTD800 AT901 LR etc 146 enum ES_LTSensorType ES_LTS_Undefined ES_LTS_SMARTOptodyne ES_LTS_SMARTLeica ES_LTS_LT_D_500 ES_LTS_LT300 ES_LTS_LT301 ES_LTS_LT_D_ 800 ES_LTS_LT_D_700 ES_LTS_LT_D_600 ES_LTS_LT_D_640 ES_LTS_LT_D_706 ES_LTS_LT_D_709 ES_LTS_LT_D_ 840 ES_LTS_AT901_B ES_LTS_AT901_MR ES_LTS_AT901_LR ES_LTS_NoSensor ES _DisplayCoordinateConversionType Specifies the conversion of the coordinate system either base to current or vice versa Do not use this type It is related to the ConvertDisplayCoordinates command not supported enum ES_DisplayCoordinateConversionType ES_DCC_BaseToCurrent ES_DCC_CurrentToBase hi ES_TriggerStatus Enumeration type to describe Status of Trigger Button at T Probe enum ES_TriggerStatus ES_TS_TriggerNotPressed ES_TS_TriggerPressed hi e ES_TS_TriggerNotPressed The measurement trigger button at the T Probe is currently released e ES_TS_TriggerPressed The measurement trigger button at the T Probe is currently pressed ES MeasurementTipStatus Enumeration type to describe Statu
186. e Section 9 2 for details ES_C_GetTransformedPoints Retrieves the secondary transformation results transformed points including statistical information and their residuals to nominal points after a successful CallTransformation Values are provided in current units current CS type but not according to current orientation settings Transformed points do match the nominal points apart from residuals For all transformation related commands see Section 9 2 for details ES_C_ ClearDrivePointList Clears the current drive point list used as 77 input data for the Intermediate Compensation ES_C_AddDrivePoint Add a point to the drive point list for the Intermediate Compensation Values are expected in current units current CS type and according current orientation transformation settings For all intermediate compensation related commands see main chapters 8 sub chapter Automated Intermediate Compensation ES_C_CallIntermediateCompensation Triggers an Intermediate Compensation process and calculation A successful result will not automatically become the active compensation For all intermediate compensation related commands see main chapters 8 sub chapter Automated Intermediate Compensation Note this is a long taking command It can be interrupted with ES_C_StopMeasurement Note After successful termination the calculated in work compensation must be activated by perfo
187. e enum values are described while the formal definition including symbolic names for use in applications can be found in the ES_C_API_Def h include file Note that symbols are available only for those errors defined as enum values i e those with prefix ES_RS_ since only these are publicly defined in the API include file Most of these errors are shared among multiple commands As an example the error ES_RS_ServerBusy may appear with virtually every command while ES_RS_WrongParameter may occur with every command that takes any input parameters Some errors however may even be unique to a specific single command Furthermore error groups specific to certain special commands those executed as sub processes by the server such as CallTransformation or CallOrientToGravity exist These errors typically are in a range between 20000 and 29999 Their internal symbols are not available to application programmers although partly listed in the sections below Finally errors in the range between 1000 and 9999 originate on the controller nardware They are listed in appendices C and D i e not in this appendix Only numbers no symbols exist for these at all B1 TPI status values defined in enum ES ResultStatus Symbol Comments Number without ES RS prefix as far as symbol not self explaining Default status in case of command 0 AIlOK succeeded Previously issued command st
188. e parameter and is in current length units TargetStabilityTolerance must lie between 0 005 and 0 1 Millimeter Leave this value as low as possible Default is 0 005 RetryTimeFrame is in milliseconds in the range between 500 and 5000 Related structure AdmParamsDataT ES_C _GetAdmParams Queries the currently valid ADM parameters Related structures SetAdmParamsCT SetAdmParamsRT and AdmParamsDataT ES_C_SetSystemSettings Sets system settings a collection of flags to control the behavior of Tracker Server See struct SystemSettingsDataT for details Related structures SetSystemSettingsCT SetSystemSettingsRT and SystemSettingsDataT 70 ES_C_GetSystemSettings Queries the currently valid System Settings Related structure SystemSettingsDataT ES_C_ StartMeasurement Triggers a measurement regardless of the measurement mode I e depending on selected mode Start Measurement may start a Stationary3D a StationaryProbe a Continuous3D or a ContinuousProbe measurement Once a continuous measurement with unlimited time points has been started it can only be stopped on using ES_C_StopMeasurement apart from beam break Note StopMeasurement can also be used to interrupt some other lengthily taking but deterministic commands Except on using the emScon COM LTControl synchronous interface See Chapter Proper Interface Selection Further details see description of ES_C_StopMeasureme
189. e probe prism A measurement to the probe delivers the tip position not the prism position However there exist situations where the position of the probe prism may be of interest for example when issuing a GoPosition as a reaction of a beam broken event supposed the probe is always placed to the same location Thus this command is probably only of interest for Probe related enterprises ES_C_SetDoubleSystemParameter This command is virtually the same as ES_C_SetLongSystemParameter The only difference is that it takes double type parameters See ES_SystemParameter where items suitable to this command have been marked with a D_ prefix Example for such a parameter ES_SP_D_ObjectTemperatureTolerance ES_C_GetDoubleSystemParameter Get current double type system parameter The opposite of ES_C_SetDoubleSystemParameter ES_C_GetObjectTemperature Get the Object Temperature This command only succeeds if there is a weather monitor 88 Leica AT meteo station or Thommen station connected to emScon A temperature device must be connected to the weather stations TEMP2 port applies to Thommen and AT station For the AT meteo station TEMP1 relates to an integrated temperature sensor while for the Thommen station it is assumed that both TEMP1 and TEMP2 ports have a sensor assigned TEMP1 is used for air temperature and TEMP2 serves for Object Temperature Note Thommen only if TEMP1 is not used and t
190. e the System does not transform the measurements into a user specified coordinate system If set to true transformation as per transformation parameters is applied If set to false the default transformation will be used 0 0 0 0 0 0 1 regardless of the current values set with SetTransformationParams command Transformations also apply to the positioning commands such as GoPosition and to part of the Input Output filters Box Sphere 176 e bApplyStationOrientationParams If this flag is set to true the System uses the given orientation parameters If set to false the default station orientation will be used 0 0 0 0 0 O regardless of the current values set with the SetStationOrientationParams command Orientations also apply to the positioning commands such as GoPosition e bKeepLastPosition If this flag is set to true and the laser beam is broken it does not leave the current position This allows to catch the beam again then placing the reflector to a stable position The ADM then tries to perform a measurement and if success sets the measured distance as the new interferometer distance From then on it is possible to recover measuring without having to go back to the BirdBath on beam broken events If the flag is set to false the beam is disabled mirror points down If an Overview Camera is installed the sensor drives into the camera position Important Enabling the KeepLastPositi
191. e 306 5 2 13 WBA Macro Language Support eee eeeeeeeeeeereeeeees 307 5 2 14 Continuous measurements and VBA n se 310 5 2 15 Scripting Language Support eeeecsesceteeeeeeeeeeeeseeeee 313 5 2 16 Exception Handling for Non Microsoft Clients 0 313 5 2 17 Multi Tracker Applications ceceseecsseeseesecneeeeeneeeeeens 314 5 3 COM TPI Sample cssscsscssscsessscssessscessosssosssassnssssssssssesees 326 5 3 1 SAMPLE ise es ccepsafesess EEE EAEE E paceaht pedese de went det 326 5 3 2 Sample Tiss sscesotsdetvsssscveus cess vcsesssssvebdsdstyespoesenidesessbessecsseeas see 335 5 3 3 Sample 8 2 sists el Bale hae wien A ie 342 5 3 4 Sample 14 cscs sis esine ens Seine Bacto iste eect ase 342 5 3 5 Sample Treinen e eR a r ease oti wena 343 5 3 6 Sample 18 scsh s ssssite oasis gn Gesciniowasinsiag as 343 5 3 7 Sample 2O ns eat E E E RE y 343 6 CH INTERFACE cicinccatscivcecinatnanerntdnaromebtarnennane 345 6 1 Client Programming With C eesesesseseseccceesoroeseoesosoesesecoeoesoesesee 345 6 1 1 INtrOGUCHI Oikeasti enirir ra eea a a EEE a eaa Si 345 6 1 2 C Application Programming seeeeeeeeeeeerereeesrrerereeeerserreee 345 6 1 3 Sample TOi heei e is Seti eE SEEE aes 346 6 1 4 Sample Tresnei e a a E E 347 6 1 5 Multi Tracker C Applications sseeeeeeeeeereeeereeeereeseee 349 7 BASE USER INTERFACE BU cccessseee 354 7 1 Client Programming and BUL sesesseseseccceesoresccoesoroesesecoeoesoe
192. e enabled disabled through the system flag bUseStationOrientationParams TransformationDataT struct TransformationDataT double dVall double dVal2 double dVal3 double dRot1 double dRot2 double dRot 3 double dScale hi Used as parameters for Set GetTransformationParams commands Values are in current units and CS type These settings can be enabled disabled through the system flag bUseLocalTransformationMode 181 BoxRegionDataT struct BoxRegionDataT double dPi1Vall double dP1Val2 double dP1Val3 double dP2Vall double dP2Val2 double dP2Val3 hi Used for parameters of Set GetBoxRegionParams commands The parameters describe two diagonal points of a box Values are in current units and CS type but not according to active transformation settings These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enabled together with the Box region type SphereRegionDataT struct SphereRegionDataT double dVall double dVal2 double dVal3 double dRadius i Used for parameters of Set GetSphereRegionParams commands The parameters describe center point and radius of a sphere Values are in current units and apart from Radius in current CS type and according to applied transformation settings These settings only apply if the bUseRegion flag in the appropriate continuous measurement structure is enab
193. e extracted manually and assigned to basic data types This is not convenient and exceeds the typical Excel programmer s expertise Even with VB although structs are available masking data is not as easy as in C By providing some helper functions data blocks can be copied to appropriate struct parameters instead of using pointer type casts TLTConnect ContinuousDataGetHeaderInfo TLTConnect ContinuousPointGetAt TLTConnect ContinuousPoint2GetAt TLTConnect Continuous6DDataGetAt This allows extracting information of interest from data blocks of type ES_DT_MultiMeasResult ES_DT_MultiMeasResult2 and ES_DT_Multi6bDMeasResult A VB VBA implementation of the ContinuousPointMeasDataReady event handler that demonstrates usage of these functions reads as follows note the many comments 311 Private Sub LtSync_ContinuousPointMeasDataReady _ ByVal resultsTotal As Long ByVal bytesTotal As Long a continuous point meas packet came in Note that in case of continuous measurements due to multiple points variable size of packet only of results and packet size are passed in which both are not really needed here So we first must GET the data then retrieve information out of the gotten block since we are doing function calls to a COM object LtConnect that can throw exceptions we need an error handler Note we would not require an error handler in the other Event
194. e in order to share it for a 2nd tracker In particular a common event sink must make sure there is no direct access to main thread context GUI from within its event handlers 317 Otherwise this would lead to access violations if these event handlers were being triggered by the 2nd thread As far as we just do endless calls of synchronous functions i e ChangeFace in our sample receiving data trough events may not be an issue for the 2nd thread But even when only using synchronous calls an event sink at least for unsolicited errors and events such as beam break should be provided anyway The simplest approach was to duplicate the class CLtcCppEventSink Sample 7 files LtcCPPEventSink h cpp for a new class CLtcCppEventSink2 especially if 2nd tracker supports a different set of commands being called and therefore applies to a different set of event handlers Using the same event sink class for both trackers i e two instances of the one and only class CLtcCppEventSink is possible but again be careful concerning thread protection and shared data issues etc There are many potential pitfalls to this respect Remark Due to adding 2nd tracker support to an existing single tracker sample after the fact we have resulted into a code asymmetry A cleaner design could be achieved by using 3 threads The main thread for user interface issues only and two symmetrically designed chi
195. e keyword New Dim ObjConnect As New LTConnect 3 Declare only one of the TPI controlling interfaces either synchronous or asynchronous It is not recommended using both synchronous and asynchronous interfaces from within one LTConnect instance although shown in some of the provided Samples When doing so in spite some answers will be duplicated and will arrive on both channels making it difficult to manage these by the application The keyword WithEvents is optional and should only be used in combination with LTC_NM_Event selected as NotificationMethod It activates the related connection point interface for event handling Dim WithEvents ObjSync As LTCommandSync Dim WithEvents ObjAsync As LTCommandAsync 4 Connect to the tracker server and initialize the interface pointer s typically in an application startup procedure In Visual Basic this is often performed in the Form_Load function 289 Private Sub Form_Load On Error GoTo ErrorHandler Ob jConnect ConnectEmbeddedSystem 192 168 0 1 700 Ob jConnect SelectNotificationMethod LTC_NM_Event 0 0 Set ObjAsynce Ob jConnect ILTCommandAsync Exit Sub ErrorHandler End Exit application when connect failed MsgBox Err Description End Sub 5 Call ConnectEmbeddedSystem with the IP address of the Tracker Server and port 700 6 Select the LTC_NM_Event method if using events Other options may apply 7 Initia
196. e most extreme with 49 parameters Such excessive parameter lists depending on VB version partly are beyond code generating Wizards capability Lines may be cut which will lead to syntax errors for generated code In these cases the cut lines need to be completed manually see type library for signature Extended Synchronous Functions ObjSync MeasurStationaryPoint has 18 basic data type parameters Basic data type parameters are a requirement in order to use these functions with older versions of VBA Excel Access For programming languages supporting user defined data types VC Visual Basic having a function with only one struct parameter would be more convenient LTControl provides a collection of such extended functions 333 Note that such extended functions cannot be provided for Event handlers Technical limitation One of these extended functions MeasureStationaryPointEx is implemented in the sample Private Sub StartMeasEx_Click Dim result As SingleMeasResultT On Error GoTo ErrorHandler ObjSync MeasureStationaryPointEx result display the result MsgBox result packetInfo status amp CStr amp _ result packetInfo packetHeader Type amp _ CStr amp result dVall amp CStr amp result dVal2 amp CStr amp result dVal3 Exit Sub ErrorHandler MsgBox Err Description End Sub The data type SingleMeasResultT from the C TPI is tr
197. e tracker server and can be used to mask incoming data blocks in order to interpret these The definition of these data types is provided in C language notation as an include file called ES_C_API_Def h This file is compatible to the IDL language and its types are therefore fully transparent to COM interfaces except constants Note the subtle differences between C and C notation for structs and enums The ES_C_API_Def h file is the only interface definition of the emScon TPI also referred to as the native emScon interface All other interface levels C TPI C TPI LT Control COM interface are higher level abstractions and are strictly based on this native include file They are therefore just provided for convenience This enables the client programmer to design alternate C C interfaces and or other high level interfaces e g even COM components However the ES_C_API_Def h file should not 13 be changed on any account 2 3 1 Platform and Programming Language Issues The versatility of the emScon TPI based on standard TCP IP allows its usage on different operating systems Windows Linux UNIX Macintosh Despite the C language native interface the programming language for writing emScon applications is not restricted to C All languages that can deal with structures in C notation or have the same byte align policy can be used The use of languages other than C C may however require
198. e type related parameters See struct TransformationDataT for details 206 Set GetBoxRegionParamsCT RT struct SetBoxRegionParamsCT struct BasicCommandCT packetInfo struct BoxRegionDataT boxRegionData di struct SetBoxRegionParamsRT struct BasicCommandRT packetInfo struct GetBoxRegionParamsCT struct BasicCommandCT packetInfo hi struct GetBoxRegionParamsRT struct BasicCommandRT packetInfo struct BoxRegionDataT boxRegionData Command structures for setting getting the Box Region parameters See struct BoxRegionDataT for details Set GetSphereRegionParamsCT RT struct SetSphereRegionParamsCT struct BasicCommandCT packetInfo struct SphereRegionDataT sphereRegionData struct SetSphereRegionParamsRT struct BasicCommandRT packetInfo hi struct GetSphereRegionParamsCT struct BasicCommandCT packetInfo struct GetSphereRegionParamsRT struct BasicCommandRT packetInfo struct SphereRegionDataT sphereRegionData Command structures for setting getting the sphere region parameters See struct SphereRegionDataT for details GoPositionCT RT struct GoPositionCcT struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 ES_BOOL bUseADM hi struct GoPositionRT struct BasicCommandRT packetInfo hi These are structures for invoking the GoPosition command Values are in current units C
199. e weather monitor remains in indifferent state This is due to a problem of the weather monitor hardware It is recommended to remove the battery from the weather monitor and always enable its power supply before or at the same time the emScon server gets booted New behavior with emScon 3 0 With emScon 3 0 there is an automatic recognition of any attached meteo station and the system will automatically set related flags to a most common and reasonable state See chapter Automatic External Device Recognition under Section 2 4 for more details ES RegionType This enumeration type is used as a parameter for regions enum ES_RegionType ES_RT_Sphere ES_RT_Box e ES_RT_Sphere Region type is a sphere e ES_RT_Box Region Type is a box ES_TrackerProcessorStatus The sequence of this enum is important It shows the state of the tracker processor during startup of the Tracker Server The value issued describes the status of the startup procedure The tracker can only be booted if there is a connection to emScon It can have a valid compensation only if it is booted 133 It can be initialized only if it has a valid compensation 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
200. ecommended when the maximum deviation is lt 0 0012 deg 13 With the command SetCompensation the newly calculated compensation can be activated by passing a zero parameter SetCompensation 0 See detailed description of ES_C_SetCompensation enum ES_C_Command about the meaning of paramter Zero 8 1 7 Two Face Field Check A field check is a control process of the Compensation parameters It checks the condition of the Leica Tracker with respect to predefined parameters It does not however provide for compensatory corrections Periodicity If the tracker is used in a stationary position conduct the field check on a weekly basis If the field check results show no change over a period of six weeks carry out field checks at least once a month If the tracker has been moved always carry out a field check before taking measurements Compensations and field checks must be carried out in normal working conditions under which the measurements are taken Field check two face Measurement Two face measurements with 4 to 5 reflector positions distributed over the whole object 382 range will indicate whether the Tracker compensation is within specifications To achieve a 2 sigma accuracy 95 of the measurements must be within the specification Client Routine The Tracker Server Programming Interface does not have a specific two face measurement mode A client routine is required which can use the b
201. econdary thread worker function must be a static member static UINT SecondTrackerThread LPVOID pParam Next implement the worker function in related cpp file 315 UINT CCPPClientDlg SecondTrackerThread void pParam Do not declare instantiate these in main thread These must be local to the current thread ILTConnectPtr pLTConnect2 ILTCommandSyncPtr pLTCommandSync2 CLtcCppEventSink pEventSink2 NULL CoInitialize NULL IMPORTANT call this for every thread where ILTConnectPtr is instantiated CCPPClientDlg dlg CCPPClientDlg pParam TRACE _T Thread for 2nd tracker started 1 Initialization part instantiation and connection try pLTConnect2 CreateInstance __uuidof LTConnect pLTConnect2 gt SelectNotificationMethod LTC_NM_Event 0 0 attach Syne object pLTCommandSync2 pLTConnect2 gt Get ILTCommandSync if pLTCommandSync2 The following commented block sets up the event sink for tracker 2 However we first would have to implement class CLtcCppEventSink2 note that event sink CLtcCppEventSink from Sample 7 is not suitable to use with tracker 2 in this sample You may of course design a common event sink that can be shared for both trackers i e both trackers may have an instance of the same event sink class Be careful with thread safety issues when accessing main thread context GUI from secondar
202. ectorPosResultT struct ReturnDataT packetInfo double dVall double dVal2 double dVal3 hi This receive only structure describes the ES_DT_ReflectorPosResult packet type These are received whenever the tracker is locked onto a reflector 3 measurements per second The receipt of these measurement types can be switched on off with the systems flag bSendReflectorPositionData Values are in current units CS type and according to applied orientation transformation parameters 190 ProbePosResultT struct ProbePosResultT struct ReturnDataT packetInfo long 1RotationStatus enum ES_MeasurementTipStatus tipStatus long iInternalTipAdapterId long iTipAdapterInterface double dPositionl double dPosition2 double dPosition3 double dQuaternion0o double dQuaternionl double dQuaternion2 double dQuaternion3 double dRotationAnglex double dRotationAngleyY double dRotationAngleZ hi The Probe relative to ReflectorPosResult Values are in current units CS type and according to applied orientation transformation parameters There are some status values in addition Rotation angles are always represented in the interval between PI and PI The position values relate to the center of the tip ruby sphere Details about RotationStatus see chapter Rotation Status just following the chapter ProbeMeasValueT SystemStatusChangeT struct SystemStatusChangeT struc
203. ed They differ from emScon system to emScon system Use command GetReflectors to query the system for defined reflectors and appropriate ID name type mapping ES_C _ GetReflector Queries the ID of currently valid Reflector ES_C_ GetReflectors Queries all known reflectors of the Tracker Server Apart from other information mainly delivers the association between reflector names and their numerical IDs ES_C_ SetSearchParams Set criteria for reflector search abort search radius and time out Search radius is in current Length units Maximal search parameter is 0 5 meters The search time should be set into a reasonable relation to the search radius Large search radii result in extended search 69 times unless limited by the search timeout value The minimum value for the SearchTimeout is 10 000 ms 10 seconds the maximum is 240 000 ms 4 minutes Related structure SearchParamsDataT For a detailed description see there ES_C_GetSearchParams Queries the currently valid criteria for aborting a reflector search Related structure SearchParamsDataT For detailed description see there ES_C SetAdmParams Set parameters for the ADM stability time retries Attention This is a dangerous command Lowering the stability criteria will result in measurement precision loss Only change these values if really required due instable conditions ground vibrations etc TargetStability Tolerance is a distanc
204. eep 1 busy try later continue else Beep 1000 100 Lf LE else if l1BytesRead 0 See remark in receiver function of Sample9 Sleep 1 continue else if if nCounter gt 64 emergency exit 269 if 1BytesReadTotal lt 0 TRACE _T not able to read data recv n return true nothing read can leave safely if else bOK false break if TRACE _T Loop BytesRead ld BytesReadTotal Sld PacketSize ld Missing ld n lBytesRead lBytesReadTotal 1lBytesRead lPacketSize l1Missing l1BytesRead while 1BytesRead lt 1Missing if 1BytesRead gt 0 lBytesReadTotal l1BytesRead if DOK bOK amp amp 1BytesRead 1Missing amp amp lBytesReadTotal lt RECV_BUFFER_SIZE if bOK ProcessReceivedData is assumed to take one single complete data packet It contains a switch statement to evaluate the packet we have seen this method several times in this manual samples if 1BytesReadTotal 1PacketSize ProcessReceivedData szRecvBuf 1BytesReadTotal if else bOK false if bOK make sure socket is cleaned up on data jam in order to recover ordinary data receiving do nCountertt 1lBytesRead recv SOCKET wParam szRecvBuf RECV_BUFFER_SIZE 0 TRACE _T Recover in loop n while 1lBytesRead gt 0 amp amp nCounter lt 128 TRACE _T Unexpected data fata
205. egistered by an administrator so that all users may use them without any restrictions COM Components provide standardized programming interfaces LTControl provides several custom interfaces and Connection Point Interfaces of type IDispatch This chapter does not list all the methods and properties of these interfaces in detail rather view the so called type library that comes with the control A type library describes COM object interfaces The type library LTControl tlb is also implicitly included in LTControl dll All enumeration types and 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 supposed the programming language supports user defined data types To get an overview of the interfaces including properties methods events and UUIDs exposed by a COM object a COM viewer may be used e Select the tools menu of Visual Studio e Select OLE COM Object Viewer e Choose File gt View Type Lib e Select LTControl dll or LTControl tlb 287 The LTControl component is very convenient for developing simple tracker applications using Visual Basic MS Excel MS Access etc However where performance and customized TCP IP communication are an issue the C C interface should be preferred It is generally not recommended to use the COM TPI for writing C client applications although this is possible
206. emScon 3 0 Programmers Manual Tracker Programming Interface 4 when it has to be right Seica Geosystems Programmers Manual emScon TPI Metrology Division Preface These are original instructions and part of the product Keep for future reference and pass on to subsequent holder user of product Read instructions before setting up and operating the hard and software This reference manual contains information protected by copyright and subject to change without notice No part of this reference manual may be reproduced in any form without prior and written consent from Leica Geosystems AG Leica Geosystems AG shall not be responsible for technical or editorial errors or omissions Product names are trademarks or registered trademarks of their respective companies The software described herein is furnished under license and non disclosure agreement and may be used only in accordance with the terms of the sales agreement Leica Geosystems AG Feedback Your feedback is important as we strive to improve the quality of our documentation We request you to make specific comments as to where you envisage scope for improvement Please use the following E Mail address to send in suggestions documentation metrology leica geosystems com Software and version emScon TPI V3 0 Manual update May 26 2008 Manual order number None Preface Contact Leica Geosystems AG Metrology Division Moenchmattweg 5
207. enum ES_TipToProbeCompensationType ES_TCT_Unknown ES_TCT_TipOnly ES_TCT_ShankEnabled he e ES TCT Unknown The type of the TipToProbe compensation could not be determined e ES_TCT_TipOnly There exists only a Tip compensation e ES TCT _ShankEnabled A Tip and a Shank compensation exists Note The option Shank compensation only i e without Tip compensation is not possible 165 3 4 Data Structures This section describes all data structures defined in ES_C_API_Def h The data structures describe the layout of the data packets byte arrays to be transmitted over the TCP IP network The structures are required to construct and send data packets to mask incoming data packets in order to recognize their type and to interpret their contents 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 Not all members are described in detail Data members are often self explanatory while enumeration type members have been described under Enumeration Types Struct variable descriptions are provided only where necessary Parameters
208. er Server The answer consists of as many answer packets as tips adapters are defined in the server database These resolve the relation between tip name string and tip adapter ID numerical Each packet in addition a redundancy contains the total number of tip adapters i e the total number of packets to be expected only for programmer s convenience Other properties such as tipType serial Number comment etc serve as information mainly used for user interface purpose 229 struct GetTipAdaptersCT struct BasicCommandCT hi struct GetTipAdaptersRT struct BasicCommandRT int int long long long enum ES_TipType double double unsigned short unsigned short he packetInfo packetInfo iTotalTips iInternalTipAdapterlId lAssemblyId 1SerialNumberLowPart 1SerialNumberHighPart tipType dRadius dLength cName 32 cComment 128 GetTipAdapterCT RT Command structures to get the ID of active Tip Adapter The GetTipAdapter command delivers the currently active tip adapter by its ID Currently set as the active one in the database In addition to the ID the adapter number to which the tip is attached is returned struct GetTipAdapterCT struct BasicCommandCT hi struct GetTipAdapterRT struct BasicCommandRT int int i packetInfo packetInfo iInternalTipAdapterlId iTipAdapterInterface Get SetTCamToTrackerCompensationsCT RT Command st
209. er Inch e ES PU _InH2O Inch Water Height e ES_PU_InHg Inch Mercury ES_HumidityUnit Humidity units supported by the TPI This enumeration type is used as parameter for ES_C_SetUnits ES_C_GetUnits enum ES_HumidityUnit ES_HU_RH e ES HU RH Relative humidity which is expressed in percentage ES _TrackerStatus This enumeration type names the possible tracker states It is used as the 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 ES_TS_6DstatusInvalid 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 127 e ES TS 6DStatusInvalid 6D status of T Probe measurement is not valid ES ADMsStatus Additional information about the ADM of the laser tracker This enumeration type is used as a parameter for ES_C_GetSystemStatus enum ES_ADMStatus ES_AS_NoADM ES_AS_ADMCommFailed ES_AS_ADMReady ES_AS_ADMBusy ES_AS_HWError ES_AS_SecurityLockActive ES_AS_NotCompensated e ES_AS_NoADM Tracker not equipped with an ADM e ES AS ADMCommfFailed Communication with ADM failed e ES_AS_ADMReady ADM is ready to measure e ES_AS ADMBusy ADM is busy performing a measurement e ES AS HWErr
210. er object to the Receiver class That is instead of or in addition to passing a cookie we directly pass the MyAPICommand variable This approach is suitable if both trackers have to do the same sequence of commands Otherwise we may need the cookie nevertheless in addition to the command object reference See also chapter Multi Tracker C Applications in section 6 there is a C code sample demonstrating the cookie technique This sample also shows how to make Sender Receiver classes multi instantiable the shown approach there sockets command objects and cookies passed through constructor variables can easily be equivalently applied to C applications Threading Issues All calls to the C interface are asynchronous by design it is therefore NOT required nor recommended to use multi threading i e running the two tracker instances in two different threads although depending on your application design there might be reasons to do so nevertheless A Windows application will be able to address both trackers in parallel without dealing with the complexity of multiple threads However make sure to carefully synchronize command calls In particular avoid mix matching command answers from either tracker Keep in mind that the same command may be executed at the same time for both trackers Note A Console application like Sample 9 277 needs a multithreaded approach for other reasons for rece
211. er searched for nor attached ES_C MoveHV Command to start laser beam movement in horizontal vertical direction or to stop movement Zero values mean stop movement The parameters for MoveHV are signed values in order to specify the direction of movement The parameters are speed values in the range between 100 lt x lt 100 ES_C_GoNivelPosition This command moves the tracker head to one of the defined Nivel positions 1 to 4 The laser tracker moves at a slow speed to avoid disturbing the Nivel inclination sensor This command is used for the orient to gravity procedure ES_C_GoLastMeasuredPoint Positions the laser beam to the location that 74 has been last measured successfully in stationary mode ES_C _ FindReflector Searches a reflector at the given position Reflector is attached if found The approx distance is only required to calculate the opening angle of the laser beam from the given search parameter An inaccurate approx distance only has the effect that the real search radius will be bigger or smaller than specified in SetSearchParams It has no effect to measurement quality Approx distance parameters are in current Length Unit Although no range limitation applies in theory there is a practical limitation given by tracker working space 100 mm lt approxDist lt 50000 mm Note the minimum value is 101 mm not 100 mm The search time depends on the search radius Large search
212. er server as this was the case for previous emScon server versions 3 5 10 Command Subtype Switch 14 Command type answers require a switch statement to distinguish the command subtype Non data returning commands can all be treated the same and are handled in the default switch statement All other command answers need to be masked with the appropriate result structure The code fragment below demonstrates this with the GetUnits command and shows part of the handling of a single measurement answer 249 switch pData gt type case ES_DT_Command command type answer arrived BasicCommandRT pData2 BasicCommandRT byteArr if something went wrong no need to continue if pData2 gt status ES_RS_A110K TODO evaluate and handle the error return false switch pData2 gt command case ES_C_Initialize case ES_C_PointLaser case ES_C_FindReflector break case ES_C_GetUnits GetUnitsRT pData3 GetUnitsRT byteArr Diagnostics check whether packet size as expected in debug mode only ASSERT pData3 gt packetiInfo packetHeader 1PacketSize sizeof GetUnitsRT now you can access Unit specific data pData3 gt unitsSettings lenUnitType pData3 gt unitsSettings tempUnitType break case XXX Todo add other command type evaluations break default break break case ES_DT_SingleMeasResult single meas result
