Leica TM30 Series Reference Manual

Leica TPS1200+

Leica TS30 / TM30

GeoCOM Reference

Manual

Version 1.50

English

GeoCOM Reference Manual Contents

1 GEOCOM .................................................................................................................................................................. 5

1.1

I NTRODUCTION .................................................................................................................................................... 5

1.2

TPS1200 S YSTEM S OFTWARE ............................................................................................................................. 5

1.3

P RINCIPLES OF G EO COM O PERATION ................................................................................................................. 6

2 GENERAL CONCEPTS OF USING GEOCOM .................................................................................................. 7

2.1

INTRODUCTION .................................................................................................................................................... 7

2.2

G ENERAL C ONCEPT OF O PERATION ..................................................................................................................... 7

2.3

ASCII P ROTOCOL ................................................................................................................................................ 7

2.4

F UNCTION C ALL P ROTOCOL C/C++ .................................................................................................................. 8

2.5

F UNCTION C ALL P ROTOCOL VBA..................................................................................................................... 9

3 FUNDAMENTALS OF PROGRAMMING GEOCOM ..................................................................................... 10

3.1

INTRODUCTION .................................................................................................................................................. 10

3.2

ASCII P ROTOCOL P ROGRAMMING .................................................................................................................... 10

3.3

C/C++ P ROGRAMMING .................................................................................................................................... 12

3.4

VBA P ROGRAMMING ...................................................................................................................................... 14

3.5

U NITS OF V ALUES ............................................................................................................................................. 16

3.6

TPS1200 I NSTRUMENT M ODES OF O PERATION ................................................................................................. 16

3.7

C OMMON C OMMUNICATION E RRORS ................................................................................................................ 16

4 REMARKS ON THE DESCRIPTION ................................................................................................................. 19

4.1

S TRUCTURE OF D ESCRIPTIONS ........................................................................................................................... 19

5 COMMUNICATION SETTINGS......................................................................................................................... 21

5.1

USAGE ............................................................................................................................................................. 21

5.2

C ONSTANTS AND T YPES .................................................................................................................................... 21

5.3

G ENERAL G EO COM F UNCTIONS ....................................................................................................................... 22

5.4

C LIENT S PECIFIC G EO COM F UNCTIONS ............................................................................................................ 24

6 ALT USER - AUS ................................................................................................................................................... 38

6.1

U SAGE ............................................................................................................................................................... 38

6.2

C ONSTANTS AND T YPES .................................................................................................................................... 38

6.3

F UNCTIONS ........................................................................................................................................................ 39

7 AUTOMATION - AUT .......................................................................................................................................... 43

7.1

U SAGE ............................................................................................................................................................... 43

7.2

C ANCEL L ING / A BORTING CURRENT FUNCTIONS ............................................................................................... 43

7.3

C ONSTANTS AND T YPES .................................................................................................................................... 43

7.4

F UNCTIONS ........................................................................................................................................................ 45

8 BASIC APPLICATIONS – BAP ........................................................................................................................... 69

8.1

USAGE ............................................................................................................................................................. 69

8.2

C ONSTANTS AND T YPES .................................................................................................................................... 69

8.3

F UNCTIONS ........................................................................................................................................................ 71

9 BASIC MAN MACHINE INTERFACE – BMM ................................................................................................ 89

9.1

USAGE ................................................................................................................................................................ 89

9.2

C ONSTANTS AND T YPES .................................................................................................................................... 89

9.3

F UNCTIONS ........................................................................................................................................................ 90

10 COMMUNICATIONS – COM.......................................................................................................................... 94

10.1

USAGE ............................................................................................................................................................. 94

10.2

C ONSTANTS AND T YPES .................................................................................................................................... 94

10.3

F UNCTIONS ........................................................................................................................................................ 95

11 CENTRAL SERVICES – CSV ........................................................................................................................ 101

11.1

INTRODUCTION ................................................................................................................................................ 101

11.2

U SAGE ............................................................................................................................................................. 101

11.3

C ONSTANTS AND T YPES .................................................................................................................................. 101

11.4

F UNCTIONS ...................................................................................................................................................... 103

Leica TPS1200 / TS30 / TM30 – Version 1.50 2

GeoCOM Reference Manual Contents

12 ELECTRONIC DISTANCE MEASUREMENT – EDM .............................................................................. 113

12.1

INTRODUCTION ................................................................................................................................................ 113

12.2

U SAGE ............................................................................................................................................................. 113

12.3

C ONSTANTS AND T YPES .................................................................................................................................. 113

12.4

F UNCTIONS ...................................................................................................................................................... 114

13 FILE TRANSFER - FTR ................................................................................................................................. 117

13.1

U SAGE ............................................................................................................................................................. 117

13.2

C ONSTANTS AND T YPES .................................................................................................................................. 117

13.3

F UNCTIONS ...................................................................................................................................................... 118

14 IMAGE PROCESSING – IMG ....................................................................................................................... 127

14.1

INTRODUCTION ................................................................................................................................................ 127

14.2

U SAGE ............................................................................................................................................................. 127

14.3

C ONSTANTS AND T YPES .................................................................................................................................. 127

14.4

F UNCTIONS ...................................................................................................................................................... 128

15 MOTORISATION – MOT .............................................................................................................................. 131

15.1

INTRODUCTION ................................................................................................................................................ 131

15.2

U SAGE ............................................................................................................................................................. 131

15.3

C ONSTANTS AND T YPES .................................................................................................................................. 131

15.4

F UNCTIONS ...................................................................................................................................................... 132

16 SUPERVISOR – SUP ....................................................................................................................................... 137

16.1

USAGE .............................................................................................................................................................. 137

16.2

C ONSTANTS AND T YPES .................................................................................................................................. 137

16.3

F UNCTIONS ...................................................................................................................................................... 138

17 THEODOLITE MEASUREMENT AND CALCULATION – TMC ........................................................... 140

17.1

INTRODUCTION ................................................................................................................................................ 140

17.2

U SAGE ............................................................................................................................................................. 140

17.3

C ONSTANTS AND T YPES .................................................................................................................................. 141

17.4

MEASUREMENT F UNCTIONS ............................................................................................................................. 144

17.5

M EASUREMENT C ONTROL F UNCTIONS ............................................................................................................ 157

17.6

D ATA S ETUP F UNCTIONS ................................................................................................................................. 160

17.7

I NFORMATION F UNCTIONS ............................................................................................................................... 177

17.8

C ONFIGURATION F UNCTIONS .......................................................................................................................... 179

18 PORTING A TPS1100 APPLICATION......................................................................................................... 191

18.1

INTRODUCTION ................................................................................................................................................ 191

18.2

RPC C HANGES ................................................................................................................................................ 191

18.3

D ATA T YPES AND C ONSTANTS C HANGES ........................................................................................................ 193

18.4

R ETURN CODES ............................................................................................................................................... 193

19 GEOCOM RELEASES.................................................................................................................................... 194

19.1

R ELEASE 1.00 .................................................................................................................................................. 194

19.2

RELEASE 1.10 .................................................................................................................................................. 194

19.3

RELEASE 1.20 .................................................................................................................................................. 194

19.4

RELEASE 1.50 .................................................................................................................................................. 194

20 APPENDIX........................................................................................................................................................ 195

A Return-Code names and return-code values................................................................................................... 195

B Hardware interface......................................................................................................................................... 201

B-1 Serial Interface........................................................................................................................................ 201

B-2 Debugging Utility ................................................................................................................................... 202

C Provided Samples ........................................................................................................................................... 203

C-1 Program Frames...................................................................................................................................... 203

C-1.1

VBA Sample Program .................................................................................................................... 203

C-1.2

C/C++ Sample Programs ................................................................................................................ 203

C-1.3

TCC Image Grabber Sample Program ............................................................................................ 204

D List of Remote Procedure Calls (RPC) ....................................................................................................... D-205

D-1 rpc in Alphabetical order .................................................................................................................... D-205

Leica TPS1200 / TS30 / TM30 – Version 1.50 3

GeoCOM Reference Manual Contents

Microsoft, MS, MS-DOS, Windows, Windows NT, Win32, Visual C++ and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the USA and other countries

Leica TPS1200 / TS30 / TM30 – Version 1.50 4

GeoCOM Reference Manual GeoCOM

1 G

EO

COM

1.1

INTRODUCTION

TPS1200 series Theodolites are modern geodetic measurement instruments. Most of the main tasks can be fulfilled with these instruments implicitly by their integrated applications. Now, to fulfil a broader spectrum of tasks and applications an interface to the TPS1200 series sensor functions has been defined and will be published with this document.

With this interface it will be possible to write client applications based on MS-Windows and/or for any other platform, which supports ASCII, based communications.

Note: The TS30/TM30 and TPS1200 share the same GeoCOM interface. If not otherwise stated, the implementation for TM30 and TS30 instruments is the same as that for theTPS1200 instruments.

1.2

TPS1200 SYSTEM SOFTWARE

The TPS1200 system software organises and controls the interplay of several sensor elements. Furthermore, it builds up a frame for applications, which can be executed on the TPS1200 Theodolite.

This document concentrates on the main interface to the sensor elements of the TPS1200 Theodolite. This main interface can be used to implement solutions for special customer problems if the already existing solution does not provide the needed functionality or just to enhance it.

1.2.1

Organisation of Subsystems

The TPS1200 system software is built around the sensor elements, which are parts and/or optional add-ons of the

TPS1200 Theodolite instrument. It provides a set of functions to access sensors and calculated values. These functions are organised as subsystems. We will keep this segmentation in this document.

These functions can be grouped in the following sections:

AUS The subsystem ‘Alt User’ mainly contains functions behind the “SHIFT” + ”USER” button.

AUT Automatisation; a module which provides functions like the control of the Automatic Target Recognition,

Change Face function or Positioning functions.

BAP Basic Applications; some functions, which can easily be used to get measuring data.

BMM Basic Man Machine; functions which controls some basic input/output functionality, e.g. set beep alarm, etc.

COMF Communication; a module, which handles the basic communication parameters. Most of these functions relate to both client and server side.

COM Communication; functions to access some aspects of TPS1200 control, which are close to communication.

These functions relate either to the client side or to the server side.

CSV Central Services; this module provides functions to get or set central/basic information about the TPS1200 instrument.

CTL Control task; this module contains functions of the system control task.

EDM Electronic Distance Meter; the module, which measures distances.

FTR File Transfer, functions to list, download image files from instrument

IMG Image Processing; configure and capture Telescopic Camera Images

MOT Motorization; the part, which can be used to control the movement and the speed of movements of the instrument.

SUP Supervisor; functions to control some of the general values of the TPS1200 instrument.

TMC Theodolite Measurement and Calculation; the core module for getting measurement data.

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GeoCOM Reference Manual GeoCOM

PC application

GeoCOM client

Serial Line

PC

TPS

COMF

GeoCOM server

BAP

AUT

MOT

TMC

CTL

EDM CSV BMM SUP COM

motorization system software inclination sensor angle sensor distance sensor basic in/out

Picture 1-1: Overview Client/Server Application

1.3

PRINCIPLES OF GEOCOM OPERATION

Communication takes place between two participants - a client and a server. The medium of communication is a serial communication line. Refer to Appendix B for further information about settings and needed hardware.

The idea of GeoCOM is based on SUN Microsystems’ Remote Procedure Call (RPC) protocol.

On the low level of implementation, each procedure, which is executable on the remote instrument, is assigned a remote procedure call identification number. This number is used internally to associate a specific request, including the implicit parameters, to a procedure on the remote device. On this level, GeoCOM provides an ASCII interface, which can be used to implement applications on platforms, which do not support MS-Windows.

On the high level, GeoCOM provides normal function call interfaces for C/C++ and MS-VBA to these remote functions. These interfaces enable a programmer to implement an application as if it would be executed directly on the

TPS1200 instrument.

Note: Further on we will refer to a remotely executable system function as a RPC .

The TPS1200 instrument system software uses a multitasking operating system. Nevertheless, only one request can be executed at once. This means in respect of calling RPC’s GeoCOM works synchronously only.

On the low level interface the server buffers subsequent requests if current request(s) has not been finished so far. If the queue is full then subsequent requests will be lost.

Instead on the high level interface a function call will not return until it has been completely finished.

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GeoCOM Reference Manual General Concepts of Using GeoCOM

2 G

ENERAL

C

ONCEPTS OF

U

SING

G

EO

COM

2.1

INTRODUCTION

Here we will describe several aspects of using GeoCOM. One of them is how to execute a function at a TPS1200 instrument.

The current implementation of GeoCOM supports two (three) kinds of usage. We can distinguish between a rather rudimentary ASCII protocol and a high-level function call interface.

The former - ASCII protocol - is made up of requests and replies. Using GeoCOM in this way means that an application assembles a request, sends it over the serial line to the listening TPS1200 instrument, wait for the answer and decode the received reply.

The latter uses normal function calls either in C/C++ or in VBA. For explanation purposes we will split it into two categories because the two supported programming environments differ in relation to their type systems. Using

GeoCOM in this way means calling a function. GeoCOM will handle any necessary communication implicitly.

2.2

GENERAL CONCEPT OF OPERATION

Fundamentally, GeoCOM is implemented as a point-to-point communication system. The two communication participants are known as the client (external device) and the server (TPS1200 instrument). One communication unit consists of a request and a corresponding reply. Hence, one communication takes place when the client sends a request to the server and the server sends a reply back to the client.

Client request reply

Server

Picture 2-1: Basic communication

GeoCOM is implemented as synchronous communication. A request/reply pair cannot be interrupted by another request/reply. Instead, a communication unit must be completed successfully before a new communication unit may be initiated. An indicator for completion is the receiving of the return code.

Although the ASCII protocol allows sending the next request before the corresponding reply has been received, it is not recommended to do that. Of course, subsequent request will be buffered when the previous request has not been finished so far. But if the buffer content reaches its limit in size then data may be lost.

2.3

ASCII PROTOCOL

In sequence we will define the syntax first and then give some information about how to use the ASCII protocol to call a function on the TPS1200 instrument.

The ASCII protocol is a line protocol; hence it uses a line terminator to distinguish between different requests (replies).

One request must be terminated by one terminator.

2.3.1

ASCII Protocol Syntax

Syntax of an ASCII request:

[<LF>]%R1Q,<RPC>[,<TrId>]:[<P0>][,<P1>,...]<Term>

Optional items are in brackets []. The angled-brackets <> surround names or descriptions. These names have variable values depending on their types and meanings. The angled-brackets themselves are not part of the transferred text.

Characters not surrounded by brackets are literal text and are part of the GeoCOM protocol.

<LF> An initial line feed clears the receiver buffer.

%R1Q

<RPC>

<TrId>

:

<P0>,<P1>,...

<Term>

GeoCOM request type 1.

Remote Procedure Call identification number in between 0 to 65535.

Optional transaction ID: normally incremented from 1 to 7. Same value in reply.

Separator between protocol header and following parameters.

Parameter 0, Parameter 1, ...

Terminator string (default CR/LF, use COM_SetTerminator to change the

Leica TPS1200 / TS30 / TM30 – Version 1.50 7

GeoCOM Reference Manual General Concepts of Using GeoCOM terminator). As a common shortcut ‘^m’ will be used in examples.

Example:

The following example uses the RPC CSV GetDateTime to query the current date and time of the instrument:

%R1R,5008:1^m (1^m denotes the terminator)

Note: Additional characters at the beginning of a request, between parameters or at the end are not allowed. They might lead to errors during interpretation.

Syntax of an ASCII reply:

%R1P,<RC_COM>[,<TrId>]:<RC>[,<P0>,<P1>, ...]<Term>

Optional items are in brackets []. The angled-brackets <> surround names or descriptions. These names have variable values as described in the types they have. The angled-brackets themselves are not a part of the communication text.

Characters not surrounded by angled-brackets are literal text and are part of the GeoCOM protocol.

%R1P

<RC_COM>

<TrId>

:

<RC>

<P0>,<P1>,...

<Term>

GeoCOM reply type 1.

GeoCOM return code. This value denotes the success of the communication.

GRC_OK = 0 means the communication was successful.

Refer to ‘3.7 Common Communication Errors’ for further information.

Transaction ID - identical to that of the request. If the request had no

Transaction ID then it will be 0.

Separator between protocol header and following parameters.

Return code from the called RPC and denotes the successful completion if it is set to 0 (see table ‘RPC return codes’ in the appendix for further information).

Parameter 0, Parameter 1, … These parameters will be valid only if <GRC> is equal to 0 (GRC_OK).

Terminator string (default CR/LF, use COM_SetTerminator to change the terminator).

Example:

The following example shows the reply to the RPC 5008 - CSV_GetDateTime.

%R1P,0,0:0,1996,'07','19','10','13','2f'^m

¦ ¦ ¦ ----------------------------

¦ ¦ ¦ ¦ The values for month, day, hour,

¦ ¦ ¦ +--- minute and second are replied in the byte-

¦ ¦ ¦ format (see table communication parameter

¦ ¦ ¦ for further information)

¦ ¦ +------ Return code from the RPC: 0 means no error

¦ ¦ (see RPC return codes for further information)

¦ +----- The Transaction ID of the request. If there was no ID

¦ the value returned is 0.

+---- Return code from GeoCOM: 0 means no error (see

GeoCOM return codes for further information)

2.4

FUNCTION CALL PROTOCOL - C/C++

The implementation of GeoCOM for C/C++ conforms to normal function calls. GeoCOM itself handles all necessary communication. No intervention of the programmer in respect to the communication is necessary with one exception. If the GeoCOM reports a communication error the programmer has to make sure that either the problem will be solved - by calling GeoCOM support functions - or no further RPC’s will be called - by terminating the running task.

Nevertheless, the programmer has to initialise GeoCOM and set up the port’s settings to make sure that communication can take place. Moreover the user has to make sure that the TPS1200 instrument is well connected.

Example:

An example code fragment for using TMC_GetSimpleMea could be the following. We do not take care of the necessary initialisation and set up of GeoCOM here. Please refer to chapter 3.2.3 Basic GeoCOM Application Frame for C/C++ for this information.

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GeoCOM Reference Manual

GRC_TYPE RetCode;

TMC_HZ_V_ANG Angles;

double dSlopeDist;

RetCode = TMC_GetSimpleMea( 1000, Angles, dSlopeDist,

TMC_AUTO_INC

if (RetCode == GRC_OK)

{

// do something - use values

}

else

{

// handle error

}

General Concepts of Using GeoCOM

2.5

FUNCTION CALL PROTOCOL - VBA

Here almost all is valid for VBA as for C/C++. Please refer to Chapter 2.4. The only difference between VBA and

C/C++ is that VBA has a different type system. Hence, the defined data types differ slightly in their definition.

Furthermore, because of implementation reasons the RPC names must have an additional prefix, which is “VB_” for the current implementation of GeoCOM.

Example:

We take the same example as in Chapter 2.4.

Dim RetCode As Integer

Dim Angles As TMC_HZ_V_ANG

Dim dSlopeDist As Double

RetCode = VB_TMC_GetSimpleMea( 1000, Angles,

dSlopeDist,

TMC_AUTO_INC )

If RetCode = GRC_OK Then

' do something - use values

Else

' handle error

End If

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GeoCOM Reference Manual Fundamentals of Programming GeoCOM

3 F

UNDAMENTALS OF

P

ROGRAMMING

G

EO

COM

3.1

INTRODUCTION

We will describe how programs can be written using the different protocols. Certainly, the type system, where the main differences lie between the protocols, will be described in more detail.

3.2

ASCII PROTOCOL PROGRAMMING

Implementing an application, which uses the ASCII protocol, is based on simple data transfers using a serial line. The programmer is responsible to set up the serial line parameters of the client such that they correspond to the settings of the TPS1200 instrument. Then Remote calls are done by just sending the valid encoded requests and receiving and decoding the replies of them.

