def test_connect():
"""
connects and configures ,
reqs: 03, 04
"""
tracker = NDITracker(SETTINGS_DUMMY)
tracker.close()
def test_connect():
"""
connects and configures ,
reqs: 03, 04
"""
tracker = NDITracker(SETTINGS_DUMMY)
assert not tracker.use_quaternions
tracker.close()
def test_connect_network():
"""
connects and configures, throws error when no vega
reqs: 03, 04
"""
with pytest.raises(IOError):
tracker = NDITracker(SETTINGS_VEGA)
del tracker
def test_connect_serial():
"""
connects and configures, throws error when no serial
reqs: 03, 04
"""
tracker = None
with pytest.raises(IOError):
tracker = NDITracker(SETTINGS_POLARIS)
del tracker
def configure_tracker(config):
"""
Configures the tracking system.
:param: A dictionary containing configuration data
:return: The tracker object
:raises: KeyError if no tracker entry in config
"""
if "tracker type" not in config:
raise KeyError('Tracker configuration requires tracker type')
tracker_type = config.get("tracker type")
tracker = None
if tracker_type in ("vega", "polaris", "aurora", "dummy"):
tracker = NDITracker(config)
if tracker_type in "aruco":
tracker = ArUcoTracker(config)
tracker.start_tracking()
return tracker
def test_get_frame():
"""
test get frame returns numpy array
reqs:05, 06
"""
tracker = NDITracker(SETTINGS_DUMMY)
_port_handles, _timestamps, _framenumbers, \
tracking, _tracking_quality = tracker.get_frame()
assert not tracking
del tracker
dummy_two_rom = {
"tracker type": "dummy",
"romfiles" : [
"../data/something_else.rom",
"../data/8700339.rom"]
}
tracker = NDITracker(dummy_two_rom)
_port_handles, _timestamps, _framenumbers, \
tracking, _tracking_quality = tracker.get_frame()
assert len(tracking) == 2
assert tracking[0].shape == (4, 4)
assert tracking[0].dtype == 'float64'
def configure_tracker(config):
"""
Configures a scikit-surgery tracker based on the passed config
:param config: a tracker configuration dictionary
:returns: The tracker
:raises: KeyError
"""
if "tracker type" not in config:
raise KeyError('Tracker configuration requires tracker type')
tracker_type = config.get("tracker type")
tracker = None
if tracker_type in ("vega", "polaris", "aurora", "dummy"):
tracker = NDITracker(config)
if tracker_type in "aruco":
tracker = ArUcoTracker(config)
if tracker_type not in "dummy":
tracker.start_tracking()
return tracker
def test_stop_tracking():
"""
test stop tracking
reqs:
"""
tracker = NDITracker(SETTINGS_DUMMY)
with pytest.raises(ValueError):
tracker.stop_tracking()
tracker.close()
def run():
"""Demonstration program
Example showing how to initialise, configure, and communicate
with NDI Polaris, Vega, and Aurora trackers.
Configuration is by python dictionaries, edit as necessary.
Dictionaries for other systems:
settings_polaris = {"tracker type": "polaris",
"romfiles" : ["../data/8700339.rom"]}
settings_aurora = { "tracker type": "aurora",
"ports to use" : [1,2]}
settings_dummy = {"tracker type": "dummy",}
"""
settings_vega = {
"tracker type": "vega",
"ip address": "192.168.2.17",
"port": 8765,
"romfiles": ["../data/8700339.rom", "../data/something_else.rom"]
}
tracker = NDITracker(settings_vega)
tracker.start_tracking()
six.print_(tracker.get_tool_descriptions())
for _ in range(20):
six.print_(tracker.get_frame())
time.sleep(0.300333)
tracker.stop_tracking()
tracker.close()
def test_configure():
"""
connects and configures, throws errors when when errors in dictionary
reqs: 03, 04
"""
no_rom = {
"tracker type": "polaris",
}
with pytest.raises(KeyError):
tracker = NDITracker(no_rom)
del tracker
bad_tracker = {
"tracker type": "optotrack",
}
with pytest.raises(ValueError):
tracker = NDITracker(bad_tracker)
del tracker
no_ip = {"tracker type": "vega", "romfiles": "[rom]"}
with pytest.raises(KeyError):
tracker = NDITracker(no_ip)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
no_port = {
"tracker type": "vega",
"ip address": "tracker",
"romfiles": "[rom]"
}
tracker = NDITracker(no_port)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
aurora = {"tracker type": "aurora"}
tracker = NDITracker(aurora)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
aurora_sp = {"tracker type": "aurora", "serial_port": "1"}
tracker = NDITracker(aurora_sp)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
aurora_np = {"tracker type": "aurora", "ports to probe": "50"}
tracker = NDITracker(aurora_np)
del tracker
def test_connect_quaternions():
"""
connects and configures ,
reqs: 03, 04
"""
tracker = NDITracker(SETTINGS_DUMMY_QUATERNIONS)
assert tracker.use_quaternions
assert tracker.buffer_size == 1
tracker.close()
SETTINGS_DUMMY_QUATERNIONS['smoothing buffer'] = 3
tracker = NDITracker(SETTINGS_DUMMY_QUATERNIONS)
assert tracker.buffer_size == 3
def test_get_tool_descriptions():
"""
test get tool descriptions
reqs:05, 06
"""
tracker = NDITracker(SETTINGS_DUMMY)
_port_handles, descriptions = tracker.get_tool_descriptions()
assert not descriptions
del tracker
dummy_two_rom = {
"tracker type": "dummy",
"romfiles": ["../data/something_else.rom", "../data/8700339.rom"]
}
tracker = NDITracker(dummy_two_rom)
_port_handles, descriptions = tracker.get_tool_descriptions()
assert len(descriptions) == 2
def test_configure():
"""
connects and configures, throws errors when when errors in dictionary
reqs: 03, 04
"""
no_rom = {
"tracker type": "polaris",
}
with pytest.raises(KeyError):
tracker = NDITracker(no_rom)
del tracker
bad_tracker = {
"tracker type": "optotrack",
}
with pytest.raises(ValueError):
tracker = NDITracker(bad_tracker)
del tracker
no_ip = {
"tracker type": "vega",
"romfiles": "[rom]"
}
with pytest.raises(KeyError):
tracker = NDITracker(no_ip)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
no_port = {
"tracker type": "vega",
"ip address": "tracker",
"romfiles": "[rom]"
}
tracker = NDITracker(no_port)
del tracker
with pytest.raises(IOError) or pytest.raises(OSError):
aurora = {"tracker type": "aurora"}
tracker = NDITracker(aurora)
del tracker
#try with an integer serial port
with pytest.raises(IOError) or pytest.raises(OSError):
aurora_sp = {"tracker type": "aurora",
"serial port": 0}
tracker = NDITracker(aurora_sp)
del tracker
#try with verbose on
with pytest.raises(IOError) or pytest.raises(OSError):
aurora_np = {"tracker type": "aurora",
"ports to probe": 10,
"verbose": True}
tracker = NDITracker(aurora_np)
del tracker
#with a named serial port on windows
with pytest.raises(IOError) or pytest.raises(OSError):
aurora_np = {"tracker type": "aurora",
"serial port": "COM2",
"verbose": True}
tracker = NDITracker(aurora_np)
del tracker