213. ere are now some parameters covered by both commands For example WeatherMonitorStatus For these either command SetSystemSettings or SetLongSystemParameter can be used See enum ES_SystemParameter for values supported by this command Some system parameters are new and can only be addressed by this command and not by the former SetSystemSettings command Example ES_SP_AllowProbeWithoutTip ES_C_GetLongSystemParameter Get current long type system parameter The opposite of ES_C_ SetLongSystemParameter ES_C_GetMeasurementStatusInfo Get information about availability of all types of compensations and related hardware The information data is delivered as a long value representing a bit mask Use the enum ES _MeasurementStatusInfo values to identify mask the long parameter information ES_C_GetCurrentPrismPosition Get the current position of the prism the laser beam is currently attached to This can be a reflector or the prism of a probe 87 Delivered position parameters are with all filters applied Units CS Type Transformation Orientation In other words the same values as a stationary measurement would deliver However these position values are NOT as accurate as stationary measurements Do NOT use these values as measurements where precise measurements are required The background for this command is as follows If a probe is attached it is not possible to take 3D measurements to th
214. erface similar to the C class interface shown in Sample16 Using the C class interface is shown in Sample17 In order to use this interface the NET framework and VisualStudio V7 VisualStudio NET is required for client application programming 6 1 2 C Application Programming The C class interface is represented through include file ES_MCPP_API_Def h MCPP relates to Managed C This file defines two abstract classes CESCSAPICommand and CESCSAPIReceive from which a C application must derive its own classes This is quite the same approach as for the C interface Note the name prefixes CESCSAPI C versus CESAPI C Since C does not support the C like include file approach the classes defined in ES_MCPP_API_Def h must be packed into a Managed C DLL This DLL then can be added as reference to a C application 345 For convenience this DLL named ES_MCPP_API_Wrapper dll is also provided with the SDK ES_SDK Lib Unicode If the DLL should be missing or if it needs to be rebuilt due to changes in the ES_MCPP_API_Def h file Sample 16 shows how to create this DLL Note An emScon programmer may make changes to the files ES_MCPP_API_Def h and or ES_CPP_API_Def h although this should normally neither be necessary nor recommended Sample 17 shows a C Application based on the emScon C class interface 6 1 3 Sample 16 This sample shows on how to create the re
215. es 279 4 4 1 Sample Ae eos so seas enea aee E EEE E NE ORS 279 4 4 2 SaAaMple A SERET 283 4 4 3 Sample T2 a a E hind alta al 283 4 4 4 Sample 19 oocte cscs died evii rousti dct wkd wie EKKE E EOS 285 5 COM INTERFACE cceceeeesseeseeeeeeeteeees 286 5 1 High level TPI Programming ccsccccscscsssssssssscsssesseeseeseeees 286 5 1 1 DAW BACKS ai E E E EE A EEEE ENSE 286 5 1 2 TintroductiOn cecccesccesceesecececcecseeeseeeneeseeeeeeeeeeneeeeeeenseenaes 286 5 2 COM TPI Programming Instructions sccccsecssssessscseeee 288 5 2 1 VisualBasic and VBA Applications eeeeseeeeeteeneeeeeee 288 5 2 2 Ctr Applications css isepscnsevessbsecssesotsissssesaviontestheteastebsesanss 292 5 2 3 Notification Method ccccceecceeseeeeceeeceeeeeeeceeeeaeenseeneenaes 293 5 2 4 Exceptions and Return Types cceceeecsseceesseceeeeeseceeeeeen 295 5 2 5 COM TPI supporting Programming Languages 298 5 2 6 Proper Interface Selection cece eeeeecsseteeeeceseeeeeecneeeeens 300 D237 Types Librar e ann an enn 302 5 2 8 COM TPI Reference ccecceecseeseesseeceeecceeeeeeeeeeeeeseenasenaes 303 5 2 9 Registering COM Objects ce ceeesesseeceeceeeeceeeeeeseeaeeeeens 304 5 2 10 Synchronous versus Asynchronous Interface eee 304 5 2 11 Visual Basic Boolean variable evaluation cece 305 5 2 12 Reading Data Blocks with Visual Basic 0 0 0 ceeeeeeeseeee
216. es the behavior for example whether the reaction is the same for every event or whether there is a toggle behavior An ExternalTriggerEvent status change event is issued on each trigger event ES _ TrackerFace Specifies the Tracker Face This enumeration type is used as a parameter for the ES_C_GetFace command enum ES_TrackerFace ES_TF_Unknown ES_TF_Facel ES_TF_Face2 hi e TF Unknown Tracker face could not be determined Should not occur under normal conditions e ES_TF Facel The tracker is in face I position e ES_TF_ Face2 The tracker is in face II position ES MeasurementCameraMode Specifies the source for the measurement camera mode This enumeration type is used as a parameter for the Set GetMeasurementCameraMode command enum ES_MeasurementCameraMode ES_MCM_Measure ES_MCM_Overview hi e ES MCM Measure Measurement camera T Cam is in measurement mode 149 e ES MCM Overview Measurement camera T Cam is in overview mode and can be addressed by e g GetStilllmage ES MeasurementCameraType Specifies the measurement camera type This enumeration type is used as a parameter for the GetMeasurementCameralnfo command enum ES_MeasurementCameraType ES_MC_None ES_MC_TCam700 ES_MC_TCam800 ES_MC_TCam706 ES_MC_TCam709 ES_MC_TCam_MR ES_MC_TCam_LR e ES MC None Type could not be determined Should not occur under normal conditions e
217. eset the flag and communication correctly on the next initialization If the system sets the flag to false but the operator application tries to force it to true then the system should check to see if an OVC is attached before it allows the flag to be set as requested Inclination Sensor Nivel Recognition During initialization the system will check to see if a NIVEL is attached If yes then the flag will be set to true and communication should start to the device If the operator application tries to set the flag false after the system has set it as true then the system should allow it and end communication to the device but will reset the flag and communication correctly on the next initialization If the system sets the flag to false but the operator application tries to force it to true then the system should check to see if 41 a NIVEL is attached before it allows the flag to be set as requested e Meteo Station Recognition During initialization the system will check to see if a Meteo Station is attached If yes then the flag will be set to true and ReadAndCalculateRefractions should start If the operator application wants to switch to ReadOnly this will have to be done through the appropriate command If the operator tries to set the flag false after the system has set it as true then the system should allow it and end communication to the device but will reset the flag and communication correct
218. etInfo hi struct GetCameraParamsRT struct BasicCommandRT packetInfo struct CameraParamsDataT cameraParams hi AddDrivePointCT RT Command to add a point to the Drive Point List to be used by the Intermediate Compensation process See chapter Intermediate Compensation in main chapter 8 for details struct AddDrivePointCT struct BasicCommandCT packetInfo int iInternalReflectorId double dVall double dVal2 double dVal3 hi struct AddDrivePointRT struct BasicCommandRT packetInfo he CallOrientToGravityCT RT Command structures for executing an Orient To Gravity process including reception of results Results are in current angle units Typically the value dOmega and dPhi are set as dRot1 and dRot2 parameters of StationOrientationDataT to be passed with the SetStationOrientationParams command 213 See special chapter Orient to Gravity procedure in chapter 8 struct CallOrientToGravityCT struct BasicCommandCT packetInfo struct CallOrientToGravityRT struct BasicCommandRT packetInfo double dOmega double dPhi Error codes A return status other than ES_RS_AIIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallOrientToGravity command answer status can evaluate to one of the following values Code Description 20010 An unknown error occurred F 20011 Socket i
219. eter to disk PersistException Storage 7250 Creation of directory failed fatal FS or flash failure PersistException Storage 7251 Removing of an empty directory failed fatal PersistException Storage 7252 Opening file failed PersistException Storage AIFM Error Numbers Page 2 7253 Writing to previously opened file failed PersistException Stream 7254 Reading from previously opened file failed PersistException Stream 7255 Creating file failed PersistException Storage 7260 Creation of working data tree copy failed PersistException Storage 7261 Copying working data tree to master tree failed PersistException Storage 7262 Packing of Tree into file for export failed PersistException Storage 7263 Unpacking imported file failed import PersistException Storage 7270 Thread for Commit Rollback and Reset did not PersistException Storage terminate successfully Either copying disk data Commit Rollback or deleting data Reset failed Or reloading parameters after a Rollback failed most likely for load methods that contain hardware init stuff Notice that after a Rollback the load method of every module is being called 7271 Tried to start a 2nd thread before already running PersistException Storage one was terminated Only one thread Commit Rollback Reset is allowed 7272 Synchronisati
220. eters are present Transformation parameters are also ignored if the applyTransformationParams system settings flag is not set Transformation parameters itself are in current units and current CS type but neither according to applied orientation settings nor to applied transformation settings which would mean recursive No range limitations apply Related structure TransformationDataT ES_C _GetTransformationParams Queries the currently applied 7 transformation parameters Related structure TransformationDataT ES_C_SetSphereRegionParams Defines a spherical region If the corresponding mode is active measurements outside the region are suppressed The interpretation of the parameters is subject to units coordinate type and transformation parameters Related structure SphereRegionDataT ES_C_GetSphereRegionParams Queries the currently valid sphere region parameters Related structure SphereRegionDataT ES_C_SetBoxRegionParams Defines a box region If the corresponding mode is active measurements outside the region are suppressed The box is connected to the object system given by the transformation parameters It is defined by its diagonal i e by two points in the object 64 system The coordinates of the points are subject to units and coordinate type They are NOT subject to transformation parameters A box region is described by a coordinate system parallel to the box edges and two opposite verti
221. evant for common users See also command SetStatisticMode The format of measurements statistical information and environmental values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters 186 MultiMeasResultT struct MultiMeasResultT struct ReturnDataT packetInfo long lNumberOfResults 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 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 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 blsTryMode is set if system is in Try Mode This is not relevant for common users The format of measurements statistical information and environme
222. f a measurement This kind of accuracy should be used as input to any further calculation 9 1 2 A posteriori accuracy For single point measurements stationary sphere center circle center also the a posteriori or repeatability covariance is calculated from the actual statistical variation of the many shots It gives an indication on the stability of the measurement environment disregarding systematic effects We recommend not using this accuracy for any other purpose 9 1 3 Transformation of covariance matrices In the spherical tracker coordinate system the a priori covariance matrix of a tracker measurement is diagonal see formulas above Conversion to Cartesian coordinates results in a full matrix Transformation to other coordinate systems using orientation and or transformation parameters Section 9 2 below again transforms the covariance matrix However at any stage the standard deviations i e the square roots of the diagonal entries provide a reasonable estimate on the accuracy of the respective coordinate triple 388 9 2 Orientation and Transformation The orientation takes the instrument coordinate system to the world coordinate system and the transformation takes the world coordinate system to an object coordinate system The two are used either by them selves or together to show coordinates in the required coordinate system See Section 8 1 5 for a survey on the TPI commands used to calculate orientation
223. fRetrys hi Used for parameters for the Set GetAdmParams commands RetryTimeFrame is in milliseconds in the range between 500 and 5000 TargetStabilityTolerance is a distance parameter and is in current length units TargetStabilityTolerance must lie between 0 005 and 0 1 Millimeter Leave this value as low as 175 possible Default is 0 005 The SetAdmParams command should be used with caution Only change these parameters if working in an unstable environment vibrations Lowering the stability tolerance results in loss of precision SystemSettingsDataT struct SystemSettingsDataT enum ES_WeatherMonitorStatus weatherMonitor ES_BOOL bApplyTransformationParams ES_BOOL bApplyStationOrientationParams ES_BOOL bKeepLastPosition ES_BOOL bSendUnsolicitedMessages ES_BOOL bSendReflectorPositionData ES_BOOL bTryMeasurementMode ES_BOOL bHasNivel ES_BOOL bHasVideoCamera Used for parameters of Set Get SystemSettings commands The system settings are a collection of various properties to control certain behavior of the emScon system e WeatherMonitorStatus Indicates the WM status See description on enum ES_WeatherMonitorStatus New behavior with emScon 3 0 With emScon 3 0 there is an automatic recognition of any attached meteo station See chapter Automatic External Device Recognition under Section 2 4 for more details e bApplyTransformationParams If this flag is set to fals
224. ffic jams on the network A real application needs to make provisions to handle such situations with a packet size transmitted in the header of each packet The Winsock function setsockopt may be used to tune TCP IP transmission rate by increasing buffer sizes See Win32 documentation for more information about Winsock API especially the WSA function threads and events See also Sample 9 Receiving Data in the C TPI section Notice the comments in the source code 253 Remarks This sample can easily be ported to non Win32 platforms Unix Linux and Mac Creating a console application requires the use of the WSAEventSelect function with events and threads Excurse Windows Application This chapter points out the options we had if we chosen a Windows application instead of a Console application For Windows applications the WSAAsyncSelect function would be more appropriate It issues Window messages instead of events which are simpler to handle No separate thread is required the window message loop takes this part See Win32 documentation on WSAAsyncSelect Winsock API In Windows applications the Winsock Active X control MSWinsck ocx could be used instead of the Winsock2 API This especially applies to VB VBA applications The Winsock Active X control provides a very high abstraction of socket commuiation and thus is quite easy to use For C applications the use of a M
225. fication or event is sent Catching Events and Messages For asynchronous commands the answers must be handled by some event mechanism This could be Events Windows Messages custom window bound registered WM_COPYDATA For Visual Basic Events are the right choice The event mechanism is provided by the _ILTCommandAsyncEvents interface which is a subsidiary of ILTCommandAsync To activate this mechanism for a Visual Basic application we provided the keyword WithEvents upon the declaration 331 Dim WithEvents ObjAsync As LTCommandAsync When no requirements for catching events exists omit the WithEvents keywords in order to save overhead Not only the asynchronous interface where absolutely crucial has an Event interface Also the synchronous interface has an Event interface _ILTCommandSyncEvents It is required for receiving continuous measurements and other multi answer results such as results to a GetReflectors call as well as for error messages such as beam broken events which cannot be handled synchronous by their nature Events are one of the notification methods of the LT Control When alternatively using Windows messages for asynchronous notifications the keyword WithEvents becomes obsolete Windows messages instead of Events may be more appropriate for VC clients and will be discussed later For VisualBasic Events are always the right choice e The application must decl
226. formation orientation settings Output parameters are 3 Std Dev values ellipsoid axes always related to X Y Z RH cartesian and 3 Rotation angles that describe the orientation of the error ellipsoid struct GetErrorEllipsoidCT struct BasicCommandCT packetInfo double dCoordl double dCoord2 double dCoord3 double dStdDevl double dStdDev2 double dStdDev3 double dCovarl12 double dCovarl13 double dCovar23 struct GetErrorEllipsoidRT struct BasicCommandRT packetInfo double dStdDevx double dStdDevyY double dStdDevZ double dRotationAnglex double dRotationAngleyY double dRotationAnglezZ GetMeasurementCameralnfoCT RT Command structures to read T CAM specific properties and feature data of the active camera 236 The tracker must be equipped with a Measurement camera Note with emScon V2 3 variable names have changed from 1FirmWare to iFirmware This will not have any influence to existing applications at runtime Upon compilation with the new API include files these names need to be adjusted in the code of the application struct GetMeasurementCameraInfoCT struct BasicCommandCT packetInfo hi struct GetMeasurementCameraInfoRT struct BasicCommandRT packetInfo int iFirmwareMajorVersionNumber int iFirmwareMinorVersionNumber long 1SerialNumber ES_MeasurementCameraType cameraType unsigned short cName 32 long 1CompensationIdNum
227. from wizards such as recompiled headers icon res2 includes and cosmetic functions have been stripped off See also the numerous comments in the sample source files and the ReadMe txt files in each sample folder Error Handling The samples do not always implement complete error handling and may need to be run through the debugger in order to find failure reasons Interface Design The user interface design is kept at a minimum level for example unavailable buttons are not grayed out Such items are general issues of 23 Windows programming Hard Coded Information The samples may contain some hard coded information IP address coordinate values that might be adapted to the local environment 24 2 4 Application Initial Steps 2 4 1 Essential Steps A client application must carry out all steps listed below upon startup Omitting some of these steps may prevent the tracker from measuring or lead to inaccurate results Inaccurate results are difficult to detect Setting correct environment parameters temperature pressure humidity or configuring the system for automatic environment parameter reading is crucial Most of the Settings Set commands remain persistent That is they will be the same after a system restart However it is strongly recommended that an application always confirms these settings upon startup This is because another application e g emScon Base User Interface could
228. g 70 KB it is very unlikely that it will arrive as one single data block over TCP IP Provisions must be made to repeat reading data until the data packet is complete A technique to achieve this is shown in the OnMessageReceived code sample See chapter Sample9 and chapter Queued and Scattered Data COM TPI within C C When using the COM TPI within a C C application the results of the LTControl s GetStilllmage synchronous function can be 363 assumed to be complete See related code extract below When receiving Stilllmage data asynchronously Event Handler MessageHandler the difference is that the data will not be provided directly through a parameter So ILTConnect GetData must be used first Note the Variant type parameter of the fileData 364 GetStilllmage Synchronous void CCPPClientDlg OnButtonStillImage HRESULT hr 0 long 1FileSize VARIANT vt VariantInit amp vt try if hr m_pLTCommandSync gt GetStillImage ES_SI_Bitmap amp lFileSize amp vt S_OK ASSERT vt parray gt rgsabound 0 cElements unsigned long 1FileSize FILE pFile NULL write file to current runtime location if pFile fopen image bmp wb NULL long lWritten fwrite vt parray gt pvData 1 lFileSize pFile if lWritten 1FileSize AfxMessageBox _T File could not be written n fclose pFile Display the image usin
229. g MSPaint but first close previous instance HWND hWnd FindWindow _T MSPaintApp NULL if hWnd paint is already running close first SendMessage hWnd WM_SYSCOMMAND SC_CLOSE 0 WinExec mspaint exe image bmp SW_SHOWNOACTIVATE FYE E y 7A LE catch _com_error amp e Beep 4000 100 AfxMessageBox LPCTSTR e Description VariantClear amp vt Avoid memory leak GetStilllmage Asynchronous void __stdcall OnStillImageDataReady ES_StillImageFileType imageFileType long fileSize long bytesTotal ASSERT m_bUseAsync VARIANT vt VariantInit amp vt m_pLTConnect gt GetData amp vt ASSERT vt parray gt rgsabound 0 cElements unsigned long bytesTotal GetStillImageRT pData GetStillImageRT vt parray gt pvData ASSERT pData gt 1lFileSize fileSize Do something with the file for example write out to a disk file like shown in code above VariantClear amp vt Avoid Memory leak COM VB A Neither type casts nor writing binary files are common tasks in VisualBasic In order to achieve 365 the same Stilllmage features from VB A some convenience Functions have been added to the COM TPI StilllmageGetFile and WriteDiskFile This is an extract from an Excel application The image is displayed in an Image dialog control named Imagel1 Private Sub GetStillImage_Click On Error GoTo Erro
230. g may be set to true For example if the beam always remains attached to the same reflector and there is a major time gap between measurements several minutes or hours Note the useADM flag has no effect for 6DoF measurement modes and will be ignored for these modes regardless whether true or false 172 Continuous TimeModeDataT struct ContinuousTimeModeDataT long 1TimeSeparation long l1NumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set GetContinuousTimeModeParams commands A INumberOfPoints value of zero means infinite in this case the measurement must be stopped explicitly with a StopMeasurement command Time separation is in milliseconds and can vary between 1 99999 ms ContinuousDistanceModeDataT struct ContinuousDistanceModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set GetContinuousDistanceModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Rather than based on a time separation criteria a distance criteria is used It is in current length unit Note One single measurement will be preformed upon StartMeasurement Further measurements are not taken until the reflector is being moved A region can be applied to limit the sensitive measurement space See commands SetBo
231. ger External Start Stop Trigger measurements based on internal clock Display swapping between exLotartL and measurement Trigger Status time delay of e g ti ims Start Stop line inactive stop condition z I Measurements taken based on internal clock 6 4 Message Event Triggers Since message event triggers do not take measurements they only send an event message to the client Therefore the trigger status is displayed on the 2 line and not on the operation line in the LCD display IP 192 165 8 1 LTI LTGS4e WS lei Tracking x IF aor Ret Event Message Trigger Event Mode Display in 2 line shows Trigger Status Te T stay for trigger Tracker ready waiting for an trigger event XM Trigger activity event message sent Event Message Trigger Start Stop Mode Display in 2 line shows T and the start stop Trigger Status ee line status 2 Start Stop line inactive stop condition C Start Stop line active Trigger Interface Feb 4 2008 Page 9 Appendix B EMSCON SERVER ERROR NUMBERS This appendix describes error numbers plus some warnings that originate on the emScon server These numbers are returned as status values for failed TPI command calls except zero values and documented warnings which apply to successful calls The listing below is presented in a Quick Reference style For additional information see the chapter ES_ResultStatus in the section of the manual wher
232. h ES_C_StopMeasurement ES_C_GoPositionHVD Laser beam is sent to specified location followed by an implicit Find reflector Input is in current units as horizontal vertical and distance parameters related to the values of the instrument CS and raw measurement values regardless of current CS and CS type Range limitations apply with respect to the tracker elevation limits The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the provided distance is taken as new IFM distance To be used with caution The search time depends on the search radius Large search radii result in extended search times unless limited by the search timeout value selected by SetSearchParams 73 See command SetSearchParams for details A GoPositionHVD command in progress can be interrupted with ES_C_StopMeasurement PositionRelativeHV Position relative the tracker head to the given horizontal and vertical angles The angles are signed values in order to specify the direction Parameters are according to currently set angular units Range limitations apply with respect to the tracker elevation limits ES_C_ PointLaser Similar to ES_C_GoPosition but laser beam is sent to the specified location only A reflector is neither searched nor attached ES_C_ PointLaserHVD Same as ES_C_GoPositionHVD laser beam is sent to the specified location but a reflector is neith
233. h The beam is attached to the reflector in the Bird bath and the Interferometer distance is set to the known Bird bath distance This command is especially important for LT series trackers without ADM For such tracker there is no other way to set the interferometer distance 6D Modes GoBirdBath does not make sense for a Probe This command thus has a different effect while one of the 6D measurement modes is active The laser beam is sent to zero position instead which is on the opposite side of the BirdBath where it can then be catched with the probe ES_C GoPosition Laser beam is sent to a specified location followed by an implicit Find reflector The 72 beam is attached to the reflector if found Input is in current units CS type and according to applied orientation transformation parameters No range limitations apply to these parameters in theory but there is a practical limitation given by tracker working volume The useADM flag should always be set for trackers equipped with an ADM If ADM flag is not set the IFM distance is calculated from the supplied coordinates and is set as the valid one To be used with caution The search time depends on the search radius Large search radii result in extended search times unless limited by the search timeout value selected by SetSearchParams See command SetSearchParams for details A GoPosition command in progress can be interrupted wit
234. h 3D trackers running on an emScon V1 5 server In order to run properly such an application should check the server version upon startup and make provisions to prevent calls not suitable to a particular server version The version info can be queried from the server it is part of the information delivered by the GetSystemStatus command ESVersionNumber Depending on this version the application has to allow prevent commands for execution If the queried server version for example evaluates to 1 5 the application would have to block for example gray out menus all 6DoF related commands See enum ES_Command in file ES_C_Api_def h for availability of commands in what version 22 There are comments such as New commands added for release 2 0 2 3 9 Sample Code The samples tutorials which are part of the SDK and which have to be regarded as integral part of this manual show the principles of TPI programming in terms of ready to compile use applications However most sample applications may not be of real practical use with respect to the specific TPI commands they implement The focus of the samples is set to show principles of tracker control Initial Steps In a practical application in order to get accurate results it is crucial to implement all the steps as listed under Initial steps Minimal Code The number of files and code overhead in the samples has been kept to a minimum Code generated
235. handle incoming data from both sockets within one thread ReceiverThread receiverThread new ReceiverThread apiReceive s ReceiverThread receiverThread2 new ReceiverThread apiReceive2 s2 Create the thread objects Thread thread new Thread new ThreadStart receiverThread Receiver Thread thread2 new Thread new ThreadStart receiverThread2 Receiver Start the threads thread Start thread2 Start Spin for a while waiting for the started thread to become alive really needed ae while thread2 IsAlive Thread Sleep 100 Make some calls Typically initial calls after application start may be issued here Note that these calls are asynchronous we must not make more than one single call per Tracker here There is no waiting until first tracker has changed face the call immediately returns and the call to 2nd tracker is also issued so that both tracker do a change face virtually at the same time apiCommand ChangeFace make a call to 1st tracker apiCommand2 ChangeFace make same call to 2nd tracker Do not make next call here If there is a chain of initialization commends to be executed subsequent call s must be triggered by the answer handler s of ChangeFace However note that apiCommand apiCommand2 objects are local and therefore not accessible from within the event handlers This is just due to sample code
236. has become obsolete However currently the camera type is recognized only when the hHas VideoCamera flag is enabled If your system is equipped with an overview camera it is highly recommended to always having this flag checked default is unchecked Otherwise the system may not detect the correct camera type and use wrong default parameters However wrong parameters do not cause any fatal failures The only effect will be that the Find Reflector feature by clicking to the live video image by mouse pointer will move the tracker inaccurately typically the tracker will move double or half the amount of the clicked distance New behavior with emScon 3 0 With emScon 3 0 there is an automatic 179 recognition of any present overview camera See chapter Automatic External Device Recognition under Section 2 4 for more details SystemUnitsDataT struct SystemUnitsDataT enum ES_LengthUnit lenUnitType enum ES_AngleUnit angUnitType enum ES_TemperatureUnit tempUnitType enum ES_PressureUnit pressUnitType enum ES_HumidityUnit humUnitType hi Used for parameters of Set GetUnits commands See related enums they explain themselves EnvironmentDataT struct EnvironmentDataT double dTemperature double dPressure double dHumidity hi Used for parameters of Set GetEnvironmentParams commands The SetEnvironmentParams command mainly applies when no weather monitor is avail
237. have accessed the tracker server in the meantime and could have changed the settings Note that most of the sample applications are not complete to this respect the intention of the Samples is to show programming principles only See also Leica Tracker Training Manual Important The emScon Compensation Application Web Application sets the system into a special mode called Compensation Mode If this mode is active all commands will return with an error status ES_RS_InCompensationMode In other words The TPI interface is locked while a Compensation Field check is being performed A client application upon startup should therefore verify the system is not in compensation mode This can be done explicitly by using any 25 Get command If the command completes with ES_RS_AIIOK the system is NOT in compensation mode If the status ES_RS_InCompensationMode is returned the application should inform the user and exit Checking the compensation mode can also be done implicitly by evaluating the status of the very first command the application sends after connecting to the server This can be any Set or a Get command 26 2 4 2 Command Sequence for 3D Measurements 3D Measurements are performed to a currently selected Reflector The selected Measurement Mode must apply to one of the 3D modes The tracker does not require a T Cam although there might be one mounted during 3D measurements
238. have changed these in the meantime Some mainly critical settings are intentionally set back to default values upon server reset 2 3 7 Default Settings List of the most common parameters and their default factory settings e Orientation parameters 0 0 0 0 0 0 e Transformation parameters 0 0 0 0 0 0 1 scale factor is 1 e CS Type RHR right handed rectangular e Length Meter e Angle Radian e Temperature Celsius e Pressure Hecto pascal Millibar e Rel Humidity 70 e Temperature 20 0 C e Pressure 1013 25 mbar 760 mmHg 19 e Measurement mode Stationary e Temperature range Medium e Reflector None e Interferometer refr index 1 0002711152 e ADM refraction index 1 0002748652 e Stationary point measurement time 2500 ms e Continuous measurement time 500 ms e Continuous measurement number of points 0 means infinite e Statistic mode Standard e Region and grid mode parameters Arbitrary Other less common settings are described in the command reference section 2 3 8 Application Backward Compatibility New data types packets with evolving server versions This is a very important issue in order to prevent existing application software will break when used in combination with future emScon server software upgrades Future versions of emScon may provide new extended data over the TCP IP connection such as new packet types new commands new status messages and new err
239. he scale must be fixed in 3 2 1 situations Box corner The corner of a box is defined by three mutually perpendicular planes In the subsequent example each plane contains two measured points Only the nominal coordinate defining the plane is exactly known AddNominalPoint 0 1 1 Fixed Approx Approx 0 0 0 AddNominalPoint 0 2 2 Fixed Approx Approx 0 0 0 AddNominalPoint 1l 0 1 Approx Fixed Approx 0 0 0 AddNominalPoint 1l 0 2 Approx Fixed Approx 0 0 0 AddNominalPoint 1l 1 0 Approx Approx Fixed 0 0 0 AddNominalPoint 2 2 0 Approx Approx Fixed 0 0 0 Again this is a minimum configuration provided the scale is fixed Orientation using Nivel measurement Suppose the horizontal angles xAngle and yAngle have been obtained from a Nivel measurement To complete the orientation of the 397 station use a number of reference points together with SetInputParams 0 0 0 xAngle yAngle 0 1 Unknown Unknown Unknown Fixed Fixed Unknown Fixed 9 3 T Probe The coordinate system of the T Probe is defined as in Figure 1 with the z axis pointing roughly towards the camera and the y axis opposite to mount 1 Thus the y coordinate of a tip vector at mount 1 is negative Figure 1 The tip position and probe orientation is returned with respect to the user coordinate system transformation parameters The probe orientation is described
240. he block is passed with the message through Param The GetData method of the LTConnect interface must be called in order to retrieve the data The method SelectNotificationMethod is defined as follows 294 HRESULT SelectNotificationMethod in LTC_NotifyMethod notifyMethod in long targetHandle in long cookie For implementing an event sink in a Windows application using the LTC_NM_WM_CopyData or LTC_NM_WM_Notify is recommended Using the LTC_NM_Event option although possible as Sample 7 shows is more complicated Sample 7 demonstrates all different approaches in commented code sections Although most complicated the LTC_NM_Event method is enabled as the default 5 2 4 Exceptions and Return Types All methods interfaces have HRESULT return types as per COM design Applications are usually not required to test these return codes since method failures are signaled by exceptions These exceptions come with error information mainly a text string describing the reason for failure Exceptions must be caught Unhandled exceptions lead to program aborts Exception Handling in Visual Basic VBA Each VB function calling COM interface methods must provide the following statement before the first call On Error GoTo ErrorHandler At the bottom of the function before the EndSub statement the following minimal code block must be inserted Exit Sub