For debugging purposes, it might be helpful to use a so-called Y-cable, which enables you to observe the communication on the serial line using either a terminal or a terminal emulator. For further details see

Appendix B-2 Debugging Utility.

Note : If the settings of the active COM port will be set by any software part and if the server is online, then it is strongly recommended to use a leading <LF> to clear the receiver buffer at the server side. This will reduce unnecessary error messages of the next RPC.

3.2.1

Data Types in ASCII Protocol

Each parameter of a RPC has its own associated data type with it. There are varieties of different data types, which have been defined for the set of published functions. The ASCII protocol supports simple data types only. All data types, which are different from the base, types in name and aggregated data types are converted and reduced to their base types. Conversion means to serialise the aggregated data into a comma-separated list of its elements. Therefore, the programmer has the responsibility to interpret the values depending on the associated data type.

The supported base types and their value range are defined below:

Format Type Valid range Len Valid input representations

Typical output representations boolean 0 = false

1 = true byte

’A7’ ’7a’,’A7’ string double long

±2.225E-308...

±1.797E+308

(-2

31

)...(2

31

-1)

-0.1e-07, -2 short -32768...32767 6

-54321

0, -1, -32700, 45,

56, 0x45e,

0X3AA

900000

0, -1, -32700, 45,

56 unsigned long 0...(2 32 -1) unsigned short 0...65535 5 0, 1, 34000, 65,

65535, 0x3a,

0x00, 0xFFFF

95735

0, 1, 34000, 65,

65535

Table 3-1: Communication Parameter Types

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GeoCOM Reference Manual Fundamentals of Programming GeoCOM

Note: Bytes are always represented in two-character hexadecimal notation. Hexadecimal notation can use upper- or lower-case representation: 0.9 + [a .. f | A .. F].

Characters sent within a string which do not fall within the ASCII character range 0x20 to 0x7E (32 to 126 decimal) are sent using an adapted byte notation - e.g. ”\x9A”, where \x (or \X) introduces a byte value in hexadecimal notation. To include the back slash, double quote, per cent or tilde character (\ “ % ~) as part of the string, it must be preceded by a backslash character, e.g. “This is a \”quote\””.

Types of integer (short, unsigned short, long, unsigned long) can also be represented in hexadecimal notation, introduced by 0x or 0X.

The following rules are for generating/interpreting values with a type different from the base types and aggregated data types:

Numerical and string data type

The numerical data types correspond to the C-parameters in value, range and precision as close as possible. If no identical data type is available then the next best one will be taken. Character and string will be replaced by the string data type.

Enumerations

If the corresponding C-parameter is an enumeration data type, then the enumeration value of the ASCII parameter is equal to the implicit value of the declaration of the C-data type. For clarification, we will give always the name and the associated value in the description of an enumeration data type.

Structures

Structure data types will be converted into a comma-separated list of elements. One element’s representation conforms to the data type representation of its base type. If an element itself is a structure then depth first conversion will take place. If this rule does not apply then the types and their ASCII parameters are described explicitly.

Arrays

An array will be converted into a comma-separated list of elements. One element’s representation conforms to the data type representation of its base type.

Example for Enumeration Data Types and Structures

The following example gives a typical data type declaration and the corresponding procedure declaration used in this manual for TMC_GetSimpleMea from the subsystem Theodolite Measurement and Calculation:

Constants and Types typedef long SYSTIME; struct TMC_HZ_V_ANG

{

double dHz;

double dV;

} enum TMC_INCLINE_PRG

{

TMC_MEA_INC,

TMC_AUTO_INC,

TMC_PLANE_INC

}

C-Declaration

// encoded as 0

// 1

// 2

TMC_GetSimpleMea(SYSTIME WaitTime,

TMC_HZ_V_ANG &OnlyAngle,

double &dSlopeDistance,

TMC_INCLINE_PRG Mode)

ASCII-Request

%R1Q,2108: WaitTime[long],Mode[long]

ASCII-Response

%R1P,0,0: RC,Hz[double],V[double],dSlopeDistance[double]

Please, notice that the RPC has two input and two output parameters. Anytime a request must encode and send input and in/out parameters only and a reply must encode and send in/out and output parameters only!

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GeoCOM Reference Manual Fundamentals of Programming GeoCOM

Note : Unnecessary parameters must not be sent.

Although the enclosed header file com_pub.hpp

denotes default values for certain function parameters they will not be supported. Hence, they have to be sent.

The ASCII Request to call this RPC with the value for WaitTime = 1000 and the inclination measure mode

TMC_AUTO_INC has the following form (note that the value 1 is used for the Mode parameter because the counting of enumeration data types start at 0):

%R1Q,2108:1000,1^m

A possible reply can be as follows:

%R1P,0,0:0,0.9973260431694,1.613443448007,1.3581^m

Where the second and third value after the colon corresponds to the dHz and dV parts of the structure

TMC_HZ_V_ANG and the fourth value corresponds to the variable dSlopeDistance . (Note that the first value after the ‘:’ is not a parameter but the return code value of the RPC).

3.2.2

ASCII Protocol Program Example

For getting a feeling of how requests and replies are build up and work see also the provided geocom.trm

file in the samples directory. Please refer to Appendix C-1 Settings for Terminal Emulator for further information.

3.2.3

Modes of Operation Concerning Communication

Section 3.6 - TPS1200 Instrument Modes of Operation - explains the different modes of operation of GeoCOM concerning communication. Similar to that the following is valid for the ASCII protocol.

Since the client has to remind which mode is active, no support can be given from the TPS1200 instrument. The only way to distinguish between modes is to remind the actions an application has initiated and their resulting replies. So far no other possibility exists to determine the current mode.

To switch on the instrument a single character is sufficient. It is recommended to ignore the subsequent reply (one or two lines).

3.3

C/C++ - PROGRAMMING

Programming in C/C++ is based on the well-known DLL concept, defined by Microsoft Corp. To compile a project successfully first you have to include the file com_pub.hpp

, which defines all necessary constants, data types and function prototypes. Second geocoms2k.lib

has to be included in the project, which enables the linker to resolve the

DLL exported functions. To operate successfully the geocoms2k.dll

file must be accessible for the operating system, hence it must be located in a directory, which the operating system looks up for the requested DLL file.

Project Options

Structure byte-alignment

GEOCOMS2K.lib

4 bytes

Memory model N/A

Special #defines (if not using MFC) STRICT

3.3.1

Data Types in C/C++

Since the main programming language of implementation of TPS1200 instruments Firmware is C/C++ all data types are initially defined in C/C++. Therefore, no conversion of values or data types is necessary.

3.3.2

Basic GeoCOM Application Frame for C/C++

A C/C++ GeoCOM application consists at least of the following parts:

- Initialise GeoCOM

- Open a connection to the server

- One or more GeoCOM RPC’s

- Close the active connection to the server

- Finalise GeoCOM

A sample implementation of above points could be:

// include standard system headers

#include "com_pub.hpp"

// include application headers

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GeoCOM Reference Manual Fundamentals of Programming GeoCOM

#define NUM_OF_RETRIES 1

GRC_TYPE RetCode;

BOOLE bOpenAndRunning = FALSE;

// initialize GeoCOM

RetCode = COM_Init(); if (RetCode == GRC_OK)

{

// open a connection to the TPS1200 instrument

RetCode = COM_OpenConnection (COM_1, COM_BAUD_19200,

NUM_OF_RETRIES);

if (RetCode == GRC_OK)

{

bOpenAndRunning = TRUE;

}

}

// optionally set up other comm. parameters here if (RetCode == GRC_OK)

{

// -- functionality of the application --

// here we just test if communication is up

RetCode = COM_NullProc();

if (RetCode != GRC_OK)

{

// handle error

}

}

// close channel if (bOpenAndRunning)

{

RetCode = COM_CloseConnection ();

if (RetCode != GRC_OK)

{

// handle error

}

}

// anytime finalize and reset GeoCOM

RetCode = COM_End(); if (RetCode != GRC_OK)

{

// handle error

}

3.3.3

C/C++ Development System Support

GeoCOM system files have been developed using Microsoft Visual C/C++ 6.0. Although this development environment were the basis for the current GeoCOM implementation, it has been emphasised that it is independent of it, hence other development environments can be used too. But please notice that it has not been tested thoroughly so far.

3.3.4

Programming Hints

Order of Include Statements

Since GeoCOM redefines TRUE , FALSE and NULL we recommend the following include order:

1. Include system headers like stdio.h

or stdafx.hpp

2. Include com_pub.hpp

3. Include the current project headers

BOOLE Definition

GeoCOM defines its own Boolean type as an enumeration type of FALSE and TRUE . It is called BOOLE . With one exception, this does not produce any problems. Only if a BOOL type value will be assigned to a BOOLE type variable or parameter the compiler (MS-VisualC/C++) generates an error. To solve this problem the expression, which will be assigned to, has to be converted by a CAST statement to BOOLE .

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3.4

VBA - PROGRAMMING

Similar to C/C++ programming the programming of VBA is based on the DLL concept. To enable access to GeoCOM the special module COM_StubsPub.bas

has to be included in the project. COM_StubsPub.bas

includes all constants, data types and function prototypes, which are available in GeoCOM.

3.4.1

Data Types in VBA - General rules for derivation

This subsection gives a summary of general derivation rules VBA-parameters from C-data types. Basically the C/C++ - data types are given in a C/C++ notation before they are used in a RPC-description.

If the appearance of a VBA data type does not follow the general rules then they are described explicitly.

In general, the following rules can be applied:

Numerical data type

The numerical data types correspond to the C/C++-parameters in value and range as close as possible. If it cannot be replaced directly then the best possible replacement will be taken.

String data type

Character and string types are replaced by string data types. Since string data types of C/C++ and VBA are not directly interchangeable, the programmer has to take certain care of the necessary pre- and post-processing of variables of this data type. Please refer to the example below.

Enumeration data type

Conceptually VBA does not have enumeration data types. Therefore, Long data types will be used instead. The enumeration values will be defined by constants. Using the numerical value is also valid. Notice that some of the enumeration values are reserved words in VBA. That is why we had to define different identifiers. Enumerated return values are numerical values and correspond to the position of the enumeration value in the C/C++definition. For clarification, also the numerical values are given in the description of an enumeration data type.

Structures and Arrays

They are defined as in C/C++.

Example for Enumeration Data Types and Structures

The following example gives the data type declaration and the procedure declaration usually used in this manual for an example procedure ( TMC_GetSimpleMea from the subsystem Theodolite Measurement and Calculation):

VBA-Declaration

VB_TMC_GetSimpleMea(

WaitTime As Long,

OnlyAngle As TMC_HZ_V_ANG,

SlopeDistance As Double,

In the file COM_StubsPub.bas

the corresponding items are defined:

Global Const TMC_MEA_INC = 0

Global Const TMC_AUTO_INC = 1

Global Const TMC_PLANE_INC = 2

Global Const TMC_APRIORI_INC = 3

Global Const TMC_ADJ_INC = 4

Global Const TMC_REQUIRE_INC = 5

Type TMC_HZ_V_ANG

dHz As Double

dV As Double

End Type

Obviously all enumeration values are encoded as global constants. The VBA structure definition equals to the C structure definition. A valid procedure call would be:

Dim WaitTime As Long

Dim OnlyAngle As TMC_HZ_V_ANG

Dim SlopeDistance As Double

WaitTime = 1000

VB_TMC_GetSimpleMea( WaitTime,

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GeoCOM Reference Manual

OnlyAngle,

SlopeDistance,

TMC_AUTO_INC)

Fundamentals of Programming GeoCOM

3.4.2

Basic GeoCOM Application Frame for VBA

Like in section 3.3.2 - Basic GeoCOM Application Frame for C/C++ - a VBA GeoCOM application consists at least of the following parts:

- Initialise GeoCOM

- Open a connection to the server

- One or more GeoCOM RPC’s

- Close the active connection to the server

- Finalise GeoCOM

A sample implementation of above points could be:

CONST NUM_OF_RETRIES = 1

DIM RetCode As Integer

DIM bOpenAndRunning as Integer

DIM bAvailable as BOOLE

' initialize GeoCOM bOpenAndRunning = False

RetCode = VB_COM_Init()

If (RetCode = GRC_OK) Then

' open a connection to the TPS1200 instrument

RetCode = VB_COM_OpenConnection(COM_1, COM_BAUD_19200,

NUM_OF_RETRIES)

If (RetCode = GRC_OK) Then

bOpenAndRunning = True

End If

End If

' optionally set up other comm. parameters here

If (RetCode = GRC_OK) Then

' functionality of the application

' we just test if communication is up

RetCode = VB_COM_NullProc()

If (RetCode <> GRC_OK) Then

' handle error

End If

End If

If (bOpenAndRunning) Then

' close channel

RetCode = VB_COM_CloseConnection ()

If (RetCode <> GRC_OK) Then

' handle error

End If

End If

' finalize and reset GeoCOM

RetCode = VB_COM_End()

If (RetCode <> GRC_OK) Then

' handle error

End If

3.4.3

VBA Development System Support

This interface has been written for Microsoft Visual Basic for Applications 5.0 and higher only. Hence, no other development environment will be supported.

3.4.4

Programming Hints

Output Parameters of String Data Type

The internal representation of strings is not directly compatible between C/C++ and VBA. Therefore the one has to pre- and post-process such an output parameter. In the following example, we know that the output parameter will be less than 255 characters in length from the description of the RPC.

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Dim s As String

' initialise string s = Space(255)

Call VB_COM_GetErrorText(GRC_IVPARAM, s)

' trim string, justify string length s = Trim$(s)

Note: Incorrectly handled string output parameters may lead to severe runtime problems.

3.5

UNITS OF VALUES

All parameters are based on the SI unit definition, if not explicitly indicated differently. The SI units, and their derivatives, used are:

Abbreviation Unit Description

M

Rad

( Meters )

( Radians ) for lengths, co-ordinates, ... for angles

Sec

Hpa

( Seconds )

( Hekto Pascal ) for time for pressure

C (Celsius temperature

Table 3-2: SI Units

3.6

TPS1200 INSTRUMENT MODES OF OPERATION

In respect to communication, the TPS1200 instrument knows several states in which it reacts differently. The main state for GeoCOM is online state or mode. There it is possible to use all RPC’s, which are described in this manual.

Especially we will describe the possibilities of changing the state by the built-in RPC’s. For the ASCII protocol refer to section 3.2.3 - Modes of Operation Concerning Communication.

The possible states can be described as follows:

Off The instrument is switched off and can be switched on using COM_OpenConnection . To switch on the instrument a single character is sufficient.

GeoCOM The instrument accepts RPC’s. To switch into GeoCOM mode start the “Configuration” menu on the instrument, open the submenu “Interfaces” and enable interface “GeoCOM Mode”.

RCS The instrument accepts Remote Control sequences.

3.7

COMMON COMMUNICATION ERRORS

GeoCOM is based on calling functions remotely. Because of the additional communication layer the set of return codes increases with return codes based on communication errors. Since all of these codes may be returned by any RPC we will explain them here and omit them in the descriptions of the RPC’s.

GRC_OK

GRC_COM_CANT_ENCODE

GRC_COM_CANT_DECODE

GRC_COM_CANT_SEND

0

3073

3074

3075

Leica TPS1200 / TS30 / TM30 – Version 1.50

Successful termination, implies also no communication error.

Can't encode arguments in client. Returned by the client to the calling application directly, i.e. without anything being sent to the transport layer and beyond.

Can't decode results in client. Once an RPC has been sent to the server and a reply has been sent back, this return code states that the encoded reply could not be decoded in the client. This is usually the result of using different versions of

GeoCOM on client and server.

Failure in sending calls. If the resources at the transmitting port have been allocated previously, i.e. GeoCOM does not have exclusive rights to the port, or if the exception or similar routine has experienced a failure, this error code is returned.

16

GeoCOM Reference Manual

GRC_COM_CANT_RECV

GRC_COM_TIMEDOUT

GRC_COM_WRONG_FORMAT

GRC_COM_VER_MISMATCH

GRC_COM_CANT_DECODE_REQ

GRC_COM_PROC_UNAVAIL

GRC_COM_CANT_ENCODE_REP

GRC_COM_SYSTEM_ERR

GRC_COM_FAILED

GRC_COM_NO_BINARY

GRC_COM_INTR

GRC_COM_REQUIRES_8DBITS

GRC_COM_TR_ID_MISMATCH

GRC_COM_NOT_GEOCOM

GRC_COM_UNKNOWN_PORT

Fundamentals of Programming GeoCOM

3076

3077

3078

3079

3080

3081

3082

3085

3086

3087

3090

3093

3094

3095

Failure in receiving result. A failure has occurred during reception of a packet at the data link layer. This could be due to incorrect parameter settings or noise on the line, etc..

Call timed out. The client has sent an RPC to the server but it has not replied within the current time-out period as set for the current transaction. This could be because: the server has not received the request; the server has taken too long to execute the request; the client has not received the reply; the communication line (physical layer is no longer there; or, the time-out is too short (especially true when communicating over noisy or radio links at low baud rates).

The request and receive formats are different. Something got mixed up along the way or the application tried to send using a format, which has not been implemented on both client and server.

RPC protocol mismatch error. An RPC protocol has been requested which does not exist. This error will indicate incompatible client and server protocols.

Can't decode request in server. If the client sends the server an

RPC but one, which cannot be decoded in the server, the server replies with this error. It could be that the GeoCOM versions running on the client and server are different or the packet was not correctly sent over a noisy or unreliable line.

The requested procedure is unavailable in the server. An attempt has been made to call an RPC, which does not exist.

This is usually caused when calling RPC’s, which have been inserted, appended, deleted, or altered between the differing versions of GeoCOM on client and server. To be on the safe side, always use the same GeoCOM version whenever possible on both sides.

Can't encode reply in server. The server has attempted to encode the reply but has failed. This can be caused by the calling procedure trying to pass too much data back to the client and in so doing has exceeded the maximum packet length.

Mess into communication itself. Should be OK once the node has been recycled, i.e. powered-down and -up again.

Unknown protocol. An unknown (or not yet supported)

Transport or Network protocol has been used. Could appear when using differing GeoCOM versions on client and server.

Call interrupted. Something has happened outside of the scope of GeoCOM, which has forced the current RPC to abort itself.

This error indicates desired protocol requires 8 data bits

Request and reply transaction ids do not match. Somewhere along the line a packet (usually a reply) has been lost or delayed. GeoCOM tries to bring everything back to order but if this error continues during the session it may be wise to inspect the line and, at least, to restart the session. The immediately following RPC may be lost.

Parse failed; data package not recognised as GeoCOM communication package

Tried to access an unknown hardware port. The application has not taken the physical resources of the machine on which it is running into account.

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GRC_COM_OVERRUN

GRC_COM_SRVR_RX_CHECKSUM_ERROR

GRC_COM_CLNT_RX_CHECKSUM_ERROR

GRC_COM_PORT_NOT_AVAILABLE

GRC_COM_PORT_NOT_OPEN

GRC_COM_NO_PARTNER

GRC_COM_ERO_NOT_STARTED

GRC_COM_CONS_REQ

GRC_COM_SRVR_IS_SLEEPING

GRC_COM_SRVR_IS_OFF

3101

3102

3103

3104

3105

3106

3107

3108

3109 has exceeded the maximum packet length. It will be discarded!

This can be caused by a noisy line during GeoCOM Binary format transmissions.

Checksum received at server is wrong. The checksum belonging to the current packet is wrong - no attempt is made at decoding the packet.

Checksum received at client is wrong. The checksum belonging to the current packet is wrong - no attempt is made at decoding the packet.

COM port not available. This can be caused by attempting to open a port for unique use by GeoCOM, which has already been allocated to another application.

COM port not opened / initialised. The application has attempted to use a COM port to which it has no unique rights.

No communications partner on other end. The connection to the partner could not be made or has been lost. Check that the line is there and try again.