241. he laser detected Interferometer is not working properly eg at test into the collar reflector did not work LAN Command line switch error No LANtastic hardware detected 918 i i 919 Lost counts signal of the interferometer is not working proper 924 LAN Shared RAM did not pass tests 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 963 964 968 970 9 9 973 974 975 LTC AzEncoderCablenotconnected __ o o o i O 976 LTC El Encoder cable not connected __ Z gt Z o U O 7 9 LTC Cable between A D board and LTC card not connected 978 LTC HW Trigger cable LTC card to Encoder card not connected 979 LTCplus Encoder Latch Cable Motor Amplifier to Encoder Card not connected 980 LTC 5V Power Supply failed LTC 7V Power Supply failed LTC 7V Power Supply failed o y O LTC 12V Power Supply failed 98 98 983 984 985 986 987 988 989 N ho 996 999 LTCplus 12V Supply failed on Tracker Server emScon LTCplus 12V Supply failed on Tracker Server emScon LTCplus Power for FAN s on Front Panel failed Unknown hardware error S U OO Unknown hardware error D T Cam T Probe ERROR NUMBERS 2150 MSGERR ERROR message table inconsistent entry d 2151 MS
242. he 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 The names of the command functions are derived from the members of the enum ES_Command C TPI Just omit the prefix ES_C_ to get the command function related to a command packet Example Given the ES_C_Command ES_C_SetBoxRegionParams the related C command function will be called SetBoxRegionParams The methods for sending commands are asynchronous and can only be used for sending commands 4 3 6 CESAPIReceive A class for receiving command answers Virtual override of Answer Functions In order to use the C TPI for receiving data a class from the CESAPIReceive class must be derived Then override those virtual functions on whose data you are interested in Example If your application implements a GetDirection call a method of the CESAPICommand class see ES_CPP_API_Def h then you must override the virtual function OnGetDirectionAnswer const double dHzAngle const double dVtAngle in your derive
243. here is only a device assigned to TEMP2 then TEMP2 is interpreted as air temperature In this case there is no object Temperature available and the GetObjectTemperature command will fail with a usage conflict error ES_C_GetTriggerBoardInfo Returns feature information about the trigger board This is an advanced diagnostic command Not usually used by common applications See Tracker T Cam hardware manual for details See GetTriggerBoardInfoRT structure See also Tracker Trigger Interface Appendix for a more detailed description of trigger issues ES_C_GetOverviewCameraInfo Returns feature information about the optional overview camera See Tracker T Cam hardware manual for details See also GetOverviewCameralInfoRT structure ES_C ClearCommandQueue With emScon version V2 3 command buffering has been introduced Server Busy errors will therefore no longer 89 apply under normal conditions Instead commands will be appended to a queue when sent while a previous command is still busy The queued command s will be executed as soon as the previous command finishes However this mechanism is disabled by default due to compatibility reasons to existing client applications The buffering level must be explicitly enabled with the ES_SP_TcpCommandQueueSize system setting to be used with SetLongSystemParamter The maximum level is 10 max queue size Example if queue size is set to 5 and a
244. ications Make sure the ES_MCPP_API_Wrapper dll is added as reference to the project and that the reference path points to the correct location Sample 17 expects the DLL being in the applications runtime directory However this may be changed of course Sample 17 in not sophisticated in terms of error exception handling and command synchronization Remember that emScon commands are asynchronous and it is the applications responsibility not to send a new command to the server before the previous one has completed Answer handlers virtual overrides for all types of answers are implemented Also calls for all emScon commands are implemented but all except one are commented in the sample code any other call may be enabled instead Due lack of synchronization the provided sample application will mostly mess up if sending more than one command The most simple way to synchronize the application was providing an old style key press user interface as done in Sample 9 This means the user performs synchronization by not pressing the next key before the answer of the previous command has arrived 348 See also the many comments in the code This sample is preliminary an might be improved in future SDK versions Further details see Readme txt file in Sample 17 folder and code comments in source files 6 1 5 Multi Tracker C Applications Applications based on the native C emScon interface behave much the s
245. icular make sure any instance gets its own instance of a communication socket for example by passing the socket objects through constructor variables to the Sender Receiver classes Note that the Command and Receiver classes used in the provided SDK Samples 7 9 do not consequently follow these principles Especially socket objects are global or shared You must either modify these classes in order to make them multi instantiable or use a copy paste approach and setup different Send Receiver classes for the 2nd tracker The latter means duplicated code and should be avoided unless both trackers have to fulfill completely different tasks that require a different set of commands and event handlers The former using multiple instances of one and the same Sender Receiver class for multiple trackers in addition may require introducing a cookie property to the Receiver class This can be just an integer tracker 1 or 2 which is passed as a parameter to the constructor Upon receiving answers this cookie can then be used to identify whether the answer came from the first or from the 2nd tracker Otherwise there would 276 be no way to identify whether an even handler was triggered from one or the other tracker consider that both trackers may perform the same command at the same time An alternative and from object oriented point of view much better approach than using cookies is to pass a reference of the send
246. id gt semaphore error AdmException Adm00 7178 no adm signal available AdmException Adm00 7179 adm signal too weak AdmException Adm00 7180 distance too large restricted by the system AdmException Adm00 7181 distance too small restricted by the system AdmException Adm00 7190 laser output level persistency value too large AdmException Lasercontrol00 7191 laser target sf value persistency value too large AdmException Lasercontrol00O 7199 undefined AdmException indefinite persistence errors PersistException 7200 Software error usually indicates not implemented PersistException Storage or Stream items 7201 Invalid directory name name longer than 28 char or PersistException Storage contains blanks or an invalid character lt gt 7202 Invalid file name name longer than 28 char or PersistException Storage contains blanks or an invalid character lt gt 7203 Invalid property flags for persist parameter specified PersistException Storage 7204 Invalid storage fatal FS or flash failure PersistException Storage 7205 Invalid stream fatal FS or flash failure PersistException Storage 7206 Index access violation PersistException Storage 7207 Internal to external type mapping failure PersistException Storage 7208 Dynamic memory allocation failure fatal PersistException Storage 7209 Could not query parameter description PersistException Storage 7210 Tried to write a hardcoded param
247. igned for use with VB A For C applications more efficient ways to extract continuous measurements exist VBA applications depending on data processing may not have enough performance when using continuous high data rates Always run compiled 312 versions In special cases the incoming results need to be buffered Use of values instead of symbols in Visual Basic avoids the problem of typing incorrect enum symbols which cause errors difficult to detect A complete tlh file is automatically generated when importing LTControl tlb into a VC project 5 2 15 Scripting Language Support Pure scripting languages VBS Visual Basic Script JavaScript etc are currently not supported by the LTControl COM component This would require Dispatch interfaces rather than custom interfaces Combinations of Dispatch and custom interfaces dual interfaces have the same disadvantage as Dispatch lack of performance 5 2 16 Exception Handling for Non Microsoft Clients The emScon LTControl COM interface also supports Windows application development with some Non Microsoft Tools such as Borland Delphi For such applications it may be necessary to set the property LTConnect ExceptionHandlingPolicy to 1 Before connecting to emScon server Otherwise exceptions may not be raised in the client application Do not set this property for Microsoft clients VB CH C Excel that is leave its default value 0
248. igned short cADMName 32 long 1SerialNumber int iFirmwareMajorVersionNumber int iFirmwareMinorVersionNumber double dMaxDistance double dMinDistance int iMaxDataRate double dAccuracyADMDistance he GetTrackerInfoCT RT Command structures to read tracker properties feature data of the currently connected tracker Includes information about the tracker type available optional hardware ADM OverviewCamera Nivel measuring range for distances and angles measuring rate firmware versions etc 242 struct GetTrackerInfoCT struct BasicCommandCT packetInfo hi struct GetTrackerInfoRT struct BasicCommandRT packetInfo enum ES_LTSensorType trackerType unsigned short cTrackerName 32 long 1SerialNumber long 1CompensationIdNumber ES_BOOL bHasADM ES_BOOL bHasOverviewCamera ES_BOOL bHasNivel double dNivelMountOffset double dMaxDistance double dMinDistance int iMaxDataRate int iNumberOfFaces double dHzAngleRange double dVtAngleRange enum ES_TrkAccuracyModel accuracyModel int iMajLCPFirmwareVersion int iMinLCPFirmwareVersion di GetNivelinfo2CT RT Command structures to read Inclination Sensor Leica Nivel specific properties and feature data The tracker must have a Nivel sensor connected and enabled Note that a new Nivel type 230 is now available In the past there was only Nivel20 This command also supports newer Nivel types 2005 and also returns
249. ill 1 ServerBusy pending Retry later Command not implemented server 2 Notlmplemented version not up to date Any of the provided parameters is 3 WrongParameter invalid 4 WrongParameter1 First parameter is invalid error 5 WrongParameter2 2nd parameter is invalid error 6 WrongParameter3 7 WrongParameter4 8 WrongParameter5 9 WrongParameter6 10 WrongParameter7 Warning First parameter is out of recommended range but still accepted 11 Parameter1 OutOfRangeOK command succeeded Error First parameter is out of range 12 Parameter1OutOfRangeNOK not accepted command failed Warning 2nd parameter is out of recommended range but still accepted 13 Parameter2OutOfRangeOK command succeeded Error 2nd parameter is out of range 14 Parameter2OutOfRangeNOK not accepted 15 Parameter3OutOfRangeOK ah 16 Parameter30utOfRangeNOK 17 Parameter4OutOfRangeOK 18 Parameter4OutOfRangeNOK 19 Parameters5OutOfRangeOK 20 Parameters5OutOfRangeNOK 21 Parameter6OutOfRangeOK 22 Parameter6OutOfRangeNOK Current Reflector type is not suitable in 23 WrongCurrentReflector current context Applies to Circle Center measurement modes only Failed to calculate the center usually bad or not enough 24 NoCircleCenterFound measurements Applies to Sphere Center measurement modes only Failed to calculate the center usually bad or not enough
250. imum configuration the solution would be ambiguous without this additional information Actual points Actual points are added in the following form AddActualPoint 12 487 5 79687 5 49683 0 0001 0 0001 0 0001 0 0 0 0 0 0 The number and order of actual points must agree with that of the corresponding set of nominal points Typically actual points are obtained from single point measurements We recommend using the a priori accuracy Section 9 1 1 in particular when using fixed nominal values Using fixed nominals together with the a posteriori accuracy provided by tracker measurements would lead to over weighting of residuals in laser direction The reason is that tracker measurements are much more accurate in the laser direction than perpendicular to it Parameter constraints If any of the seven orientation or transformation parameters are known prior to the calculation their value can be fixed Frequently the scale is fixed to be 1 0 and the other parameters are free as in the following example SetInputParams 0 0 0 0 0 0 0 0 0 0 0 0 1 0 ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_UnknownStdDev ES_FixedStdDev The values of unknown parameters can be set arbitrarily Parameter constraints are not used to reduce the required number of known nominal coordinates They are not taken into account for the initial approximation To fix some o
251. ing SetTransformationParams See Section 9 2 for mathematical description 8 1 6 Automated Intermediate Compensation The Intermediate Compensation is a simple and fast procedure to perform a fully automated intermediate compensation where the tracker is in a fixed installation Tracker Geometry Out of a total of 15 parameters which affect the trueness of the tracker geometry the most significant changes are affected by these three parameters See emScon manuals for more information e Transit axis tilt i e Mirror tilt c e Vertical index error j 378 Intermediate Compensation refreshes these three parameters by taking a small number of Two face measurements If the result is accepted it updates only these three parameters and takes over the rest of the overall 15 parameters from the last Full Compensation It is a simpler and faster procedure than a Full Compensation Intermediate vs Full Compensation Intermediate Compensations do not replace Full Compensations Regular intermediate compensations extend the interval at which full compensations need to be carried out Setup A recommended setup is shown below with a network of fixed targets Based on a given drive library the laser tracker measures the target points automatically and calculates the Intermediate Compensation results approx 2m approx 2m t st oe High Two face measurements in the vertical plane The automated Intermedi
252. ing on the TCP IP communication this notification could be a Windows Message an Event or a Callback Function This type of communication is called asynchronous 3 5 6 Asynchronous Communication 9 From the programmer s point of view asynchronous communication is much more difficult to handle than synchronous communication The programmer must ensure not to send a new command until the answer of the previous one has returned 3 5 7 DataArrived Notification 10 All TCP IP communication libraries toolkits contain either a DataArrived notification or a similar function which is called 247 by the framework each time data has arrived Depending on the toolkit e The function may directly return a Variant type parameter that contains the data e The function may deliver the data within a byte array e The function returns the size of the data packet that is ready to be read In this case the DataArrived function subsequently calls a ReadData function immediately in order to get the data into a local byte array 3 5 8 Data arrival Traffic Jams 11 If a traffic jam occurs on the incoming TCP IP line i e if incoming data is being queued a ReadData call will read all the currently available data with no notification for each individual packet supposed buffer is big enough Many packets may be queued and only one DataArrived notification might be issued This means that the byteArr buffer will contain
253. ing the items of one list box automatically creates a Set for the newly selected item e On changing units CS type etc some dependent information may vanish from the related edit fields to ensure consistency This is due to the paradigm What you see is selected Do a Get to recover it which can also be done by the application 336 e On setting new values the Set command is automatically followed by a Get two beep sounds The Get is not required only for testing and demonstration purpose e Reflectors are read upon client startup Can be heard by characteristic beeps They must be selected in the reflectors list box The GetReflectors button is only required in emergency cases If the client starts before the Tracker Server is ready and the client dialog shows up but is not able to read the reflectors yet e The application is based on LTC_NM_Event notification selection By changing the parameter of SelectNotificationMethod in CCPPClientDlg OnInitDialog all variants are prepared a different notification method can be activated However there is only an incomplete implementation of ProcessData for these alternate methods reflector processing for example is not yet complete e Only the LTC_NM_Event notification method is fully implemented in this sample However data transfer also works with message methods One or the other methods can be activated by enabling the commented source co
254. input nominal point list Values are expected in current units current CS type Transformation parameters are not taken into account ES_C_AddTransformationActualPoint Adds a point to the transformation input actual point list Values are expected in current units current CS type and according current transformation settings in contrast to AddTransformationNominalPoint ES_C_SetTransformationInputParams Sets the input params for the transformation Values are expected in current units and current CS type No transformation applies For all transformation related commands see 76 Section 9 2 for details Input Standard deviations should take one of the constant values defined in the chapter Constants for Transformation TPI Reference In particular they one of the following values should be assigned 0 0 If parameter to be fixed 1 0E 35 If parameter unknown or 1 0E 15 If parameter approximately known Rather use the predefined constant symbols than hardcoded numerical values ES_C_GetTransformationInputParams Gets the currently active transformation input parameters ES_C_ CallTransformation Triggers the transformation parameter calculation process The 7 transformation parameters including statistical information are returned as a result Values are delivered in current units and current CS type the same as with TransformationInputParams For all transformation related commands se
255. is sample shows integration of emScon COM TPI to a VB NET application The focus of this sample is on how accessing COM methods from VB NET The application just demonstrates some system settings This sample is preliminary an might be improved in future SDK versions Note In order to build run this sample the NET framework and VisualStudio V7 VisualStudio NET is required Further details see Readme txt file in Sample 15 folder and code comments in source files 5 3 6 Sample 18 LiveVideo display application This sample is based on the LTVideo2 0cx ActiveX COM control Attention emScon 3 0 servers require Version 3 0 LT Video2 ocx This version of the control is backward compatible to older emScon servers See Chapter 8 Special Functions Live Image display for details 5 3 7 Sample 20 Concerning its functionality this sample is similar to Sample 5 i e an LTControl based client However it is based on Borland Delphi 7 instead of Visual Basic 343 If no Delphi 7 programming environment is available you may download a trial version from Borlands homepage For details refer to the Readme txt file in the Sample20 folder and to heavily commented code 344 6 C Interface 6 1 Client Programming with C 6 1 1 Introduction The samples 14 and 15 see chapter 4 COM Interface show how to embed the LTControl COM object into C applications However there is also a C class int
256. ision which one to use may depend on several facts the platform the programming language the type of the application Console Application Windows Application with GUI Server Application running in background etc Operating system provided low level socket API e g Winsock 2 0 API of Windows This approach requires some advanced programming knowledge Class libraries for example MFC provide a higher level abstraction of the Winsock functions Easier to use ActiveX Controls COM libraries For example MSWINSCK OCX Suitable especially for VB VBA applications Third party TCP IP communication library or component Self developed TCP IP library based on low level Win32 API 12 2 3 Tracker Programming Interface EmScon provides a TCP IP interface Communicating with the emScon server hence means sending and receiving byte array data blocks over an asynchronous network connection This technique has no specific relation to emScon it s how any TCP IP communication works including Internet browsing EmScon specific issues are brought into by just publishing the structure of the sent received data packets The emScon TPI low level interface is therefore a collection of Data Types namely Enumeration Types and Data Structures That s all These data types fully describe the structure of the data blocks traveling over the TCP IP network They are required to construct blocks to be sent to th
257. issue 278 4 4 C Language TPI Samples 4 4 1 Sample 4 This sample is designed as a 6 Step by Step tutorial It is a Windows application with a graphical dialog user interface and makes use of the MFC framework Step1 Step 1 offers a simple dialog based MFC application It has added some dialog controls with message handlers and required dialog member variables already defined However all message handlers are empty except Beep The framework has been created using the AppWizard and ClassWizard and then a bit cleaned up manually in order to keep the code as slim as possible Eliminated icons rc2 and pre compiled headers In a real application these things could be left of course Note that the Step 1 application does not yet depend on emScon at all Step2 Step 2 adds TCP IP communication to the application There are several ways to do this use an appropriate Socket Class that s what we do in this application we use CSocket of MFC which will be replaced in Step 6 by our own socket class CESSocket use the Winsock2 C library as for example used in the Sample9 of the emScon SDK use the Winsck ocx ActiveX control use any other third party socket library We need to provide the following functions connect to server 279 disconnect from server write data to previously opened server connection In addition we need a notification mechanism to get informed that data ha
258. ition in the file ES_ CPP API Def h file Rather than redundantly listing all of these member functions in this chapter a general rule is presented on how to derive the function names from the related C TPI structures The text in brackets shows the rule applied to a sample e Look up the command of interest in the enum ES_Command C TPI Reference ES_C_GetContinuousTimeModeParams e Replace the prefix ES_C_ by On and pad the name with Answer in addition This will be the name of the virtual C answer function OnGetContinuousTimeModeParamsAnswer e For finding the passed parameters ignore the On prefix and replace the Answer Postfix by RT GetContinuousTimeModeParamsRT e Look up this RT structure in the C TPI reference for a description of all the parameters General Data Arrival virtual Functions virtual void OnCommandAnswer const BasicCommandRT amp cmd virtual void OnErrorAnswer const ErrorResponseT error virtual void OnSystemStatusChange const SystemStatusChangeT status e OnCommandAnswer is called for every command in addition to the command related answer function This function can be convenient especially for non parameter taking commands e OnErrorAnswer is called upon an error condition The status parameter indicates the kind of error and if known the 259 command parameter indicates the command that caused the error Note that not
259. itions 1 to 4 This command is mainly used for the Orient to Gravity command It is rarely used by applications unless an own orient to Gravity procedure is implemented The tracker head moves at a slow speed to minimize affecting the Nivel sensor LookForTargetCT RT Structures for invoking the LookForTarget command The input parameters are in the selected CS type units The output parameters are always angles related to the tracker coordinate system in the current angle unit settings This command is mainly used for LT series of trackers without ADM For LTD AT trackers rather use GoPosition instead struct LookForTargetCT struct BasicCommandCT packetInfo double dVall double dVal2 double dVal3 double dSearchRadius struct LookForTargetRT struct BasicCommandRT packetInfo double dHzAngle double vtAngle hi The search time depends on the search radius Large search radii result in extended search times A typical value is 0 05 m The default value 211 is 0 04 m GetDirectionCT RT Structures for invoking the GetDirection command The output parameters are always angles related to the tracker coordinate system in the current angle unit settings This command is mainly useful for LT series of trackers in combination with LookForTarget struct GetDirectionCT struct BasicCommandCT packetInfo he struct GetDirectionRT struct BasicCommandRT
260. iving data while main thread user interface is blocked Multithreading is not required because of multiple trackers Indeed multithreading is required even for a single tracker in case of a Console application Two or even multiple trackers can be set up in the same sender and receiver thread respectively That is regardless how many trackers we have we always need only two threads the main thread and a receiver thread Nevertheless in this particular case it may probably make sense to use separate receiver threads for every CESApiReceive instance i e one receiver thread for each tracker On the other hand one single thread the main thread is sufficient to deal with several CESApiCommand instances See also chapter Multi Tracker C Applications in section 6 Further see chapter Multi tracker applications in the COM section In contrast to applications using the emScon C interface multi threading will be compulsory for the COM interface if one wants to take advantage of synchronous calls Remember If we use a Windows application instead of a Console Application in combination with the emScon C interface we do not need any multi threading at all not even when dealing with multiple trackers Instead we use the Windows messaging mechanism which runs under control of the main thread for data receiving issues no receiver threads are required However the cookie approach discussed above remains an
261. ize objects The application uses the synchronous interface queuing several commands Events cannot easily be implemented with a console application The conclusion is that the LTControl emScon COM interface is not really of practical use for a console application Console applications should rather be based on the C C interface See Sample 9 of the emScon SDK for a minimal C console application demonstrating CESCommandApi as well the CESAPIReceive class include lt stdio h gt include lt atlbase h gt extern CComModule _Module 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 ILTConnectPtr g_pLTConnect ILTCommandSyncPtr g_pLTCommandSync try g_pLTConnect CreateInstance __uuidof LTConnect g_pLTConnect gt ConnectEmbeddedSystem 127 8 34 61 700 g_pLTCommandSync g_pLTConnect gt GetILTCommandSync g_pLTCommandSync gt SetCoordinateSystemType ES_CS_LHRZ 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 Note the statement import LTControl dll no_namespace named_guids inject_statement pragma pack 4 This statement must and not
262. ize synchronous interface variable this syncl LTCommandSync connl ILTCommandSync Note Despite of using the synchronous interface we get certain information through events although events are asynchronous by design without this we would not get event notifications connl SelectNotificationMethod LTC_NotifyMethod LTC_NM_Event 0 0 So we need to subscribe for every event we are interested in Here we just subscribe for one event type status change events this syncl StatusChangeEvent new _ILTCommandSyncEvents_StatusChangeEventEventHandler this StausChangeEventHandler start other thread for 2nd tracker OtherThread otherThread new OtherThread Create the thread object passing in the ReceiverThread Receiver method via a ThreadStart delegate This does not yet start the thread ie Thread thread new Thread new ThreadStart otherThread WorkerFunc IMPORTANT if missing we get QueryInterface failed thread ApartmentState ApartmentState STA Start the thread thread Start Put the Main thread to sleep for 100 millisecond to allow secondary thread to become alive maybe not really needed cat Thread Sleep 100 Connect to emScon server of tracker 1 main thread connl ConnectEmbeddedSystem 127 0 0 1 700 Run commands in main thread eternal change face does not really make sense but we want to show parallel 325
263. kie property to the receiver class so that we will be able to recognize which tracker an answer comes from The cookie approach was already described in section 4 Working with multiple trackers Alternatively we may directly pass the references of the Sender objects to the related Receiver objects This however does not always make the cookies obsolete The code fragments below show Sample 17 extended with the cookie approach and witha 2nd set of Sender Receiver instances for a 2nd tracker Note that Sample 17 remains somehow academic since it calls only one command for both trackers upon startup waits for the answers and then immediately exits However it shows the techniques and basics in order to understand on how to design a mature multi tracker application The only extension we make to class CESCSMyAP IReceive Add an integer property cookie and let it be initialized through a constructor parameter class CESCSMyAPIReceive CESCSAPIReceive constructor gets an additional parameter public CESCSMyAPIReceive Socket s int cookie sock s _cookie cookie leave all the rest except evaluating cookie in event handlers private int _cookie to identify where answer comes from We can then just duplicate all variable instances and calls for a 2nd tracker This all happens in Sample 17 in the Main function 350 static void Main string args
264. l error n Beep 250 10 data lost else return bOK true when message handled OnMessageReceived This code ensures that only complete packets are processed However the client may still not be fast enough to process all the incoming data The TCP IP framework will buffer data up to a limit If such limits are reached arbitrary data may arrive The above function has limited recovery ability in case this should happen Data may get lost in such situations 270 Cause of Data Loss e The network is not fast enough e The client PC is not powerful enough e The application is not able to process data fast enough e The application is not designed appropriately The client application can still buffer incoming data for example in a FIFO list taking the data packets as list elements This approach can be chosen if the performance constraint is caused by intensive data processing The Winsock2 API offers certain tuning functions These allow for example to alter internal network buffers Increasing the receive buffer with setsockopt for example may increase data throughput significantly define SOCKET_READ_BUFFER_SIZE 256 1024 256 KB buffer int nBufSize SOCKET_READ_BUFFER_SIZE int nVarSize sizeof nBufSize we know it s 4 byte but ausing sizeof is better style nRet setsockopt m_sock SOL_SOCKET SO_RCVBUF char amp nBufSize nVarSize ASSERT
265. layCoordinateConversionType conversionType double dVall double dVal2 double dVal3 hi struct ConvertDisplayCoordinatesRT struct BasicCommandRT packetInfo double dVall double dVal2 double dVal3 Set GetTriggerSourceCT RT Command structures to Set Get Trigger Source See enum ES_TriggerSource for details struct SetTriggerSourceCT struct BasicCommandCT packetInfo enum ES_TriggerSource triggerSource hi struct SetTriggerSourceRT struct BasicCommandRT packetInfo he struct GetTriggerSourceCT struct BasicCommandCT packetInfo i struct GetTriggerSourceRT struct BasicCommandRT packetInfo enum ES_TriggerSource triggerSource hi GetFaceCT RT Command structures to query current Tracker Face whether in Face I or Face II position 226 struct GetFaceCT struct BasicCommandCT packetInfo hi struct GetFaceRT struct BasicCommandRT packetInfo enum ES_TrackerFace trackerFace di GetCamerasCT RT Command structure to get Measurement Camera properties The GetCameras command retrieves all measurement cameras T Cams defined The answer consists of as many answer packets as cameras are defined in the server database These resolve the relation between camera name string and camera ID numerical Each packet in addition a redundancy contains the total number of cameras i e the total number of packets to be expected only for progr
266. ld threads one for each of the two trackers This model easily extends to any number of trackers Summary For making synchronous calls to two trackers in parallel from within a C application two instances of LTControl need to run in their own threads It is important to call ColInitialize for both threads Both threads need their own independent instances of data 318 receiving event sinks Multi threading can be avoided it is neither required for issuing commands to two or more trackers in parallel when using the asynchronous interface nor for issuing commands sequentially by using the synchronous interface Remember Despite to its name the synchronous interface of the LTControl also comprises some asynchronous aspects This applies to Continuous Measurements List type data e g Reflectors Compensations and unsolicited events As if using the asynchronous interface it s up to the application to synchronize these calls Hence make sure that no command is being issued unless the answer of any pending asynchronous behaving command has arrived Using mixed synchronous and asynchronous communication in combination with multithreading for multiple tracker support may result into quite complex code Using COM control for Multi tracker support in Visual Basic VBA Although principally possible we do not recommend creating multi threaded Visual Basic V5 or V6 or VBA applications In order to get ac
267. le Field upgrade at Leica or get a new dongle ES_RS_UsageConflict Meaning Some system modes disable other commands because they do not make sense in this context For example if the system is equipped with a weather station and is set up to automatically monitor the temperature pressure and humidity the system will prevent a manual setting of these values The command SetEnvironmentParams will issue an error ES_RS_UsageConflict The command GetEnvironmentParams will 101 work and deliver the actual values measured by the monitor If the weather station mode is set to read and recalculate Refraction then the same applies to the command SetRefractionParams It will issue a ES_RS_UsageConflict since setting the refraction index manually would conflict the automatic mechanism and would be overwritten upon the next weather station read cycle 20 seconds Note The application should not call SetEnvironmentParams and or SetRefractionParams if these values are automatically updated by the weather station as per system settings ES_RS_ Unknown Meaning An unknown error occurred Should never occur as a response to a command ES_RS NoDistanceSet Meaning The interferometer has no valid reference distance Measuring is not possible in this condition Note Trackers with ADM may attach toa stable reflector anywhere Use GoPosition or if close to a reflector FindReflector If Keep last position is enabled
268. le there In this sample the application directly connects to the Video Port 5001 of the emScon server The command interface is based on Ansi text tokens The following commands are supported LiveImage Start LiveImageStop FrameRateStepUp FrameRateStepDown RequestCameraParameters These tokens can be sent directly to an open socket connection to port 5001 Arrival Data includes the following types Live Image Data Blocks Bitmap format Note that each image arrives in two chunks and must be composed to a complete image before displaying it Camera Parameter Block Result of a RequestCameraParameters call See source code function OnReceive on how to parse incoming data See source code function OnPaint on how to display image data 373 The source code is commented in detail and should be self explaining However as already mentioned using the LiveVideo TCP IP interface directly as shown in this sample only is recommended for non Windows client platforms Rather base clients on LTVideo2 ocx for Windows platform targeted application Further details see Readme txt file in Sample19 folder and code comments in source files Attention New Live Image Format with emScon 3 0 Up to emScon 2 4 bitmap format frames were used for the live video stream With emScon 3 0 this has changed to JPEG format Sample 19 thus has undergone an extension since emScon 2 4 SDK was released it supp
269. led together with Sphere region type ESVersionNumberT struct ESVersionNumberT int iMajorVersionNumber int iMinorVersionNumber akh iBuildNumber Used for one of the parameters of the GetSystemStatus command Contains version info of the currently installed tracker server software 182 TransformationInputDataT struct TransformationInputDataT enum ES_TransResultType resultType double dTransVall double dTransVal2 double dTransVal3 double dRotVall double dRotVal2 double dRotVal3 double dScale double dTransStdVall double dTransStdVal2 double dTransStdVal3 double dRotStdVvall double dRotStdVal2 double dRot StdVal3 double dScaleStd Used for parameters of the Set GetTransformationInputParams command Used in order to specify Fixing Weighting transformation result values Values are in current units and apart from Radius in current CS type No transformation applies For details see Section 9 2 For the StdDev parameters use values as specified in chapter Constants TransformationPointT struct TransformationPointT double dVvall double dVal2 double dVal3 double dStdl double dstd2 double dstd3 double dCov12 double dCov13 double dCov23 hi It is used as a sub structure for the AddNominal AddActualTransformationPoint commands Values are in current units and CS type and according to applied transformation
270. linux__ pragma pack 4 elif error Insert here directive to ensure 4 Byte alignment for other platforms Unix MAC endif 3 1 4 Little Big Endians Non Intel based workstations for example M68000 based workstations like SUN Apple or 44 IBM RS6000 series use different endians for double values The client application the TCP IP communication interface respectively requires appropriate measures to interpret numerical values correctly The Tracker Server is Intel based All values are provided in the little endian format 3 1 5 Preprocessor Statements The following statements show a common practice to avoid multiple inclusion of the same include file while compiling a CPP module In case of nested inclusion of the ES_C_API_Def h file these statements will prevent warnings for multiple definitions of data types ifndef ES_C_API_DEF_H define ES_C_API_DEF_H fendif 3 1 6 TPI Boolean Data Type No native Boolean data type is available in C C uses the integer basic type for Boolean values For convenience a platform independent ES_BOOL type has been introduced for the ES_API typedef int ES_BOOL Neither BOOL which is 2 Bytes and Microsoft specific nor bool which is 1 Byte and specific to newer C revisions has been used By using a 4 Byte Boolean int pure C compliance and maximal portability is assured This relates only to the C interface ES_C_API_Def h The C i
271. lize ObjAsync pointer with the related property of the ObjConnect Use error handlers as shown since interface methods may throw exceptions 8 Call Tracker functions Private Sub Initialize Click On Error GoTo ErrorHandler ObjAsync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub Invoke only one command at a time when using the asynchronous interface No other command should be sent until a pending one has completed This behavior makes up the asynchronous approach With the synchronous interface calls can be queued within one function although some answer types Errors Status change events continuous measurements reflectors remain always asynchronous by nature regardless whether using the synchronous or asynchronous interface 9 Declare event handlers VB provides automatic code generation for event handler bodies Note an underscore character _ preceded by a blank character means a line break advice to the VB interpreter This is only supported by newer VB versions Alternatively you can omit the 290 underscore and write the entire statement onto one line Private Sub ObjAsync_ErrorEvent _ ByVal command As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus For example indicates a beam broken event If not status ES_RS_Unknown Then MsgBox command amp CStr amp status Else MsgBox unknown Error Endif E
272. lthough no range limitation for the approx distance applies in theory there is a practical limitation given by tracker working space 100 mm lt approxDist lt 50000 mm Note the minimum value is 101 mm not 100 mm See also SearchParamsDataT Set GetCoordinateSystemTypeCT RT Command structures for setting getting the current coordinate system type The current CS type acts like current units and transformation orientation parameters as a input output Filter to all coordinate type related parameters 195 struct SetCoordinateSystemTypeCT struct BasicCommandCT packetInfo enum ES_CoordinateSystemType coordSystType hi struct SetCoordinateSystemTypeRT struct BasicCommandRT packetInfo struct GetCoordinateSystemTypeCT struct BasicCommandCT packetInfo struct GetCoordinateSystemTypeRT struct BasicCommandRT packetInfo enum ES_CoordinateSystemType coordSysType hi See enum ES_CoordinateSystemType for details Set GetMeasurementModeCT RT Command structures for setting getting the current measurement mode struct SetMeasurementModeCT struct BasicCommandCT packetInfo enum ES_MeasMode measMode i struct SetMeasurementModeRT struct BasicCommandRT packetInfo struct GetMeasurementModeCT struct BasicCommandCT packetInfo hi struct GetMeasurementModeRT struct BasicCommandRT packetInfo enum ES_MeasMode measMode hi See enum E
273. ly on the next initialization If the system sets the flag to false but the operator application tries to force it to true then the system should check to see if a Meteo Station is attached before it allows the flag to be set and ReadAndCalculateRefractions to start as requested Note that this automatic device recognition feature is not supported by external emScon servers these still follow the old behavior 42 3 C interface 3 1 Low level TPI Programming 3 1 1 Preconditions Using the C interface requires some particular C programming knowledge A programmer should at least know about asynchronous programming concepts TCP IP socket programming and multi threading The description of the enums and structs in this chapter sometimes may be slightly discrepant to the contents of the ES_C_API_Def h file In such cases the information in the ES_C_API_Def h file should be regarded as correct This chapter completely and exclusively relates to the file ES_C_API_Def h which is part of the EmScon SDK All Enumeration types and Structures are described in this header file This header file acts as an integral part to this manual and it might be helpful to have it open in parallel to this document since the information is much more condensed there 3 1 2 Recommendation Although the C interface makes up the native programming interface to emScon it is not usually recommended to write applicati
274. mbeddedSystem E except MessageBox Show except Message j private void StausChangeEventHandler LTCONTROLLib ES_SystemStatusChange changeEvent handler for status change events just display to console System Console WriteLine StatusChangeEvent OtherThread 0 changeEvent class OtherThread 5 3 COM TPI Samples 5 3 1 Sample 5 326 This chapter is related to the Sample5 folder of the emScon SDK Samples Sample 5 LtcVBClient comes as an LTControl based Visual Basic emScon Client Note LTControl dll must be correctly registered before proceeding See chapter LTControl dll Installation for details If LTControl is correctly registered LtcVBClient vbp can directly be opened with Visual Basic Studio It should be ready to compile and run In order to create a Sample 5 type application from scratch follow the steps Launch Visual Basic 6 0 choose New Project gt Standard exe Click OK Save the default Form as LtcVBClient frm and the project as LtcVBClient vbp or use any name of your choice Choose menu Project gt References Inthe Available References list look for the entry LTControl 2 x Type Library and check the box in front of Ensure that the file path at the bottom of the dialog matches the control s registration location Otherwise browse for the correct location Finally click OK Accessing COM Interfaces Other tha
275. mbeddedSystem 10 62 35 53 700 _LTConnect2 SelectNotificationMethod _ LTCONTROLLib LTC_NotifyMethod LTC_NM_Event 0 0 _ObjSync2 _LTConnect2 ILTCommandSync While treadRunning Parse and execute command input from GUI Ob jSync2 GoBirdBath just a sample End While Exit Sub ErrorHandler MsgBox Exception in thread worker function _ Err Description End Sub Private Sub _ObjSyncl_StatusChangeEvent _ ByVal statusChange As LTCONTROLLib ES_SystemStatusChange Handles _ObjSyncl StatusChangeEvent MsgBox StatusChangeEvent1 324 End Sub Private Sub _ObjSync2_StatusChangeEvent _ ByVal statusChange As LTCONTROLLib ES_SystemStatusChange Handles _ObjSync2 StatusChangeEvent MsgBox StatusChangeEvent2 End Sub End Class Li CF ILIAN using System Threading using System Runtime InteropServices LTConnect connl LTCommandSync syncl private void Forml_Load object sender System EventArgs e In a real application it would probably not make sense to do all this in the FormLoad method In particular connecting would probably happen thru connect handlers in order to specify address es first Also invoking commands not to tall of an endless loop in FormLoad is an academic approach Instantiation and subscribing for event handlers however makes sense in FormLoad as also does starting the secondary thread try connl new LTConnect Initial
276. me conflicts with other third party libraries Refer to Sample 4 in the emScon SDK for namespace techniques Refer also to C documentation 4 3 4 Data Structure Wrapper Classes About 80 of the ES_CPP_API_Def h file size is used for definition of wrapper classes for data structures which are required for internal purposes These classes are seldom used directly Each one of these classes contains only one single member variable a struct variable from C TPI and one or more constructors Class wrappers are only available for command structures CT not for return structures RT since the technique for receiving data implements a completely different approach through virtual functions Example class CGoPosition class CGoPosition public inline CGoPosition double dVall double dVal2 double dVal3 bool bUseADM DataPacket packetInfo packetHeader 1PacketSize sizeof GoPositioncT 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 de GoPositionCT DataPacket hi The struct member variable is declared at the bottom and is of type GoPositionCT definition of C TPI To initialize the member variable a so 262 called constructor taking the command parameters as input is provided Certain wrapper classes implement
277. meters in a spherical coordinate system type irrespective of the selected CS Values are in current units struct PointLaserHVDCT struct BasicCommandCT packetInfo double dHzAngle double dvtAngle double dDistance struct PointLaserHVDRT struct BasicCommandRT packetInfo i MoveHVCT RT Structures for invoking the MoveHV command The input parameters are vertical horizontal speed values between 1 and 100 of the maximum speed of the tracker Use 0 value s to stop a previously started movement MoveHV can be called repeatedly with varying speed values in order to change moving speed No stop is required in between In contrast to the PositionRelative command MoveHV does not mean a one time movement The MoveHV command rather means Start movement struct MoveHVCT struct BasicCommandCT packetInfo int iHzSpeed int iVt Speed i struct MoveHVRT struct BasicCommandRT packetInfo hi The speed parameters are prefixed with clockwise is and anti clockwise is to specify 210 the direction of movement GoNivelPositionCT RT struct GoNivelPositioncT struct BasicCommandCT packetInfo enum ES_NivelPosition nivelPosition hi struct GoNivelPositionRT struct BasicCommandRT packetInfo hi Structures for invoking the GoNivelPosition command in the orient to gravity procedure The input parameters are the pre defined Nivel pos
278. ministrator so that all users may use them without any additional measures Limitations As mentioned the controls LTControl dll and LTVideo2 ocx do no longer require administrator privileges for registering From SDK V 2 4 x However developing applications as restricted users may cause certain problems when using older development tools Which is a limitation of these tools not a limitation of emScon components For example Visual Basic V6 and maybe also Office V6 built in VBA is likely to cause problems when referencing COM objects VB 6 for example tries to write temporary files to the location of registered components which often fails for restricted users Hence we have to recommend being administrator while developing emScon applications This does not apply to the users of those applications i e once finished developing they will also run for restricted users On the other hand most recent development environments such as VB NET 2003 and up and Office XP should not cause any problems for restricted users even not for development tasks Moreover we considered major problems on using Windows XP SP1 in combination with restricted users and registration issues We highly recommend using Win XP SP2 or Win 2K ANSI Unicode Version Use the Unicode version for WinNT 2000 XP 368 See Version info of LTVideo2 ocx for details under File Properties gt Version TAB Note emScon SDK version 2 4 and higher
279. mmand description Example The system is currently set to Meters for length units but the user enters 5000 5000 mm instead of 5 ES_RS_WrongParameter1 ES_RS_WrongParameter2 ES_RS_WrongParameter3 ES_RS_WrongParameter4 ES_RS_WrongParameter5 ES_RS_WrongParameter6 ES_RS_WrongParameter7 ES_RS_WrongParameter8 ES_RS_WrongParameter9 ES_RS_WrongParameter10 ES_RS_WrongParameter11 ES_RS_WrongParameter12 ES_RS_WrongParameter13 ES_RS_WrongParameter14 ES_RS_WrongParameter15 ES_RS_WrongParameter16 Meaning Applies to commands with more than one parameter The symbol specifies which one of the parameters is wrong ES_RS_ParameterlOutOfRangeOK ES_RS_ParameterlOutOfRangeNOK 96 ES_RS_Parameter2OutOfRangeOK ES_RS_Parameter2OutOfRangeNOK ES_RS_Parameter3OutOfRangeOK ES_RS_Parameter30utOfRangeNOK ES_RS_Parameter4OutOfRangeOK ES_RS_Parameter4OutOfRangeNOK ES_RS_Parameter5OutOfRangeOK ES_RS_Parameter5OutOfRangeNOK ES_RS_Parameter6OutOfRangeOK ES_RS_Parameter6OutOfRangeNOK Meaning OutOfRangeOK warning The value of the specified parameter was out of the recommended range but within the valid range and accepted The command was executed OutOfRangeNOK error The value of the specified parameter was not within the valid range and was not accepted The command was not executed These errors warnings typically apply to atmospheric values such as temperature and pressure The system can still perform the requested action
280. mplement Event handlers appropriate Windows Message handlers must be implemented instead Using both interfaces in the same LTConnect instance although possible usually makes no sense and partly leads to duplicate answers Use of both interfaces within one and the same application is therefore not recommended 5 2 11 Visual Basic Boolean variable evaluation Do not test explicitly against the VB keyword True when using Get lt FunctionName gt Ex methods of the LTControl for those commands returning Boolean data within their result structure This is because the Boolean member in these structures if true is one 1 However the VB keyword True evaluates to 1 Always test the variable as a logical expression or against Not False 305 Example Ob jSync GetContinuousDistanceModeParamsEx dataout If dataout bUseRegion Then tested as logical expression MsgBox bUseRegion is True End If or If Not dataout bUseRegion False Then MsgBox bUseRegion is True End If are both correct However the following would evaluate to a wrong result If dataout bUseRegion True Then MsgBox bUseRegion is True No message even flag true End If 5 2 12 Reading Data Blocks with Visual Basic Arrival data reading with C as shown in Handling Data Arrival Continuous Measurements can also be ported to VB Events for VB are used here with unique events for almost every type of arrival d
281. n Active station Fig 3 390 9 2 3 Nominal and actual coordinates The role of nominal actual and world coordinates in the orientation and transformation calculation are summarized in Table 1 Nominat reference Orientation CAD coordinates Measured Nominal w r t CAD by active station Orientation Measured by 1 Measured Nominal w r t 1 station station by active station Transformation Object coordinates Measured Actual by active station Table 1 9 2 4 Orientation parameters Orientation and transformation are both seven parameter transformations consisting of three translation three rotation and one scale parameter They describe a mapping of a given set of actual points onto a given set of reference points The mapping is calculated such as to minimize the deviation between the transformed points and the corresponding reference points in a least squares sense Typically the scale is close to one e g when describing a temperature dependent dilation In the orientation case the map assumes the form T x t Rx s with t 3D translation vector R 3x3 rotation matrix s scale The corresponding residuals are residual T actual nominal The map T can be interpreted as a coordinate system with its origin at t and the axes given by the columns of R In terms of the rotation angles 391 xAngle yAngle zAngle the rotation matrix assumes the form cZ cy SZ CY sy
282. n application is trying to buffer more than 5 commands then a Server Busy is being issued The default level is zero command buffering disabled ES C _GetADMInfo2 Returns Absolute Distance Meter feature information Type Version Serial Number measuring range if available i e if a LTD AT series tracker This is an extended version of the former command GetADMInfo GetADMInfo is only kept for compatibility reasons to existing applications New applications should use GetADMInfo2 instead ES_C_GetTrackerInfo Returns Tracker feature information Version and Serial Number tracker type measuring ranges configuration etc This is anew command introduced with emScon V2 3 ES_C _GetNivelInfo2 Returns Nivel Inclination sensor feature information if a Nivel is available Type Version Serial Number measuring 90 ranges This is an extended version of the former command GetNivellInfo GetNivellInfo is only kept for compatibility reasons to existing applications New applications should use GetNivellInfo2 instead ES_C_RestoreStartupConditions Resets the system to a state as if there was a reboot of the tracker server The effect is virtually the same as for the ES_C_ExitApplication command except the server does not stop and thus the connection does not get lost All non persistent settings such as trigger source show all 6DoF measurements etc are reset to defaults
283. n ActiveX OCX controls LTControl dll which is an ATL type COM object can also be used for non window based applications For example it will also support pure C clients console applications It is neither necessary nor possible to place an LTControl control object to the VB application 327 Form as ActiveX controls require Interface Variable Declaration To access LTControl s interfaces an object variable of type LTConnect is needed in the General declaration part of the code behind the application form Note the essential keyword New Dim ObjConnect As New LTConnect Just after that declare an object for each one of the shown types Note the keyword WithEvents In a real application only one either a synchronous or an asynchronous interface should be declared Declaring both as done here for demonstration purposes could result in some duplicate data arrivals and other confusion Dim WithEvents ObjAsync As LTCommandAsync Dim WithEvents ObjSync As LTCommandSync Connecting Disconnecting to Server and Initialization Tasks A variable of LTConnect object is always required whereas in a real application only one of the LTCommandSync or LTCommandAsync objects is required Depending on the selected notification mechanism LTCommandAsync or LTCommandSync is to be declared with without event support WithEvents keyword The LTCommandSync and LTCommandAsync variables act like
284. n Resonator00 7137 calibration position amplitude polynom fit failed AdmException Resonator00 7138 flap position timeout AdmException Resonator00 7139 max flap pos too large AdmException Resonator00 7140 max flap pos too small AdmException Resonator00 7141 flap consistency suspicious AdmException Resonator00 7160 error on param initializing pllFrequency AdmException Adm00 7161 error on param initializing sweepFlap AdmException Adm00 7162 error on param initializing ddsFrequency AdmException Adm00 7163 error on param initializing sweepStart AdmException Adm00 AIFM Error Numbers Page 1 7164 error on param initializing sweepEnd AdmException Adm00 7165 flap calibration table initialize error AdmException Adm00 7166 invalid argument AdmException Adm00 7167 distance invalid AdmException Adm00 7168 max loop count exceeded in wobble minimum AdmException Adm00 search 7169 only one minima found distance too small AdmException Adm00 7170 no minima found distance too small AdmException Adm00 7171 flap calibration table read item error AdmException Adm00 7172 fine low frequency out of range AdmException Adm00 7173 fine high frequency out of range AdmException Adm0o 7175 sf overflow error AdmException Adm00 7176 sf level too small AdmException Adm00 7177 read sweep values are not val
285. n alias for the reflector ID and cannot be resolved by the system e The system can internally only deal with reflector IDs which are integer numbers e The commands take return a reflector ID as a parameter 358 It is crucial to provide the correct reflector ID to SetReflector Passing the ID of an unintended but existing reflector will cause wrong measurement results Programmers often fill all reflector names in a list box When the user selects one of the reflectors shown in the list box a SetReflector command is carried out Hence the need for a lookup table List index It is not correct to use the index of the list box as a reflector ID This is because the reflector IDs are arbitrary in sequence and may contain gaps The programmer must not assume that the reflector IDs are a sequence of 1 n without any gaps Although most systems may deliver reflectors with sequential reflector IDs starting from 0 with no gaps This may not be presumed Every system behaves differently GetReflectors may deliver for example 3 reflectors with the following Names and IDs Name ID CCR 75mm CCR 1 5in 2 TBR 0 5in 5 Lookup Table The list box indices will range from 0 to 2 when the three names are entered in a control list box in the order shown above A lookup table is therefore required to match the index values to the reflector IDs Such a lookup table is shown below Index ID 0 7 3
286. n functions Access to it is provided through the Microsoft Internet Explorer The BUI includes e A Toolbar for common sensor control such as sensor moving or triggering measurements e A window for result display DRO e Web pages providing access to selected sensor and system settings 7 1 3 Integration of BUI into applications The BUI can be used as standalone application for testing reasons However there is no real practical use for the BUI as a standalone application The BUI however allows to be integrated to client applications This approach is demonstrated in Sample 13 The BUI provides a graphical interface to emScon However general system settings such as Units CS type etc are not provided by the BUI An application hosting the BUI will have to do emScon settings control through the ordinary TPI interface Also retrieving measurement data has to be provided through the TPI Unless one wants just to VIEW the data through the DRO The BUI can be launched from within an application see Sample 13 if not already running However it is also possible to start the BUI manually and execute a data catcher application without BUI launch after that Such an application then is capable to process data triggered by the BUI as far as appropriate handlers are provided 355 7 1 4 Sample 13 This sample is a BUI launcher and listener to launch the emScon BUI from within a client application
287. nRet SOCKET_ERROR See documentation on setsockopt for further details 4 3 8 Partial Settings Changes Consider the command SetUnits This command takes all selectable unit types Length Angular Temperature Pressure Humidity as parameters However often one wants to change only one of these and leave the others untouched The best method to do so is invoking a GetUnits first then change only the one parameter of interest and finally do a SetUnits Here is a C sample although the same approach also applies to C and COM interface 271 GetUnits trigger a GetUnitsCommand The current units are delivered in such that the following virtual function will be called void OnGetUnitsAnswer unitsSettings SystemUnitsDataT newUnits unitsSettings change angle unit and leave all the rest untouched newUnits angUnitType ES_AU_ Degree vestore changed parameters assumed g_cmdObj is a pointer to your ApiCommand obj g_cmdObj gt SetUnits newUnits Note since the parameter of the OnGetUnitsAnswer is designed as const it is necessary to use a local struct newUnits It is not possible to directly change unitsSettings Another favorite for this technique is the command SetSystemSettings Often it is required to change only one of the different flags of the SetSystemSettings parameters However this technique can be used fo
288. nction directly e Queue your commands in a list Take the first command from the list and send it to the tracker server At the same time set an Event or another synchronization object such as Mutex or Semaphore that prevents taking the next command from the list As soon as the answer of the pending command arrives reset the Event which will cause to process the next command from the list In contrast to the first approach where each On Answer handler calls a different subsequent command this second approach is more general in such that every answer handler does the same ResetEvent Needless to say that this approach means a multi threaded application e Queue your commands in a list Use an application defined Windows message handler that removes and processes the first command of the list and sends it to the 274 tracker server To start the command chain do an explicit first call of this message handler In every On Answer handler a PostMessage call will cause to trigger the message handler in order to process the next command Important to use PostMessage not SendMessage The advantage of this approach is that no multi threaded application is required since the Windows message loop takes care of synchronization On the other hand this approach only works for windows applications and not for console applications or windowless server applications Hint you may use an invisible
289. nd SetStationOrientationParams Rotation angles rotl and rot2 See Section 9 2 for mathematical description 8 1 5 Transformation Procedure See Section 9 2 for a detailed discussion of the Transformation issue This procedure matches a measured set of points to a given set of nominal points by using a least squares best fit method The procedure calculates the 7 parameters x y z omega phi kappa scale which describe the transformation filter to be applied to the measured points in order to represent these in the coordinate system defined by the nominal points 375 Related Commands e ClearTransformationNominalPointList e ClearTransformationActualPointList e AddTransformationNominalPoint e AddTransformationActualPoint e SetTransformationInputParams e GetTransformationInputParams e CallTransformation e GetTransformedPoints Comments The command CallTransformation delivers a set of parameters that can then be applied as a measurement conversion filter to the emScon server by using the command SetTransformationParams In other words CallTransformation is just a mathematical routine for providing these values there is no effect to the measurements delivered by the emScon per se Only after applying these values to the system in a second step through using SetTransformationParams they start acting as a filter Note that you also may get the input values for SetTransformationParams from a different so
290. nd Sub 10 Retrieve data during continuous measurement events Events for continuous measurements and Stilllmage results do not provide the data directly The data must be retrieved explicitly by using ILTConnect GetData In C mask a data block with struct type casts For VB and VBA ILTConnect provides some helper functions as shown below 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 Continuous DataGet Header Info ContinuousPointGetAt may affect the performance They have been primarily designed for use with VBA For C applications there exist more efficient ways to extract continuous measurements masking data with structs 291 5 2 2 C Applications A complete C Console Application based on the COM TPI is shown below It shows the import of the LTControl interface and how to declare and initial
291. nds The syntax of each command whether taking parameters or not is defined by its lt CommandName gt CT structure These structures need to be initialized properly Refer to C Programming instructions section 3 2 2 Command Answers Every command causes an asynchronous answer At least this is an acknowledgment for non data returning commands The command type one of the members of the enum ES_Command 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 The command type thus can be seen as cookie to match the received data properly with the issued command 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 as listed below Non data Returning Command Answers This command answer type essentially consists of a command type cookie with the return status succeeded or failed In case of failure the return status its numerical representation or enum status value may indicate the reason Non data returning commands all share the same basic return type structure Find Reflector is an
292. ng This event is fired if the server software terminates gracefully while the connection is still established Upon a server crash this event cannot be expected ES_SSC_ServerStarted This event is fired if the server is has re started supposed the connection was still established ES StatisticMode Specifies the current statistical mode This enumeration type is used as a parameter for the ES_C_SetStatisticMode command enum ES_StatisticMode ES_SM_Standard ES_SM_Extended hi 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 144 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 The only difference is that these 2 versions contain extended statistical information Applications passing measurements to the CallTransformation command should use the 2 variants since the transformation routine requires these extended statistics To maintain compatibility with earlier versions Single MultiMeasResultT have not been extended with additional parameters Ne
293. ng 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 103 ES_RS_MeteoDataOutOfRange Meaning The current environmental parameters Temperature Pressure Humidity are out of range Note Use SetEnvironmtalParams command to set these parameters correctly If a weather station is attached check for proper functioning A Meteo station Leica AT station or Thommen 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 than that For the Thommen station connecting the combined Temperature Pressure device is optional However if missing the other small Temperature device must be present applies to Thommen only the AT station contains an integrated air temperature sensor If no humidity device is available a default value of 70 is assumed Thommen only AT station contains an integrated humidity sensor Note Other than for temperature and pressure the influence of the humidity to the refraction index is marginal See also ES_RS_NoTemperatureFromWM ES_RS NoPressureFromWM and ES_RS_NoHumidityFromWM ES_RS_InCompensationMode Meaning The server is set to Compensation Mode This is the case when the Compensation Application is active During this state all TPI commands are lo
294. ngle MultMeasResultT standard and Single MultMeasResult2T enhanced ES_C_GetStatisticMode Gets the current statistic mode ES_C_GetStilllmage Requests a still image in case the tracker is equipped with an Overview Camera For all Still Image related commands see main chapters 8 sub chapter Still Image ES_C SetCameraParams Sets the current contrast and brightness parameters of the Overview Camera Valid values are between 1 255 Saturation is currently ignored and should be zero 80 ES_C_GetCameraParams Get current Overview Camera parameters ES_C_CheckBirdBath Carries out Bird bath check routine Returns Initial and current differences of BirdBath Angles and Distances Values are expected in current units ES_C_GetTrackerDiagnostics Returns Tracker diagnostic information This is an advanced diagnostic command Not usually used by common applications See Tracker hardware manual for details ES_C_GetADMInfo ES_C_GetADMInfo2 Returns Absolute Distance Meter feature information Version and Serial Number if available i e If a LTD AT series tracker See also extended command ES_C_GetADMInfo2 introduced with emScon V2 3 New applications should always use ES_C_GetADMInfo2 The former one is only kept for compatibility reasons ES_C GetTPInfo Returns Tracker Processor feature information See Tracker TP hardware manual for details ES_C_GetNivelInfo ES_C _GetNivelInfo2 Returns Nivel
295. ngs command e ES SP ShowAll6DMeasurements Parameter value 0 Only show data if 6D rotation status is OK default 1 Show always e ES_SP_LaserPointerCaptureBeam Allows to control the behavior of the PointLaser command if the beam is being sent very close to a reflector In this situation it is not always desired that the laser beam locks on to the reflector Parameter value 0 Beam catch OFF 1 Beam catch ON default 155 ES_SP_DisplayReflectorPosition Parameter value 0 Disable Reflector Position Tracking default 1 Enable Tracking This setting also can be controlled through the SetSystemSettings command ES_SP_ProbeConfig_Button Configures the behavior of the probe buttons Parameter values see enum ES_ProbeConfigButton ES_SP_ProbeConfig_ButtonEvent Enables disables events throwing on using the probe buttons Parameter values see enum ES_ProbeButtonEvent ES_SP_ProbeConfig_Tip Configure whether 6Dof measurements are allowed without a mounted Tip or not Parameter values enum ES_ProbeConfigTip ES_SP_ProbeConfig_SoundVolume Parameter values volume as long 0 No sound 0 7 sound volume selected 0 off 1 soft 7 loud ES_SP_ProbeConfig_PowerOffTime Time until probe automatically shuts off if idle Parameter values time in minutes valid range 2 255 ES_SP_QuickReleaseStatus Indicates open close status of Quick Release Parameter values see enum ES_QuickReleaseStatu