The client, after calling an ERO has decided not to confirm the start of the ERO and has instead called another RPC.

Attention to send consecutive requests. The application has attempted to send another request before it has received a reply to its original request. Although GeoCOM does not return control to the app until a reply is received, this error is still possible with event-driven applications, i.e., the user pushing a button yields control back to the application code, which can then call GeoCOM again .

TPS has gone to sleep. Wait and try again.

TPS has shut down. Wait and try again

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GeoCOM Reference Manual Remarks on the Description

4 R

EMARKS ON THE

D

ESCRIPTION

This chapter contains some remarks on the description of RPC’s and on the structure of the descriptions.

4.1

STRUCTURE OF DESCRIPTIONS

The whole reference part is subdivided into sections. Each section contains descriptions of a set of functions, which build up a subsystem. A subsystem gathers all functions, which are related to a specific functionality of a TPS1200 instrument, e.g. MOT describes all functions, which relate to motorization. Each subsystem is subdivided into the descriptions of RPC’s.

4.1.1

Structure of a Subsystem

A subsystem consists of the following parts:

1.

Usage

This part gives some hints about the usage of the subsystem and general information of its functionality.

2.

Constants and Types

All subsystem specific constants and data types are listed here. Also their meanings are described if they are not obvious.

3.

Functions

All RPC’s of these subsystems are listed here and described in detail.

Note: To reduce redundancy the VB declarations of data types and constants have been omitted. Please refer to chapter

3.3 to get more information about this subject.

4.1.2

Structure of a RPC Description

One RPC description contains the following parts:

Title

Contains the name of the RPC and a short description of the function.

C-Declaration

Contains the C declaration of the function (excluding the return type).

VB-Declaration

Declares the function in VB (excluding the return type).

ASCII-Request

Describes the request including the input parameters and their data types listed in [ ].

ASCII-Reply

Describes the reply including the output parameters and their data types listed in [ ].

Remarks

Gives additional information on the usage and possible side effects of the function.

Parameters In/Out

Explains the parameters, their data types and their meaning. Parameters and their ASCII equivalent are explained at the beginning of each chapter.

Return-Codes

Lists the most common RC to this request, in RC name and RC value.

See Also

Cross-references shows other RPC’s which relate to this one.

Example

Gives an example of how this RPC could be used.

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GeoCOM Reference Manual Remarks on the Description

Note: To reduce redundancy the return type has been omitted from the C- and VB-declarations of the RPC’s.

ASCII-Request and Reply do not explain the whole data structures. Instead the corresponding base types will be given. Please refer to chapter 2.2 to get more information on this topic.

Also because of redundancy the necessary CR/LF at the end has been omitted from ASCII-Request and Reply.

4.1.3

Sample of a RPC Description

1.1.1

CSV_GetDateTime- Get date and time.

C-Declaration

Title and description

CSV_ GetDateTime (DATIME &DateAndTime)

VB-Declaration

VB_CSV_GetDateTime (DateAndTime As DATIME)

ASCII-Request

% R1Q ,5008:

ASCII-Response

Declarations for different protocols

% R1P ,0,0: RC,Year[short],Month,Day,Hour,Minute,Second[all byte]

Remarks

Remarks to this function and its usage a type DATIME . A possible response can look like this:

%R1P,0,0:0,1996,'07', '19','10','13','2f' (see chapter ASCII data type declaration for further information)

Parameters

Detailed description of parameters

Encoded date and time.

Return-Codes

GRC_OK Execution successful.

GRC_UNDEFINED Time and/or date is not set (yet).

See Also

CSV_SetDateTime

Meaning of return codes

Example

GRC_TYPE rc;

DATIME DateAndT

Cross reference to related functions rc = CSV_GetDateTime(DateAndTime); if (rc == GRC_OK)

{

// use Date and time

} else

{

// handle error

A typical usage of this function

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5 C

OMMUNICATION

S

ETTINGS

5.1

USAGE

This subsystem provides functions which influences GeoCOM as a whole and functions, which relate to the client side only. If a function influences the client side only then there is no ASCII request defined.

5.2

CONSTANTS AND TYPES

Serial Port Selector

This enumeration type denotes the hardware serial port. enum COM_PORT

{

// port 1

// port 2

// port 3

// port 4

};

Transmission Data Format

This value tells if the transmission takes place in a readable ASCII data format or in a data size optimised binary data format. enum COM_FORMAT

{

COM_ASCII = 0,

COM_BINARY = 1

// Force ASCII comm.

// Enable binary comm.

};

Baud Rate enum COM_BAUD_RATE

{

COM_BAUD_38400 = 0,

COM_BAUD_19200 = 1,

= 2,

// default baud rate

= 3,

= 4,

COM_BAUD_115200 = 5,

COM_BAUD_57600 = 6

};

MS-Windows Data Types

One of the described functions uses the predefined type HWND of MS-Windows. Please refer to the documentation of

MS-Windows development environment for this data type.

Note: HWND depends on whether the pre-processor symbol STRICT is defined. When MFC libraries are used, STRICT is automatically defined. Otherwise the user must #define STRICT or he will get unresolved externals.

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5.3

GENERAL GEOCOM FUNCTIONS

5.3.1

COM_GetDoublePrecision - getting the double precision setting

COM_GetDoublePrecision........................................................................................................................................................................................................................................................

108 .................................................................................................................................................................................................................................................................COM_GetDoubl

ePrecision

C-Declaration

COM_GetDoublePrecision( short &nDigits )

VB-Declaration

VB_COM_GetDoublePrecision( nDigits As Integer )

ASCII-Request

%R1Q,108:

ASCII-Response

%R1P,0,0:RC, nDigits[short]

Remarks

This function returns the precision - number of digits to the right of the decimal point - when double floatingpoint values are transmitted. The usage of this function is only meaningful if the communication is set to ASCII transmission mode. Precision is equal in both transmission directions. In the case of an ASCII request, the precision of the server side will be returned.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_SetDoublePrecision

Example

GRC_TYPE rc; short nDigits, nOldDigits;

TMC_HEIGT height;

(void) COM_GetDoublePrecision(nOldDigits); rc = COM_SetDoublePrecision(nDigits);

// nDigits > 15, nDigits < 0 -> GRC_IVPARAM if (rc == GRC_IVPARAM)

{

rc = COM_SetDoublePrecision(7);

}

// measure height of reflector ...

// the result is precisely calculated and

// returned with nDigits to the right of the

// decimal point

(void) TMC_GetHeight(height); // ignore return code print(„height: %d\n“, height.dHr);

// reset server accuracy to the old value rc = COM_SetDoublePrecision(nOldDigits);

// no error handling, because nOldDigits must be valid

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5.3.2

COM_SetDoublePrecision – setting the double precision setting

COM_SetDoublePrecision.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 107

107 .................................................................................................................................................................................................................................................................COM_SetDoubl

ePrecision

C-Declaration

COM_SetDoublePrecision( short nDigits )

VB-Declaration

VB_COM_SetDoublePrecision( ByVal nDigits As Integer )

ASCII-Request

%R1Q,107: nDigits[short]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets the precision - number of digits to the right of the decimal - when double floating-point values are transmitted. The TPS’ system software always calculates with highest possible precision. The default precision is fifteen digits. However, if this precision is not needed then transmission of double data (ASCII transmission) can be speeded up by choosing a lower precision. Especially when many double values are transmitted this may enhance the operational speed. The usage of this function is only meaningful if the communication is set to ASCII transmission mode. In the case of an ASCII request, the precision of the server side will be set. Notice that trailing Zeros will not be sent by the server and values may be rounded. E.g. if precision is set to 3 and the exact value is 1.99975 the resulting value will be 2.0

Note: With this function it is possible to decrease the accuracy of the delivered values.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

2 GRC_IVPARAM

See Also

COM_GetDoublePrecision

Example see COM_GetDoublePrecision

0 > nDigits > 15

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5.4

CLIENT SPECIFIC GEOCOM FUNCTIONS

The following functions are not applicable to the ASCII protocol, because these functions influence the behaviour of the client application only.

5.4.1

COM_Init - initialising GeoCOM

COM_Init....................................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_Init ( void )

VB-Declaration

VB_COM_Init ()

ASCII-Request

-

ASCII-Response

-

Remarks

COM_Init has to be called to initialise internal buffers and variables. It does not change the TPS’ state.

Note: No other GeoCOM function can be called successfully without having initialised GeoCOM before.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_End

Example

See appendix C-2 for an example program frame.

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5.4.2

COM_End - quitting GeoCOM

COM_End...................................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_End( void )

VB-Declaration

VB_COM_End()

ASCII-Request

-

ASCII-Response

-

Remarks

COM_End has to be called to finish up all open GeoCOM transactions. It closes an open port and does whatever is necessary to shutdown GeoCOM. The TPS’ state will not be changed.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_Init

Example see COM_Init

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5.4.3

COM_OpenConnection - opening a port for communication

COM_OpenConnection..............................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_OpenConnection( COM_PORT ePort,

COM_BAUD_RATE &eRate,

Short nRetries )

VB-Declaration

VB_COM_OpenConnection( ByVal Port As Integer,

ByVal Baud As Integer,

ByVal Retries As Integer )

ASCII-Request

-

ASCII-Response

-

Remarks

This function opens a PC serial port and attempts to detect a theodolite based on the given baud rate. If a TPS is well connected to the PC then GeoCOM tries to establish a connection to it.

To be successful the GeoCOM interface on the TPS must be enabled.

RPC COM_NullProc is used to check if the communication is up and running. nRetries denotes the number of retries if the first request has not been fulfilled successfully.

If the TPS is switched off it will be switched on automatically. In such a case it may take several retries to establish a connection. Since default timeout is three seconds we recommend nRetries to be 1-4.

GeoCOM chooses during start-up the default transmission data-format, which is ASCII. If TPS supports binary data format it is switched automatically to BINARY using RPC COM_SetComFormat.

This function will fail if the serial-port is locked or in use. It will also fail if no TPS is connected to the serial port.

If the call cannot be finished successfully then the port will be freed and closed.

Note: In the current implementation, GeoCOM does not support two open connections at the same time. A second attempt to open a second port at once will be denied by GeoCOM.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_COM_PORT_NOT_AVAILABLE

GRC_COM_NO_PARTNER

GRC_IVPARAM

3103

3105

See Also

COM_CloseConnection

COM_NullProc

COM_SetComFormat

Example see COM_Init

Port is in use or does not exist

GeoCOM failed to detect a TPS.

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5.4.4

COM_CloseConnection - closing the open port

COM_CloseConnection.............................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_CloseConnection( void )

VB-Declaration

VB_COM_CloseConnection( )

ASCII-Request

-

ASCII-Response

-

Remarks

This function closes the (current) open port and releases an established connection. It will not change the TPS’ state.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_OpenConnection

Example

See appendix C-2 for an example program frame.

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5.4.5

COM_GetBaudRate - getting the current baud rate

COM_GetBaudRate ...................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_GetBaudRate ( COM_BAUD_RATE &eRate )

VB-Declaration

VB_COM_GetBautRate( eRate As Long )

ASCII-Request

-

ASCII-Response

-

Remarks

Get the current baud rate of the serial line. It should be the setting of both client and server.

Parameters eRate Out Baud rate of serial line.

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_OpenConnection

Example void main()

{

GRC_TYPE rc;

COM_BAUD_RATE eRate;

// init GeoCOM

...

// get baud rate of active connection

rc = COM_GetBaudRate(eRate);

if (rc != GRC_OK)

{

COM_ViewError(rc, "Setup baud rate");

}

else

{

printf("Baudrate is %d Baud = " );

switch (eRate )

{

case COM_BAUD_115200:

printf("115200\n");

break ;

case COM_BAUD_57600:

printf("57600\n");

break ;

case COM_BAUD_38400:

printf("38400\n");

break ;

case COM_BAUD_19200:

printf("19200\n");

break ;

case COM_BAUD_9600:

printf("9600\n ");

break ;

case COM_BAUD_4800:

printf("4800\n ");

break ;

case COM_BAUD_2400:

printf("2400\n ");

break ;

default:

printf("illegal\n ");

break ;

}

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}

...

// shutdown GeoCOM

} // end of main

Communication Settings

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5.4.6

COM_GetTimeOut – getting the current timeout value

COM_GetTimeOut.....................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_GetTimeOut( short &nTimeOut )

VB-Declaration

VB_COM_GetTimeOut( nTimeOut As Integer )

ASCII-Request

-

ASCII-Response

-

Remarks

This function retrieves the current timeout value for a request in seconds. The timeout value is the delay

GeoCOM will wait for completion before it signals an error to the calling application.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_SetTimeOut

Example

GRC_TYPE rc;

COM_GetTimeOut(nTimeOut); if (nTimeOut <= 3)

{

COM_SetTimeOut(7);

}

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5.4.7

COM_SetTimeOut - setting the current timeout value

COM_SetTimeOut .....................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_SetTimeOut( short nTimeOut )

VB-Declaration

VB_COM_SetTimeOut( nTimeOut As Integer )

ASCII-Request

-

ASCII-Response

-

Remarks

This function sets the current timeout value in seconds. The timeout value is the delay GeoCOM will wait for completion of the last RPC before it signals an error to the calling application.

A zero timeout value indicates no wait. But be aware of that this will yield into a GRC_COM_TIMEDOUT return code.

Note: A negative timeout value indicates an infinite waiting period and may block the client application.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_GetTimeOut

Example see COM_GetTimeOut

Leica TPS1200 / TS30 / TM30 – Version 1.50 31

GeoCOM Reference Manual

5.4.8

COM_GetComFormat – getting the transmission data format

COM_GetComFormat................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_GetComFormat( COM_FORMAT &eComFormat )

VB-Declaration

VB_COM_GetComFormat( eComFormat As Long )

ASCII-Request

-

ASCII-Response

-

Remarks

This function gets the actual transmission data format.

Parameters

or COM_BINARY

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_SetComFormat

Example

GRC_TYPE rc;

COM_FORMAT eComFormat;

COM_GetComFormat(eComFormat); if (eComFormat == COM_ASCII)

{

printf("ASCII mode in use.\n");

} else

{

printf("BINARY mode in use.\n");

}

Communication Settings

Leica TPS1200 / TS30 / TM30 – Version 1.50 32

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5.4.9

COM_SetComFormat - setting the transmission data format

COM_SetComFormat ................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_SetComFormat( COM_FORMAT eComFormat )

VB-Declaration

VB_COM_SetComFormat( ByVal eComFormat As Long )

ASCII-Request

-

ASCII-Response

-

Remarks

This function sets the transmission data format. Binary data format can only be set if it is supported by the server. To check if the server supports binary data format RPC COM_GetBinaryAvailable is used.

One can force ASCII data format for special purposes, e.g. debugging.

The server always replies in the data-format that it has received the request.

Parameters

or COM_BINARY

Return-Code Names and Return-Code Values

GRC_OK

GRC_COM_PORT_NOT_OPEN

GRC_COM_NO_BINARY

3104

3086

Port not open for transmission.

TPS Firmware does not support binary data transmission format.

See Also

COM_GetComFormat

COM_OpenConnection

Example

GRC_TYPE rc;

COM_FORMAT eFormat;

// change coding method

// eFormat is COM_ASCII or COM_BINARY eFormat = COM_BINARY; rc = COM_SetComFormat(eFormat); if (rc == GRC_COM_PORT_NOT_OPEN)

{

rc = COM_SetComFormat(eFormat);

} switch (rc)

{

case GRC_COM_PORT_NOT_OPEN:

printf("Port not open\n");

return (GRC_FATAL);

break;

case GRC_COM_NO_BINARY:

printf("Binary format not available "

"for this version.");

// continue in ASII-format

break;

} // end of switch (rc)

// continue in program

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5.4.10

COM_UseWindow - declaring the parent window handle

COM_UseWindow.....................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_UseWindow( HWND handle )

VB-Declaration

VB_COM_UseWindow( handle As HWND )

ASCII-Request

-

ASCII-Response

-

Remarks

The function sets the parent window-handle that GeoCOM uses when it creates a dialog or message box. If this function is not called, GeoCOM will use the NULL window as default.

Note: HWND depends on whether the pre-processor symbol STRICT is defined. When MFC libraries are used,

STRICT is automatically defined. Otherwise the user must #define STRICT or he will get unresolved externals.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_ViewError

Example

RC_TYE rc;

HWND hWnd; rc = COM_UseWindow(hWnd);

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GeoCOM Reference Manual Communication Settings

5.4.11

COM_ViewError – setting a pop up error message box

COM_ViewError........................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_ViewError( GRC_TYPE Result,

char *szMsgTitle )

VB-Declaration

VB_COM_ViewError( ByVal Result As Integer,

ByVal szMsgTitle As String)

ASCII-Request

-

ASCII-Response

-

Remarks

This function checks the value of Result and if it is not equal to GRC_OK then it pops up a message box containing the specific error text.

Note: This function yields a valid error text only if GeoCOM has been initialised successfully.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_GetErrorText

Example

GRC_TYPE rc;

// initialize GeoCOM rc = COM_SetBaudRate(COM_BAUD_19200); if (rc != GRC_OK)

{

COM_ViewError(rc, "Set up connection");

// handle error

}

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5.4.12

COM_GetErrorText – getting the error text

COM_GetErrorText ...................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

char

VB-Declaration

*szErrText)

VB_COM_GetErrorText(ByVal Result As Integer,

szErrText As String)

ASCII-Request

-

ASCII-Response

-

Remarks

This function checks the value of Result and returns an error text if the value is not equal to GRC_OK. The function yields an empty string if the value is GRC_OK. The maximum length of such an error text is 255 characters.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_ViewError this code will be checked.

Error text if not equal to GRC_OK .

Leica TPS1200 / TS30 / TM30 – Version 1.50 36

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5.4.13

COM_GetWinSWVersion - retrieving client side version information

COM_GetWinSWVersion.........................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ -

C-Declaration

COM_GetWinSWVersion( short &nRel,

short &nVer,

short &nSubVer )

VB-Declaration

VB_COM_GetWinSWVersion( nRel As Integer,

nVer As Integer,

nSubVer As Integer )

ASCII-Request

-

ASCII-Response

-

Remarks

This function retrieves the actual software Release (Release, version and subversion) of GeoCOM on the client side.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_GetSWVersion

Example

GRC_TYPE rc; short nRel, nSubVer, nVer;

(void) COM_GetWinSWVersion(nRel, nVer, nSubVer); printf("Windows GeoCOM:\n"); printf("Release %2d.%02d.%02d\n", nRel, nVer, nSubVer);

Leica TPS1200 / TS30 / TM30 – Version 1.50 37

GeoCOM Reference Manual Alt User - AUS

6 A

LT

U

SER

AUS

6.1

USAGE

This subsystem contains functions to switch between the automation modes (ATR / LOCK) and to query the current status.

6.2

CONSTANTS AND TYPES

On/Off switch enum ON_OFF_TYPE

{

OFF,

ON

};

// 0

// 1

Leica TPS1200 / TS30 / TM30 – Version 1.50 38

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6.3

FUNCTIONS

6.3.1

AUS_GetUserAtrState - getting the status of the ATR mode

AUS_GetUserAtrState...............................................................................................................................................................................................................................................................

............

18006...............................................................................................................................................................................................................................................................AUS_GetUserA

trState

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 18006

C-Declaration

AUS_GetUserAtrState(ON_OFF_TYPE &OnOff)

VB-Declaration

VB_AUS_GetUserAtrState (On/Off As Long)

ASCII-Request

%R1Q,18006:

ASCII-Response

%R1P,0,0: RC,OnOff[long]

Remarks

Get the current status of the ATR mode on automated instrument models. This command does not indicate whether the ATR has currently acquired a prism. Note the difference between GetUserATR and GetUserLOCK state.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NOT_IMPL 5 ATR not available; no automated instrument.