296. nitialization 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 20024 Process terminated from outside Errors marked with F are unanticipated fatalities 214 CallintermediateCompensationCT RT Command structures for executing an Intermediate Compensation sequence including reception of quality result parameters TotalRMS and maxDev are angular values and are in current angle units For details see special chapter Intermediate Compensation procedure in chapter 8 struct CallIntermediateCompensationCT struct BasicCommandCT packetInfo struct CallIntermediateCompensationRT struct BasicCommandRT packetInfo double dTotalRMS double dMaxDev long lWarningFlags hi Error codes A return status other than ES_RS_AIlIOK 0 means that the command could not be completed In addition to the values defined in ES_ResultStatus the CallIntermediateCompensation command answer status can evalu
297. nsationComment 128 unsigned short cShankCompensationName 32 GetTipToProbeCompensationCT RT Command structures to get the ID of active Tip to Probe compensation There is no related Set command since detection is automatic The GetTipToProbeCompensation command delivers the compensation ID as only parameter struct GetTipToProbeCompensationCT struct BasicCommandCT packetInfo struct GetTipToProbeCompensationRT struct BasicCommandRT packetInfo int iInternalTipToProbeCompensationId he Get SetExternTriggerParamsCT RT Command structures for setting getting the external trigger parameters See ExternTriggerParams1 structure for parameter description 235 struct SetExternTriggerParamsCT struct BasicCommandCT packetInfo struct ExternTriggerParamsT triggerParams struct SetExternTriggerParamsRT struct BasicCommandRT packetInfo struct GetExternTriggerParamsCT struct BasicCommandCT packetInfo he struct GetExternTriggerParamsRT struct BasicCommandRT packetInfo struct ExternTriggerParamsT triggerParams GetErrorEllipsoidCT RT Command structures to calculate an error ellipsoid from a given point and its error statistic This is a convenience command for user interface purposes Input parameters are 3 coordinate values their standard deviations plus the covariance matrix Input is in current units current CS and with applied trans
298. nt ES_C_ StartNivelMeasurement Triggers a Leica Nivel inclination sensor measurement if sensor is available Note result are in native Nivel units milli radiant Celsius regardless of the currently set angular and temperature units This is an exception to the common convention Reason It does not make sense to provide very small angles parts of milli radiants in Degrees or Gons ES_C_StopMeasurement Stopping a continuous measurement is the main purpose of this command However this command can also be used to interrupt other long taking but deterministic actions This is a new feature introduced with V2 0 and is not available on earlier 71 emScon versions Commands that can be interrupted include Stationary Measurements if a long measurement time is applied those Positioning Commands including a spiral reflector search GoPosition FindReflector and finally the OrientToGravity and Automated Intermediate Compensation processes Note the Tracker Initialize command cannot be interrupted Interruption of long taking commands is also not possible when using the emScon COM LTControl synchronous interface If an issue use the asynchronous COM interface For details see chapter Proper Interface Selection ES_C_ChangeFace Changes the tracker face before the laser beam is attached to the same position ES_C _GoBirdBath 3D Modes Laser beam is sent to the Bird bat
299. ntal values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters 187 MultiMeasResult2T struct MultiMeasResult2T struct ReturnDataT packetInfo long lNumberOfResults enum ES_MeasMode measMode ES_BOOL bIsTryMode double dTemperature double dPressure double dHumidity struct MeasValue2T data 1 The same as MultiMeasResultT see above but received in case the statistical mode is set to extended See also command SetStatisticMode ProbeStationaryResultT struct ProbeStationaryResultT struct ReturnDataT enum ES_MeasMode ES_BOOL enum ES_TriggerStatus long long int enum ES_MeasurementTipStatus long long double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double double hi packetInfo measMode bIsTryMode triggerStatus 1RotationStatus iInternalProbeld iFieldNumber tipStatus iInternalTipAdapterlId iTipAdapterInterface dPositionl dPosition2 dPosition3 dStdDevPositionl dStdDevPosition2 dStdDevPosition3 dStdDevPositionTotal dCovarPositionl2 dCovarPositionl13 dCovarPo
300. nterface as well as custom programs may use any compatible Boolean type Boolean type variables used in ES C API structs must be 4 bytes 45 3 1 7 Enumeration Type Members Numerical representation Enumeration type members in C are internally represented by integer values Numbers can be assigned explicitly to particular enum values this is the case for all enumeration types defined for emScon This approach has some advantages for application debugging However applications should never use the numerical values directly Always use the according symbol names 3 1 8 Basic C Data Type size of TPI Structures This is relevant for programming languages other than C C However some non standard C C compilers may provide different sizes of basic data types For TPI clients it is necessary to use the following standard sizes Data type Size Enum values 4 Bytes int 32 or long Long 4 Bytes Int 4 Bytes Short 2 Bytes for Unicode strings exclusively Double 8 Bytes ES_BOOL 4 Bytes int 32 or long 3 2 Communication Basics 3 2 1 Sending Commands The Tracker Server can be controlled only through commands sent over TCP IP Commands differ in the count of parameters they take e GoBirdBath is an example for a non parameter taking command e PointLaser x y z takes 3 parameters The majority of commands taking parameters are used for so called property setting 46 Set lt CommandName gt comma
301. nue with tracker operations e ES_ORS Open Quick release is open Must first close in order to continue with tracker operations ES MeasurementStatusInfo The values of this enum can be used to identify mask each individual bit of the long parameter delivered by the command ES_C_GetMeasurementStatusInfo Hence the power of 2 of every value The meaning of the values should be self explaining according to their symbol names See description of command 161 ES_C_GetMeasurementStatusInfo for further information enum ES_MeasurementStatusInfo SI_Unknown 0 SI_TrackerFound 1 SI_TrackerCompensationFound 2 SI_ADMFound 4 SI_ADMCompensationFound 8 SI_MeasurementCameraFound SI_InternalCameraParamsOK SI_CameraToTrackerParamsFoun SI_MeasurementProbeFound 128 SI_ProbeParamsFound 256 SI_MeasurementTipFound 512 SI_TipParamsFound 1024 SI_ReflectorFound 2048 SI_InFacel 4096 SI_ShankParamsFound 8192 16 32 d 64 E e i 3 a i le fa e ANNNNNNNNNANNNNN ES _ClearCommandQueueType This type is used as input parameter for the ClearCommandQueue command See struct ClearCommandQueueCT Clearing command buffers is only an issue when the ES_SP_TcpCommandQueueSize system parameter is set gt 0 and usually only if a fatal error has happened upon which we want to stop the command execution immediately This is an advanced programming feature enum ES_ClearCommandQue
302. o a certain degree and asynchronous communication support Due to COM overhead the performance may be affected There are wide varieties of notification methods for arrival data when using asynchronous communication Since TCP IP communication is built in there are no tuning possibilities Supports various programming languages Easy to use due to support of IntelliSense for Microsoft Visual and Office programming tools The component needs to be registered on the client PC Interfaces and Notification Methods See chapter COM Interface for more information on the interfaces provided 5 2 7 Type Library In order to get detailed information about the Interfaces including data types properties 302 methods and events exposed by a COM object a COM viewer may be used Visual Studio offers such a viewer The OLE COM Object Viewer can be launched from the Tools menu of VC File gt View Type Lib gt LTControl dll or LTControl tlb 5 2 8 COM TPI Reference The type library of a COM object can be seen as Interface Reference Listing all the methods redundantly in this manual would not make sense The type library enables a development environment to provide IntelliSense support That is the development environment supports the programmer in selecting methods and parameters in an active manner The method names of the COM TPI partly differ from those of the C
303. o a constant value of 2 0 mrad In other words only the sign is reliable under this condition e ES_NS_OutOfRangeNOK No measurement could be taken out of range This error applies when at least one measurement value exceeds 2 0 millirad These tolerance thresholds 1 5 1 1 2 0 millirad are invariable characteristics of the Nivel hardware Please refer to the Nivel 20 Instruction Manual Page 7 129 ES _ NivelPosition Positions during orient to gravity procedure This enumeration type is used as a parameter for ES_C_GoNivelPosition command enum ES_NivelPosition ES_NP_Pos1 ES_NP_Pos2 ES_NP_Pos3 ES_NP_Pos4 e ES NP_ Posl Tracker head at Nivel position 1 90 degrees e ES NP Pos2 Tracker head at Nivel position 2 180 degrees e ES NP Pos3 Tracker head at Nivel position 3 270 degrees e ES NP Pos4 Tracker head at Nivel position 4 360 degrees ES WeatherMonitorStatus Specifies status of the weather monitor This enumeration type is used as a parameter for ES_C_SetSystemSettings and ES_C_GetSystemStatus commands The Tracker server maintains one single set of current environmental parameters temperature pressure and humidity The command ES_C_GetEnvironmentParams queries current parameters Parameters are set with explicit implicit methods enum ES_WeatherMonitorStatus ES_WMS_NotConnected ES_WMS_ReadOnly ES_WMS_ReadAndCalculateRefractions hi
304. o many unknown nominals 24023 TRAFO_ERR_MULTIPLESOLUTIONS Multiple solution C TRACKER ERROR NUMBERS The error numbers that are sent with answers are all a three digit number The first digit indicates the category of the error condition that is reported These are Hardware error in the TP repair by service personnel additional range to 9XX C 1 System Errors 430 ADMnotavalable O gt SSS 31 ADM not available 1 132 eee o oooO E EN aa Command not implemented C 2 Communication Errors Overflow of input buffer 202 Communications timeout the string is not completed within time 203 Frame error the format of the received string is not correct 222 Communications between TP and Nivel20 has failed _ O TCAM communication timeout Probe Tip bus 253 ProbeTipbusy gt o yY O LAN communication too slow TP runs out of recourses buffers LAN name conflict more than one station with equal names online i LCP Additional Compensation Tool communication timeout Additional Compensation Tool bus C 3 Parameter Errors the parameter depends on the command Several parameters are invalid Invalid value for parameter xx where xx is the number of the parameter The number of C 4 Laser Control Processor HW Errors i number do not match E e e a a FE a ee COM_FRAME_ERROR former 203 ne Mee ee eC C 5 On Board 4 096V reference Voltage failed
305. obably mean defective meteo hardware ES_RS_NoTemperatureFromWM Meaning No temperature value could be queried from the Weather monitor None of the two Temperature devices is probably connected to the Thommen Weather Station This is a fatal error since the Temperature is required for the calculation of the refraction index At least one of the Temperature devices must be attached to the Thommen Weather monitor If both are connected the temperature of the combined Temperature Humidity device has priority 110 The Leica AT meteo station contains a TEMP1 sensor as an integral part It should always succeed to deliver an air temperature value NoTemperatureFromWM for an AT station would probably mean defective hardware ES_RS NoPressureFromWM Meaning No pressure value could be queried from the Weather monitor Since the pressure device is an integral non removable part of both Thommen and AT meteo station this error probably indicates defective hardware This is a fatal error since the Pressure is required for the calculation of the refraction index ES_RS_ 6DMeasurementFace2NotAllowed Meaning The system is in Face II while trying to do a 6D measurement The system does not allow performing 6D measurements while in Face II Change to Face I first ES_RS_NoTriggerBoard Meaning A trigger board specific command was executed although the system is not equipped with a trigger board See Tracker Trigger Inte
306. ognition This is an improved new feature that comes with emScon version 3 0 except for systems running on external emScon servers This subject applies to so called external devices Meteo Station Overview Camera Inclination Sensor Nivel In former versions it was necessary to explicitly enable these devices by setting related flags nasVideoCamera hasNivel weatherMonitorStatus on using the SetSystemSettings or SetLongSystemParameter command See chapter about struct SystemSettingsDataT for details In order to keep backward compatibility these commands flags still exist and will behave in a way that should not cause any problems to existing applications although their behavior has slightly changed Here is a description of the new automatic device recognition behavior 40 General Behavior When the system is initialized any device that is currently plugged in will be recognized and set accordingly If the operator forgot to plug something in prior to initializing he can simply connect it and re initialize the system to find the device OVC Recognition During initialization the system will check to see if an Overview Camera OVC is attached If yes then the flag will be set to true and communication should start to the device If the operator application tries to set the flag false after the system has set it as true then the system should allow it and end communication to the device but will r
307. ome bugs that make development of Tracker Server clients virtually impossible as soon as events are involved This bug leads to a completely corrupted file upon file saving after an event has arrived For this reason Excel samples delivered with the TPI SDK are in Excel 2000 format They may run with Excel 97 but may be destroyed as soon as any changes are saved Always maintain a safe read only copy The following remarks only apply to Office 97 programming Office 2000 VBA behaves as ordinary VB User defined Types the Differences between Visual Basic and VBA97 e Both allow defining user defined structs locally However those structs exported by the LTControl such as PacketHeaderT SingleMeasResultT are only recognized from within Visual Basic VBA claims an error Automation type not supported if declaring for example a variable like Dim val As SingleMeasResultT works with VB but not VBA97 e Enums are not supported by VBA97 The compiler does not know the keyword Enum User defined enums cannot be defined locally although this works with ordinary Visual Basic It is also not possible to use enum type variables that are exported by the 308 LTControl Declaration as follows are not possible in VBA97 Dim cmd as ES_Command works with VB but not VBA97 e When implementing an EventHandler that has enum type parameters in Visual Basic will read as follows only function header sh
308. omething between 16 and 64K static char szRecvBuf RECV_BUFFER_SIZE 1028 16 bool bOK true long lReady 0 int nCounter long 1Missing long 1BytesRead 0 long 1PacketSize 0 long 1BytesReadTotal 0 int nSizeOfPacketSize sizeof long 4 Bytes PacketHeaderT pHeader NULL r r IOO TRACE _T CMsgSink OnMessageReceived lu lu n wParam lParam if WSAGETSELECTEVENT lParam FD_READ Just peek packet size do not remove data from queue lReady recv SOCKET wParam szRecvBuf nSizeOfPacketSize MSG_PEEK if lReady SOCKET_ERROR if WSAGetLastError WSAEWOULDBLOCK Sleep 1 busy try later else Beep 1000 100 not able to peek packet size else if if lReady lt nSizeOfPacketSize return true non fatal only a peek try next time pHeader PacketHeaderT szRecvBuf only 1PacketSize is valid so far do not reference pHeader gt type l1PacketSize pHeader gt lPacketSize bOK bOK amp amp lReady nSizeOfPacketSize amp amp 1PacketSize gt nSizeOfPacketSize amp amp 1PacketSize lt RECV_BUFFER_SIZE if bOK do nCountert t if 1BytesRead gt 0 l1BytesReadTotal 1BytesRead lMissing 1PacketSize 1BytesReadTotal lBytesRead recv SOCKET wParam szRecvBuf 1BytesReadTotal 1Missing 0 if 1BytesRead SOCKET_ERROR if WSAGetLastError WSAEWOULDBLOCK Sl
309. ommand answers These are ES_DT_ReflectorPosResult ES_DT_ProbePosResult type packets and are received whenever the tracker is locked onto a reflector 3 measurements per second supposed the SendReflectorPositionData system setting flag is enabled This mechanism can be used in applications providing graphical representation of reflector probe motion even while no continuous measurement is in ongoing Note that the accuracy of the positions provided are limited The receipt of these measurements can be switched on off It is switched off by default 3 2 3 Error Events Most error type data packets ES_DT_Error are not direct reactions to commands They are unsolicited and can occur at any time These confirm the highly asynchronous behavior of emScon communication A typical example is the Laser beam broken event Commands contain the error status in their answer structure in case of failure ES_DT_Errors type answer packets are only used for so called unsolicited errors which can occur at any time regardless of a command 3 2 4 System Status Change Events Although already present in version 1 2 only two events there has been an inflation of such events since then The appropriate packet type is ES_DT_SystemStatusChange The handling is the same as with error events with the only difference that there is only one parameter IMPORTANT See chapter Version Backward Compatibility for convention abou
310. on flag is compulsory for 6D Measurement Modes Otherwise the Probe will not be recognized If beam catched at zero position e bSendUnsolicited Messages If this flag is set to true the system sends all error messages as they occur This flag should always be true Otherwise neither error events nor system status change events will be issued These events should be suppressed only in real special situations e bSendReflectorPositionData If this flag is set to true and a reflector Probe is locked on by the tracker the system sends the current reflector position max 3 measurements per second These are issued 177 even when no continuous measurement is in progress They can be used to view the Reflector probe movement on applications with graphic representation of reflector movement Do not regard the position values as accurate measurements They are of limited accuracy See structs ReflectorPosResultT and ProbePosResultT for details bTryMeasurementMode If this flag is set to true the system delivers all results in the try mode This is a Leica internal feature and therefore undocumented It can be ignored by application programmers The effect is just that if set to true the value is echoed with each measurement bHasNivel A hardware Configuration issue This flag tells the system that a Leica Nivel inclination sensor is attached Measurements with the sensor are now possible Behavi
311. on by using semaphore between PersistException Storage main and secondary thread failed 7299 undefined PersistException indefinite ifm errors lfmException 7300 gain value too large IfmException Interferometer 7301 wrong temperature sensor id IfmException Interferometer 7399 undefined IfmException indefinite devapi errors DevApiException 7499 undefined DevApiException indefinite sensor errors SensorException 7500 can t write the serial number SensorException TrackerlypeManager 7501 can t read the serial number SensorException TrackerlypeManager 7502 can t access id chip SensorException TrackerlypeManager 7503 crc error in id chip SensorException TrackerlypeManager 7504 can t write tracker type SensorException TrackerTypeManager 7505 can t write tracker type key SensorException TrackerTypeManager 7506 can t read tracker type SensorException TrackerTypeManager 7507 can t read tracker type key SensorException TrackerTypeManager 7508 unknown tracker SensorException TrackerlypeManager 7509 invalid file transfer compression SensorException FileTransfer 7599 undefined SensorException indefinite AIFM Error Numbers Page 3 Leica Geosystems AG Metrology Products Moenchmattweg 5 CH 5035 Unterentfelden Switzerland Phone 41 62 737 67 67 info metrology leica geosystems com www leica geosystems com metrology Whether building the fastest car the biggest plane or the most
312. onnect LastResultStatus 296 try pLTCommandSync gt FindReflector 5 0 catch _com_error amp e MessageBox Error Nr d pLTConnect gt LastResultStatus Alternatively the number of the last error LastResultStatus property can also be retrieved with the TPI command GetSystemStatus Exception Handling in C When using LTControl COM TPI with C essentially the same concepts as with C applies C uses a very similar try catch approach Evaluating the Return status The necessary exception handling precludes evaluation of the return status of the COM method call Certain constellations such as S_FALSE return values may require a distinguished evaluation Success return values S_OK S_FALSE S_OK is returned for an ordinary success case Certain commands may return a TPI result status of type Out of Range OK Example ES_RS_Parameter1OutOfRangeOK In this situation the COM method returns S_FALSE This means that the command setting has succeeded but that its value is out of specified tolerance In other words this means just a warning and thus no exception will be thrown 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 297 Note that there exist only a few commands that may return S_FALSE For exam
313. ons directly using the C interface Rather use the much more convenient C or C or COM interface In contrast to the C interface the C interface requires much more coding lines and comprises 43 the danger of doing initialization errors for structures aka copy paste errors However since it s the native interface the enumeration types and structures of the C interface serve as main reference The same enumeration types and parameters will show up in slightly different contexts with slightly different terminology in the other interfaces as well Hence even when working with the C interface or C COM looking up information in this chapter C Interface might be essential 3 1 3 Byte Alignment Data packets have a 4 Byte alignment convention 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 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 by appropriate directives The following include statement prepares the C_API_Def h file for Byte alignment in Linux Win32 4 Byte alignments for other platforms must be forced ifdef _WIN32 pragma pack push 4 elif defined __
314. or ES_WMS_ReadAndCalculateRefractions See struct EnvironmentDatalT for details 205 Set GetStationOrientationParamsCT RT struct SetStationOrientationParamsCT struct BasicCommandCT packetInfo struct StationOrientationDataT stationOrientation di struct SetStationOrientationParamsRT struct BasicCommandRT packetInfo hi struct GetStationOrientationParamsCT struct BasicCommandCT packetInfo hi struct GetStationOrientationParamsRT struct BasicCommandRT packetInfo struct StationOrientationDataT stationOrientation hi Command structures for setting getting the station orientation parameters These settings act like current units and current CS type asa input output Filter to all coordinate type related parameters See struct StationOrientationDataT for details Set GetTransformationParamsCT RT struct SetTransformationParamsCT struct BasicCommandCT packetInfo struct TransformationDataT transformationData hi struct SetTransformationParamsRT struct BasicCommandRT packetInfo di struct GetTransformationParamsCT struct BasicCommandCT packetInfo de struct GetTransformationParamsRT struct BasicCommandRT packetInfo struct TransformationDataT transformationData hi Command structures for setting getting the transformation parameters These settings act like current units and current CS type as a input output Filter to all coordinat
315. or Unspecified hardware error e ES_AS_SecurityLockActive ADM has been locked for security because maximal allowed laser intensity has exceeded Try to recover with powering off on the controller If problem persists refer to Leica service e ES_AS_NotCompensated The ADM is not compensated and if at all may deliver inaccurate distances ES NivelStatus Additional information about the Leica Nivel sensor connected to the laser tracker This enumeration type is used as a result parameter for ES_C_StartNivelMeasurement 128 Note Nivel Sensors of type 230 newer models have a smaller highest accuracy range of 1 1 mrad The highest accuracy range of older models Type Nivel20 is 1 5 mrad Values that apply to Nivel 230 types are shown in brackets in the description below enum ES_NivelStatus ES_NS_A110K ES_NS_OutOfRangeOK ES_NS_OutOfRangeNOK ES_NS_NoNivel e ES NS NoNivel No Nivel inclination sensor found connected to tracker e ES_NS_AIOK Nivel measurement OK The range of the measurement rx ry values is within 1 5 1 1 millirad Applications should only rely on measurement values marked with ES_NS_AIOK e ES_NS_OutOfRangeOK Result within measurement range but warning threshold exceeded This warning applies when the range of at least one measurement value is within 1 5 1 1 and 2 0 millirad Since it is not recommended to use these values emScon maps them t
316. or up to emScon V2 4 The system cannot automatically detect whether a Nivel sensor is attached Hence you must tell it the system by enabling this flag New behavior with emScon 3 0 With emScon 3 0 there is an automatic recognition of any attached inclination sensor See chapter Automatic External Device Recognition under Section 2 4 for more details bHasVideoCamera A hardware Configuration issue This flag tells the system that an Overview Camera is present The following description mainly applies to former emScon 2 4 and older systems For 178 the new emScon 3 0 behavior see remark at the end of this section If your system is equipped with an overview camera it is recommended to always having checked this flag even when the camera is temporarily removed Otherwise leave it always unchecked default In the meantime there exist different types of overview cameras that differ in internal parameters focus distance CCD chip size Older emScon versions were not able to detect whether an overview camera was mounted or not not to speak of type recognition indeed it was the overview camera hardware that did not support type recognition For that reason the flag HasVideoCamera was originally introduced Thus the user had to tell the system when an overview camera was mounted Newer EmScon versions 2 0 and up are able to detect the camera type automatically Hence this flag theoretically
317. or messages Backward compatibility will be provided in that existing packets information structure are neither changed nor removed from the TPI definition except when explicitly announced but new one may be added appended with new server versions However applications must be designed in a way so they ignore any unknown or unexpected data In practice this generally means that default cases in switch statements should always be 20 treated as neutral no action Example The enum ES_SystemStatusChange in emScon V1 2 contained only two members enum ES_SystemStatusChange ES_SSC_DistanceSet ES_SSC_LaserWarmedUp hi EmScon V1 2 had only two system status change events as shown above With emScon version 1 4 and higher many more status change events have been introduced See C API def file A programming statement in a client application originally developed under V1 2 as shown below would cause an Unexpected Status message with V1 4 and higher emScon servers upon any of the new status events the application thus would probably fail in combination with a V1 4 emScon server and would require code adjustments switch status case ES_SSC_DistanceSet AfxMessageBox ADM Distance re established break case ES_SSC_LaserWarmedUp fxMessageBox Laser is now ready break D x default AfxMessageBox Unexpected Status break WRONG
318. ore measurements to be taken The following combinations are examples e Eight measurements in 4 pairs high and low separated by approx 90 degrees e Twelve measurements in 4 groups of 3 each high low horizontal separated by 380 approx 90 degrees Related Commands ClearDrivePointList AddDrivePoint CallIntermediateCompensation SetCompensation Comments Settings Current emScon system settings such as units coordinate system and coordinate type are taken over when emScon interprets point input driver point values All points in the drive library must be known within 2mm 0 0787 in tolerance otherwise this will cause an error in the measurements The settings such as units coordinate system and coordinate system type must correspond to the input data Ensure that the settings describe the environment of the driver points before they are uploaded to the server One of the first actions of the automated compensation algorithm is to check the geometry of the used driver points If the target setup fits the requirements as described above then the process continues with the measurements otherwise it will abort Compensation Results A successful Intermediate Compensation procedure returns the following information e Total RMS e Max Deviation 381 e Error bit filed with the information of warnings and errors Compensation Intervals An intermediate compensation is r
319. orts now both Bitmap and Jpeg formats Support of bitmaps is only left for backward compatibility to former emScon servers For Jpeg image conversion and display a public domain Third Party library has been used CxImage by Davide Pizzolato The emScon 3 0 SDK just contains a few parts of the CxImage framework some include files and two libraries for static linking i e only those parts as far as needed to build our sample If interested you may get the complete CxImage source from the internet 8 1 4 Orient To Gravity Procedure This function is used to measure the tilt of the tracker s primary z axis standing axis with respect to the vertical This can be used to orient the measurement network to gravity The tilt is specified by two angular components about the tracker s internal x and y axes 374 Related Command e CallOrientToGravity Comments e This command is only available in combination with a Leica Nivel inclination Sensor e Executing this command drives the tracker head to 4 different positions on the xy plane 1 Taking Nivel measurement samples 2 In addition the station inclination parameters Ix and ly are calculated and returned as result parameters e Executing this command does not implicitly apply any orientation values to the system e n order to activate the station orientation to gravity the two result values Ix and ly must be explicitly set with the comma
320. ose virtual functions of CESCSAPIReceive in which the application is interested in The application must provide Socket communication and the same conditions as for C applications apply Commands are invoked by calling CESCSAPICommand member functions and arriving data from the socket must be passed to the CESCSAPIReceive ReceiveData Parser Note that only one packet at a time must be passed to the parser The sample shows one possible approach First always peek the packet header then only read as many bytes as the packet size variable indicates The helper method CESCSAPIReceive GetPacketHeader is useful in this context There is a difference to the C interface concerning continuous measurements If a continuous packet arrives it contains only the measurement header info but not the elementary measurements itself like in C in a variable sized array The application must rather use the CESCSAPIReceive lt MeasType gt MeasValueGetA function to access the measurements 347 See code in sample 17 file EmsyCSApiConsoleClient cs for example in function OnMultiMeasurementAnswer for details As already known from C samples sample 17 requires a separate Receiver Thread since it is a Console application In Windows applications the Window Message Loop can be used instead Hence windows application do not require to be designed as multi threaded applications See related C Windows emScon appl
321. own Private Sub CommandSync_ErrorEvent _ ByVal command As LTCONTROLLib ES_Command _ ByVal status As LTCONTROLLib ES_ResultStatus eWhen doing the same in VBA97 it will read as follows Private Sub CommandSync_ErrorEvent ByVal command As Long _ ByVal status As Long Visual Basic keeps the enum type information and recognizes the parameters with their correct enum types while VBA just passes them as long parameters However the symbols of the enum values are correctly recognized although not checked by the compiler for correct typing which can lead to errors which are difficult to find This problem is not specific to VBA it also exists in VB There are two different situations where enums and their value symbols affect the interface Method takes enum type parameters for example call SetMeasurementMode the same way for both VB and VBA ObjSync SetMeasurementMode ES_MM ContinuousDistance 1 ES_MM_ContinuousDistance will be correctly recognized as having the value 2 see enum definition 2 Correct typing of values VB as well as the VBA interpreter will not recognize typing errors in enum symbols here However both VB and VBA provide IntelliSense providing for a selection from a list rather than having to type them in 3 Event handlers as we have seen above pass enums as long values in VBA The 309 incoming values can be tested against enum symbols
322. ows a principal interface circuit of the LT Controller trigger interface configured for balanced RS422 input signals eee AA raene K LT C o ntro le r User System balanced RS422 outputs open Ok RS422 L GND 2 i iE i a Clock Ma me Clock gt Clock 1 i Clock pi 4k7 5V 5 a a 4k7 A be q Start_Stop gt Start_Sto 5 Da prehen l 3486 gt f The Start Stop inputs can be left unconnected in cases were only the clock signal is used for event triggering For improved noise immunity in an industrial environment the use of differential signals is strongly recommended 2 3 Single wired TTL Signal Input The drawing shows a principal interface circuit of LT Controller trigger interface using unbalanced TTL signals With pin 15 tied to GND the interface switches for TTL inputs isolated input circuit 0 _ LT Controller User System 4 5V unbalanced TTL outputs Interface switch RS422 TTL Clock gt Clock Clock Start_Stop gt The Start Stop input can be left unconnected in cases were only the clock signal is used for event triggering For improved noise immunity in an industrial environment the use of differential RS422 signals is strongly recommended as shown above 2 2 Trigger Interface Feb 4 2008 Page 3 Leica Geosystem
323. p compensation can be found in database Note Import or provide a tip compensation ES_RS_ProblemReadingCompensationDb Meaning Compensations could not be read from database Note Access to the database has failed This error should not occur under normal conditions ES_RS_ProblemSettingTriggerSource Meaning Trigger source parameters could not be set Note Probably a hardware problem or no trigger board available with current system ES_RS_NoMeasurementTipCompSet Meaning Tip compensation missing Note A Tip Tip Assembly must be compensated and activated before it can be used for measuring ES_RS_ProblemStoringCameraToTracker FactorySet 108 Meaning The factory parameters of the current camera could not be replicated in the database Note This error should not occur under normal conditions ES_RS_ProblemWithCameralInternal Calibration Meaning There is something wrong with the internal camera calibration Note This error should not occur under normal conditions The camera probably needs to be repaired ES_RS_ CommunicationWithMeasurement CameraFailed Meaning Possibly a hardware failure The mounted camera should be detected automatically Note Remove the Camera and mount again If still a problem refer to Leica service ES_RS_ProblemStoringProbeFactorySet Meaning The Factory parameters of the current probe could not be stored in the database Note This error should not occur unde
324. pCompInDb Tip Stylus compensation is missing import a suitable one or perform a TipToProbe Stylus compensation 87 NoMeasurementTipCompSet The issued command relates to Tip Stylus functionality but none is active 88 ProblemStoringTipAssembly Hardware communication or database error fatal error ProblemReadingCompensationDb Database reading error fatal 90 NoDataTolmport Import Probe parameters imported file does not contain suitable data 91 ProblemSettingTriggerSource Hardware problem or system is not equipped with trigger board 92 6DModeNotAllowed System is in a condition configuration where 6DoF modes are not supported 93 Bad6DResult System is able to measure 6DoF but results are unreliable Tilt angle excess of Probe or not enough LEDs visible 94 NoTemperatureFromWM Tried to query a temperature value from external meteo station but no response is temperature sensor connected 95 NoPressureFromWM Tried to query a pressure value from external meteo station but no response rarely happens since pressure device is integrated and cannot be removed 96 NoHumidityFromWM Tried to query a humidity value from external meteo station but no response there may be no humidity sensor connected 97 6DMeasurementFace2NotAllowed 6DoF measurements by convention are only allowed in Face Use ChangeFace
325. patibility with existing applications To enable set the system parameter ES_SP_ProbeConfig_Button to ES_PCB_4ButtonMode by using the SetLongSystemParameter command The application will then get individual events for each button as listed above instead of the ordinary MeasurementProbeButtonDown Up events ES_SSC_ProbeButton1 DoubleClick ES_SSC_ProbeButton2 DoubleClick ES_SSC_ProbeButton3 DoubleClick ES_SSC_ProbeButton4DoubleClick Double Clicks are not supported with current Probe Firmware revision ES_SSC_QuickReleaseOpend Indicates an opening of the quick release This event only applies to new AT series trackers ES_SSC_QuickReleaseClosed Indicates closing of quick release This event only applies to new AT series trackers ES_SSC_LaserReachingLimit Indicates the laser is about to reach the limit of a temperature range If this event is ignored a LaserNotStabilized event may follow soon This will then require to pause a few minutes with measuring until the laser is ready again Alternatively you may perform an initialize upon a LaserReachingLimit event See also enum 142 ES_TrackerTemperatureRange This event only applies to new AT series trackers ES_SSC_LaserNotStabilized This event is issued when the laser has automatically changed temperature range which should have preceeded by a LaserReachingLimit event Must wait a few minutes until laser is ready again Alternatively an
326. pensation is a persistent setting which can be changed by a SetCompensation TPI command or by selection within the compensation tree representation in the Compensation application See description of GetCompensations GetCompensation SetCompensation 28 2 4 3 Command Sequence for 6DoF Measurements 6DoF Measurements are performed to a T Probe which will be recognized automatically by the system The selected Measurement Mode must apply to one of the 6DoF modes A T Cam must be mounted Steps TPI command 1 Establish TCP IP connection Depends upon TCP IP communication API See different samples 2 Set units length angle temperature and pressure ES_C SetUnits 3 Set current environmental temperature pressure and humidity ES_C SetEnvironmentPa rams 4 Initialize the System ES_C Initialize 5 Select desired 6DoF Measurement mode ES_C SetMeasurement Mode 6 Ensure that Keep Last Position flag is enabled ES_C_SetSystemSettings OR ES_C_ SetLongSystemPar ameter 7 Set Station Orientation parameters ES_C _ SetStationOrientat ionParams 8 Set Transformation parameters ES_C_ SetTransformation Params 29 9 Set Coordinate ES_C_SetCoordinateSyst system type RHR emType LHR 10 SendUMessages ES_C_SetSystemSettings should always be enabled boolean in struct SystemSettingsData
327. ple environment parameter setting commands BSTR bstrError IErrorInfo pInfo HRESULT hr GetErroriInfo 0 amp pInfo if pInfo amp amp SUCCEEDED pInfo gt GetDescription amp bstrError _bstr_t errorString bstrError piInfo gt Release if Failure return value E_FAIL In case of any command failure E_FAIL is returned This automatically leads to an exception thrown by the COM framework 5 2 5 COM TPI supporting Programming Languages e Visual C All Interfaces supported User defined TypeLibrary enum structs supported Event and message notification methods supported e VisualBasic VB 6 All interfaces supported User defined TypeLibrary enum structs supported Event and WM Message Notification methods supported Events to be preferred e VisualBasic for Applications VBA Excel Word and Access All interfaces supported User defined types of TypeLibrary enum structs supported with Office 2000 but not fully supported with Office 97 298 Event notification methods supported WM Messages not supported e C and VB NET All interfaces supported User defined types of TypeLibrary enum structs supported Event notification methods supported e Scripting Languages VBS JavaScript Currently not supported Support of these languages requires Dual or Dispatch COM interfaces Could be achieved b
328. port COM1 not available S 4 Serial port COM2 hardware failure o S y YO 5 Serial port COM2 reserved S O LTCplus base frame grabber video cable not connected emScon side 6 Serial port COM3 not available 7_ Serial port COM3 hardware failure 9 Hardware error COM Port 4 not installed S O 0 No Trigger Card _ S Hardware error Interrupt of COM Port 3 and 4 not working No Cable Trigger to Mot Amp Card 4 0 Motor Amplifier Card hardware error incompatible motor amplifier board Motor Amplifier Card hardware error IDE bus error Motor Amplifier Card hardware error encoder cable not connected Motor Amplifier Card hardware error motor phasing error Incompatible program on Trigger Card FPGA 5 No Packet Driver installed for T Cam communication 4 Motor Amplifier Card hardware error motor phasing timeout 625 626 630 631 634 635 636 637 639 640 641 644 645 a 650 651 654 656 _ 657 659 660 661 690 7_ Motor Amplifier Card hardware error parameter set not available 9 Motor Amplifier Card hardware error parameter set doesn t match with motor topology _ We ek ed Bee eee ee C AT901x Sensor Bottom Board cable not connected AT901x Sensor EL spiral cable not connected 5 Motor Amplifier Card hardware error no digital poti setting for encoder interface on the motor amplifier card 2 2 62
329. process Transformation OrientToGravity Should normally not happen hanging 40 ModuleNotStarted process System may require a reboot Applies to a child process No response 41 ModuleTimedOut within reasonable time Fatal database failure database file 42 ErrorReadingModuleDb corrupt 43 ErrorWritingModuleDb Fatal database failure disk full 44 NotInCameraPosition Video Camera cannot deliver image due wrong mirror position use ActivateCameraView TPHasServiceFirmware Controller has service firmware loaded system needs reboot Controller is under external control issued command currently not 46 TPExternalControl supported reboot 8th parameter is invalid not accepted 47 WrongParameter8 command failed 48 WrongParameter9 49 WrongParameter10 50 WrongParameter11 51 WrongParameter12 52 WrongParameter13 53 WrongParameter14 54 WrongParameter15 55 WrongParameter16 Tried to set a compensation that does not exist Use GetCopensations to get 56 NoSuchCompensation list of valid existing IDs Provided meteo data temp pressure 57 MeteoDataOutOfRange humidity is out of accepted range Command not allowed while system is 58 InCompensationMode in compensation mode Waiting for termination of a sub process similar to ServerBusy try 59 InternalProcessActive again later System requires a
330. quired ES_MCPP_API_Wrapper dll from the ES_MCPP_API Def h file This is quite simple There is only one source file ES_MCPPAPIWrapper cpp which contains nothing else than the statement include ES MCPP_API_Def h In addition some well known emScon C include files need to be provided in order to compile this project ES_C_API_Def h Enum h etc Note that the resulting DLL ES_MCPP_API_Wrapper dll has already been built and added to the SDK for convenience It is therefore not really required to build it as shown in Sample16 However Sample16 may help developers to debug their applications if code in ES_MCPP_API Def h needs to be traced Further details see Readme txt file in Sample 16 folder and code comments in source files 346 6 1 4 Sample 17 This sample implements a C emScon application based on the C class interface The C interface cannot be used directly in C applications A specific C class interface is therefore provided as described above Note the difference to Samples 14 15 where the emScon COM interface was used The one and the same COM object ca be used for C and C as well as for visual basic VBA e g Excel and VisualBasic NET applications The programming approach is quite the same as for the C interface Derive classes from both CESCSAPICommand and CESCSAPIReceive classes override the SendPacket virtual function in CESCSAPICommand and override th
331. r normal conditions ES_RS_NoDataToImport Meaning Import Data failed since no data to import was found ES_RS_ProblemStoringTipAssembly Meaning Tip assembly could not be stored Note This error should not occur under normal conditions ES_RS 6DModeNotAllowed Meaning Trying to execute a 6DoF related command with a 3D measuring system or system is set to 3D Mode Note Make sure the system supports 6DoF i e has a camera mounted and that one of 109 the Probe 6DoF measurement modes is selected ES_RS_Bad6DResult Meaning The 6D coordinates delivered with this packet are not complete or even wrong maybe zero This situation can occur because of a bad rotation status or because not enough LED s were visible during a long time In other words the system was not able to measure as many single measurements as specified during the specified measurement time An application must treat such a result as an error ES_RS_NoHumidityFromWM Meaning No humidity value could be queried from the weather monitor If a Thommen station there is probably no external humidity sensor connected to the weather station This is a legal condition A default value of 70 is assumed in this case Note The influence of the Humidity to the refraction index is marginal The Leica AT meteo station contains a humidity sensor as an integral part It should always succeed to deliver a humidity value NoHumidityFromWM would pr
332. r all components of the translation vector the 393 coordinate type must be one of Cartesian RHR or LHR 9 2 7 Output of transformation computation Transformation parameters The command CallTransformation returns a structure CallTransformationRT containing the seven parameters of the transformation translation rotation angles scale together with their standard deviations The standard deviation of a fixed parameter is zero Transformed points and residuals The command Get TransformedPoint returns a list of structures each containing a transformed point together with its covariance matrix and the three coordinates of the residual vector residual nominal transformed The covariance matrix of the transformed point takes into account the covariance matrix of the actual point and the 7 by 7 covariance matrix of the transformation calculated The covariance matrix of the residual is obtained by adding those of the nominal and the transformed point Statistics The command CallTransformation also returns the e RMS of residuals e Maximum deviation e Variance factor RMS of residuals The RMS of residuals is defined as n D2 residual i 1 RMS noEquations where the number of eguations is the number of fixed or weighted nominal coordinates 394 Maximum deviation The maximum deviation is defined as maxDev max i 1 n residual where fixed and weighted nominal coordina
333. r application This flag is redundant information which should better be asked by using the GetCompensation call which should have been named better GetActiveCompensation GetCompensations2 that is querying all compensations the system currently knows is a rather expensive call A well designed application usually does such a call upon start up and then only when a compensation is being added to or removed from the system which is not a everyday task While this list remains unchanged in memory the active compensation may change quite often during runtime It would be awkward if we always had to reload the entire list just because the active compensation has changed However 222 if we would rely on the blsActive flag we would have to do so So better use GetCompensation to figure out the currently active compensation and do not rely on the bIsActive in the compensations list This flag may only reliable just after reading the list CheckBirdBathCT RT Command structures to check the Bird bath position of the current selected reflector Values are in current units struct CheckBirdBathCT struct BasicCommandCT packetInfo hi struct CheckBirdBathRT struct BasicCommandRT packetInfo double dinitialHzAngle double diInitialVtAngle double dInitialDistance double dHzAngleDiff double dvtAngleDiff double dDistanceDiff GetTrackerDiagnosticsCT RT Command
334. r every Set Get command pair if the command has more than one parameter or a struct parameter 4 3 9 Asynchronous Programming Issues As already stated all communication through the C interface is asynchronous It is therefore not possible to queue commands within one function call In other words consider a Windows application with a graphical interface Assume a button named InitialSettings with a button press handler as follows behind Note this is pseudo code since no parameters are specified 272 OnInitialSettingsButtonPressed m_myApiCmd gt SetUnits m_myApiCmd gt SetEnvironmentParams m_myApiCmd gt Initialize m_myApiCmd gt GetReflectors m_myApiCmd gt SetMeasurementMode This won t work at all because this a typical synchronous approach i e It is assumed a command has finished when it returns In an asynchronous approach each command returns immediately In the sample above SetUnits and SetEnvironmentParams may accidentally work because these commands do not take a long time but never rely on this But Initialize since this command takes about 45 seconds to terminate also returns immediately The server however is not ready to take the next command until initialization of tracker is finished Hence the command GetReflectors would fail with a Server busy error Note The emScon COM interface provides a synchronous interface
335. rHandler Dim fileData As Variant Dim size As Long Ob jSync GetStillImage ES_SI_Bitmap size fileData ObjConnect WriteDiskFile fileData C Temp img bmp Now load picture into sheet Imagel Picture LoadPicture C Temp img bmp Exit Sub ErrorHandler MsgBox Err Description End Sub Event handler Within an event handler the file data structure must be extracted first since GetData delivers the complete data packet including header information A similar helper function is required in VB since no casting to GetStilllmageRT is available See chapter Continuous measurements and VBA for similar method using Continuous DataGetHeaderInfo Private Sub ObjAsync_StillImageDataReady ByVal imageFileType As LTCONTROLLib ES_StillImageFileType ByVal fileSize As Long ByVal bytesTotal As Long Dim fsize as Long dummy ObjConnect GetData data Get whole packet incl header retrieve out size and file data ObjConnect StillImageGetFile data fsize file ObjConnect WriteDiskFile file img bmp Now load picture into sheet Imagel Picture LoadPicture img bmp End Sub Although designed for use with VB StilllmageGetFile and WriteDiskFile can also be used in LTControl based C applications 366 Image Click Position Click positions on the Image are currently written out to Excel cells These values can be used to calculate relative tracker movement angles call MoveRelati
336. re ASYNCHRONOUS That is a command is sent then the application is idle while the server executes the command Then the server sends back an acknowledge or error message We have no code yet to interpret these answers We just see how many bytes arrive In Step4 we will add logic to receive data Nevertheless supposed the server and tracker is running we will at least see the tracker moving when sending a Initialize tracker command If the correct reflector is set GoBirdbath will also work and we can even perform a measurement but we will not see the results yet Step4 Step 4 introduces the emScon class CESAPIReceive to RECEIVE understandable data from the server More precisely the class provides virtual functions for every type of answer So the user can just override those virtual functions he is interested in Step 4 also covers the topic of asynchronous communication All C TPI communication is asynchronous That means a new command must not be sent before the acknowledge or result of the previous command has arrived In addition the application should always be ready to catch events system status change error events Correct reflector handling is also demonstrated relation between reflector ID and reflector name and how to handle this in a dropdown combo box do not mix up the combo index with reflector ID Initializing the reflector combo happens in several steps GetReflectors fill them into
337. re in the C TPI reference for a description of all the parameters 4 2 2 CESAPIReceive class ReceiveData bool ReceiveData void packetStart long packetSize ReceiveData is the parser function for incoming data It has to be called after receiving a block of data from the emScon server Packets passed to this method must be COMPLETE in terms of an RT struct as defined in the C API Packet fragments are not processed correctly Hence the application which calls ReceiveData must ensure to pass complete packets See chapter Queued and Scattered Data for details Data Arrival virtual Functions The principle is as follows Derive your own class from CESAPIReceive and override those virtual functions on whose data you are interested in Only a few sample of the class virtual data receiver member functions are listed here since these can be derived directly from the C interface Example for a command that does not return any data If this function is called this means the command has successfully executed i e the tracker has finished initializing virtual void OnInitializeAnswer Example for a command returning data Which is the case for all Get functions 258 virtual void OnGetContinuousTimeModeParamsAnswer const ContinuousTimeModeDataT amp continuousTimeModeData A complete listing of all these functions is available from the CESAPIReceive class defin
338. referred to in this manual are described in detail with some background information 8 1 1 Get Reflectors Command The GetReflectors command is often misinterpreted GetReflectors is used to ask the Tracker Server which reflectors are currently defined and to get the relation between reflector names and reflector IDs Related Commands SetReflector GetReflector 357 Comments GetReflectors causes as many GetReflectorsRT data packets to arrive as reflectors are defined in the tracker database Each one of these packets contains the following information struct GetReflectorsRT struct BasicCommandRT packetInfo int iTotalReflectors int iInternalReflectorId enum ES_TargetType targetType double dSurfaceOffset short cReflectorName 32 Unicode he iTotalReflectors iTotalReflectors is just for programmers convenience e Names the number of reflectors known to the system and has the same value in every packet e Provides information on arrival of the first packet as to how many packets are still outstanding e Counts the incoming packets to know when the last one has arrived linternalReflectorld cReflectorName The commands iInternalReflectorId and cReflectorName provide important information for the user interface programmer e The reflector name is a string value in Unicode which is see on the user interface of the application software e This reflector name is a
339. res reflect the architecture of the data packets byte arrays sent and received over the TCP IP network between the Application PC and the Tracker Server This low level interface serves as the basis for all higher level interfaces C C COM Also refer to C Language TPI Reference section and the ES_C_API_Def h file No functions or procedures are defined Since C is an extension of C a C compiler can also be used for C programming 244 3 5 1 TCP IP Connection 1 Establish a TCP IP connection to the tracker server This is typically achieved by invoking a Connect function of the TCP IP communication library or toolbox This function will take the IP address or its related hostname of your Tracker Server 2 Set the TCP IP Port Number to 700 for the Tracker Server 3 5 2 Sending Commands 3 Call a SendData function from the TCP IP communication library or toolbox Function name may differ This function typically takes a pointer to a data packet and probably the size of it unless the packet is wrapped into a structure that knows its size implicitly for example a Variant structure 4 The architecture of the packets TPI protocol is defined by the data structures in the ES_C_API_Def h file 5 For invoking for example a GoPosition command use the structure GoPositionCT and assign appropriate initialization values In particular assign an ES_Command and an ES_C_GoPosition as header dat
340. rface Appendix for a more detailed description of trigger issues ES_RS_InvalidInputData Meaning At least one of the input parameters of the executed command is not valid This error mostly applies if a coordinate triple is given in the wrong CS type for example if X Y Z passed where H V D expected This error is similar to ES_RS_WrongParametet but less specific since neither known which parameter nor whether only one is wrong or several 111 e ES_RS_NoMeasurementShankCompSet Meaning If we are in Shank mode measurements without shank compensation are not allowed e ES_RS_NoValidADMCompensation Meaning The issued command is not available without having a valid ADM compensation import or perform a mechanical tracker compensation e ES_RS PressureSensorProblem Meaning The meteo station reported a discrepancy in terms of a too big difference from the 2 internal sensors This only applies to new AT meteo station types e ES_RS_MeasurementStatusNotReady Meaning Tried to trigger a measurement while measurement status was not yet ready Remark Error Range 100 9999 is reserved for Controller Sensor Firmware errors as listed in Appendices C and D hence the gap between error 99 and 10001 ES MeasMode This enumeration type names the currently implemented measurement modes Used as a parameter for the ES_C_SetMeasurementMode command enum ES_MeasMode Stationary ContinuousTime
341. ri and a priori and pointing errors The environmental values are those currently valid to the system either those explicitly set by SetEnvironmentParams or those last implicitly updated by the weather monitor 185 The flag bIlsTryMode is set if system is in Try Mode This is not relevant for common users The format of measurements statistical information and environmental values depend on current units Measurements and statistical information in addition are according current CS type and applied orientation transformation parameters SingleMeasResult2T struct SingleMeasResult2T struct ReturnDataT packetInfo enum ES_MeasMode measMode ES_BOOL bisTryMode double dvall double dVal2 double dVal3 double dStdDevl double dStdDev2 double dStdDev3 double dStdDevTotal double dCovarl12 double dCovarl13 double dCovar23 double dPointingErrorH double dPointingErrorv double dPointingErrorD double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovar12 double dAprioriCovar13 double dAprioriCovar23 double dTemperature double dPressure double dHumidity hi This receive only structure describes the ES_DT_SingleMeasResult2 packet type in case of extended statistical mode Use this variant if points to be used as input for the Transformation routine The flag blsTryMode is set if system is in Try Mode This is not rel
342. ric 3x3 matrix with the squares of the respective standard deviations on the diagonal 2 stdDev covar cova 2 covar stdDev covar 2 covar covar stdDev The error ellipsoid of the point is defined by the eigenvectors and eigenvalues of the covariance matrix If the covariance matrix is diagonal the axes of the error ellipsoid are parallel to the coordinate axes The correlations covar stdDev stdDev Py satisfy the relations 1 lt p lt 1 At the TPI point coordinates together with the covariance matrix are passed in the following non redundant form Coord1 Coord2 Coord3 StdDev1 StdDev2 StdDev3 Covar12 Covar13 Covar23 9 1 1 A priori accuracy For continuous measurements the a priori covariance matrix of a point measurement is calculated according to the tracker accuracy Emscon adapts the following model 387 StdDevH max 1 25E 5 d 5E 6 StdDevV max 1 25E 5 d 5E 6 StdDevD J1E 10 1 25E 6 d where d denotes the measured distance in meters H and V denotes the horizontal and vertical angle in radians This formula applies in the case of IFM measurements initialized at bird bath distance The angle accuracy is constant beyond 2 5m and slightly poorer at close range Simplified homogeneous models are StdDevXYZ max 10E 6 d 254 or even simpler StdDevXYZ 50u The a priori accuracy includes unresolved systematic errors and indicates the reliability o
343. ring e ES PCT_NoTipAllowed No tip required Scanner probes System allows measuring without a tip e ES PCT_OnlyWithShankCompensation If ProbeConfigTip is set to this value a valid shank compensation must exist Otherwise the system will not get ready green for measuring This setting thus can be used by an application to force a shank compensation if applies Note If a shank compensation exists for a particular tip but ES_PCT_OnlyWithShankCompensation is not set the measurements will nevertheless be corrected by the shank compensation values This setting does therefore not mean to enable disable an existing shank compensation It is just thought as a security switch for applications that must have valid shank compensations in order to block measurements if the shank compensation is missing 160 ES _ProbeButtonEvent Parameter values for the ES_C_Set GetLongSystemParameter command in case of ES_SP_ProbeConfig_ButtonEvent parameter type enum ES_ProbeButtonEvent ES_PBE_DisableEvents ES_PBE_EnableEvents hi e ES PBE_DisableEvents no button events are sent e ES PBE_EnableEvents server sends button events ES QuickReleaseStatus Parameter values for the ES_C_GetLongSystemParameter command in case of ES_SP_QuickReleaseStatus parameter type enum ES_QuickReleaseStatus ES_ORS_Closed ES_ORS_Open e ES ORS Closed Quick release is closed OK to conti
344. rmation calculation Passing values 0 0 0 0 0 0 1 all with StdDev 1e 35 in practice means to clear all the input parameter constraints i e reset to default Example The following call Set TransformationInputParams ES _TR_AsTransformation 0 0 3 0 0 0 0 0 0 0 0 0 1 0 le 35 0 0 1e 35 le 35 le 35 le 35 0 0 causes to fix the Y Coordinate to 3 0 i e a known fixed value by design and the Scale to 1 0 since these parameters are specified with low StdDev 0 0 high weight All the other parameters theoretically can be given any value not necessarily 0 0 since their weight is low It is nevertheless recommended to pass 0 0 377 for free result parameters When using the COM TPI you may use predefined symbols ES_UnknownStdDev ES_FixedStdDev for 1e 35 and 0 0 respectively Note that any intermediate value can also be used for weighting Not only fix and free In case of a value is known approximately it is suggested to use 1 0e 15 ES_ApproxStdDev For further details especially the meaning of resultType ES_TransResultType see section 9 2 e After a successful calculation additional results in terms of transformed points and residuals can be retrieved optionally by using GetTransformedPoints Again None of the 7 calculated transformation parameters received as output from CallTransformation are automatically applied to the system This must be done explicitly by call
345. rming a SetCompensation 0 command See detailed description of ES_C_SetCompensation enum ES_C_Command about the meaning of parameter zero ES_C_GetCompensations Reads all Tracker compensations stored in the database Apart from the internal ID and name which is made up of the compensation date a series of properties is delivered This command should no longer be used Rather use the following ES_C_GetCompensations2 Enhanced version of 78 ES_C_GetCompensations Delivers comment for ADM compensation and active compensation as additional information ES_C_GetCompensations only left for backward compatibility reasons New applications should use ES_C_GetCompensations2 The older ES_C_GetCompensations is only kept for compatibility reasons Remark This command should have better be named GetTrackerCompensations2 in order to distinguish between other compensation types ES_C_SetCompensation Sets the specified tracker compensation with the given ID as the active one The available Tracker compensations including their IDs can be retrieved with the command GetCompensations Note Compensations have internal IDs gt 0 Nevertheless ID 0 is a valid value to SetCompensation in a special situation After an Automated Intermediate Compensation has been performed on using the command ES_C_CallIntermediateCompensation this new compensation is still in a temporary state which we call an in work
346. ro none of the bits set then the intermediate compensation process completed with no warnings Otherwise each raised bit means a particular warning There can be more than one warning at a time Currently the following warnings are possible Bit 1 0x1 AverageVerticalTwoFaceErrorIsTooHigh Tracker service from Leica Geosystems personnel is required because the vertical index is constantly gt 1 Gon There is currently no way for the user to reset the approximate index 216 Bit 2 AtLeastOneVerticalTwoFaceErrorlsTooHig 0x2 h If Bit 1 not raised there is probably a very high error within a single two face measurement If Bit 1 is raised too ignore warning Bit 2 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 NotEnoughMeasInTwoOppositeVerticalP1 0x8 anesWithGoodDiffOfVerticalAngle 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 0x10 eWithinCompensationTolerance Not all measurement residuals are within recommended tolerances Bit 6 NotAllMechanicalParametersAreInRange 0x20 Not all three 3 mechanical parameters calculated are within recommended tolerance according to hardware specs The
347. rong with camera calibration fatal error hardware problem 74 CommunicationWithMeasurementCameraFailed Is the camera mounted correctly The issued command relates to Probe functionality but none is connected or 75 NoMeasurementProbe online Probe power on The issued command relates to Probe 76 NoActiveMeasurementProbe functionality but none is active 77 NoMeasurementProbes InDb Probe hardware information not found plug and play fatal error Try removing Probe and reconnect it 78 NoMeasurementProbeCompSet The system has no active Probe compensation use SetProbeCompensation 79 NoMeasurementProbeCompInDb Probe compensation missing import a suitable one or perform a Probe compensation 80 ProblemStoringProbeFactorySet Hardware communication problem or database error fatal error 81 WrongActiveMeasurementProbeCompInDb The available probe compensation does not match the attached probe 82 CommunicationWithMeasurementProbeFailed Communication problem with probe sometimes due to bad Illumination conditions 83 NoMeasurementTip Issued command requires a Tip Stylus mounted to the probe 84 NoActiveMeasurementTip The mounted Tip is not active Perform a TipToProbe compensation 85 NoMeasurementTipsInDb Tip Stylus hardware information not found plug and play fatal error 86 NoMeasurementTi
348. ronous commands also imply potential timeouts The COM component is binary and thus also lacks transparency Other than with the C C interface no debugging down to the source level is possible For highly professional applications we rather recommend programming in C or C hence using the C or C interface directly which are asynchronous be design COM objects expose interfaces described by a Type Library which is implicitly included in the DLL A pure Type Library LTControl tlb is also available although not really needed This High level interface does not provide any additional functions in terms of Tracker Server controlling functions LTControl is strictly based on the C TPI with a high level convenient programming interface COM interfaces work well together with Visual Basic Delphi and Office Macro programming languages VBA on the Win32 platform while using the emScon C or C interface is difficult for those types of languages 301 COM vs C C Programming provided All these functions are built in Only the IP address of the tracker server needs to be provided Advantages Disadvantages No include file to deal Comes as a DLL binary with on using COM TPI _ Its source code is not public Lacks full transparency and complicates application debugging No TCP IP library or Is limited to Win32 function needs to be platforms The COM interface offers both synchronous t
349. rse the laser beam must be attached to a reflector in order to perform this command successfully The result since a synchronous answer can be shown directly in a message box only x y and z are shown Private Sub StartMeas_Click Dim x As Double Dim y As Double Dim z As Double Dim d As Double d is a dummy variable Dim b As Boolean On Error GoTo ErrorHandler ObjSync MeasureStationaryPoint x y Zz qdq qdq _ d d d d d d _ dvd dvd daivd4b MsgBox x amp CStr e amp y amp CStr amp z Exit Sub ErrorHandler MsgBox Err Description End Sub If this command was an asynchronous call it would not be possible to display the result within 330 this function A result display is performed in the appropriate asynchronous answer handler For more details refer to Sample 5 source code Implementing Asynchronous Commands Visual Basic with IntelliSense provides support for the available functions of an interface with the function parameters Add a button named InitAsync The command handler should be completed with the following code Private Sub InitAsync_Click On Error GoTo ErrorHandler ObjAsync Initialize Exit Sub ErrorHandler MsgBox Err Description End Sub In contrast to the synchronous initialize function this one does not stop at the Initialize function Exit Sub is reached immediately When tracker initialization is done a noti
350. ructures to get T Cam To Tracker Compensation properties The GetTCamToTrackerCompensations command retrieves all such compensations defined in the Tracker Server The answer consists of as many answer packets as tips are defined in the server database These resolve the relation between compensation name string and compensation ID numerical Each packet in addition a redundancy contains the total number of compensations i e the total number of packets to be expected only for programmer s convenience Other properties such as tracker Serial Number comment etc serve as information mainly used for user interface purpose There is a flag 230 bIsActive which is true for exactly one compensation struct GetTCamToTrackerCompensationsCT struct BasicCommandCT packetInfo struct GetTCamToTrackerCompensationsRT struct BasicCommandRT packetInfo int iTotalCompensations int iInternalTCamToTrackerCompensationId int iInternalTrackerCompensationId int iInternalCamerald ES_BOOL bIsActive long 1TrackerSerialNumber unsigned short cTCamToTrackerCompensationName 32 unsigned short cTCamToTrackerCompensationComment 128 hi Note We do no longer recommend evaluating the blsActive flag in your application This flag is redundant information which should better be asked by using the GetTCamToTrackerCompensation call which should have been named better GetActiveTCam