See Also

AUS_SetUserAtrState

Example

GRC_TYPE rc;

ON_OFF_TYPE OnOff;

// look for ATR state and set On if it is Off rc = AUS_GetUserAtrState(OnOff); if (OnOff == OFF)

{

rc = AUS_SetUserAtrState(ON);

if (rc == GRC_OK)

{

// set of ATR status successful

}

else

{

// no automated instrument

}

}

Leica TPS1200 / TS30 / TM30 – Version 1.50 39

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6.3.2

AUS_SetUserAtrState - setting the status of the ATR mode

AUS_SetUserAtrState............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 18005

18005...............................................................................................................................................................................................................................................................AUS_SetUserAt

rState

C-Declaration

AUS_SetUserAtrState(ON_OFF_TYPE OnOff)

VB-Declaration

VB_AUS_SetUserAtrState(OnOff As Long)

ASCII-Request

%R1Q,18005: On/Off[long]

ASCII-Response

%R1P,0,0: RC

Remarks

Activates respectively deactivates the ATR mode.

Activate ATR mode:

The ATR mode gets activated. If LOCK mode is on and the command is sent, then LOCK mode changes to ATR mode.

Deactivate ATR mode:

The ATR mode gets deactivated. If LOCK mode is on and the command is sent, then LOCK mode stays on

This command is valid for automated instrument models only.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NOT_IMPL 5

See Also

AUS_GetUserAtrState

AUS_GetUserLockState

AUS_SetUserLockState

Example see AUS_GetUserAtrState

ATR not available; no automated instrument.

Leica TPS1200 / TS30 / TM30 – Version 1.50 40

GeoCOM Reference Manual Alt User - AUS

6.3.3

AUS_GetUserLockState - getting the status of the LOCK mode

AUS_GetUserLockState............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 18008

18008...............................................................................................................................................................................................................................................................AUS_GetUserLo

ckState

C-Declaration

AUS_GetUserLockState(ON_OFF_TYPE &OnOff)

VB-Declaration

VB_AUS_GetUserLockState(OnOff As Long)

ASCII-Request

%R1Q,18008:

ASCII-Response

%R1P,0,0: RC, OnOff[long]

Remarks

This command gets the current status of the LOCK mode. This command is valid for automated instruments only. TheGetUserLockState command does not indicate if the instrument is currently locked to a prism. For this function the MotReadLockStatus has to be used.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NOT_IMPL 5 ATR not available; no automated instrument.

See Also

AUS_SetUserLockState

MOT_ReadLockStatus

Example

GRC_TYPE rc;

ON_OFF_TYPE OnOff, OldAtrStatus; rc = AUS_GetUserAtrState(OldAtrStatus); // save old mode rc = AUS_GetUserLockState(OnOff); if (OnOff == OFF)

{// ------ enable target tracking ------------------

rc = AUS_SetUserLockState(ON); //set the ATR mode

//automatically also!

if (rc == GRC_OK)

{// set of Lock state successful

rc = AUT_LockIn();// activate the real target

// tracking

if(rc != GRC_OK)

{

// error handling

}

}

else

{

// no automated instrument

}

} else

{// ------ disable target tracking ---------------

rc = AUS_SetUserLockState(OFF);// reset the ATR

// mode not

// automatically

if(rc == GRC_OK)

{// reset of Lock state successful

if(OldAtrStatus==OFF)

{// set old ATR mode

rc == AUS_SetUserAtrState(OFF);

}

}

}

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6.3.4

AUS_SetUserLockState - setting the status of the LOCK mode

AUS_SetUserLockState.............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 18007

18007...............................................................................................................................................................................................................................................................AUS_SetUserLo

ckState

C-Declaration

AUS_SetUserLockState(ON_OFF_TYPE OnOff)

VB-Declaration

VB_AUS_SetUserLockState(OnOff As Long)

ASCII-Request

%R1Q,18007: OnOff[long]

ASCII-Response

%R1P,0,0: RC

Remarks

Activates or deactivates the LOCK mode.

Status ON:

The LOCK mode is activated. This does not mean that the instrument is locked onto a prism. In order to lock and follow a moving target, see the function AUT_LockIn.

Status OFF:

The LOCK mode is deactivated. A moving target, which is being tracked, will be aborted and the manual drive wheel is activated.

This command is valid for automated instruments only.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NOT_IMPL 5

See Also

AUS_GetUserLockState

AUS_SetUserAtrState

AUT_LockIn

Example see AUS_GetUserLockState

ATR not available; no automated instrument.

Leica TPS1200 / TS30 / TM30 – Version 1.50 42

GeoCOM Reference Manual Automation - AUT

7 A

UTOMATION

AUT

7.1

USAGE

The subsystem ‘Automation’ mainly performs the dynamic application ‘absolute positioning’. This operation positions the axes of the instrument within a given tolerance to the system’s angle measurement unit.

In combination with the Automatic Target Recognition System (ATR) other functionality such as automatic target position or target search are supported.

Some of the functions of this subsystem can take an undefined time for execution (for example the position operation takes the more time the more precision is required).

7.2

CANCELLING / ABORTING CURRENT FUNCTIONS

All functions with long operation time (e.g. AUT_MakePositioning, AUT_SearchNext etc.) may be aborted by sending

‘c’<Term>.

Note: Automation RPC’s require valid GeoCOM robotic license key for successful execution.

7.3

CONSTANTS AND TYPES

Number of axis const short MOT_AXES = 2;

Positioning Tolerance struct AUT_POSTOL

{

double adPosTol[MOT_AXES];

// positioning tolerance for Hz and V [rad]

};

Maximum Position Time [s] struct AUT_TIMEOUT

{

double adPosTimeout[MOT_AXES]; // max. positioning time [sec]

};

Position Precision enum AUT_POSMODE

{

AUT_NORMAL = 0,

AUT_PRECISE = 1

// fast positioning mode

// exact positioning mode

// note: can distinctly claim more time

// for the positioning

AUT_Fast = 2 // for TS30 / TM30 instruments,

} positions with the last valid inclination and an increased positioning tolerance.

Fine-adjust Position Mode enum AUT_ADJMODE

{

AUT_NORM_MODE = 0

AUT_POINT_MODE = 1

AUT_DEFINE_MODE = 2

// Possible settings of the positioning

// tolerance relating the angle- or the

// point- accuracy at the fine adjust.

// Angle tolerance

// Point tolerance

// System independent positioning

// tolerance. Set with AUT_SetTol

Leica TPS1200 / TS30 / TM30 – Version 1.50 43

GeoCOM Reference Manual

}

Automatic Target Recognition Mode enum AUT_ATRMODE // Possible modes of the target

// recognition

{

AUT_POSITION = 0,

AUT_TARGET = 1

}

// Positioning to the hz- and v-angle

// Positioning to a target in the

// environment of the hz- and v-angle.

Automatic Detent Mode struct AUT_DETENT

{

double dPositiveDetent;

double dNegativeDetent;

BOOLE bActive;

}

// Detent data

// Detent in positive direction

// Detent in negative direction

// Is detent active

Search Spiral struct AUT_SEARCH_SPIRAL

{

double dRangeHz;

double dRangeV;

}

// width of search area [rad]

// maximal height of search area [rad]

Search Area struct AUT_SEARCH_AREA

{

double dCenterHz;

double dCenterV;

double dRangeHz;

double dRangeV;

BOOLE bEnabled;

}

// Hz angle of search area – center [rad]

// V angle of search area – center [rad]

// width of search area [rad]

// maximal height of search area [rad]

// TRUE: user defined search area is active

Directions

AUT_CLOCKWISE = 1,

AUT_ANTICLOCKWISE = -1

// direction clockwise.

// direction counter clockwise.

Automation - AUT

Leica TPS1200 / TS30 / TM30 – Version 1.50 44

GeoCOM Reference Manual Automation - AUT

7.4

FUNCTIONS

7.4.1

AUT_ReadTol - reading the current setting for the positioning tolerances

AUT_ReadTol ............................................................................................................................................................................................................................................................................

9008 .................................................................................................................................................

AUT_ReadTol

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

C-Declaration

AUT_ReadTol(AUT_POSTOL &TolPar)

VB-Declaration

VB_AUT_ReadTol(TolPar As AUT_POSTOL)

ASCII-Request

%R1Q,9008:

ASCII-Response

%R1P,0,0: RC,Tolerance Hz[double],Tolerance V[double]

Remarks

This command reads the current setting for the positioning tolerances of the Hz- and V- instrument axis.

This command is valid for motorized instruments only.

Parameters direction [ rad ].

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27 GeoCOM Robotic license key not available.

See Also

AUT_SetTol

Example const double MIN_TOL=3.141592654e-05;

GRC_TYPE rc;

AUT_POSTOL TolPar;

// read tolerance and set to a minimum of

// 3.141592654e-05 rc = AUT_ReadTol(TolPar); if ((TolPar.adPosTol[MOT_HZ_AXLE] > MIN_TOL) ||

(TolPar.adPosTol[MOT_V_AXLE] > MIN_TOL))

{

TolPar.adPosTol[MOT_HZ_AXLE] = MIN_TOL;

TolPar.adPosTol[MOT_HZ_AXLE] = MIN_TOL;

rc = AUT_SetTol(TolPar);

switch (rc)

{

case (GRC_OK):

// set of Lock tolerance successful

break;

case (GRC_IVPARAM):

// invalid parameter

break;

case (GRC_MOT_UNREADY):

// subsystem not ready

break;

}

}

Leica TPS1200 / TS30 / TM30 – Version 1.50 45

GeoCOM Reference Manual Automation - AUT

7.4.2

AUT_SetTol - setting the positioning tolerances

AUT_SetTol........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9007

9007 ................................................................................................................................................................................................................................................................AUT_SetTol

C-Declaration

AUT_SetTol(AUT_POSTOL TolPar)

VB-Declaration

VB_AUT_SetTol(TolPar As AUT_POSTOL)

ASCII-Request

%R1Q,9007: ToleranceHz[double], Tolerance V[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This command sets new values for the positioning tolerances of the Hz- and V- instrument axes. This command is valid for motorized instruments only.

The tolerances must be in the range of 1[cc] ( =1.57079 E-06[ rad ] ) to 100[cc] ( =1.57079 E-04[ rad ] ).

Note: The maximum resolution of the angle measurement system depends on the instrument accuracy class. If smaller positioning tolerances are required, the positioning time can increase drastically.

Parameters direction [ rad ].

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_IVPARAM

27

2

1792

GeoCOM Robotic license key not available.

One or both tolerance values not within the boundaries

(1.57079E-06[ rad ] =1[cc] to 1.57079E-04[ rad ] =100[cc]).

Instrument has no motorization GRC_MOT_UNREADY

See Also

AUT_ReadTol

Example see AUT_ReadTol

Leica TPS1200 / TS30 / TM30 – Version 1.50 46

GeoCOM Reference Manual Automation - AUT

7.4.3

AUT_ReadTimeout - reading the current timeout setting for positioning

AUT_ReadTimeout............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9012

9012 ................................................................................................................................................................................................................................................................AUT_ReadTime

out

C-Declaration

AUT_ReadTimeout(AUT_TIMEOUT &TimeoutPar)

VB-Declaration

VB_AUT_ReadTimeout(TimeoutPar As AUT_TIMEOUT)

ASCII-Request

%R1Q,9012:

ASCII-Response

%R1P,0,0: RC, TimeoutHz[double], TimeoutV[double]

Remarks

This command reads the current setting for the positioning time out (maximum time to perform positioning).

Parameters

[sec].

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27 GeoCOM Robotic license key not available.

See Also

AUT_SetTimeout

Example

GRC_TYPE rc;

AUT_TIMEOUT TimeoutPar;

// read timeout and set to a minimum of 10 [s] rc = AUT_ReadTimeout(TimeoutPar); if ((TimeoutPar.adPosTimeout[0] < 10) ||

(TimeoutPar.adPosTimeout[1] < 10))

{

TimeoutPar.adPosTimeout[0] = 10;

TimeoutPar.adPosTimeout[1] = 10;

rc = AUT_SetTimeout(TimeoutPar);

switch (rc)

{

case (GRC_OK):

// set of timeout successful

break;

case (GRC_IVPARAM):

// invalid parameter

break;

}

}

Leica TPS1200 / TS30 / TM30 – Version 1.50 47

GeoCOM Reference Manual Automation - AUT

7.4.4

AUT_SetTimeout - setting the timeout for positioning

AUT_SetTimeout ...........................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9011

9011 ................................................................................................................................................................................................................................................................AUT_SetTimeou

t

C-Declaration

AUT_SetTimeout(AUT_TIMEOUT TimeoutPar)

VB-Declaration

VB_AUT_SetTimeout(TimeoutPar As AUT_TIMEOUT)

ASCII-Request

%R1Q,9011: TimeoutHz[double],TimeoutV[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This command set the positioning timeout (set maximum time to perform a positioning). The timeout is reset on

7[sec] after each power on

Parameters

[s]. Valid values are between 7 [sec] and 60 [sec].

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_IVPARAM

27

2

GeoCOM Robotic license key not available.

One or both time out values not within the boundaries (7[sec] to 60[sec]).

See Also

AUT_ReadTimeout

Example see AUT_ReadTimeout

Leica TPS1200 / TS30 / TM30 – Version 1.50 48

GeoCOM Reference Manual Automation - AUT

7.4.5

AUT_MakePositioning - turning the telescope to a specified position

AUT_MakePositioning..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9027

9027 ................................................................................................................................................................................................................................................................AUT_MakePosi

tioning

C-Declaration

AUT_MakePositioning(double Hz,

double V,

AUT_POSMODE POSMode,

AUT_ATRMODE ATRMode,

BOOLE bDummy)

VB-Declaration

VB_AUT_MakePositioning4(Hz As Double,

V As Double,

POSMode As Long,

ATRMode As Long,

bDummy As Boolean)

ASCII-Request

%R1Q,9027: Hz,V,PosMode,ATRMode,0

ASCII-Response

%R1P,0,0: RC

Remarks

This procedure turns the telescope absolute to the in Hz and V specified position, taking tolerance settings for positioning (see AUT_POSTOL ) into account. Any active control function is terminated by this function call.

If the position mode is set to normal ( PosMode = AUT_NORMAL ) it is assumed that the current value of the compensator measurement is valid. Positioning precise ( PosMode = AUT_PRECISE ) forces a new compensator measurement at the specified position and includes this information for positioning.

If ATR mode is activated and the ATR mode is set to AUT_TARGET, the instrument tries to position onto a target in the destination area.

If LOCK mode is activated and the ATR mode is set to AUT_TARGET, the instrument tries to lock onto a target in the destination area.

Parameters

Horizontal (instrument) position [ rad ].

Vertical (telescope) position [ rad ].

AUT_NORMAL: (default) uses the current value of the compensator (no compensator measurement while positioning). For positioning distances >25GON

AUT_NORMAL might tend to inaccuracy.

AUT_PRECISE : tries to measure exact inclination of target.

Tend to longer position time (check AUT_TIMEOUT and/or

COM-time out if necessary).

AUT_Fast: for TS30 / TM30 instruments, positions with the last valid inclination and an increased positioning tolerance. Suitable in combination with ATRMode

AUT_Target .

AUT_POSITION : (default) conventional position using values

Hz and V .

AUT_TARGET : tries to position onto a target in the destination area. This mode is only possible if ATR exists and is activated.

It’s reserved for future use, set bDummy always to FALSE

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_IVPARAM

27

2

GeoCOM Robotic license key not available

Invalid parameter (e.g. no valid position).

Leica TPS1200 / TS30 / TM30 – Version 1.50 49

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GRC_AUT_TIMEOUT

GRC_AUT_MOTOR_ERROR

TMC_NO_FULL_CORRECTION

8704

8707

1283

Time out while positioning of one or both axes. (perhaps increase AUT time out, see AUT_SetTimeout )

Instrument has no ‘motorization’.

Error with angle measurement occurs if the instrument is not levelled properly during positioning.

GRC_ABORT

GRC_COM_TIMEDOUT 3077 Communication timeout. (perhaps increase COM timeout, see COM_SetTimeout )

Additionally with position mode AUT_TARGET .

GRC_AUT_NO_TARGET 8710

GRC_AUT_MULTIPLE_TARGETS

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_ACCURACY

GRC_AUT_DEV_ERROR

8711

8712

8716

8709

GRC_AUT_NOT_ENABLED 8714

No target found

Multiple targets found.

Inadequate environment conditions.

Inexact fine position, repeat positioning

During the determination of the angle deviation error detected, repeat positioning

ATR mode not enabled, enable ATR mode

See Also

AUS_GetUserAtrState

AUS_SetUserAtrState

AUS_GetUserLockState

AUS_SetUserLockState

AUT_ReadTol

AUT_SetTol

AUT_ReadTimeout

AUT_SetTimeout

COM_GetTimeOut

COM_SetTimeOut

Example

The example program tries to position to the given position. If a time out occurred, the time out values are increased and the position procedure starts again. If a measurement error occurred, the automatic inclination correction is switched off and the position procedure starts again.

GRC_TYPE rc,

BOOL TryAgain = TRUE;

AUT_TIMEOUT TimeoutPar;

AUT_POSMODE POSMode = AUT_PRECISE; short nComTimeOut, nOldComTimeOut; rc=GRC_IVRESULT; hrc = COM_GetTimeOut(nOldComTimeOut); hrc = AUS_SetUserAtrState(ON); // for the ATR mode

// AUT_TARGET necessary,

// otherwise not necessary while(rc!=GRC_OK || TryAgain)

{

rc = AUT_MakePositioning(1.3, 1.6, POSMode,

AUT_TARGET, FALSE );

switch (rc)

{

case GRC_OK:

//Positioning successful and precise

break;

case GRC_AUT_TIMEOUT:

// measure timeout fault: increase timeout

hrc = AUT_ReadTimeout(TimeoutPar);

TimeoutPar.adPosTimeout[0]

= __min(TimeoutPar.adPosTimeout[0]+=5,60);

TimeoutPar.adPosTimeout[1]

= __min(TimeoutPar.adPosTimeout[1]+=5,60);

hrc = AUT_SetTimeout(TimeoutPar);

Leica TPS1200 / TS30 / TM30 – Version 1.50 50

GeoCOM Reference Manual

break;

case GRC_COM_TIMEDOUT:

//increase timeout

hrc = COM_GetTimeOut(nComTimeOut);

nComTimeOut=__min(nComTimeOut+=5, 60);

hrc = COM_SetTimeOut(nComTimeOut);

break;

case GRC_AUT_ANGLE_ERROR:

// error within angle measurement:

// switch inclination correction off

hrc = TMC_SetInclineSwitch(OFF);

break;

default:

// precise position not possible

TryAgain = FALSE;

if (rc == GRC_AUT_INCACC)

{

//Position successful but not precise

}

else

{

// Positioning not successful

// here further error analyse possible

}

break;

}

} rc = AUS_SetUserAtrState(OFF); // Note: LOCK mode will

// be automatically

// reseted ! hrc = COM_SetTimeOut(nOldComTimeOut);// Set old time-

// out

Automation - AUT

Leica TPS1200 / TS30 / TM30 – Version 1.50 51

GeoCOM Reference Manual Automation - AUT

7.4.6

AUT_ChangeFace – turning the telescope to the other face

AUT_ChangeFace ..............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9028

9028 ................................................................................................................................................................................................................................................................AUT_ChangeFa

ce

C-Declaration

AUT_ChangeFace(AUT_POSMODE PosMode,

AUT_ATRMODE ATRMode,

BOOLE bDummy)

VB-Declaration

VB_AUT_ChangeFace4(PosMode As Long,

ATRMode As Long,

bDummy As Boolean)

ASCII-Request

%R1Q,9028: PosMode,ATRMode,0

ASCII-Response

%R1P,0,0: RC

Remarks

This procedure turns the telescope to the other face. If another function is active, for example locking onto a target, then this function is terminated and the procedure is executed.