351. rver based system Firmware Horizontal Vertical 2DoF angular measurement pair HVD Horizontal Vertical Distance 3DoF measurement triplet IFM Interferometer LT Laser Tracker w o ADM LTD AT Laser Tracker with ADM NYI Not yet implemented TPI Tracker Programming Interface API TS Tracker Server TP Tracker Processor Trafo Transformation T Cam TCam Tracker Camera T Probe Tracker Probe T Mac Tracker Machine Control Probe V Cam Video Camera overview camera WM Weather Monitor 2 1 3 Supported Leica Hardware The emScon TPI supports the following Laser Trackers and T Products LT500 amp LTD500 LT600 amp LTD600 Series LTD700 Series LT800 amp LTD800 Series T Cam 700 and 800 Series AT Tracker Series AT901 B MR LR T Cam LR and MR Series 2 1 4 Network requirements Communication between user applications and emScon tracker server is based on the TCP IP 10 protocol The application PC thus must be equipped with a TCP IP enabled LAN Board e This manual does not cover hardware and network installation configuration issues 2 1 5 Programming Environment This manual notation samples is mainly based on Microsoft Visual Studio 6 0 VC 6 0 Visual Basic 6 0 Some samples refer to VisualStudio 7 0 C and VB NET samples Compatibility to Microsoft Visual Studio 7 0 8 0 is granted for all C C COM interfaces Samples The samples written in VB 6 0 require a conversion
352. s ES_SP_TcpCommandQueueSize A value between 0 10 can be set as command buffer depth Default is 0 i e command buffering is switched off ES_SP_SystemMax6DDatakate Cannot be set Only Get supported The 156 maximum measuring rate supported in 6DoF mode ES_SP_D_TemperatureThreshold The Set GetDoubleSystemParamter command must be used to handle this parameter The value specifies the Temperature threshold upon which if reached a ES_SSC_EnvironmentParamsChanged for Air Temperature and or if applies a ES_SSC_ObjectTemperatureChanged for Object temperature is thrown Default threshold for temperature is 0 1 degree Celsius and is common for both Air and Object temperature ES_SP_D_PressureThreshold The Set GetDoubleSystemParamter command must be used to handle this parameter The value specifies the Pressure threshold upon which if reached a ES_SSC_EnvironmentParamsChanged is thrown Default threshold for pressure is 1 0 hPa ES_SP_D_HumidityThreshold The Set GetDoubleSystemParamter command must be used to handle this parameter The value specifies the Humidity threshold upon which if reached a ES_SSC_EnvironmentParamsChanged is thrown Default threshold for pressure is 1 0 ES_SP_D_SystemLongest3DDistanceIFM Cannot be set Only Get supported Returns the longest distance double parameter value the interferometer is able to measure which depends on tracker type
353. s It can also be used with C although less recommended and C VB NET 5 1 1 Drawbacks The emScon tracker server 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 The emScon COM interface is limited to Win32 platforms 5 1 2 Introduction The emScon high level interface is made up of a COM component as an ATL COM server It comes as a DLL named LTControl dll and it is part of the emScon SDK COM components have to be registered on the application computer In order to register LTControl dll Windows platforms only execute the following command from the command line 286 Regsvr32 exe lt Path gt LTControl dll See the Readme txt file that comes with the SDK lib folder for a more detailed description Remark The LTControl dll component as well as LTVideo2 ocx up to emScon Version 2 3 472 failed to register when performed by a user without administrator privileges From emScon SDK version 2 3 477 and higher restricted users also may register these components However be aware that only the owner may then use them Whenever possible it is recommended to have these components r
354. s AG Metrology Division 3 Trigger Modes There are tree major categories of trigger modes e Internal gt takes measurements based on internal settings without any external conditions e Realtime Triggers gt take measurements triggered by external signals e Event Message Triggers gt do not really measure they just send an event message to the application It s up to the application software then to take any action e g start a stationary measurement Internal Trigger measurement External Realtime Triggers Internal Clock with external Start Stop Event Trigger bases on external trigger clock Each External Event Message The active transmission of the Start Stop signal sends active clock transmission takes a measurement bases on internal Measurement controlled by an event message z settings external Start Stop signal bases on internal settings 3 1 Realtime Trigger Modes e External Clock with Start Stop signal The measurement will be controlled by a start stop signal on the trigger board One transition of the clock signal positive or negative depends on the configuration triggers a measurement if the start stop signal is active JHH Clock Input negative transission I A A i J J J Start_Stop Input i ae a a l ke me l low active 2 pa gt i N I we p
355. s arrived and is ready to be read Since this is a Windows application we can use the window message mechanism to achieve this Note that in a non windows application we would need to use events and threads to achieve the same see Sample9 So far nothing depends from the emScon SDK we do not need any emScon include file yet All is provided by the VC development Kit But nevertheless we will be able to connect to disconnect from server But Step2 application will not yet allow to send real emScon commands and receive answers to from server Step3 Step 3 introduces the emScon command class CESAPICommand to SEND understandable data to the server More precisely the class is rather used to construct data blocks understandable to the emScon server It s the first time that the emScon SDK is involved We have to include the ES_CPP_API_Def h file and indirectly through this file some other include files such as ES_C_API_ Def h and Enum h As done with CSocket we also must derive our own class from CESAPICommand because this class contains a virtual function SendPacket It is mandatory to provide our own implementation of this class The implementation depends on the TCP IP communication package we use Step3 application allows us to send commands but not yet to receive answers So we will not be able to check whether the command was 280 executed correctly because all commands a
356. s of environmental parameters ES_C _ SetRefractionParams Set explicit Refraction Indices for Interferometer and ADM This is an advanced command and should only be used in real special situations That is if one wants to use his own formula for calculating the refractions from the environment parameters SetRefractionParams will override those refraction parameters indirectly calculated and implicitly set by a previous call to SetEnvironmentParams Note SetEnvironmentParams and SetRefractionParams are concurrent commands Both update the refraction parameters Refraction indices are dimension less For valid parameter ranges refer to chapter Working Conditions in the Introduction main chapter of this manual Trying to set values outside the valid ranges will result in command failure A change of the environment parameters automatically causes an internal implicit refraction parameter setting ES_C_GetRefractionParams Query the currently valid Refraction Parameters for Interferometer and ADM ES_C SetMeasurementMode Sets the measurement mode of the tracker Depending on this mode a subsequent Start 66 measurement command will result in a Stationary measurement single point measurement a Continuous measurement etc See enum ES_MeasMode for a list of modes supported ES_C GetMeasurementMode Queries the currently active measurement mode ES_C_SetCoordinateSystemType Sets
357. s of Measurement Tip at T Probe 147 enum ES_MeasurementTipStatus ES_PTS_TipOK ES_PTS_UnknownTip ES_PTS_MultipleTipsAttached e ES_PTS_TipOK A tip adapter is present and is working correctly e ES_PTS_UnknownTip There is no tip adapter attached or the currently attached tip cannot be recognized e ES_PTS_MultipleTipsAttached There are multiple Tips attached ES_TriggerSource Specifies the source for the measurement trigger This enumeration type is used as a parameter for the ES_C_Set GetTriggerSource commands See Tracker Trigger Interface Appendix for a more detailed description of trigger issues enum ES_TriggerSource ES_TS_Undefined ES_TS_Internal_Application ES_TS_External ES_TS_External_EventMessage e ES TS Undefined The trigger source is undefined e ES_TS_Internal_Application The application acts as trigger source Mainly used for emScon internal modes e ES TS External The trigger source is external The trigger port of the controller is used for trigger signal input A regular clock signal is usually used with this mode e ES_TS_External_EventMessage The trigger source is external The trigger port of the controller is used for trigger 148 signal input The trigger signal occurs on a specific event such as manual button press robot elevation limit and so on There is no distinction between start stop The application defin
358. serProcessorStatus The laser processor status warmed up or not can also be queried in an active way polling by using ES_C_GetSystemStatus ES_SSC_XXX_Changed These events are fired whenever there is a change of one of the system settings Parameters Modes Regions Compensations or Hardware those detected automatically such as TCam Probe Tip ES_SSC_MeasStatus_NotReady ES_SSC_MeasStatus_Busy ES_SSC_MeasStatus_Ready This event informs about a Measurement Status change Ready Busy Not Ready Apart from evaluating these events the 138 measurement status can also be asked actively with the command ES_ C GetTrackerStatus This information is typically used for user interface purpose to implement a traffic light with green ready yellow busy measuring red target lost or missing compensation colors ES_SSC_MeasStatus_6DStatusInvalid Same comments as above But only applies to probe measurements Tracking is still OK but the tilt of the probe is out of range so the TCam cannot reliably determine the rotation parameters The rotation angles are not accurate and thus the tip coordinates not reliable The recommended UI color to assign to this status is blue Used in BUI Compensation module ES_SSC_MeasurementCountReached Stop a continuous measurement when the max number of measurements are reached ES_SSC_IsFacel1 This event is fired whenever the tracker changes to Face I
359. sesee 354 7 1 1 Measurement BUI versus Compensation Applications 354 7 1 2 EmScon Basic User Interface BUD cccccccecssceeteeeseeees 355 7 1 3 Integration of BUI into applications seeeeeseeeeeeeeeeereeeeee 355 7 1 4 Sample T3 3 veescossrssins csstheorn p S 356 8 SELECTED COMMANDS IN DETAIL 357 8 1 Special FUMctions ccscssscssscecssccssecscececeseessessscsssesssscsssesesees 357 8 1 1 Get Reflectors Command cceeecceseseeeeceeeeeceseeeeeseeneeeeens 357 8 1 2 Still Image Command isase ii eecseeeceecneeeecsseeeeeeecaeeseeneees 361 8 1 3 Live Image display eee cesesssecsseeecseeeeceeceecaeeeeesecneeseens 367 8 1 4 Orient To Gravity Procedure 374 8 1 5 Transformation Procedure eeseesecseeeeceeeeeceseeeeeeeneeseens 375 8 1 6 Automated Intermediate Compensation cceeeeeeeeeees 378 8 1 7 Two Face Field Check 0 ceeeeeeseesecseeeecseeeecsseeeeeseeneeeeens 382 9 MATHEMATICS wo csiccissnsicctsscseedanenanivaatenniendanenacs 387 9 1 Point accuracy scescsescccscsccsccssscseccseccsceseesseessesesessscssssssssesesens 387 9 1 1 A priori accuracy soes eiee i i Aint baled eet 387 9 1 2 A posteriori ACCULACY sssesseesesseeeeseseseseeresesesesesteressreeseresee 388 9 1 3 Transformation of covariance Matrices 388 9 2 Orientation and Transformation esessseseeeecececececseeeececeeoceeeeeeeeee 389 9 2 1 Orientation scires lh Hee eect ached E E NGA 389 9 2 2
360. setting remains persistent Nevertheless it s a good idea that an application upon launch at least checks whether the desired compensation is set Command GetTCamToTrackerCom pensation The principle of dealing with compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 35 Set Probe Compensation Implication Comment Select a specific Probe Compensation Related to 6DoF modes only More than one Probe Compensation may be defined for a tracker camera although often there is only one If there is more than one these can be queried from the system by using the GetProbeCompensations command This will show the relation between the ID a number and the Name a Date String of the available compensation The ID can then be passed to the SetProbeCompensation command in order to activate it Note that this setting remains persistent Nevertheless it s a good idea that an application upon launch at least checks whether the desired compensation is set Command GetProbeCompensation The principle of dealing with probe compensations is the same as for Reflectors For more details see chapter 8 Get Reflectors command 36 Keep Last Position Flag Implication Comment Makes the laser beam Enabling this flag is stay at its current optional for 3D position if the beam is broken measurements
361. signing a client application using the LTControl COM component either the synchronous or asynchronous interface can be used Differences between the synchronous and asynchronous interface The functions of the synchronous interface do not return before the task is completed while the asynchronous functions do so see C C TPI In general programming with synchronous functions is much easier Handling Data Arrival Events or Notifications is not required except in some special cases With the asynchronous interface and the events notification that is calling SelectNotificationMethod with LTC_NM_Event an Event Sink must be implemented In VB this is done by defining the WithEvents keyword but in C this is a bit more complicated In addition the appropriate event handlers must be 304 implemented With any other notification mechanism the event sink is not required and the WithEvents keyword must be removed Implement Windows Message handlers not Event handlers in this case With the synchronous interface some answers remain asynchronous by their nature continuous measurement packets Reflectors and error answers these may partly occur non command related for example beam broken With synchronous commands events or notifications must still be caught See former paragraph Any other notification mechanism does not need an event sink and the WithEvents keyword must be removed In this case do not i
362. sition23 dAprioriStdDevPositionl dAprioriStdDevPosition2 dAprioriStdDevPosition3 dAprioriStdDevPositionTotal dAprioriCovarPositionl2 dAprioriCovarPosition1l13 dAprioriCovarPosition23 dQuaternion0o dQuaternionl dQuaternion2 dQuaternion3 dRotationAnglex dRotationAngleyY dRotationAnglez dStdDevRotationAnglex dStdDevRotationAngleyY dStdDevRotationAngleZ dStdDevRotationAngleTotal dCovarRotationAnglexyY dCovarRotationAnglexzZ dCovarRotationAngleYZ dAprioriStdDevRotationAnglex dAprioriStdDevRotationAngleyY dAprioriStdDevRotationAngleZ dAprioriStdDevRotationAngleTotal dAprioriCovarRotationAnglexY dAprioriCovarRotationAnglexZ dAprioriCovarRotationAngleYZ dTemperature dPressure dHumidity This receive only structure describes the ES_DT_Single6DMeasResult packet type 188 This structure is used to transmit the result of a 6D stationary measurement The result depends on current length and angle units the coordinate system type orientation and transformation parameters applied It contains Status Information Adapter where Tip mounted including its accuracy Probe position The position values relate to the center of the tip ruby sphere Probe orientation in two different representations Quaternion or Rotation Angles including their accuracy Environmental Data Rotation angles are always represented in the interval between PI and PI Details about Ro
363. size and type It contains a standard packet header and a return 184 status ES_ResultStatus or a hardware controller error number Note the variable status cannot only take values of the enum ES_ResultStatus In addition it may take any hardware controller error as listed in the Appendices of this manual The command parameter is often set to ES_C_Unknown since errors are often occur unsolicited that is they are not a reaction to a command Consider a beam broken error Such an event can happen at any time and is obviously not caused by a command The command parameter is set to ES_C_Unknown unless the error was caused by particular command SingleMeasResultT struct SingleMeasResultT struct ReturnDataT packetInfo enum ES_MeasMode measMode ES_BOOL biIsTryMode double dVall double dVal2 double dVal3 double dstdl double dstd2 double dstd3 double dStdTotal double dPointingErrorl double dPointingError2 double dPointingError3 double dAprioriStdl double dAprioriStd2 double dAprioriStd3 double dAprioriStdTotal double dTemperature double dPressure double dHumidity hi This receive only structure describes the ES_DT_SingleMeasResult packet type Apart from the standard ReturnDataT structure it contains data specific to a single tracker 3D measurement In addition to the 3 coordinate values there is statistical information such as standard deviations a posterio
364. some code fragments in order to illustrate how multithreaded applications using the LTControl have to be set up for different programming languages Using COM Control for Multi Tracker Support in C Take Sample 7 C application using the emScon COM interface as a basis Consider we d like to extend this application in order to control a 2nd tracker in parallel Any C application using COM needs to make a 314 COM initialization call prior to use any COM object This usually happens in InitInstance So does Sample 7 See Colnitialize NULL in CCPPClientA pp InitInstance As it does CoUninitialize upon exit It is important to notice that this COM initialization will only be effective for the main thread it will not apply to any child thread In order to take full advantage of the synchronous interface we must instantiate a 2nd instance of LTControl in a 2nd thread This will only succeed after having called ColInitialize NULL within this new thread Note that due to thread protection reasons it is not possible to instantiate a 2nd LTConnect Synclnterface in the main thread and then call methods from the worker function of a child thread the instantiation itself must occur in the 2nd threads worker function Typically for an application like Sample 7 the following steps will be required to add support for a 2nd tracker In the class CCPPClientDlg header file add a declaration for the s
365. splay live videos of emScon 3 0 servers Sample 18 This Visual Basic sample demonstrates how to implement a Live Video image based on the LTVideo2 ocx ActiveX component Note that LTVideo2 o0cx part of the emScon SDK must be registered first If no Visual Basic development environment is available the code can easily be ported to VBA Excel or any other MS Office application with VBA support Sample 18 demonstrates the full functionality of the control including GetCameraParameters events and Click handler The code is simple enough to be self explaining Further details see Readme txt file in Sample18 folder and code comments in source files Attention emScon 3 0 servers require version 3 0 of the LT Video2 o0cx This version of the control is also compatible to older emScon servers Sample 19 This C MFC sample demonstrates how to implement a Live Video image without using the LTVideo2 ocx It is rather based on emScons native video API Nevertheless we do not recommended using 372 this approach for Windows platform targeted applications For Windows based applications we highly recommend rather using the ready to use LTVideo2 ocx control LTVideo2 o0cx is part of the SDK and its usage is demonstrated in Sample 18 However the current LiveVideo CPP application might be useful for non Windows based applications e g Linux since support for LTVideo2 ocx will not be availab
366. stems AG Metrology Division 5 Generation of triggered Measurement Results The external trigger signal does not directely influence the raw measureing process in the tracker While the angle and distance reading runs at a fix rate of 3kHz the T Cam and probe devices capture rotation measurements with 100Hz Each measurement component is captured together with a timestamp based on the internal tracker clock running at 1MHz gives a resolution of 1 usec In the same way the timestamps of events from external trigger are captured With the knowledge of the time of all occurances it is possible to interpolate a measurement to the exact point of interest without a time lag Tracker Position po measurements 3kHz Probe Strobes 100Hz Interpolated Position Probe Rotation measurements TN y Interpolated Rotation Trigger Input 1 Triggered and A i 4 interpolated E S S LL E b measurements The drawing shows the way as 6D Probe measurements are captured and interpolated For 3D it works the same way but using only the tracker position measurement Trigger Interface Feb 4 2008 Page 7 Leica Geosystems AG Metrology Division 6 External Triggers on the Tracker Controller Status Display The 3 line of the LCD display shows the status and operation of the tracker 6 1 Tracking and Measurements Just tracking no IP 132 165 481 Measurements sent _ _ LTI LTDS4e WS JE Track ine X
367. surement start Time2 indicates microseconds expired within the last second The total elapsed time in microseconds is T ms 10e6 ITime1 1Time2 Attention The value of T in the formula above becomes huge within only a few minutes If your application implements this formula you must use caution to avoid an overflow of T Either use a 64bit Integer or protect the resulting 168 value for not to exceed MaxInt depends on your platform Example If T was an ordinary 32 bit unsigned long value its max value is 232 4 294 967 296 This value in microseconds evaluates to 4295 seconds In other words without any measures after a continuous measurement period of about 1 2 hours the value of T will overflow and probably cause a crash of your application Even worse with a signed value where the overflow will happen after 0 6 hours Position values Val1 Val3 are in current units CS type and according to applied orientation transformation parameters Meas Value2T struct MeasValue2T enum ES_MeasurementStatus status long 1Timel long 1Time2 double dVall double dVal2 double dVal3 double dAprioriStdDevl double dAprioriStdDev2 double dAprioriStdDev3 double dAprioriStdDevTotal double dAprioriCovarl2 double dAprioriCovar13 double dAprioriCovar23 hi This struct describes a single measurement of a continuous 3D measurement stream in case the statistical mode is set to
368. t pData gt lNumberOfResults i s Format _T lf lf 1f pData gt data i dVall pData gt data i dVal2 pData gt data i dVal3 do something with data application dependent m_staticContMeas SetWindowText s for break case ES_DT_Error ErrorResponseT pCmdData ErrorResponseT ptr s Format _T error command d status d n pCmdData gt command pCmdData gt status AfxMessageBox s break case ES_DT_SingleMeasResult SingleMeasResultT pData SingleMeasResultT ptr ASSERT pData gt measMode ES_MM Stationary TODO do something with data break case ES_DT_ReflectorPosResult Not implemented break case ES_DT_Command break nothing to do default Beep 100 100 all other data currently unhandled switch ProcessData For further details refer to the sample source code Limitations for high frequency continuous measurements like loss of data may occur due to hardware LAN PC performance limitations Tests have shown that under good conditions LAN PC Client program design the LT Control is able to handle the maximum data rate of 1000 points per second even through the event notification mechanism which might have slightly less performance than the message 341 methods Low performance of Dispatch Interfaces Further details see Readme txt file in Sample 7 folder and co
369. t upon running the application e This loop looks for user input of one of the two TPI commands 1 for Initialize Tracker and g for Get Direction e Ifthe user enters x the loop is stopped the TCP IP connection is closed and the application terminates The TcpIpConnect function is straightforward up to the call of connect e Call WSAStartup After connecting call WSAEventSelect which takes the following parameters A socket handle that has been created before as a global variable An event of type WSAEVENT as a global variable This variable must be initialized 252 with the return value of a WSACreateEvent call A flags parameter FD_READ is passed indicating an interest in data arrival events a realistic application would have to also trap FD_CLOSE events Calling this function will cause the TCP IP framework to signal the passed event whenever data has arrived at the socket The DataRecvThread has an infinite loop with the following statement WaitForSingleObject g_hSocketEvent INFINITE This is a blocking call and causes the loop to stop until the event is signaled to be read The blocking by the WaitForSingleObject is released and the loop passes on Reset the event before available data is read into a buffer Call a function ProcessData that does the interpretation of the buffer Queuing Traffic Jams There are no provisions to handle tra
370. t ReturnDataT packetHeader enum ES_SystemStatusChange systemStatusChange hi This receive only structure describes the ES_DT_SystemStatusChange packet type These are received when the system status has changed See enum ES_SystemStatusChange for supported notification types ExternTriggerParamsT struct ExternTriggerParamsT enum ES_ClockTransition clockTransition enum ES_TriggerMode triggerMode enum ES_TriggerStartSignal startSignal long 1MinimalTimeDelay hi Parameters 1 3 See description of appropriate enumeration types 191 IMinimalTimeDelay The time delay between trigger event and measurement Non Parameter Command Return Types Lists all non parameter command structures They are derived from the BasicCommandCT command types client to Server and the BasicCommandRT return types Server to client 192 struct InitializeCcT struct BasicCommandCT packetInfo hi struct InitializeRT struct BasicCommandRT packetInfo hi struct ReleaseMotorsCT struct BasicCommandCT packetInfo di struct ReleaseMotorsRT struct BasicCommandRT packetInfo hi struct ActivateCameraViewCT struct BasicCommandCT packetInfo hi struct ActivateCameraViewRT struct BasicCommandRT packetInfo he struct ParkCT struct BasicCommandCT packetInfo hi struct ParkRT struct BasicCommandRT packetInfo di struct GoBirdBathCT
371. t handling 51 unknown data 3 2 5 3D 6 DoF Related commands The essential change between emScon v1 5 and emScon V2 0 is the introduction of 6DoF measurement structures 6 degrees of freedom Some were already present in v1 5 However these were declared as preliminary and have significantly changed since then From programming point of view handling 6DoF measurements is principally the same as 3D measurements The only difference is that other data structures are to be used Here is an overview of the related commands packets structures 3D Packets Commands 6DoF Probe Packets Commands ES_DT_SingleMeasResult ES_DT_StationaryProbeMeas Result ES_DT_MultiMeasResult ES_DT_ContinuousProbeMea sResult ES_DT_ReflectorPosResult ES_DT_ProbePosResult 3D Structures 6DoF Structures SingleMeasResultT ProbeStationaryResultT MultiMeasResultT ProbeContinuousResultT ReflectorPosResultT ProbePosResultT The ES_DT_SingleMeasResult2 SingleMeasResult2T and ES_DT_MultiMeasResult2 MultiMeasResult2T packets commands are extended variants of the relatives without the 2 in their name The only difference is that these versions contain extended statistical information Applications passing measurements to the CallTransformation command should use the 2 variants since the transformation routine 52 requires these extended st
372. tA pplication command Note ExitApplication and StopMeasurement are the only two exceptions of commands that cause immediate reaction while some other command is still pending All other commands will return Server busy instead Hint This does not apply to the synchronous emScon COM interface LTControl ES_C_GetSystemStatus Request status information about the system ES_C_GetTrackerStatus Request status information about the tracker ES_C_SetTemperatureRange Set the Trackers working temperature range ES_C_GetTemperatureRange Get the Trackers working temperature range ES_C SetUnits Set Current Units All length angular temperature pressure and humidity type parameters of all TPI commands are represented in the currently selected units Exception Leica Nivel inclination sensor readings are provided in the sensors native units milli rad Celsius Related structure SystemUnitsDataT ES_C_GetUnits Queries the currently active unit settings Related structure SystemUnitsDataT ES_C Initialize Initializes the tracker ES_C_ReleaseMotors Release the motor for horizontal and vertical tracker head movement in order to allow manual tracker head movement 62 ES_C _ ActivateCameraView Activates the camera view The mirror is turned upwards in order to direct camera view towards tracker head orientation Command only applies to Trackers equipped with an overview camera E
373. tInfo enum ES_MeasurementCameraMode cameraMode i GetProbesCT RT Command structure to get Probe properties GetProbes command retrieves all probes defined in the Tracker Server The answer consists of as many answer packets as probes are defined in the server database These resolve the relation between probe name string and probe ID numerical Each packet in addition a redundancy contains the total number of probes i e the total number of packets to be expected only for programmer s convenience Other properties such as probeType serial Number comment etc serve as information mainly used for user interface purpose 228 struct GetProbesCT struct BasicCommandCT packetInfo hi struct GetProbesRT struct BasicCommandRT packetInfo int iTotalProbes int iInternalProbeld long 1SerialNumber enum ES_ProbeType probeType int iNumberOfFields unsigned short cName 32 unsigned short cComment 128 he GetProbeCT RT Command structure to get the ID of active Probe The GetProbe command delivers the currently active probe by its ID Currently set as the active one in the database struct GetProbeCT struct BasicCommandCT packetInfo de struct GetProbeRT struct BasicCommandRT packetInfo int iInternalProbeld i GetTipAdaptersCT RT Command structure to get measurement Tip properties The GetTipAdapters command retrieves all tip adapters defined for the Track
374. taVt long posxX long posyY long flags This event occurs when clicking on the image with the mouse The event parameters are as follows e DeltaHz deltaVt The angles that can be passed to the PositionRelativeHV command in order to move the tracker to the clicked position e PosX posY The pixel values of the clicked position within the image coordinate system top left 0 0 e The flags parameter can be used to figure out which modifier keys are pressed during the click The flags parameter is the same as provided by the OnLButtonDown standard message See Microsoft MFC documentation for details e Server address and Port number must be passed as properties e AnRGB triplet can be passed to alter the color of the crosshair The following event is fired on a GetCameraParameters method call 370 void CameraParams long brightness long contrast double focalLength double horizontalChipSize double verticalChipSize VARIANT_BOOL mirrorImageHz VARIANT_BOOL mirrorImageVt This is usually done once upon initialization to get the actual overview properties FocalLength Chip characteristics and mirror status are for advanced programming issues If one wants to implement it s own image click handler i e determine relative tracker movement parameters out of image coordinates Important Remark Up to LTVideo2 OCX version 2 0 0 13 part of emScon 2 0 54 release it was essential for
375. tationStatus see chapter Rotation Status just following the chapter ProbeMeasValueT Applies only to 6DoF systems ProbeContinuousResultT struct ProbeContinuousResultT struct ReturnDataT packetInfo long lNumberOfResults enum ES_MeasMode measMode ES_BOOL bIsTryMode int iInternalProbeld int iFieldNumber enum ES_MeasurementTipStatus tipStatus int iInternalTipAdapterId int iTipAdapterInterface double dTemperature double dPressure double dHumidity struct ProbeMeasValueT data 1 hi This receive only structure describes the ES_DT_ ContinuousProbeMeasResult packet type The only 189 difference to an ES_DT_ MultiMeasResult is the array element types Applies only to 6DoF systems NivelResultT struct NivelResultT struct ReturnDataT packetInfo enum ES_NivelStatus nivelStatus double AXTilt double aYTilt double dNivelTemperature This receive only structure describes the ES_DT_NivelResult packet type which includes the ReturnDataT structure and contains data specific to a Nivel measurement Refer to chapter ES_NivelStatus in chapter 3 3 2 enumeration types for details about supported measurement ranges The format of measurement and environmental values do NOT depend on current unit settings Nivel results always arrive in native Nivel format milliradiant for X Y tilt and Celsius for temperature ReflectorPosResultT struct Refl
376. ted to followed by a spiral search and a measurement The input Values are in current units CS type and according to applied orientation transformation parameters The result i e the coordinates of the measured point if command successful is returned the same way as for an ordinary stationary measurement through either a SingleMeasResultT or a SingleMeasResult2T depending on the selected statistic level Only in case of failure the error code is returned through a GoAndMeasureRT structure Note that the implementation of the GoAndMeasure command in the emScon COM interface LTControl is slightly different from the description here which relates to the C interface However the COM Type Library describes the functionality in a self explaining manner ES_C_GetTipToProbeCompensations2 Reads all TipToProbe compensations 92 stored in the database Apart from the internal ID and name a series of properties is delivered This command replaces the former ES_C_GetTipToProbeCompensations command ES ResultStatus Defines the supported result status values received as an answer to TPI commands The ES_ResultStatus enum only defines those errors that originate on the emScon server It does not cover those errors that originate at the sensor controllers For a complete listing of possible hardware controller errors see the Appendices at the end of this manual 93 enum ES_ResultStatus
377. tep5 folder To avoid these problems Step 6 introduces its own socket class CESSocket Apart from this the sample is identical to Step5 282 Further details see ReadmeStep6 txt in the Step6 folder of Sample4 4 4 2 Sample 9 This Sample EmsyCPPApiConsoleClient with a CESAPIReceive class demonstrates Sending and Receiving features of the C TPI among other features Like Sample 3 Sample 9 is a simple console application However in contrast to Sample 3 it is based on the C TPI In addition it has a more sophisticated data receiver function in order to handle traffic jams and or scattered data The principle of using the C interface is the same as used in Sample 4 Derive your own classes from the C TPI classes CESApiCommand and CESApiReceive and define virtual methods as needed Set the IP address to the actual Tracker server address before building the application Alternatively the IP address can be passed as command line argument upon running the application Further details see Readme txt file in Sample 9 folder and code comments in source files 4 4 3 Sample 12 This ReflectorCtl sample provides an Activex component comprising the most common reflector commands This control skips building up a lookup table for ID Name mapping querying all the defined reflectors from the system and providing the appropriate user interface controls The Sample contains full source code Visual C
378. tes are taken into account Weighted residual square sum The transformation algorithm determines the values of the transformation parameters in the weighted least squares sense This means that the following target functional is minimized RSS residual weightMatrix residual i l This functional is called the weighted residual square sum The weight matrix is the inverse of the covariance matrix of the residual For constraints the residual and the weight matrix are scalars Variance factor The variance factor Axyz mean error is related to the residual square sum through RSS varianceF actor _ redundancy It is dimensionless i e it does not depend on the length or angle units Its value may vary considerably depending on the accuracy of the input and the model error i e the size of the residuals If the residuals are systematically bigger than the standard deviations of the actual coordinates the variance factor exceeds one Otherwise it is less than one Redundancy The redundancy is an integer defined as redundancy noEquations noParameters If the redundancy is zero the variance factor is undefined Such cases are called minimum configurations If the redundancy is negative the solution is non unique More fixed nominal 395 coordinates or parameter constraints are needed to determine a unique solution 9 2 8 Examples Standard case with 3 points AddNomin