If the position mode is set to normal ( PosMode = AUT_NORMAL ) it is allowed that the current value of the compensator measurement is inexact. Positioning precise ( PosMode = AUT_PRECISE ) forces a new compensator measurement. If this measurement is not possible, the position does not take place.

If ATR mode is activated and the ATR mode is set to AUT_TARGET, the instrument tries to position onto a target in the destination area.

If LOCK mode is activated and the ATR mode is set to AUT_TARGET, the instrument tries to lock onto a target in the destination area.

Parameters

AUT_NORMAL : uses the current value of the compensator. For positioning distances >25GON AUT_NORMAL might tend to inaccuracy.

AUT_PRECISE : tries to measure exact inclination of target.

Tends to long position time (check AUT_TIMEOUT and/or

COM-time out if necessary).

AUT_POSITION : conventional position to other face.

AUT_TARGET: tries to position onto a target in the destination area. This set is only possible if ATR exists and is activated.

It’s reserved for future use, set bDummy always to FALSE

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27

GRC_IVPARAM

GRC_AUT_TIMEOUT 8704

GeoCOM Robotic license key not available

GRC_AUT_MOTOR_ERROR

TMC_NO_FULL_CORRECTION

8707

1283

Timeout while positioning of one or both axes. (perhaps increase AUT timeout, see AUT_SetTimeout )

Instrument has no ‘motorization’.

Error with angle measurement occurs if the instrument is not levelled properly during positioning.

GRC_FATAL

GRC_ABORT

GRC_COM_TIMEDOUT 3077 Communication timeout. (perhaps increase COM timeout, see COM_SetTimeout )

Additionally with position mode AUT_TARGET .

GRC_AUT_NO_TARGET 8710

GRC_AUT_MULTIPLE_TARGETS 8711

No target found

Multiple targets found.

Leica TPS1200 / TS30 / TM30 – Version 1.50 52

GeoCOM Reference Manual Automation - AUT

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_ACCURACY

GRC_AUT_DEV_ERROR

GRC_AUT_NOT_ENABLED

8712

8716

8709

8714

Inadequate environment conditions.

Inexact fine position, repeat positioning

During the determination of the angle deviation error detected, repeat change face

ATR mode not enabled, enable ATR mode

See Also

AUS_GetUserAtrState

AUS_SetUserAtrState

AUS_GetUserLockState

AUS_SetUserLockState

AUT_ReadTol

AUT_SetTol

AUT_ReadTimeout

AUT_SetTimeout

COM_GetTimeOut

COM_SetTimeOut

TMC_GetFace

Example

The example program performs a change face. If a measurement error occurs, the automatic inclination correction is switched off and the change face starts again.

GRC_TYPE rc,

BOOL TryAgain = TRUE;

AUT_POSMODE POSMode = AUT_PRECISE; rc=GRC_IVRESULT; while(rc!=GRC_OK && TryAgain)

{

rc = AUT_ChangeFace(POSMode,

AUT_POSITION,

FALSE);

switch (rc)

{

case (GRC_OK): // position successful

//change face successful and precise

break;

case (GRC_AUT_ANGLE_ERROR):

//error within angle measurement:

//switch inclination correction off

rch = TMC_SetInclineSwitch(OFF);

break;

case (GRC_COM_TIMEDOUT):

//communication timed out while change face

TryAgain = FALSE;

break;

default:

//precise position not possible

TryAgain = FALSE;

if (rc == GRC_AUT_INCACC)

{

//change face successful but not precise

}

else

{

// change face not successful

// here further error analyse possible

}

break;

}

}

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7.4.7

AUT_FineAdjust - automatic target positioning

AUT_FineAdjust ............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9037

9037 ................................................................................................................................................................................................................................................................AUT_FineAdjus

t

C-Declaration

AUT_FineAdjust( Double dSrchHz, double dSrchV ,

BOOLE bDummy)

VB-Declaration

VB_AUT_FineAdjust3( DSrchHz As Double, dSrchV As Double, bDummy As Boolean)

ASCII-Request

%R1Q,9037: dSrchHz [double], dSrchV [double],0

ASCII-Response

%R1P,0,0: RC

Remarks

This procedure precisely positions the telescope crosshairs onto the target prism and measures the ATR Hz and

V deviations. If the target is not within the visible area of the ATR sensor (Field of View) a target search will be executed. The target search range is limited by the parameter dSrchV in V- direction and by parameter dSrchHz in Hz - direction. If no target found the instrument turns back to the initial start position.

A current Fine Adjust LockIn towards a target is terminated by this procedure call. After positioning, the lock mode is active. The timeout of this operation is set to 5s, regardless of the general position timeout settings. The positioning tolerance is depends on the previously set up the fine adjust mode (see AUT_SetFineAdjustMoed and AUT_GetFineAdjustMode ).

Tolerance settings (with AUT_SetTol and AUT_ReadTol ) have no influence to this operation. The tolerance settings as well as the ATR measure precision depends on the instrument’s class and the used EDM measure mode (The EDM measure modes are handled by the subsystem TMC).

Parameters

It’s reserved for future use, set bDummy always to FALSE

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_AUT_TIMEOUT

27

8704

8707

GeoCOM Robotic license key not available

Timeout while positioning of one or both axes. The position fault lies above 100[cc]. (perhaps increase AUT timeout, see

AUT_SetTimeout )

Instrument has no ‘motorization’. GRC_AUT_MOTOR_ERROR

GRC_FATAL

GRC_ABORT

GRC_AUT_NO_TARGET

GRC_AUT_MULTIPLE_TARGETS

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_DEV_ERROR

GRC_AUT_DETECTOR_ERROR

GRC_COM_TIMEDOUT

8710

8711

8712

8716

8713

3077

No target found.

Multiple targets found.

Inadequate environment conditions.

During the determination of the angle deviation error detected, repeat fine positioning

Error in target acquisition.

Communication time out. (perhaps increase COM timeout, see COM_SetTimeout )

See Also

AUS_SetUserAtrState

AUS_GetUserAtrState

AUT_SetFineAdjustMode

AUT_GetFineAdjustMode

Example

GRC_TYPE Result;

ON_OFF_TYPE ATRState;

Leica TPS1200 / TS30 / TM30 – Version 1.50 54

GeoCOM Reference Manual Automation - AUT double dHzSearchRange, dVSearchRange dHzSearchRange=0.08;// search range in [rad] dVSearchRange=0.08; // search range in [rad]

Result = AUS_GetUserAtrState(ATRState); // The ATR-Status must be set for

// fine adjust functionality if(ATRState==ON)

{

// performs a fine position with a max. target

// search range of 0.08rad (5gon) in Hz and V

// direction

Result = AUT_FineAdjust(dHzSearchRange, dVSearchRange,

FALSE); switch (Result) // function return code

{

case (GRC_OK):

//fine adjust successful and precise

break;

case (GRC_AUT_NO_TARGET):

//no target found.

break;

case (GRC_AUT_MULTIPLE_TARGETS):

//multiple targets found.

break;

case (GRC_AUT_BAD_ENVIRONMENT):

//inadequate environment conditions.

break;

default:

//fine adjust not successful

//here further error analyse possible

break;

}

}

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7.4.8

AUT_Search - performing an automatic target search

AUT_Search ....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9029

9029 ................................................................................................................................................................................................................................................................AUT_Search

C-Declaration

AUT_Search(double Hz_Area,

double V_Area,

BOOLE bDummy)

VB-Declaration

VB_AUT_Search2(Hz_Area As Double,

V_Area As Double,

bDummy As Boolean)

ASCII-Request

%R1Q,9029: Hz_Area,V_Area,0

ASCII-Response

%R1P,0,0: RC

Remarks

This procedure performs an automatically target search within a given area. The search is terminated once the prism appears in the field of view of the ATR sensor. If no prism is found within the specified area, the instrument turns back to the initial start position. For an exact positioning onto the prism centre, use fine adjust

(see AUT_FineAdjust ) afterwards.

Note: If you expand the search range of the function AUT_FineAdjust , then you have a target search and a fine positioning in one function.

Parameters

Horizontal search region [ rad ].

Vertical search region [ rad ].

It’s reserved for future use, set bDummy always to FALSE

Return-Code Names and Return-Code Values

GRC_OK

27 GRC_NA

GRC_IVPARAM

GRC_AUT_MOTOR_ERROR

GRC_FATAL

GRC_ABORT

8707

GeoCOM Robotic license key not available

Instrument has no ‘motorization’.

GRC_AUT_NO_TARGET

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_DETECTOR_ERROR

GRC_COM_TIMEDOUT

8710

8712

8713

3077

No target found.

Inadequate environment conditions.

AZE error, at repeated occur call service

Communication timeout. (perhaps increase COM timeout, see COM_SetTimeout )

See Also

AUS_SetUserAtrState

AUS_GetUserAtrState

AUT_FineAdjust

Example

The example program performs a search in the given area. If no target is found, the area is increased until

1[ rad ]. If a communication timeout occurs, the value for the communication timeout is increased until 30[s]

(Note that a search over a big area takes a long time often results in an error).

BOOL TryAgain = TRUE; double Hz_Area,V_Area;

Hz_Area = 0.1;

V_Area = 0.1; rc = GRC_IVRESULT; hrc = COM_GetTimeOut(nOldComTimeOut);

Leica TPS1200 / TS30 / TM30 – Version 1.50 56

GeoCOM Reference Manual hrc = AUS_SetUserAtrState(ON); // activate ATR mode while(rc!=GRC_OK && TryAgain && hrc==GRC_OK)

{

rc = AUT_Search(Hz_Area,V_Area,FALSE);

switch (rc)

{

case (GRC_OK):

// execution successful

// Target found

break;

case (GRC_AUT_NO_TARGET):

//no target found.

//increase search area

Hz_Area += 0.1;

V_Area += 0.1;

if (Hz_Area > 1)

{

TryAgain = FALSE;

}

break;

case (GRC_COM_TIMEDOUT):

//communication timeout

//increase timeout until 30s

hrc = COM_GetTimeOut(nComTimeOut);

nComTimeOut=(short)__min(nComTimeOut+=5, 60);

hrc = COM_SetTimeOut(nComTimeOut);

//abort if timeout >= 30s

if (nComTimeOut >= 30)

{

TryAgain = FALSE;

}

break;

default:

//error: search not possible

//here further error analyse possible

break;

}

} hrc = COM_GetTimeOut(nOldComTimeOut);// Set old time

// out back hrc = AUS_SetUserAtrState(OFF);// Note: LOCK mode will

// be automatically also

Automation - AUT

// reseted!

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7.4.9

AUT_GetFineAdjustMode – getting the fine adjust positioning mode

AUT_GetFineAdjustMode ............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9030

9030 ................................................................................................................................................................................................................................................................AUT_GetFineAd

justMode

C-Declaration

AUT_GetFineAdjustMode(AUT_ADJMODE& rAdjMode)

VB-Declaration

VB_AUT_GetFineAdjustMode(AdjMode As Long)

ASCII-Request

%R1Q,9030:

ASCII-Response

%R1P,0,0: RC,AdjMode[integer]

Remarks

This function returns the current activated fine adjust positioning mode. This command is valid for all instruments, but has only effects for instruments equipped with ATR.

Parameters

RAdjMode Out Current fine adjust positioning mode

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27 GeoCOM Robotic license key not available

See Also

AUT_SetFineAdjustMode

Example see AUT_SetFineAdjustMode

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7.4.10

AUT_SetFineAdjustMode - setting the fine adjust positioning mode

AUT_SetFineAdjustMode.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9031

9031 ................................................................................................................................................................................................................................................................AUT_SetFineAd

justMode

C-Declaration

AUT_SetFineAdjustMode(AUT_ADJMODE AdjMode)

VB-Declaration

VB_AUT_SetFineAdjustMode(AdjMode As Long)

ASCII-Request

%R1Q,9031: AdjMode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets the positioning tolerances (default values for both modes) relating the angle accuracy or the point accuracy for the fine adjust. This command is valid for all instruments, but has only effects for instruments equipped with ATR. If a target is very near or held by hand, it’s recommended to set the adjust-mode to

AUT_POINT_MODE.

Parameters

AdjMode In AUT_NORM_MODE : Fine positioning with angle tolerance

AUT_POINT_MODE : Fine positioning with point tolerance

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27 GeoCOM Robotic license key not available

GRC_IVPARAM

See Also

AUS_GetUserAtrState

Example

GRC_TYPE Result;

AUT_ADJMODE AdjMode;

Result=AUT_GetFineAdjustMode(AdjMode); if(AdjMode!=AUT_MODE_POINT && Result==GRC_OK)

{// change the finepositioning mode to AUT_MODE_POINT

Result=AUT_SetFineAdjustMode(AUT_MODE_POINT);

if(Result!=GRC_OK)

{ // Error handling

}

}

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7.4.11

AUT_LockIn - starting the target tracking

AUT_LockIn....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9013

9013 ................................................................................................................................................................................................................................................................AUT_LockIn

C-Declaration

AUT_LockIn()

VB-Declaration

VB_AUT_LockIn()

ASCII-Request

%R1Q,9013:

ASCII-Response

%R1P,0,0: RC

Remarks

If LOCK mode is activated (AUS_SetUserLockState) then the function starts the target tracking. The

AUT_LockIn command is only possible if a AUT_FineAdjust command has been previously sent and successfully executed.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_AUT_MOTOR_ERROR

GRC_AUT_DETECTOR_ERROR

GRC_AUT_NO_TARGET

GRC_AUT_BAD_ENVIRONMENT

GRC_ATA_STRANGE_LIGHT

27

8707

8713

517

8712

524

GeoCOM Robotic license key not available

Instrument has no ‘motorization’.

Error in target acquisition, at repeated occur call service

No target detected, no previous Fine Adjust

Bad environment conditions

No target detected, no previous Fine Adjust

See Also

AUS_SetUserLockState

AUS_GetUserLockState

MOT_ReadLockStatus

Example

GRC_TYPE result; result = AUS_SetUserLockState(ON);// enable lock mode if(result==GRC_OK)

{ result = AUT_LockIn(); // activate target tracking if(result != GRC_OK)

{

// Error handling

}

}

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7.4.12

AUT_GetSearchArea – getting the dimensions of the PowerSearch window

AUT_GetSearchArea.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9042

9042 ................................................................................................................................................................................................................................................................AUT_GetSearch

Area

C-Declaration

AUT_GetSearchArea( AUT_SEARCH_AREA &Area )

VB-Declaration

VB_AUT_GetSearchArea(Area As AUT_SEARCH_AREA)

ASCII-Request

%R1Q,9042:

ASCII-Response

%R1P,0,0: RC, dCenterHz [double], dCenterV [double], dRangeHz [double], dRangeV [double], bEnabled [Boolean]

Remarks

This function returns the current position and size of the PowerSearch Window. This command is valid for all instruments, but has only effects for instruments equipped with PowerSearch.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27

See Also

AUT_SetSearchArea

BAP_SearchTarget

Example see AUT_SetSearchArea

GeoCOM Robotic license key not available

Leica TPS1200 / TS30 / TM30 – Version 1.50 61

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7.4.13

AUT_SetSearchArea – setting the PowerSearch window

AUT_SetSearchArea..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9043

9043 ................................................................................................................................................................................................................................................................AUT_SetSearch

Area

C-Declaration

AUT_SetSearchArea( AUT_SEARCH_AREA Area )

VB-Declaration

VB_AUT_SetSearchArea(byval Area As AUT_SEARCH_AREA)

ASCII-Request

%R1Q,9043: dCenterHz,dCenterV,dRangeHz,dRangeV,bEnabled

ASCII-Response

%R1P,0,0: RC

Remarks

This function defines the position and dimensions and activates the PowerSearch window. This command is valid for all instruments, but has only effects for instruments equipped with PowerSearch.

Parameters

Return-Code Names and Return-Code Values

GRC_NA 27 GeoCOM Robotic license key not available

See Also

AUT_GetSearchArea

BAP_SearchTarget

Example

AUT_SEARCH_AREA SearchArea;

SearchArea.dCenterHz = 0.5;

SearchArea.dCenterV = 1.5708; // 100 gon

SearchArea.dRangeHz = 0.4;

SearchArea.dRangeV = 0.2;

SearchArea.bEnabled = TRUE; // activate it

RetCode = AUT_SetSearchArea(SearchArea);

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7.4.14

AUT_GetUserSpiral – getting the ATR search window

AUT_GetUserSpiral...............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9040

9040 ................................................................................................................................................................................................................................................................AUT_GetUserSp

iral

C-Declaration

AUT_GetUserSpiral( AUT_SEARCH_SPIRAL &SpiralDim )

VB-Declaration

VB_AUT_GetUserSpiral(SpiralDim As AUT_SEARCH_SPIRAL)

ASCII-Request

%R1Q,9040:

ASCII-Response

%R1P,0,0: RC,dRangeHz[double],dRangeV[double]

Remarks

This function returns the current dimension of ATR search window. This command is valid for all instruments, but has only affects automated instruments.

Parameters

Return-Code Names and Return-Code Values

27 GRC_NA

See Also

AUT_SetUserSpiral

BAP_SearchTarget

Example see AUT_SetUserSpiral

GeoCOM Robotic license key not available

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7.4.15

AUT_SetUserSpiral - setting the ATR search window

AUT_SetUserSpiral............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9041

9041 ................................................................................................................................................................................................................................................................AUT_SetUserSp

iral

C-Declaration

AUT_SetUserSpiral( AUT_SEARCH_SPIRAL SpiralDim)

VB-Declaration

VB_AUT_SetUserSpiral(byval SpiralDim As AUT_SEARCH_SPIRAL)

ASCII-Request

%R1Q,9041: dRangeHz,dRangeV[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets the dimension of the ATR search window. This command is valid for all instruments, but has only effects for instruments equipped with ATR.

Parameters

Return-Code Names and Return-Code Values

GRC_NA 27 GeoCOM Robotic license key not available

See Also

AUT_GetUserSpiral

BAP_SearchTarget

Example

AUT_SEARCH_SPIRAL SearchSpiral;

GRC_TYPE result;

SearchSpiral.dRangeHz = 0.4;

SearchSpiral.dRangeV = 0.2; result = AUT_SetUserSpiral(SearchSpiral);

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7.4.16

AUT_PS_EnableRange – enabling the PowerSearch window and PowerSearch range

AUT_PS_EnableRange..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9048

9048 ................................................................................................................................................................................................................................................................AUT_PS_Enable

Range

C-Declaration

AUT_PS_EnableRange(BOOLE bEnable)

VB-Declaration

VB_AUT_PS_EnableRange (bEnable As Boolean)

ASCII-Request

%R1Q,9048: Enable[BOOLE]

ASCII-Response

%R1P,0,0: RC

Remarks

This command enables / disables the predefined PowerSearch window including the predefined PowerSearch range limits, set by AUT_PS_SetRange

Parameters

Return-Code Names and Return-Code Values

FALSE: Default range 0..400m

GRC_NA

See Also

AUT_PS_SetRange

AUT_SetSearchArea

Example

-

27 GeoCOM Robotic license key not available

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7.4.17

AUT_PS_SetRange – setting the PowerSearch range

AUT_PS_SetRange............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9047

9047 ................................................................................................................................................................................................................................................................AUT_PS_SetRa

nge

C-Declaration

AUT_PS_SetRange(long lMinDist, long lMaxDist)

VB-Declaration

VB_AUT_PS_SetRange (lMinDist As Long, lMaxDist As Long )

ASCII-Request

%R1Q,9047: lMinDist[long], lMaxDist[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This command defines the PowerSearch distance range limits.

These additional limits (additional to the PowerSearch window) will be used once the range checking is enabled

( AUT_PS_EnableRange ).

Parameters

Minimal distance to prism (

≥

0m)

Maximal distance to prism, where

lMaxDist

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA 27

GRC_IVPARAM

See Also

AUT_PS_EnableRange

AUT_PS_SearchWindow

AUT_SetSearchArea

Example

-

GeoCOM Robotic license key not available

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7.4.18

AUT_PS_SearchWindow – starting PowerSearch

AUT_PS_SearchWindow ..............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9052

9052 ................................................................................................................................................................................................................................................................AUT_PS_Search

Window

C-Declaration

AUT_PS_SearchWindow()

VB-Declaration

VB_AUT_PS_SearchWindow()

ASCII-Request

%R1Q,9052:

ASCII-Response

%R1P,0,0: RC

Remarks

This command starts PowerSearch inside the given PowerSearch window, defined by AUT_SetSearchArea and optional by AUT_PS_SetRange

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NA

GRC_AUT_NO_WORKING_AREA

GRC_AUT_NO_TARGET

See Also

AUT_PS_EnableRange

AUT_PS_SetRange

AUT_PS_SearchNext

AUT_SetSearchArea

Example

-

8720

8710

Working area not defined

No Target found

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GeoCOM Reference Manual Automation - AUT

7.4.19

AUT_PS_SearchNext – searching for the next target

AUT_PS_SearchNext.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9051

9051 ................................................................................................................................................................................................................................................................AUT_PS_Search

Next

C-Declaration

AUT_PS_SearchNext(long lDirection, BOOLE bSwing)

VB-Declaration

VB_AUT_PS_SearchNext(lDirection As Long, bSwing As Boolean )

ASCII-Request

%R1Q,9051: lDirection[long], bSwing[BOOLE]

ASCII-Response

%R1P,0,0: RC

Remarks

This command executes the 360º default PowerSearch and searches for the next target. A previously defined

PowerSearch window (AUT_SetSearchArea) is not taken into account. Use AUT_PS_SearchWindow to do so.

Parameters

Defines the searching direction ( CLKW=1 or ACLKW=-1 ) lDirection . This setting finds targets left of the telescope direction faster

Return-Code Names and Return-Code Values

GRC_OK 0

GRC_NA

GRC_AUT_NO_TARGET

27

8710

GRC_IVPARAM

See Also

AUT_PS_EnableRange

AUT_PS_SearchWindow

Example

-

Execution successful.

GeoCOM Robotic license key not available

No Target found

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GeoCOM Reference Manual Basic Applications – BAP

8 B

ASIC

A

PPLICATIONS

– BAP

8.1

USAGE

The subsystem basic applications (BAP) contain high-level functions visible on the user interface, the instrument display and commands combining several subcommands for easy workflow.

8.2

CONSTANTS AND TYPES

Measurement Modes enum BAP_MEASURE_PRG

{

BAP_NO_MEAS = 0

BAP_NO_DIST = 1

BAP_DEF_DIST = 2

BAP_CLEAR_DIST = 5

BAP_STOP_TRK = 6

};

Distance measurement programs

// no measurements, take last one

// no dist. measurement,

// angles only

// default distance measurements,

// pre-defined using

// BAP_SetMeasPrg

// clear distances

// stop tracking

// enum BAP_USER_MEASPRG {

BAP_SINGLE_REF_STANDARD = 0, // IR Standard

BAP_SINGLE_REF_FAST = 1,

BAP_SINGLE_REF_VISIBLE = 2

// IR Fast

// LO Standard

BAP_SINGLE_RLESS_VISIBLE = 3, // RL Standard

BAP_CONT_REF_STANDARD = 4,

BAP_CONT_REF_FAST = 5,

BAP_CONT_RLESS_VISIBLE = 6,

BAP_AVG_REF_STANDARD = 7,

BAP_AVG_REF_VISIBLE = 8,

// IR Tracking

// not supported by TPS1200

// RL Fast Tracking

// IR Average

// LO Average

BAP_AVG_RLESS_VISIBLE = 9,

BAP_CONT_REF_SYNCHRO = 10,

BAP_SINGLE_REF_PRECISE = 11

};

// RL Average

// IR Synchro Tracking

// IR Precise (TS30,TM30)

Prism type definition enum BAP_PRISMTYPE

{

BAP_PRISM_ROUND = 0,

BAP_PRISM_MINI = 1,

BAP_PRISM_TAPE = 2,

BAP_PRISM_360 = 3,

BAP_PRISM_USER1 = 4,

BAP_PRISM_USER2 = 5,

BAP_PRISM_USER3 = 6,

BAP_PRISM_360_MINI = 7,

BAP_PRISM_MINI_ZERO = 8,

BAP_PRISM_USER = 9,

// Leica Circular Prism

// Leica Mini Prism

// Leica Reflector Tape

// Leica 360º Prism

// not supported by TPS1200

// not supported by TPS1200

// not supported by TPS1200

// Leica Mini 360º Prism

// Leica Mini Zero Prism

// User Defined Prism

BAP_PRISM_NDS_TAPE = 10, // Leica HDS Target

BAP_PRISM_GRZ121_ROUND = 11, // GRZ121 360º Prism for Machine Guidance

BAP_PRISM_MA_MPR122 = 12

};

// MPR122 360º Prism for Machine Guidance

Reflector type definition enum BAP_REFLTYPE

{

BAP_REFL_UNDEF = 0,

BAP_REFL_PRISM = 1,

BAP_REFL_TAPE = 2

};

Prism name length

BAP_PRISMNAME_LEN = 16;

Prism definition struct BAP_PRISMDEF

// reflector not defined

// reflector prism

// reflector tape

// prism name string

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GeoCOM Reference Manual Basic Applications – BAP

{

char szName[BAP_PRISMNAME_LEN+1];

double dAddConst; // prism correction

BAP_REFLTYPE eReflType; // reflector type

}

Target type definition enum BAP_TARGET_TYPE

{

BAP_REFL_USE = 0 // with reflector

BAP_REFL_LESS = 1 // without reflector

};

ATR low vis mode definition typedef enum

{

BAP_ATRSET_NORMAL,

BAP_ATRSET_LOWVIS_ON,

BAP_ATRSET_LOWVIS_AON,

BAP_ATRSET_SRANGE_ON,

BAP_ATRSET_SRANGE_AON,

} BAP_ATRSETTING;

On/off switch

// ATR is using no special flags or modes

// ATR low vis mode on

// ATR low vis mode always on

// ATR high reflectivity mode on

// ATR high reflectivity mode always on enum ON_OFF_TYPE // on/off switch type

{

OFF = 0,

ON = 1

};

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8.3

FUNCTIONS

17022

8.3.1

BAP_GetTargetType - getting the EDM type

.......................

.................................

BAP_GetTarget Type

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 17022

C-Declaration

BAP_GetTargetType ( BAP_TARGET_TYPE &eTargetType )

VB-Declaration

VB_BAP_GetTargetType(eTargetType As Long)

ASCII-Request

%R1Q,17022:

ASCII-Response

%R1Q,0,0: RC , eTargetTyp e [long]

Remarks

Gets the current EDM type for distance measurements (Reflector (IR) or Reflectorless (RL)).

Parameters eTargetType Out Actual target type

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_SetTargetType()

BAP_SetMeasPrg()

Example

-

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8.3.2

BAP_SetTargetType – setting the EDM type

BAP_SetTargetType ..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17021

17021...............................................................................................................................................................................................................................................................BAP_SetTargetT

ype

C-Declaration

BAP_SetTargetType ( BAP_TARGET_TYPE eTargetType )

VB-Declaration

VB_BAP_SetTargetType(byVal eTargetType As Long)

ASCII-Request

%R1Q,17021: eTargetTyp e [long]

ASCII-Response

%R1P,0,0: RC

Remarks

Sets the current EDM type for distance measurements (Reflector (IR) or Reflectorless (RL)).

For each EDM type the last used EDM mode is remembered and activated if the EDM type is changed.

If EDM type IR is selected the last used Automation mode is automatically activated.

BAP_SetMeasPrg can also change the target type.

EDM type RL is not available on all instrument types.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM 2

See Also

BAP_GetTargetType()

BAP_SetMeasPrg()

Example

-

Target type is not available

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8.3.3

BAP_GetPrismType - getting the default prism type

BAP_GetPrismType...............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17009

17009...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype

C-Declaration

BAP_GetPrismType ( BAP_PRISMTYPE &ePrismType )

VB-Declaration

VB_BAP_GetPrismType (ePrismType As Long)

ASCII-Request

%R1Q,17009:

ASCII-Response

%R1Q,0,0: RC , ePrismTyp e [long]

Remarks

Gets the current prism type.

Parameters ePrismType Out Actual prism type

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVRESULT 3 RL EDM type is set – no reflector.

See Also

BAP_SetPrismType()

Example

-

Basic Applications – BAP

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8.3.4

BAP_SetPrismType – setting the default prism type

BAP_SetPrismType............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17008

C-Declaration

BAP_SetPrismType ( BAP_PRISMTYPE ePrismType )

VB-Declaration

VB_BAP_SetPrismType(byVal ePrismType As Long)

ASCII-Request

%R1Q,17008: ePrismTyp e [long]

ASCII-Response

%R1P,0,0: RC

Remarks

Sets the prism type for measurements with a reflector. It overwrites the prism constant, set by

TMC_SetPrismCorr .

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM 2

See Also

BAP_GetPrismType2()

TMC_SetPrismCorr()

Example

-

Prism type is not available.

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GeoCOM Reference Manual Basic Applications – BAP

8.3.5

BAP_GetPrismType2 – getting the default or user prism type

BAP_GetPrismType2.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17031

17031...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype2

C-Declaration

BAP_GetPrismType ( BAP_PRISMTYPE &rePrismType, char *szPrismName )

VB-Declaration

VB_BAP_GetPrismType2 ( rePrismType As Long, ByVal szPrismName As String)

ASCII-Request

%R1Q,17031:

ASCII-Response

%R1Q,0,0: RC , ePrismTyp e [long], szPrismName[string]

Remarks

Gets the current prism type and name.

Parameters rePrismType Out Actual prism type szPrismName Out Actual prism name

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_SetPrismType()

BAP_SetPrismType2()

Example

-

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8.3.6

BAP_SetPrismType2 – setting the default or user prism type

BAP_SetPrismType2 .............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17030

C-Declaration

BAP_SetPrismType ( BAP_PRISMTYPE ePrismType, char* szPrismName )

VB-Declaration

VB_BAP_SetPrismType(ByVal ePrismType As Long, ByVal szPrismName As String)

ASCII-Request

%R1Q,17030: ePrismTyp e [long], szPrismName[string]

ASCII-Response

%R1P,0,0: RC

Remarks

Sets the default or user prism type for measurements with a reflector. It overwrites the prism constant, set by

TMC_SetPrismCorr . For setting a user defined prism the prism has to be defined previously

(BAP_SetUserPrismDef)

Parameters ePrismType In Prism type. szPrismName In Prism name. Required if prism type is

BAP_PRISM_USER.

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM 2 Prism type is not available, i.e. a user prism is not defined

See Also

BAP_GetPrismType2()

TMC_SetPrismCorr()

Example

-

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8.3.7

BAP_GetPrismDef – getting the default prism definition

BAP_GetPrismDef.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17023

17023...............................................................................................................................................................................................................................................................BAP_GetPrismD

ef

C-Declaration

BAP_GetPrismDef ( BAP_PRISMTYPE ePrismType,

BAP_PRISMDEF &PrismDef)

VB-Declaration

VB_BAP_GetPrismDef(byval ePrism As Long,

ASCII-Request

PrismDef As BAP_PRISMDEF )

%R1Q,17023: ePrismTyp e [long]

ASCII-Response

%R1Q,0,0: RC , Name[String], dAddConst[double], eReflType[long]

Remarks

Get the definition of a default prism.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM

See Also

BAP_SetUserPrismDef()

Example

-

Basic Applications – BAP

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8.3.8

BAP_GetUserPrismDef – getting the user prism definition

BAP_GetUserPrismDef .............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17033

17033...............................................................................................................................................................................................................................................................BAP_GetUserPr

ismDef

C-Declaration

BAP_GetUserPrismDef (char *szPrismName,

double &rdAddConst,

BAP_REFLTYPE &reReflType,

char *szCreator)

VB-Declaration

VB_BAP_GetUserPrismDef(ByVal szPrismName As String,

rdAddConst As Double,

reReflType As Long,

ByVal szCreator As String)

ASCII-Request

%R1Q,17033: szPrismName[String]

ASCII-Response

%R1P,0,0: RC, rdAddConst[double], reReflType[long], szCreator[String]

Remarks

Gets definition of a defined user prism.

Parameters

Basic Applications – BAP

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM

See Also

BAP_SetPrismType()

BAP_SetPrismType2()

BAP_GetPrismDef()

BAP_GetUserPrismDef()

Example

-

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8.3.9

BAP_SetUserPrismDef – setting a user prism definition

BAP_SetUserPrismDef..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17032

17032...............................................................................................................................................................................................................................................................BAP_SetUserPr

ismDef

C-Declaration

BAP_SetUserPrismDef (char *szPrismName,

double dAddConst,

BAP_REFLTYPE eReflType,

char *szCreator)

VB-Declaration

VB_BAP_SetUserPrismDef(ByVal szPrismName As String,

dAddConst As Double,

eReflType As Long,

ByVal szCreator As String)

ASCII-Request

%R1Q,17032: szPrismName[String],dAddConst[double],eReflType[long],szCreator[String]

ASCII-Response

%R1P,0,0: RC

Remarks

Defines a new user prism.

Parameters

Basic Applications – BAP

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM

GRC_IVRESULT

See Also

BAP_SetPrismType()

BAP_GetPrismDef()

BAP_GetUserPrismDef()

Example

-

3 Prism definition is not set

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GeoCOM Reference Manual Basic Applications – BAP

8.3.10

BAP_GetMeasPrg – getting the actual distance measurement program

BAP_GetMeasPrg..............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17018

17018...............................................................................................................................................................................................................................................................BAP_GetMeasP

rg

C-Declaration

BAP_GetMeasPrg ( BAP_USER_MEASPRG &eMeasPrg )

VB-Declaration

VB_BAP_GetMeasPrg(eMeasPrg As Long)

ASCII-Request

%R1Q,17018:

ASCII-Response

%R1Q,0,0: RC , eMeasPrg[long]

Remarks

Gets the current distance measurement program.

Parameters eMeasPrg Out Actual measurement program

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_SetMeasPrg()

Example

-

Leica TPS1200 / TS30 / TM30 – Version 1.50 80

GeoCOM Reference Manual Basic Applications – BAP

17019

8.3.11

BAP_SetMeasPrg - setting the distance measurement program

.....................

.

17019

BAP_SetMeasPr g

C-Declaration

BAP_SetMeasPrg ( BAP_USER_MEASPRG eMeasPrg )

VB-Declaration

VB_BAP_SetMeasPrg(byVal eMeasPrg As Long)

ASCII-Request

%R1Q,17019: eMeasPrg [long]

ASCII-Response

%R1P,0,0: RC

Remarks

Defines the distance measurement program i.e. for BAP_MeasDistanceAngle

RL EDM type programs are not available on all instrument types.

Changing the measurement programs may change the EDM type as well (Reflector (IR) and Reflectorless (RL))

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM 2

See Also

BAP_GetMeasPrg()

BAP_SetTargetType()

Example

-

Measurement program is not available

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8.3.12

BAP_MeasDistanceAngle – measuring Hz,V angles and a single distance

BAP_MeasDistanceAngle .............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 17017

17017...............................................................................................................................................................................................................................................................BAP_MeasDista

nceAngle

C-Declaration

BAP_MeasDistanceAngle(BAP_MEASURE_PRG &DistMode,

double &dHz, double &dV,

double &dDist)

VB-Declaration

VB_BAP_MeasDistAng(DistMode As Long,

dHz As Double, dV As Double

dDist As Double)

ASCII-Request

%R1Q,17017: DistMode[long]

ASCII-Response

%R1P,0,0: RC, dHz[double], dV[double], dDist[double],DistMode[long]

Remarks

This function measures angles and a single distance depending on the mode DistMode . Note that this function is not suited for continuous measurements (LOCK mode and TRK mode). This command uses the current automation settings.

Parameters

DistMode In

DistMode dHz

Out

Out

BAP_DEF_DIST uses the predefined distance measurement program as defined in BAP_SetMeasPrg

Actual distance measurement mode

Horizontal angle [rad]x, depends on DistMode dV Out Vertical angle [rad]x, depends on DistMode dDist Out Slopedistance [m]x, depends on DistMode

Return-Code Names and Return-Code Values

BAP_MeasDistanceAngle may additionally return AUT- and TMC-return codes.

GRC_OK

GRC_AUT_ANGLE_ERROR

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_CALACC

GRC_AUT_DETECTOR_ERROR

GRC_AUT_DEV_ERROR

8706

8712

8713

8709

8708

Angle measurement error

Bad Environment conditions

Error in target acquisition

Deviation measurement error

Position not exactly reached GRC_AUT_INCACC

GRC_AUT_MOTOR_ERROR

GRC_AUT_MULTIPLE_TARGETS

GRC_AUT_NO_TARGET

GRC_AUT_TIMEOUT

TMC_ACCURACY_GUARANTEE

TMC_ANGLE_ACCURACY_

GUARANTEE

TMC_ANGLE_ERROR

TMC_ANGLE_NO_FULL_

CORRECTION

TMC_ANGLE_OK

TMC_BUSY

TMC_DIST_ERROR

TMC_DIST_PPM

TMC_NO_FULL_CORRECTION

TMC_SIGNAL_ERROR

8711

8710

8704

1284

1289

1290

1288

1285

1293

1292

1291

1294

Multiple targets detected

No target detected

Position not reached

Info, accuracy cannot be guaranteed

Info, only angle measurement valid, accuracy cannot be guaranteed

Error, no valid angle measurement

Warning, only angle measurement valid, accuracy cannot be guaranteed

Warning, only angle measurement valid

Error, TMC submodule already in use by another subsystem, command not processed

An error occurred during distance measurement.

Error, wrong setting of PPM

Error, no signal on EDM (only in signal mode)

Leica TPS1200 / TS30 / TM30 – Version 1.50 82

GeoCOM Reference Manual Basic Applications – BAP

GRC_ABORT

GRC_COM_TIMEDOUT

GRC_IVPARAM

GRC_SHUT_DOWN

8

3077

2

12

Error, measurement aborted

Error, communication timeout. (possibly increase COM timeout , see COM_SetTimeout )

Error, invalid DistMode

Error, system stopped

See Also

-

Example void MyMeasurement(BAP_MEASURE_PRG DistMode)

{

GRC_TYPE Result;

BAP_MEASURE_PRG DistMode;

double dHz, dV, dDist;

DistMode = BAP_DEF_DIST

Result = BAP_MeasDistanceAngle(DistMode,

dHz, dV, dDist);

if (rc != GRC_OK)

{ // error-handling

switch (rc)

{

case GRC_IVPARAM:

printf("Wrong value for DistMode!");

break;

case GRC_ABORT:

printf("Measurement aborted!");

break;

case GRC_SHUT_DOWN:

printf("System has been stopped!");

break;

case GRC_TMC_DIST_PPM:

printf("PPM or MM should be switched off");

printf(" when EDM is on -> no results!“);

break;

case GRC_TMC_DIST_ERROR:

printf("Error occured during");

printf(" distance measurement!");

break;

case GRC_TMC_ANGLE_ERROR:

printf("Error occured while slope");

printf(" was measured!");

break;

case GRC_TMC_BUSY:

printf("TMC is busy!");

break;

case GRC_TMC_ANGLE_OK:

printf("Angle without coordinates!")

break;

} // end of switch (rc)

} // end of error handling

else

{ // use results

printf("horizontal angel [rad]: %d\n", dHz);

printf("vertical angel [rad] : %d\n", dV);

printf("slopedistance [rad] : %d\n", dDist);

}

} //end of MyMeasurement

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8.3.13

BAP_SearchTarget - searching the target

BAP_SearchTarget.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17020

17020...............................................................................................................................................................................................................................................................BAP_SearchTar

get

C-Declaration

BAP_SearchTarget(BOOLE bDummy)

VB-Declaration

VB_BAP_SearchTarget(bDummy As Boolean)

ASCII-Request

%R1Q,17020: 0

ASCII-Respo

%R1P,0,0: RC

Remarks

This function searches for a target in the configured or defined ATR SearchWindow. The functionality is only available for automated instruments.