379. the box then GetReflector to get the current one and select it in the box 281 Asynchronous techniques are heavily touched with the reflectors handling filling them into combo box select the current reflector Further details see Readme txt file in Sample 4 folder and code comments in source files Step5 Step 5 adds control for selection of different measurement modes apart from some user interface refinements In particular the sample shows how to handle continuous measurements It is possible to switch between 3D and 6DoF stationary and continuous measurement modes Measurement time stationary and measurement rate continuous are hardcoded by calling SetStationaryModeParams and SetContinuousTimeModeParams at initialization time Note that it only makes sense to select one of the 6DoF modes if the connected Tracker is equipped with a T Cam and a T Probe is used as measurement probe See important note at the bottom of ReadmeStep5 txt file in folder Step5 To avoid the particular problem described there another Step 6 has been added to the Sample Step 6 Unfortunately the CSocket class of MFC has turned out to contain a bug On heavy data transfer high frequency continuous measurements that is if the time separation value is set to about 10ms or less the socket can get blocked and does not recover until restarting the application See remark at bottom of file ReadmeStep5 txt in the S
380. the system tries to re establish the distance automatically as soon as a reflector can be tracked For trackers without a ADM Place the reflector in the Birdbath Do a GoBirdbath Move reflector to the measuring position without interrupting the beam ES_RS_NoTrackerConnected Meaning The connection between controller and tracker is broken Note Check all cables between controller and tracker 102 ES_RS_TrackerNotlInitialized Meaning The tracker is not initialized Note Execute the Initialize command Set the environmental parameters manually weather station before initialization See also chapter Initial Steps ES_RS_ ModuleNotStarted ES_RS_ ModuleTimedOut ES_RS_ErrorReadingModuleDb ES_RS_ErrorWritingModuleDb Meaning These errors indicate a software installation problem on the emScon server Note Reinstall emScon software ES_RS_NotInCameraPosition Meaning Application tried to grab a video image from the Overview Camera when the tracker was not in camera position Note Issue an ActivateCameraView command first ES_RS_TPHasServiceFirmware Meaning The server has loaded service firmware This firmware is not suitable for ordinary tracker usage This error cannot occur under normal conditions Note Refer to Leica service ES_RS_TPExternalControl Meaning The controller is running under external e g AXYZ control Note Reboot the tracker processor ES_RS_NoSuchCompensation Meani
381. ting the apiCommand and apiCommandz2 variables these are currently local to the Main method and therefore cannot be accessed from within Event handlers However noting prevents us to relocate these so that they can be accessed from anywhere else or to pass the object references to the receiver class this is shown as comment in the code below Note that there is no OnChangeFaceAnswer All non data returning commands trigger the general OnCommandAnswer handler So we have to check not only fort he cookie but also for the command Alternatively we directly could pass a reference of the Sender object to the Receiver object This 352 approach may make cookies superfluous in some situations This technique is also shown in the code below as comment public override void OnCommandAnswer BasicCommandRT answer ES_Command cmd answer command string s Derived OnCommandAnswer was called cmd emd ToString fromTracker _cookie ToString Console WriteLine s First check whether the call relates to the command whose answer we are expecting By then evaluating the cookie we can identify the source of the answer tracker 1 2 and if required invoke a subsequent command Currently apiCommand apiCommand2 are not accessible since local to Main hence commented You may relocate apiCommand apiCommand2 objects in order to get access form anywhere
382. to the Transformation routine See command SetStatisticMode The difference is that SingleMeasResult2T contains more statistical information than the standard SingleMeasResultT This is an advanced feature The default statistic mode is standard This type 2 meas result has been introduced to avoid changes to already published TPI definitions with earlier versions in order not to break existing applications Related data structure SingleMeasResult2T ES_DT_MultiMeasResult2 The data packet contains results of a continuous measurement in case the statistic mode is set to extended See command SetStatisticMode The difference is that MultiMeasResult2T contains more statistical information than the standard MultiMeasResultT 56 The default statistic mode is standard Related data structure MultiMeasResult2T ES_DT_ ProbePosResult The equivalent to ES_DT_ReflectorPosResult but related to probes with 6 Degrees of freedom I e Not only the position but also the rotation is supplied ES Command This enumeration type names all commands that are provided by the TPI A data packet of type ES_DT_Command contains exactly one of these values The answer packet to a command returns the same value for acknowledgment See struct BasicCommandCT for details General Information related to each command 1 Naming Convention Send Receive Structs The related data structures for sending and
383. tored in the database Apart from the internal ID and name a series of properties is delivered ES_C_GetTCamToTrackerCompensation Reads the currently active T Cam to Tracker compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_ GetT CamToTrackerCompensations ES_C_SetT CamToTrackerCompensation Sets the specified tracker compensation with the given ID as the active one The available TCamToTracker compensations including their IDs can be retrieved with the command GetTCamToTrackerCompensation ES_C_GetProbeCompensations Reads all Probe compensations stored in the database Apart from the internal ID and name a series of properties is delivered ES_C_GetProbeCompensation Reads the currently active probe compensation ID Only the internal ID is returned For additional information the properties need to be looked up in the list delivered by ES_C_GetTCamToTrackerCompensations ES_C_SetProbeCompensation Sets the specified Probe compensation with the given ID as the active one The available 85 Probe compensations including their ID s can be retrieved with the command Get GetProbeCompensations ES_C_GetTipToProbeCompensations Reads all TipToProbe compensations stored in the database Apart from the internal ID and name a series of properties is delivered This command should no longer be used It is only kept for compati
384. truct GridModeDataT for details Set GetSystemSettingsCT RT Command structures for setting getting the system settings parameters struct SetSystemSettingsCT struct BasicCommandCT packetInfo struct SystemSettingsDataT systemSettings hi struct SetSystemSettingsRT struct BasicCommandRT packetInfo struct GetSystemSettingsCT struct BasicCommandCT packetInfo hi struct GetSystemSettingsRT struct BasicCommandRT packetInfo struct SystemSettingsDataT systemSettings hi See struct SystemSettingsDataT for details Set GetUnitsCT RT Command structures for setting getting the units settings The current units act like current CS type and transformation orientation parameters as a input output Filter to all Length Angular Meteo type parameters 200 struct SetUnitsCT struct BasicCommandCT packetInfo struct SystemUnitsDataT unitsSettings he struct SetUnitsRT struct BasicCommandRT packetInfo di struct GetUnitsCT struct BasicCommandCT packetInfo i struct GetUnitsRT struct BasicCommandRT packetInfo struct SystemUnitsDataT unitsSettings hi See struct SystemUnitsDataT for details GetSystemStatusCT RT Command structures for getting the system status struct GetSystemStatusCT struct BasicCommandCT packetInfo hi struct GetSystemStatusRT struct BasicCommandRT packetInfo enum ES_ResultStatus lastRes
385. tructure as well A related data type is PacketHeaderT which serves as a sub structure in all packets enum ES_DataType ES_DT_Command ES_DT_Error ES_DT_SingleMeasResult ES_DT_MultiMeasResult ES_DT_StationaryProbeMeasResult ES_DT_ContinuousProbeMeasResult ES_DT_NivelResult ES_DT_ReflectorPosResult ES_DT_SystemStatusChange ES_DT_SingleMeasResult2 ES_DT_MultiMeasResult2 ES_DT_ProbePosResult e ES DT_Command The data packet contains a command sent or a command answer received Related data structures BasicCommandCT and BasicCommandkRT which are used as sub structures of each command related structure e ES DT Error The data packet contains error information Such a packet means an Error event For example beam broken It is not a reaction of some previous command and can occur at 54 any time Related data structure ErrorResponseT ES_DT_SingleMeasResult The data packet contains the result of one single stationary 3D measurement Result type packets can only be received Related data structure SingleMeasResultT ES_DT_MultiMeasResult The data packet contains results of a continuous 3D measurement This type of result block is of variable size and depends on the number of single measurements within a block Result type values can only be received Related data structure MultiMeasResultT ES_DT_StationaryProbeMeasResult The equivalent to SingleMeasResult but
386. ts CS type A NumberOfPoints value of zero means infinite must be stopped explicitly A region can be applied to limit the sensitive measurement space See commands SetBox SetSphereRegionParams for region definition 174 SearchParamsDataT struct SearchParamsDataT double dSearchRadius double 1TimeOut hi Used for parameters of Set GetSearchParams commands The search process is aborted upon one or the other of the two criteria is reached TimeOut is in milliseconds There is a minimum value of 10 000 ms 10 Seconds and a maximum of 240 000 ms 4 minutes SearchRadius is in current units The timeout parameter will interrupt the search if it takes too long due to a too big search radius if no reflector found within the specified time The Search Radius in current length units and must lie between 0 and 0 5 meters The default value is 0 04 meters Caution with small or even zero radius and or small timeOut Too small value may cause the search process to fail Note the maximum radius value was 1 0 m in emScon versions prior to version 2 0 and has been reduced to 0 5 m for newer versions Large search radii result in extended search times unless time is limited to a reasonable value Typical values are 0 05 m for the radius and 30 000 ms for timeout AdmParamsDataT struct AdmParamsDataT double dTargetStabilityTolerance double 1RetryTimeFrame double lNumberO
387. ueType ES_CCQ_ClearOwnOnly ES_CCQ_ClearAll hi e ES CCQ ClearOwnOnly Clear only those commands from the queue that were placed by the owning application Do not remove commands that have been placed by other clients This is an issue if several clients are connected to the server at a time e ES CCQ ClearAll Clear all pending commands regardless which application placed them ES OverviewCameraType This enum is part of the result of a GetOverviewCameralInfo command See struct 162 GetOverviewCameralnfoRT It shows the type of the mounted overview camera enum ES_OverviewCameraType ES_OCT_Unknown ES_OCT_Classic ES_OCT_TCam_Integrated overview camera in TCam stand e ES OCT Unknown None or a non recognizable Overview Camera is mounted e ES OCT Classic A classic standalone Overview Camera is mounted on the tracker e ES_OCT_TCam_Intergrated A T Cam with integrated Overview Camera is installed Note This is a hardware option Not all T Cams have an integrated overview camera ES _TriggerCardType This enum is part of the result of a GetTriggerBoardInfo command See struct GetTriggerBoardInfRT It shows the type of the mounted trigger board enum ES_TriggerCardType ES_TCT_None ES_TCT_SingleTracker he e ES TCT None The system is not equipped with a Trigger Board e ES_TCT_SingleTracker The system is equipped with a single Tracker Trigger
388. ultStatus enum ES_TrackerProcessorStatus trackerProcessorStatus enum ES_LaserProcessorStatus laserStatus enum ES_ADMStatus admStatus struct ESVersionNumber esVersionNumber enum ES_WeatherMonitorStatus weatherMonitor long lFlagsValue long 1TrackerSerialNumber See description of related enumeration types for details The lFlagsValue member contains some additional status information about the tracker tracker processor for advanced programming The description of the na bit of the FlagsValue start with least significant bit Bit Description Bit 1 Reflector was found Bit 2 Interferometer locked Bit 3 Positioning complete Bit 4 Tracker initialized Bit 5 Calibration set Bit 6 Tracker parked 201 Bit Description Bit 7 Motor switch is on Bit 8 Encoder angle error Bit 9 Sleep condition set Bit 10 Motor power active GetTrackerStatusCT RT struct GetTrackerStatusCT struct BasicCommandCT packetInfo di struct GetTrackerStatusRT struct BasicCommandRT packetInfo enum ES_TrackerStatus trackerStatus hi Command structures for getting the tracker status See enum ES_TrackerStatus for details Set GetReflector s CT RT Command structures for getting setting the current reflector by its numerical ID struct SetReflectorCT struct BasicCommandCT packetInfo int iInternalReflectorId di struct
389. unction 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 Each TPI command causes an asynchronous answer sort of an acknowledgment Hence commands and answers usually occur pair wise Some commands however will result in more 15 than one result packet There is no command at all that does not respond with an answer of some sort e Some Error Event types for example beam broken can occur at any time and are not direct reactions to a command So called unsolicited events An application should be prepared to catch these at any time e There are numerous System Change Events that can occur at any time An application may evaluate these mainly for GUI update e The tracker server high level interface COM provides both asynchronous and to a certain degree synchronous communication However some answer types are always asynchronous by their nature even when using the synchronous interface 2 3 4 Working Conditions The tables below show valid working ranges for selected parameters Level 1 Commands in the specific contexts will return a warning status when range is outside level 1 limits but within level 2 limits These values are outside Leica specified working ambient conditions but are still accepted nevertheless they should be used with caution
390. unted camera Assume this tracker compensation has definitions for three valid reflectors as follows Name ID CCR 75mm 7 CCR 1 5in 2 TBR 0 5in 5 Now the T Cam is removed and hence another tracker compensation becomes active one that was performed without a mounted T Cam Let s assume that this compensation has only two reflector definitions CCR 1 5in and TBR 0 5in Conveniently the mapping between name and ID remained the same as it was in the previous compensation Name ID CCR 1 5in 2 TBR 0 5in 5 203 If reflector ID 7 was the active one at the time the camera was removed you will now get a wrong current reflector error message on executing reflector dependent commands Thus the application must first set one of the now available IDs 2 or 3 with the SetReflector command The fact that the relation between reflector ID and Name remains the same throughout all tracker compensations may be convenient to application programmers since there is no need to re query all reflector mappings upon a tracker compensation change Set GetSearchParamsCT RT struct SetSearchParamsCT struct BasicCommandCT packetInfo struct SearchParamsDataT searchParams hi struct SetSearchParamsRT struct BasicCommandRT packetInfo i struct GetSearchParamsCT struct BasicCommandCT packetInfo hi struct GetSearchParamsRT struct BasicCommandRT packetInfo struct SearchParamsDataT searchParams hi
391. urce e g your own transformation routine or by some nominal design Therefore CallTransformation is only a utility routine provided by the emScon server In contrast to SetTransformationParams it does not belong to the core functionality of the system for performing measurements Before doing a CallTransformation both point lists Nominal and Actual must be prepared by using the Add commands use Clear commands prior to setup a new list since existing lists remain persistent Both lists must contain the same number of elements in matching order 376 The system settings of emScon units coordinate type and coordinate system must reflect the current input data Point input values nominal actual are interpreted by emScon based on the current emScon system settings e Additional optional parameters can be set by using the SetTransformationInputParams command Mainly used to fix certain result parameters for example if scale shall be fixed to exactly 1 0 By default i e if no call to SetTransformationInputParams was ever made all result parameters are assumed as Unknown not fixed That means that all 7 parameters to be determined are given a low StdDev of 1e 35 which means a low weight and therefore means no constraint However since these Parameters once explicitly set by using SetTransformationInputParams remain persistent it is highly recommend always to call this command prior to a transfo
392. urement different subsequent else if _cookie 2 _eomd GoBirdBath command for 2nd tracker KK ff i 353 7 Base User Interface BUI 7 1 Client Programming and BUI 7 1 1 Measurement BUI versus Compensation Applications The emScon software comes with several graphical User Interfaces represented by a WEB application running on internet explorer It is important to distinguish between standalone applications and integrated applications The Compensation Field Check and Tracker Server modules are pure stand alone applications For details see the designated special manuals fore these applications On the other hand the so called Measurement Base User Interface BUI does not make sense to be used as a stand alone application except for system testing reasons This chapter exclusively addresses the Measurement BUI The BUI requires a Master application the BUI is hosted by It mainly acts as a Display component of such a host application There is also a Toolbar to control the most common Tracker actions However there is other than in the stand alone WEB applications no way to perform settings such as Units CS Type Filters etc These have to be performed by the Master application the BUI is hosted by 354 7 1 2 EmScon Basic User Interface BUI The emScon Base User Interface emScon BUI provides a graphical interface to emScon s most commo
393. veHV to direct the tracker there and then request a new Image Private Sub Imagel_MouseDown ByVal Button As Integer ByVal Shift As Integer ByVal X As Single ByVal Y As Single Beep ws Cells 2 2 Value X ws Cells 3 2 Value Y ws Cells 5 2 Value Shift End Sub 8 1 3 Live Image display Live Image Control LTVideo2 ocx The live camera display from the Overview Camera can be implemented into user applications by using an ActiveX control LTVideo2 o0cx See SDK lib directory ANSI Unicode subdirectories Note emScon SDK version 2 4 and higher does no longer provide ANSI versions of LTControl dll and LTVideo2 ocx This means that the operating systems Win95 98 ME are no longer supported by emScon 2 4 client software Registering LTVideo2 ocx LTVideo2 0cx is an ActiveX type COM object and requires registration on the Application Processor From the command line perform the following command Regsvr32 lt Path gt LTVideo2 ocx where lt path gt depends on the location of the file typically C WINNT System32 Remark LTVideo2 ocx controls up to emScon Version 2 3 472 failed to register when performed by a user without administrator privileges From emScon SDK version 2 3 477 and higher 367 restricted users also may register these components However be aware that only the owner may then use it Whenever possible it is recommended to have LTVideo2 ocx registered by an ad
394. ved This derived class a virtual function SendPacket must be implemented This function cannot be implemented without knowledge of the TCP IP 263 communication functions the application wants to use The implementation of SendPacket depends on the TCP IP communication functions library API The SendPacket function expects a pointer to a data packet and the size of that packet Class CMyEsCommand Derived from CESAPICommand Class definition class CMyESCommand public CESAPICommand public CMyESCommand virtual CMyESCommand virtual function override bool SendPacket void pPacketStart long PacketSize Todo add members and methods used for ff TCP IP communication hi Class implementation CMyESCommand CMyESCommand Todo add initialization code if any CMyESCommand CMyESCommand Todo add cleanup code if any virtual function override bool CMyESCommand SendPacket void pPacketStart long 1PacketSize Todo implement this function according to your TCP IP communication return true Command Methods The CESAPICommand class defines a Send method for each one of the TPI commands These methods are named according to the command they cover Examples of such method names include e Initialize e GetCoordinateSystemType e SetSphereCenterModeParams 264 The argument list depends on t
395. vent message It does not start a measurement It s up to the application software to take any action 3 3 Configuration of the Trigger Input Signals e Clock Signal The clock signal can be configured to work either with the positive or the negative clock transmission Default is negative transmission e Start Stop Signal The start stop signal can be either low or high active low active means low start condition Default is low active e Minimal Delay Time While using a realtime trigger mode based on external clock the maximal data rate minimal delay between 2 points can be defined Minimal Time Delay Minimal Time Delay F ae Minimal Time Delay Clock Input triggered measurements Trigger clocks that violate the minimal time delay are ignored and do not trigger a measurement The time violation flag will be set in the status of the next delivered measurement point Trigger Interface Feb 4 2008 Page 5 Leica Geosystems AG Metrology Division 4 Time Information 4 1 Timestamp and Clock Drift A timestamp is supplied with each measurement from tracker The time bases on the internal clock of the tracker controller with microsecond resolution As it lies in the nature of subject internal clocks of several computers may slightly differ Even when initially set accurately real clocks will differ after some amount of time due to drift caused by clocks counting time at slightly different rates The
396. wer application should always use the Extended mode and therefore use all the 2 version structures handlers ES_StilllmageFileType Specifies the format of the still image This enumeration type is used as a parameter for the ES_C_GetStilllmage command enum ES_StillImageFileType ES_SI_Bitmap ES_SI_Jpeg e FES_SI_Bitmap The image arrives in Bitmap format e ES_SI Jpeg The image arrives in Jpeg format This format is not supported ES_TransResultType Specifies the type of the Transformation Parameters Depending on this setting the transformation routine will provide the 7 result parameters in inverse order This enumeration type is used as a parameter for the 145 ES_C_Set GetTransformationInputParams command enum ES_TransResultType ES_TR_AsTransformation ES_TR_AsOrientation hi e ES_TR_AsTransformation The 7 parameters are provided to be used for a transformation from local to object nominal coordinate system e ES _TR_AsOrientation The 7 parameters are provided to be used as orientation parameters ES_C_SetOrientationParameters ES_TrackerProcessorType Specifies the controller type of the Tracker Processor in use SMART Embedded LTController plus base etc ATC900 applies to new controller for AT series trackers enum ES_TrackerProcessorType ES_TT_Undefined ES_TT_SMART310 ES_TT_LT_Controller ES_TT_EmbeddedController ES_TT_Embed
397. which allows to queue several commands in one and the same function However even when using the synchronous interface some answers remain asynchronous by nature These are error events system status change events and multi packet command answers such as GetReflectors GetCompensations etc The correct approach is that the application never issues a command before the previous one has returned Even a non parameter returning command always indicates its termination by sending an acknowledgment With the C interface either the general OnCommandAnswer can be used for that practically only suitable for commands that do not return any results In addition every command has its individual On Answer handler See ES_CPP_API_ Def h file CESAPIReceive class 273 In particular the next command may not be issued before the On Answer handler of the previous command has arrived There are several possible approaches to achieve correct execution of a series of commands e Directly call the next command in the On Answer of the previous command This approach is demonstrated with the GetReflectors GetReflector sequence in Step4 of Sample 4 Remark There is a helper function InitReflectorBox in OnGetReflectorsAnswer The next command GetReflector is called in this InitReflectorBox function However GetReflector could also be called inside OnGetReflectorsAnswer fu
398. window for message handling To be complete the most simple approach is also mentioned here although this does not really mean an automated queuing of commands Let the synchronization to the user This means that the application implements an individual Button for every command i e every button handler calls only one command The user himself must make sure he does not press a button while a pending command has not terminated The application can support the user in such that it disables all buttons while a command is in action Disable all buttons when pressing any button enable all again when a On Answer handler is called The asynchronous issues of this chapter also apply to the C Interface and the emScon COM interface as far as using the asynchronous interface or those parts of the synchronous COM interface that remain asynchronous by nature 275 4 3 10 Working with multiple trackers Under C C context there is nothing special to say about addressing multiple trackers from within one application Just duplicate the code from the first tracker to set up a 2nd connection to a different controller tracker For the C interface this means to create 2nd instances of the CESApiCommand and CESApiReceive derived classes Remarks If instances of the same Command Sender and Receiver classes are being used for both trackers these classes must not contain global or shared In part
399. with emScon V2 3 variable names have changed from 1FirmWare to iFirmware This will not have any influence to existing applications at runtime Upon compilation with the new API include files these names need to be adjusted in the code of the application struct GetNivelInfoCT struct BasicCommandCT packetInfo struct GetNivelInfoRT struct BasicCommandRT packetInfo int iFirmwareMajorVersionNumber int iFirmwareMinorVersionNumber int iSerialNumber hi GetTPInfoCT RT Command structures to read TP specific properties and feature data This is a command mainly used for service purposes Note with emScon V2 3 variable names have changed from iFirmWare to iFirmware This will not have any influence to existing applications at runtime Upon compilation with the new API include files these names need to be adjusted in the code of the application 224 struct GetTPInfoCT struct BasicCommandCT packetInfo hi struct GetTPInfoRT struct BasicCommandRT packetInfo int iTPBootMajorVersionNumber int iTPBootMinorVersionNumber int iTPFirmwareMajorVersionNumber int iTPFirmwareMinorVersionNumber int iLCPFirmwareMajorVersionNumber int iLCPFirmwareMinorVersionNumber enum ES_TrackerProcessorType trackerprocessorType enum ES_TPMicroProcessorType microProcessorType int iMicroProcessorClockSpeed enum ES_LTSensorType laserTrackerSensorType hi SetLaserOnTimerCT RT Comm
400. x SetSphereRegionParams for region definition SphereCenterModeDataT struct SphereCenterModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bFixRadius double dRadius hi Used as parameters for the Set GetSphereCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Spatial distance and Radius are in current length 173 unit The radius can be left variable to be calculated by the fit routine or fixed if it is known Same trigger criteria as with Continuous distance mode CircleCenterModeDataT struct CircleCenterModeDataT double dSpatialDistance long lNumberOfPoints ES_BOOL bFixRadius double dRadius hi Used for parameters Set GetCircleCenterModeParams commands A INumberOfPoints value of zero means infinite must be stopped explicitly Radius is in current length unit Spatial distance and Radius are in current length unit The radius can be left variable to be calculated by the fit routine or fixed if it is known Same trigger criteria as with Continuous distance mode GridModeDataT struct GridModeDataT double dVall double dVal2 double dVal3 long lNumberOfPoints ES_BOOL bUseRegion enum ES_RegionType regionType Used as parameters for the Set GetGridModeParams commands The 3 values describe the grid size in the CS Position values are in current uni
401. y default the transformation parameters are as follows X 0 Y 0 Z 0 Omega 0 Phi 0 Kappa 0 Scale 1 38 Coordinate System Type Implication Comment Selects the coordinate system type RHR LHR X LHR Y LHR Z CCW CCC SCW SCC The TPI delivers the data in the current coordinate system type By default the tracker system will work in the right handed rectangular coordinate system RHR type 3D rectangular coordinates are defined by 3 mutually perpendicular axes X Y and Z given in the order X Y Z Since the axes can be arranged in two different ways right and left handed systems are defined according to the convention illustrated in a simple 2D case Cylindrical Clockwise CCW Cylindrical Counter Clockwise CCC In a cylindrical system the X and Y values are expressed in terms of a radial distance offset from the Z axis and a horizontal angle of rotation The Z coordinate remains the same 39 Implication Comment Spherical Clockwise SCW Spherical Counter Clockwise SCC In a spherical system a point is located by a distance and two angles instead of the 3 coordinate values along the rectangular axes For axes labeled XYZ with Z vertical the point is located by its distance from the origin horizontal angle in the XY plane and zenith angle measured from the Z axis 2 4 5 Automatic External Device Rec
402. y measurement The hardware trigger interface of the LT Controller allows a flexible setup The interface can be configured to e Differential RS422 or single wired TTL input signal defined by a jumper on the connector e Single event or continual clock trigger mode e Trigger event on negative or positive transition of the clock signal e A minimal time delay between measurements Trigger Interface Feb 4 2008 Page 1 Leica Geosystems AG Metrology Division 2 Hardware Interface The trigger input connector can be found on the rear side of the LT Controller plus or base Currently the trigger card in the LT Controller supports only a trigger input interface The trigger interface contains 2 input signals e Clock input e Start Stop signal input e An additional line selects between TTL or RS422 interface To prevent any difficulties with ground loops all inputs are optically isolated to the rest of the Controller electronics 2 1 Trigger Input Connector The picture shows the pins of the 15pin female high density DSUB connector view from solder side TriggerGND TTLIRS422 Select Only pin 10 15 are used for the Start_Stop external trigger interface The remaining pins 1 9 are reserved for future use and should Trigger Clock not be connected Start_Stop Trigger Clock Trigger Interface Feb 4 2008 Page 2 Leica Geosystems AG Metrology Division 2 2 Differential RS422 Signal Input The drawing sh
403. y providing a COM Dispatch wrapper around the LTControls custom interfaces e Delphi All interfaces supported User defined types of TypeLibrary enum structs supported Event notification methods supported It is recommended to use at least Office 2000 or XP for TPI VBA Programming Office 97 Excel 97 Word 97 lacks user defined types 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 UDT Office 97 only cannot be used from within VBA However functions are available based on basic data types as a work around Older versions of VBA may lack support of enum type symbols so they need to be passed as 4 Byte long values Therefore the numerical representation of particular enum values must be 299 known In C language TPI these values are explicitly enumerated See ES_C_API_Def h in SDK for enum definitions A type library viewer will also show the numerical values Example Enum definition enum ES_TrackerTemperatureRange ES_TR_Low ES_TR_Medium ES_TR_High ES_TR_Automatic Fa ES_TR_Low 0 TR_Medium 1 ES_TR_High 2 and ES_TR_Automatic 3 e Command in a VB application ObjSync SetTemperatureRange ES_TR_High e Command in old version VBA ObjSync SetTemperatureRange 2 Only use the second approach if the first one is not
404. y thread from within a shared event sink Comments see related code in main thread of Sample 7 pEventSink2 new CLtcCppEventSink2 LPUNKNOWN pUnkSink pEventSink2 gt GetIDispatch FALSE DWORD dwCookie 0 VERIFY AfxConnectionAdvise pLTCommandSync2 DIID__ILTCommandSyncEvents pUnkSink FALSE amp dwCookie pEventSink2 gt SetConnectPtr pLTConnect2 KK bff E hardcoded arbitrary address due sample code Adjust to your controllers address use variable and pass for example from user interface Fe pLTConnect2 gt ConnectEmbeddedSystem 10 62 35 53 700 catch _com_error amp e TRACE _T Exception s n LPCTSTR e Description ES_ResultStatus rs ES_RS_Unknown if pLTConnect2 rs pLTConnect2 gt GetLastResultStatus CString s s Format _T s Status d LPCTSTR e Description rs AfxMessageBox s else AfxMessageBox _T LTControl not loaded Missing or not registered 2 Worker part endless loop for 316 Just sample code of course it does not make sense to continuously call change Face but we just want to demonstrate that tracker 1 be controlled independently from tracker 2 even while tracker2 is continuously busy A real application would provide a parser here still within an endless loop for user interface commands dedicated to tracker 2 Note that as soon as
405. zation failed F 24011 Reading resource string failed F 24012 Error on reading input data from database F 24013 Error on saving results to database F 24020 Least Squares Fit failed 24021 Initial Approximation for Fit failed 24022 Too many unknown nominals 24023 Multiple solutions found Errors marked with F are unanticipated fatalities Set GetTransformationiInputParamsCT RT Command structures for setting getting the transformation Input parameters These are used as input for the Transformation calculation process to fix weight transformation result parameters 218 See struct TransformationInputDataT for details Also see Section 9 2 struct SetTransformationInputParamsCT struct BasicCommandCT packetInfo struct TransformationInputDataT transformationData struct SetTransformationInputParamsRT struct BasicCommandRT packetInfo struct GetTransformationInputParamsCT struct BasicCommandCT packetInfo struct GetTransformationInputParamsRT struct BasicCommandRT packetInfo struct TransformationInputDataT transformationData AddTransformationNominalPointCT RT Command structures for adding a Point to the Nominal point list See struct TransformationPointT and also chapter Transformation Procedure in chapter 8 for details struct AddTransformationNominalPointCT struct BasicCommandCT packetInfo struct TransformationPointT transformationPoint

2.3 Tracker Programming Interface

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