Parameters bDummy In It’s reserved for future use, set bDummy always to FALSE

Return-Code Names and Return-Code Values

GRC_OK

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_DEV_ERROR

GRC_AUT_ACCURACY

GRC_AUT_MOTOR_ERROR

8712

8709

8716

Bad Environment conditions

Deviation measurement error

Position not exactly reached

GRC_AUT_MULTIPLE_TARGETS

GRC_AUT_NO_TARGET

GRC_AUT_TIMEOUT

GRC_ABORT

GRC_FATAL

8711

8710

8704

8

Multiple targets detected

No target detected

Time out, no target found

Error, searching aborted

See Also

AUT_GetUserSpiral

AUT_SetUserSpiral

BAP_ATRSetting (lowvis)

BAP_GetATRSetting

BAP_SetATRSetting

BAP_GetRedATRFov

BAP_SetRedATRFov

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8.3.14

BAP_GetATRSetting – getting the current ATR low vis mode

BAP_GetPrismType2.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17031

17031...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype2

C-Declaration

BAP_GetATRSetting(BAP_ATRSETTING &reATRSetting)

VB-Declaration

VB_BAP_GetATRSetting(reATRSetting As Long)

ASCII-Request

%R1Q,17034:

ASCII-Response

%R1Q,0,0: RC , reATRSetting[long]

Remarks

Gets the current low vis mode.

Parameters

ATR is using no special flags/modes

BAP_LOWVIS_ON:

ATR low vis mode on

BAP_LOWVIS_ALWAYSON:

ATR low vis mode always on

BAP_LOWVIS_BOBBYON:

ATR high reflectivity mode on

BAP_LOWVIS_BOBBYALWAYSON:

ATR high reflectivity mode always on

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_SetATRSetting()

Example

-

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8.3.15

BAP_SetATRSetting – setting the current ATR low vis mode

BAP_GetPrismType2.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17031

17031...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype2

C-Declaration

BAP_SetATRSetting(BAP_ATRSETTING eATRSetting)

VB-Declaration

VB_ BAP_SetATRSetting(ByVal eATRSetting As Long)

ASCII-Request

%R1Q,17035: eATRSetting[long]

ASCII-Response

%R1Q,0,0: RC

Remarks

Sets the current low vis mode.

Parameters

ATR low vis mode

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_GetATRSetting()

Example

-

Basic Applications – BAP

Leica TPS1200 / TS30 / TM30 – Version 1.50 86

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8.3.16

BAP_GetRedATRFov – getting the reduced ATR field of view

BAP_GetPrismType2.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17031

17031...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype2

C-Declaration

BAP_GetRedATRFov(ON_OFF_TYPE &reRedFov)

VB-Declaration

VB_BAP_GetRedATRFov(reRedFov As Long)

ASCII-Request

%R1Q,17036:

ASCII-Response

%R1Q,0,0: RC , reRedFov[long]

Remarks

Get reduced ATR field of view mode.

Parameters

ATR uses reduced field of view (about 1/9)

OFF:

ATR uses full field of view

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_SetRedATRFov()

Example

-

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GeoCOM Reference Manual Basic Applications – BAP

8.3.17

BAP_SetRedATRFov – setting the reduced ATR field of view

BAP_GetPrismType2.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 17031

17031...............................................................................................................................................................................................................................................................BAP_GetPrismT

ype2

C-Declaration

BAP_SetRedATRFov(ON_OFF_TYPE eRedFov)

VB-Declaration

VB_BAP_SetRedATRFov(ByVal eRedFov As Long)

ASCII-Request

%R1Q,17037: eRedFov[long]

ASCII-Response

%R1Q,0,0: RC

Remarks

Set reduced ATR field of view mode.

Parameters

ATR uses reduced field of view (about 1/9)

OFF:

ATR uses full field of view

Return-Code Names and Return-Code Values

GRC_OK

See Also

BAP_GetRedATRFov()

Example

-

Leica TPS1200 / TS30 / TM30 – Version 1.50 88

GeoCOM Reference Manual Basic Man Machine Interface – BMM

9 B

ASIC

M

AN

M

ACHINE

I

NTERFACE

– BMM

9.1

USAGE

The subsystem BMM (Basic Man Machine Interface) implements the low-level functions for the MMI. These are also functions, which are relevant for controlling the display, keyboard, character sets and the beeper (signalling device). In

GeoCOM only the beep control functions are supported. The description of the IOS beep control functions is also in this chapter, because there is a very close relationship to the BMM functions.

9.2

CONSTANTS AND TYPES

Constants for the signal-device const short IOS_BEEP_STDINTENS = 100;

// standard intensity of beep expressed as

//a percentage

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9.3

FUNCTIONS

9.3.1

BMM_BeepAlarm - outputing an alarm signal (triple beep)

BMM_BeepAlarm.........................................................................................................................................................................................................................................................

.....................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 11004

11004...............................................................................................................................................................................................................................................................BMM_BeepAlar

m

C-Declaration

BMM_BeepAlarm(void)

VB-Declaration

VB_BMM_BeepAlarm()

ASCII-Request

%R1Q,11004:

ASCII-Response

%R1P,0,0: RC

Remarks

This function produces a triple beep with the configured intensity and frequency, which cannot be changed. If there is a continuous signal active, it will be stopped before.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

BMM_BeepNormal

IOS_BeepOn

IOS_BeepOff

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9.3.2

BMM_BeepNormal - outputing an alarm signal (single beep)

BMM_BeepNormal............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 11003

11003...............................................................................................................................................................................................................................................................BMM_BeepNor

mal

C-Declaration

BMM_BeepNormal(void)

VB-Declaration

VB_BMM_BeepNormal()

ASCII-Request

%R1Q,11003:

ASCII-Response

%R1P,0,0: RC

Remarks

This function produces a single beep with the configured intensity and frequency, which cannot be changed. If a continuous signal is active, it will be stopped first.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

BMM_BeepAlarm

IOS_BeepOn

IOS_BeepOff

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9.3.3

IOS_BeepOn - starting a continuous beep signal

IOS_BeepOn....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 20001

20001...............................................................................................................................................................................................................................................................IOS_BeepOn

C-Declaration

IOS_BeepOn(short nIntens = IOS_BEEP_STDINTENS)

VB-Declaration

VB_IOS_BeepOn(ByVal nIntens As Integer)

ASCII-Request

%R1Q,20001: nIntens[short]

ASCII-Response

%R1P,0,0: RC

Remarks

This function switches on the beep-signal with the intensity nIntens . If a continuous signal is active, it will be stopped first. Turn off the beeping device with IOS_BeepOff .

Parameters percentage (0-100 %).

Return-Code Names and Return-Code Values

GRC_OK

See Also

IOS_BeepOff

BMM_BeepAlarm

BMM_BeepNormal

Example

IOS_BeepOn(IOS_BEEP_STDINTENS)

// wait for a second

IOS_BeepOff();

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9.3.4

IOS_BeepOff – stopping an active beep signal

IOS_BeepOff...................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 20000

20000...............................................................................................................................................................................................................................................................IOS_BeepOff

C-Declaration

IOS_BeepOff(void)

VB-Declaration

VB_IOS_BeepOff()

ASCII-Request

%R1Q,20000:

ASCII-Response

%R1P,0,0: RC

Remarks

This function switches off the beep-signal.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

IOS_BeepOn

BMM_BeepAlarm

BMM_BeepNormal

Example see IOS_BeepOn

Basic Man Machine Interface – BMM

Leica TPS1200 / TS30 / TM30 – Version 1.50 93

GeoCOM Reference Manual Communications – COM

10 C

OMMUNICATIONS

– COM

10.1

USAGE

This subsystem contains those functions, which are subsystem COM related, but will be executed as RPC’s on the

TPS1200 instrument. It provides a function to check communication between the computer and the TPS1200 and also some functions to get and set communication relevant parameters on the server side. Furthermore, it implements functions to switch on or off (sleep mode, shut down) the TPS1200 instrument.

10.2

CONSTANTS AND TYPES

Stop Mode enum COM_TPS_STOP_MODE

{

COM_TPS_STOP_SHUT_DOWN =0, // power down instrument

COM_TPS_STOP_SLEEP =1 // not supported by TPS1200

};

Start Mode enum COM_TPS_STARTUP_MODE

{

COM_TPS_STARTUP_LOCAL =0 // not supported by TPS1200

COM_TPS_STARTUP_REMOTE=1 // RPC’s enabled, online mode

};

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10.3

FUNCTIONS

10.3.1

COM_GetSWVersion - retrieving server instrument version

COM_GetSWVersion...................................................................................................................................................................................................................................................

.........................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 110

110 .................................................................................................................................................................................................................................................................COM_GetSWVe

rsion

C-Declaration

VB-Declaration short &nVer, short &nSubVer )

VB_COM_GetSWVersion( nRel As Integer,

nVer Integer, nSubVer As Integer)

ASCII-Request

%R1Q,110:

ASCII-Response

%R1P,0,0: RC, nRel[short], nVer[short], nSubVer[short]

Remarks

This function displays the current GeoCOM release (release, version and subversion) of the instrument.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

CSV_GetSWVersion

Example

GRC_TYPE rc; short nRel, nSubVer, nVer;

COM_GetSWVersion(nRel, nVer, nSubVer); printf(„TPS1200 GeoCOM Release:\n“); printf(„Release %02d\n“, nRel); printf(„Version %02d\n“, nVer); printf(„Subversion %02d\n“, nSubVer);

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10.3.2

COM_SwitchOnTPS - turning on the instrument

COM_SwitchOnTPS ..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 111

111 .................................................................................................................................................................................................................................................................COM_SwitchOn

TPS

C-Declaration

COM_SwitchOnTPS(COM_TPS_STARTUP_MODE eOnMode)

VB-Declaration

VB_COM_SwitchOnTPS(ByVal eOnMode As Long)

ASCII-Request

%R1Q,111: eOnMode[short]

ASCII-Response

If instrument is already switched on then

%R1P,0,0:5 else

Nothing

Remarks

This function switches on the TPS1200 instrument.

Note: The TPS1200 instrument can be switched on by any RPC command or even by sending a single character.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NotImpl 5 Not implemented yet.

See Also

COM_SwitchOffTPS

COM_OpenConnection

Example

GRC_TYPE rc;

// switch on TPS1200 rc = COM_SwitchOnTPS(COM_TPS_REMOTE); if(rc == GRC_COM_TIMEDOUT)

{

for(short i = 0; i < 4 && rc != GRC_OK; i++)

{

rc = COM_SwitchOnTPS(COM_TPS_REMOTE);

}

} if(rc != RC_OK)

{

// error: switch on failed

}

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10.3.3

COM_SwitchOffTPS turning off the instrument

COM_SwitchOffTPS .............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 112

112 .................................................................................................................................................................................................................................................................COM_Switch

OffTPS

C Declaration

COM_SwitchOffTPS(COM_TPS_STOP_MODE eOffMode)

VB Declaration

VB_COM_SwitchOffTPS(ByVal eOffMode As Long)

ASCII Request

%R1Q,112: eOffMode[short]

ASCII Response

%R1P,0,0: RC

Remarks

This function switches off the TPS1200 instrument.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_SwitchOnTPS

Example

-

Communications – COM

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10.3.4

COM_NullProc - checking the communication

COM_NullProc................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 0

0 ...................................................................................................................................................................................................................................................................COM_NullProc

C-Declaration

COM_NullProc(void)

VB-Declaration

VB_COM_NullProc()

ASCII-Request

%R1Q,0:

ASCII-Response

%R1P,0,0: RC

Remarks

This function does not provide any functionality except of checking if the communication is up and running.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

-

Example

-

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10.3.5

COM_GetBinaryAvailable - getting the binary attribute of the server

COM_GetBinaryAvailable ............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 113

113 .................................................................................................................................................................................................................................................................COM_GetBinary

Available

C-Declaration

COM_GetBinaryAvailable(BOOLE &bAvailable)

VB-Declaration

VB_COM_GetBinaryAvailable(bAvailable As Long)

ASCII-Request

%R1Q,113:

ASCII-Response

%R1P,0,0: RC, bAvailable[Boolean]

Remarks

This function gets the ability information about the server to handle binary communication. The client may make requests in binary format which speeds up the communication by about 40-50%.

Parameters

: binary operation enabled.

FALSE : ASCII operation enabled.

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_SetBinaryAvailable

COM_SetFormat

COM_GetFormat

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10.3.6

COM_SetBinaryAvailable - setting the binary attribute of the server

COM_SetBinaryAvailable.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 114

114 .................................................................................................................................................................................................................................................................COM_SetBinary

Available

C-Declaration

COM_SetBinaryAvailable(BOOLE bAvailable)

VB-Declaration

VB_COM_SetBinaryAvailable(ByVal bAvailable As Long)

ASCII-Request

%R1Q,114: bAvailable[Boolean]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets the ability of the server to handle binary communication. With this function, one can force to communicate in ASCII only. During initialisation, the client checks if binary communication is enabled / possible or not which depends on this flag.

Parameters

: enable binary operation.

FALSE : enable ASCII operation only.

Return-Code Names and Return-Code Values

GRC_OK

See Also

COM_GetBinaryAvailable

COM_SetFormat

Example

-

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11 C

ENTRAL

S

ERVICES

– CSV

11.1

INTRODUCTION

The subsystem Central Services implements some centralised functions to maintain global data of the TPS system software. Examples are date and time or the instrument’s name.

11.2

USAGE

These functions do not depend on other subsystems. Since this part is responsible for global data, any function can be called at any time.

11.3

CONSTANTS AND TYPES

TPS Device Configuration Type struct TPS_DEVICE

{

TPS_DEVICE_CLASS Class; // device precision class

TPS_DEVICE_TYPE Type; // device configuration type

};

TPS Device Precision Class enum TPS_DEVICE_CLASS

{

TPS_CLASS_1100 = 0,

TPS_CLASS_1700 = 1,

TPS_CLASS_1800 = 2,

TPS_CLASS_5000 = 3,

TPS_CLASS_6000 = 4,

TPS_CLASS_1500 = 5,

TPS_CLASS_2003 = 6,

TPS_CLASS_5005 = 7,

// TPS1000 family member,

// 1 mgon, 3"

// TPS1000 family member,

// 0.5 mgon, 1.5"

// TPS1000 family member,

// 0.3 mgon, 1"

// TPS2000 family member

// TPS2000 family member

// TPS1000 family member

// TPS2000 family member

// TPS5000 family member

TPS_CLASS_5100 = 8, // TPS5000 family member

TPS_CLASS_1102 = 100, // TPS1100 family member, 2"

TPS_CLASS_1103 = 101, // TPS1100 family member, 3"

TPS_CLASS_1105 = 102

TPS_CLASS_1101 = 103

// TPS1100 family member, 5"

// TPS1100 family member, 1"

TPS_CLASS_1202 = 200, // TPS1200 family member, 2"

TPS_CLASS_1203 = 201, // TPS1200 family member, 3"

TPS_CLASS_1205 = 202 // TPS1200 family member, 5"

TPS_CLASS_1201 = 203 // TPS1200 family member, 1"

TPS_CLASS_Tx30 = 300, // TS30,TM30 family member, 0.5"

TPS_CLASS_Tx31 = 301, // TS30,TM30 family member, 1"

};

TPS Device Configuration Type enum TPS_DEVICE_TYPE

{

// TPS1x00 common

TPS_DEVICE_T = 0x00000, // Theodolite without built-in EDM

TPS_DEVICE_MOT = 0x00004, // Motorized device

TPS_DEVICE_ATR = 0x00008, // Automatic Target Recognition

TPS_DEVICE_EGL = 0x00010, // Electronic Guide Light

TPS_DEVICE_DB = 0x00020, // reserved (Database, not GSI)

TPS_DEVICE_DL = 0x00040, // Diode laser

TPS_DEVICE_LP = 0x00080, // Laser plumbed

// TPS1000 specific

TPS_DEVICE_TC1 = 0x00001, // tachymeter (TCW1)

TPS_DEVICE_TC2 = 0x00002, // tachymeter (TCW2)

// TPS1100/TPS1200 specific

TPS_DEVICE_TC = 0x00001, // tachymeter (TCW3)

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TPS_DEVICE_TCR = 0x00002, // tachymeter (TCW3 with red laser)

TPS_DEVICE_ATC = 0x00100, // Autocollimation lamp (used only PMU)

TPS_DEVICE_LPNT = 0x00200, // Laserpointer

TPS_DEVICE_RL_EXT = 0x00400, // Reflectorless EDM with extended range

// (Pinpoint R100,R300)

TPS_DEVICE_PS = 0x00800, // Power Search

// TPSSim specific

TPS_DEVICE_SIM = 0x04000 // runs on Simulation, no Hardware

};

Reflectorless Class enum TPS_REFLESS_CLASS

{

TPS_REFLESS_NONE = 0,

TPS_REFLESS_R100 = 1, // Pinpoint R100

TPS_REFLESS_R300 = 2, // Pinpoint R300

} TPS_REFLESS_R400 = 3, // Pinpoint R400

TPS_REFLESS_R1000 = 4, // Pinpoint R1000

General Date and Time struct DATIME {

DATE_TYPE Date;

TIME_TYPE Time;

};

General Date struct DATE_TYPE {

short Year;

BYTE Month;

BYTE Day;

};

General Time

// year

// month in year 1..12

// day in month 1..31 struct TIME_TYPE {

BYTE Hour;

BYTE Minute;

BYTE Second;

};

Power sources

// 24 hour per day 0..23

// minute 0..59

// seconds 0..59 struct CSV_POWER_PATH{

CSV_EXTERNAL_POWER = 1, // power source is external

CSV_INTERNAL_POWER = 2 // power source is the

// internal battery

};

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11.4

FUNCTIONS

11.4.1

CSV_GetInstrumentNo – getting the factory defined instrument number

CSV_GetInstrumentNo..............................................................................................................................................................................................................................................................

................

5003 ................................................................................................................................................................................................................................................................CSV_GetInstrum

entNo

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5003

C-Declaration

CSV_GetInstrumentNo(long &SerialNo)

VB-Declaration

VB_CSV_GetInstrumentNo(SerialNo As Long)

ASCII-Request

%R1Q,5003:

ASCII-Response

%R1P,0,0: RC, SerialNo[long]

Remarks

Gets the factory defined serial number of the instrument.

Parameters

SerialNo Out The serial number.

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc; long SerialNo; rc = CSV_GetInstrumentNo(SerialNo); if (rc == GRC_OK)

{

}

// use SerialNo else

{

}

// instrument number not yet set

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11.4.2

CSV_GetInstrumentName – getting the Leica specific instrument name

CSV_GetInstrumentName.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 5004

5004 ................................................................................................................................................................................................................................................................CSV_GetInstrum

entName

C-Declaration

CSV_GetInstrumentName(char *Name)

VB-Declaration

VB_CSV_GetInstrumentName(Name As String)

ASCII-Request

%R1Q,5004:

ASCII-Response

%R1P,0,0: RC,Name[string]

Remarks

Gets the instrument name, for example: TS30 0,5”

Parameters

Name Out The instrument name

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc; rc = CSV_GetInstrumentName(szName); if (rc == GRC_OK)

{

// use instrument name

} else

{

// instrument name not set yet

// (incomplete calibration data)

}

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11.4.3

CSV_GetDeviceConfig – getting the instrument configuration

CSV_GetDeviceConfig..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5035

5035 ................................................................................................................................................................................................................................................................CSV_GetDevice

Config

C-Declaration

CSV_GetDeviceConfig(TPS_DEVICE &Device);

VB-Declaration

VB_CSV_GetDeviceConfig(Device As TPS_DEVICE)

ASCII-Request

%R1Q,5035:

ASCII-Response

%R1P,0,0: RC, DevicePrecisionClass[long],

DeviceConfigurationType[long]

Remarks

This function returns information about the class and the configuration type of the instrument.

Parameters

Device Out System information (see data type description for further information).

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc;

TPS_DEVICE Device; rc = CSV_GetDeviceConfig(Device); if (rc == GRC_OK)

{

// Use system information

} else

{

// Intrument precision class undefined

// (incomplete calibration data)

}

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11.4.4

CSV_GetReflectorlessClass – getting the RL type

CSV_ GetReflectorlessClass ..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 5100

5100 ................................................................................................................................................................................................................................................................CSV_ GetReflec torlessClass

C-Declaration

CSV_GetReflectorlessClass (TPS_REFLESS_CLASS &reRefLessClass);

VB-Declaration

VB_CSV_GetReflectorlessClass(reRefLessClass As TPS_REFLESS_CLASS)

ASCII-Request

%R1Q,5100:

ASCII-Response

%R1P,0,0: RC,reRefLessClass[long]

Remarks

This function returns information about the reflectorless and long range distance measurement (RL) of the instrument.

Parameters reRefLessClass

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc;

TPS_REFLESS_CLASS Device; rc = CSV_GetReflectorlessClass(reRefLessClass); if (rc == GRC_OK)

{

// Use RL type

} else

{

// Unknown RL type

}

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11.4.5

CSV_GetDateTime – getting the date and time.

CSV_GetDateTime.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5008

5008 ................................................................................................................................................................................................................................................................CSV_GetDateTi

me

C-Declaration

CSV_GetDateTime(DATIME &DateAndTime)

VB-Declaration

VB_CSV_GetDateTime (DateAndTime As DATIME)

ASCII-Request

%R1Q,5008:

ASCII-Response

%R1P,0,0: RC,Year[short],Month,Day,Hour,Minute,Second[all byte]

Remarks

Gets the current date and time of the instrument. The ASCII response is formatted corresponding to the data type

DATIME . A possible response can look like this : %R1P,0,0:0,1996,'07', '19','10','13','2f' (see chapter ASCII data type declaration for further information)

Parameters

DateAndTime Out Encoded date and time.

Return-Code Names and Return-Code Values

GRC_OK

See Also

CSV_SetDateTime

CSV_GetDateTimeCentiSec

Example

GRC_TYPE rc;

DATIME DateAndTime; rc = CSV_GetDateTime(DateAndTime); if (rc == GRC_OK)

{

// use Date and time

} else

{

// time and/or date is not set (yet)

// use CSV_SetDateTime to set date and time

// (March 25 1997, 10:20)

DateAndTime.Date.Year = 1997;

DateAndTime.Date.Month = 3;

DateAndTime.Date.Day = 25;

DateAndTime.Time.Hour = 10;

DateAndTime.Time.Minute = 20;

DateAndTime.Time.Second = 0;

rc = CSV_SetDateTime(DateAndTime);

}

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11.4.6

CSV_SetDateTime – setting the date and time

CSV_SetDateTime .............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5007

5007 ................................................................................................................................................................................................................................................................CSV_SetDateTim

e

C-Declaration

CSV_SetDateTime(DATIME DateAndTime)

VB-Declaration

VB_CSV_SetDateTime(ByVal DateAndTime As DATIME)

ASCII-Request

%R1Q,5007: Year[short],Month,Day,Hour,Minute,Second[all byte]

ASCII-Response

%R1P,0,0: RC

Remarks

Sets the current date and time of the instrument.

Parameters

DateAndTime In Encoded date and time.

Return-Code Names and Return-Code Values

GRC_OK

See Also

CSV_GetDateTime

Example

See CSV_GetDateTime .

Central Services – CSV

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11.4.7

CSV_GetSWVersion – getting the software version

CSV_GetSWVersion..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5034

5034 ................................................................................................................................................................................................................................................................CSV_GetSWVe

rsion

C-Declaration

CSV_GetSWVersion2(short &nRelease, short &nVersion,

short &nSubVersion)

VB-Declaration

VB_CSV_GetSWVersion2(nRelease As Integer,

nVersion As Integer,

nSubVersion As Integer)

ASCII-Request

%R1Q,5034:

ASCII-Response

%R1P,0,0: RC,nRelease,nVersion,nSubVersion[all short]

Remarks

Returns the system software version.

Parameters nRelease nVersion

Out Release

Out Version nSubVersion

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc; short nRel, nVers, nSubVers; char szBuffer[17] rc = CSV_GetSWVersion(nRel, nVers, nSubVers) sprintf(szBuffer, "Version %02d.%02d.%02d",

nRel, nVers, nSubVers);

Returns: nRel = 2, nVers = 20, nSubVers = 0 szBuffer = “Version 02.20.00”

Central Services – CSV

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11.4.8

CSV_CheckPower – checking the available power

CSV_CheckPower..............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5039

5039 ................................................................................................................................................................................................................................................................CSV_CheckPow

er

C-Declaration

CSV_CheckPower( unsigned short &unCapacity,

CSV_POWER_PATH &eActivePower,

CSV_POWER_PATH &ePowerSuggest)

VB-Declaration

VB_CSV_CheckPower( unCapacity As integer,

eActivePower As long,

ePowerSuggest As long)

ASCII-Request

%R1Q,5039:

ASCII-Response

%R1P,0,0: RC, unCapacity [long], eActivePower[long], ePowerSuggest[long]

Remarks

This command returns the capacity of the current power source and its source (internal or external).

Parameters unCapacity Out Actual capacity [%] eActivePower ePowerSuggest

Return-Code Names and Return-Code Values

GRC_OK

GRC_LOW_POWER

GRC_BATT_EMPTY

16

18

Power is low. Time remaining is about 30’.

Battery is nearly empty. Time remaining is about 1’.

Example

GRC_TYPE rc;

CSV_POWER_PATH eActivePower;

CSV_POWER_PATH eDummy; unsigned short unCapacity; rc = CSV_CheckPower(unCapacity, eActivePower,

eDummy)

Leica TPS1200 – Version 1.50 110

GeoCOM Reference Manual Central Services – CSV

11.4.9

CSV_GetIntTemp – getting the temperature

CSV_GetIntTemp...............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5011

5011 ................................................................................................................................................................................................................................................................CSV_GetIntTem

p

C-Declaration

CSV_GetIntTemp(double &Temp)

VB-Declaration

VB_CSV_GetIntTemp(Temp As double)

ASCII-Request

%R1Q,5011:

ASCII-Response

%R1P,0,0: RC,Temp[long]

Remarks

Get the internal temperature of the instrument, measured on the Mainboard side. Values are reported in degrees

Celsius.

Parameters

Temp Out

Instrument temperature [

°

C].

Return-Code Names and Return-Code Values

GRC_OK

Example

GRC_TYPE rc; double Temp; rc = CSV_GetIntTemp(Temp);

// use temperature information

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GeoCOM Reference Manual Central Services – CSV

11.4.10

CSV_GetDateTimeCentiSec – getting the date and time.

CSV_GetDateTime.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 5008

5008 ................................................................................................................................................................................................................................................................CSV_GetDateTi

me

C-Declaration

CSV_GetDateTimeCentiSec(short &nYear, short &nMonth, short &nDay,

short &nHour, short &nMinute, short &nSecond,

short &nCentiSec);

VB-Declaration

VB_CSV_GetDateTimeCentiSec(nYear As Integer, nMonth As Integer,

nDay As Integer, nHour As Integer,

nMinute As Integer, nSecond As Integer,

nCentiSec As Integer )

ASCII-Request

%R1Q,5117:

ASCII-Response

%R1P,0,0: RC,Year,Month,Day,Hour,Minute,Second,CentiSecond[all short]

Remarks

Gets the current date and time of the instrument.

Parameters nYear nMonth nDay

Out year

Out month

Out day nHour nMinute nSecond

Out hour

Out minute

Out second nCentiSec

Return-Code Names and Return-Code Values

GRC_OK

See Also

CSV_SetDateTime

CSV_GetDateTime

Example

See CSV_GetDateTime .

Leica TPS1200 – Version 1.50 112

GeoCOM Reference Manual Electronic Distance Measurement – EDM

12 E

LECTRONIC

D

ISTANCE

M

EASUREMENT

– EDM

12.1

INTRODUCTION

The subsystem electronic distance measurement (EDM) is the connection to the integrated distance measurement devices in the total station.

With the functionality of EDM one can switch on or off the Laserpointer and the Electronic Guide Light respectively.

Additionally, it is possible to change the brightness using EDM_SetEGLIntensity .

12.2

USAGE

In order to use the functions concerning the Laserpointer and the Electronic Guide Light, make sure these devices are available. If not, these functions return error messages.

12.3

CONSTANTS AND TYPES

On/off switch enum ON_OFF_TYPE // on/off switch type

{

OFF = 0,

ON = 1

};

Intensity of Electronic Guidelight typedef enum EDM_EGLINTENSITY_TYPE

{

EDM_EGLINTEN_OFF = 0,

EDM_EGLINTEN_LOW = 1,

EDM_EGLINTEN_MID = 2,

EDM_EGLINTEN_HIGH = 3

};

Leica TPS1200 – Version 1.50 113

GeoCOM Reference Manual Electronic Distance Measurement – EDM

12.4

FUNCTIONS

12.4.1

EDM_Laserpointer - turning on/off the laserpointer

EDM_Laserpointer........................................................................................................................................................................................................................................................

.....................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1004

1004 ................................................................................................................................................................................................................................................................EDM_Laserpoin

ter

C-Declaration

EDM_Laserpointer (ON_OFF_TYPE eLaser)

VB-Declaration

VB_EDM_Laserpointer(ByVal eLaser As Long)

ASCII-Request

%R1Q,1004: eLaser[long]

ASCII-Response

%R1P,0,0: RC

Remarks

Laserpointer is only available on models which support distance measurement without reflector.

Parameters

- switch Laserpointer on

OFF - switch Laserpointer off

Return-Code Names and Return-Code Values

GRC_OK

GRC_EDM_DEV_NOT_INSTALLED 778 Laserpointer is not implemented

See Also

-

Example

GRC_TYPE rc;

// switch on laserpointer rc = EDM_Laserpointer(ON); if (rc != GRC_OK)

{ // error-handling

switch (rc)

{

case GRC_EDM_DEV_NOT_INSTALLED:

printf("Laserpointer is not implemented.

Laserpointer is only available in

theodolites which supports distance

measurement without reflector.");

break;

} // end of switch (rc)

} // end of error handling else if (rc == GRC_OK)

{

// use laserpointer

}

Leica TPS1200 – Version 1.50 114

GeoCOM Reference Manual Electronic Distance Measurement – EDM

12.4.2

EDM_GetEglIntensity – getting the value of the intensity of the electronic guide light

EDM_GetEglIntensity............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1058

1058 ................................................................................................................................................................................................................................................................EDM_GetEglInt

ensity

C-Declaration

EDM_GetEglIntensity(EDM_EGLINTENSITY_TYPE

&eIntensity)

VB-Declaration

VB_EDM_GetEglIntensity (eIntensity As Long)

ASCII-Request

%R1Q,1058:

ASCII-Response

%R1Q,0,0: RC , eIntensity[long]

Remarks

Displays the intensity of the Electronic Guide Light.

Parameters intensity Out EDM_EGLINTEN_OFF

EDM_EGLINTEN_LOW

EDM_EGLINTEN_MID

EDM_EGLINTEN_HIGH

Return-Code Names and Return-Code Values

GRC_OK

GRC_EDM_DEV_NOT_INSTALLED 778

See Also

EDM_ SetEglIntensity ()

Example

See EDM_SetEglIntensity .

Electronic Guide Light not implemented

Leica TPS1200 – Version 1.50 115

GeoCOM Reference Manual Electronic Distance Measurement – EDM

12.4.3

EDM_SetEglIntensity – changing the intensity of the electronic guide light

EDM_SetEglIntensity............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1059

1059 ................................................................................................................................................................................................................................................................EDM_SetEglInt

ensity

C-Declaration

EDM_SetEglIntensity (EDM_EGLINTENSITY_TYPE

eIntensity)

VB-Declaration

VB_EDM_SetEglIntensity (ByVal eIntensity As

Long)

ASCII-Request

%R1Q,1059: eIntensity [long]

ASCII-Response

%R1P,0,0: RC

Remarks

Changes the intensity of the Electronic Guide Light.

Parameters intensity In EDM_EGLINTEN_OFF

EDM_EGLINTEN_LOW

EDM_EGLINTEN_MID

EDM_EGLINTEN_HIGH

Return-Code Names and Return-Code Values

GRC_OK

GRC_SYSBUSY

GRC_EDM_DEV_NOT_INSTALLED

GRC_EDM_INVALID_COMMAND

778

770

Electronic Guide Light not implemented

When an invalid intensity is entered

See Also

EDM_GetEglIntensity ()

Example

RC-TYPE rc;

EDM_EGLINTENSITY_TYPE eIntensity, eNewIntensity;

// Get actual EGL intensity rc = EDM_GetEglIntensity(eIntensity); if (rc == GRC_OK)

{

// switch EGL intensity one level up

switch (eIntensity)

{

case EDM_EGLINTENSITY_OFF:

eIntensityNew = EDM_EGLINTENSITY_LOW; break;

case EDM_EGLINTENSITY_LOW:

eIntensityNew = EDM_EGLINTENSITY_MID; break;

case EDM_EGLINTENSITY_MID:

eIntensityNew = EDM_EGLINTENSITY_HIGH;break;

case EDM_EGLINTENSITY_HIGH:

break; // Allready highest intensity

default:

eIntensityNew = EDM_EGLINTENSITY_LOW;

}

//Set new EGL intensity rc = SetEglIntensity(eIntensityNew);

// Handle errors

}

Leica TPS1200 – Version 1.50 116

GeoCOM Reference Manual File Transfer - FTR

13 F

ILE

T

RANSFER

FTR

13.1

USAGE

The subsystem ‘File Transfer’ contains functions such as list image files, download image files from instrument and delete image files. Telescopic Camera Images stored on Internal Memory or CF-Card may be transferred onto a PC using these functions.

Note: It is recommended to use binary communication mode with checksum (default) to secure transmission of files.

See also COM_SetComFormat.

/ata1a/

/ata0a/

Path

Images

FTR_DEVICE_INTERNAL

FTR_DEVICE_PCPARD

File type(s) Extension wildcard(s)

FTR_FILE_IMAGES "*.jpg"

13.2

CONSTANTS AND TYPES

Blocksize const unsigned short FTR_MAX_BLOCKSIZE = 450;

Devicetype typedef enum

{

FTR_DEVICE_INTERNAL = 0,

FTR_DEVICE_PCPARD = 1,

} FTR_DEVICETYPE;

Filetype typedef enum

{

FTR_FILE_IMAGES = 170,

} FR_FILETYPE;

Blocktype struct FTR_BLOCK

{

BYTE FTR_BLOCK_val[FTR_MAX_BLOCKSIZE];

unsigned short FTR_BLOCK_len;

};

Modification time struct FTR_MODTIME

{

BYTE ucHour; // hour

BYTE ucMinute; // minute

BYTE ucSecond; // second

BYTE ucCentisecond; // centisecond (0.01 sec)

};

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GeoCOM Reference Manual

Modification date struct FTR_MODDATE

{

BYTE ucDay; // UTC date, day

BYTE ucMonth; // UTC date, month

BYTE ucYear; // UTC date, year

};

Directory info struct FTR_DIRINFO

{

char szFileName[81];

unsigned long ulFileSize;

FTR_MODTIME ModTime;

FTR_MODDATE ModDate;

};

File Transfer - FTR

13.3

FUNCTIONS

13.3.1

FTR_SetupList – Setup list

AUT_ReadTol .................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 9008

9009 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_SetupList(FTR_DEVICETYPE eDeviceType, FTR_FILETYPE eFileType,

char *szSearchPath)

VB-Declaration

VB_FTR_SetupList(DeviceType As Long, FileType As Long,

ByVal SearchPath As String)

Request

%R1Q,23306: eDeviceType , eFileType,szSearchPath

ASCII-Response

%R1P,0,0: RC

Remarks

This command sets up the device, file type and search path. It has to be called before command FTR_List can be used.

Parameters

Return-Codes

GRC_OK

GRC_IVPARAM

GRC_NOTOK

GRC_FTR_FILEACCESS

See Also

FTR_List

FTR_AbortList

Example

See FTR_List

FTR_FILE_UNKNOWN.

2

26

Device not available or can not get path.

Setup already done or FTR_AbortList() not called.

13056 File access error.

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GeoCOM Reference Manual File Transfer - FTR

13.3.2

FTR_List – List file

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9010 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_List(BOOLE bNext, BOOLE &rbLast, FTR_DIRINFO &rDirInfo)

VB-Declaration

VB_FTR_List(Next As Long, Last As Long, DirInfo As FTR_DIRINFO)

Request

%R1Q,23307: bNext

ASCII-Response

%R1P,0,0: RC, rbLast,szFileName , ulFileSize , ucHour , ucMinute , ucSecond , ucCentisecond ucDay , ucMonth , ucYear

Remarks

This command gets one single file entry. The command FTR_List has to be called first.

Parameters

The entry is not valid if the file name is empty ( "").

Return-Codes

GRC_OK

GRC_FTR_MISSINGSETUP

GRC_FTR_INVALIDINPUT 13059 First block is missing or last time was already last block.

See Also

FTR_SetupList

FTR_AbortList

Example

GRC_TYPE rc;

FTR_DEVICETYPE eDeviceType;

FTR_FILETYPE eFileType; char szSearchPath[128];

FTR_DIRINFO DirInfo; eDeviceType = FTR_DEVICE_PCPARD; eFileType = FTR_FILE_IMAGES; strcpy(szSearchPath, ""); rc = FTR_SetupList(eDeviceType, eFileType, szSearchPath); if(rc == GRC_OK)

{ bNext = FALSE;

do

{ rc = FTR_List(bNext, bLast, DirInfo); if(rc != GRC_OK)

{

break;

} if(strlen(DirInfo.szFileName) < 1)

{

// entry is not valid or list is empty

break;

} sprintf(szEntry, "%s %ld %02/%02d/%04d %02d:%02d",

DirInfo.szFileName, DirInfo.ulFileSize,

DirInfo.ModDate.ucMonth, DirInfo.ModDate.ucDay,

DirInfo.ModDate.ucYear + 2000,

DirInfo.ModTime.ucHour, DirInfo.ModTime.ucMinute); bNext = TRUE;

}

Leica TPS1200 – Version 1.50 119

GeoCOM Reference Manual while(bLast != TRUE);

FTR_AbortList();

}

File Transfer - FTR

Leica TPS1200 – Version 1.50 120

GeoCOM Reference Manual

13.3.3

FTR_AbortList – Abort list

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9011 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_AbortList(void)

VB-Declaration

VB_FTR_AbortList()

Request

%R1Q,23308:

ASCII-Response

%R1P,0,0: RC

Remarks

This command aborts or ends file list command.

Parameters

None

Return-Codes

GRC_OK

See Also

FTR_SetupList

FTR_List

Example

See FTR_Setup

File Transfer - FTR

Leica TPS1200 – Version 1.50 121

GeoCOM Reference Manual File Transfer - FTR

13.3.4

FTR_SetupDownload – Setup download

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9012 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_SetupDownload(FTR_DEVICETYPE eDeviceType, FTR_FILETYPE eFileType,

char *szFileNameSrc, unsigned short unBlockSize,

unsigned short &runNumOfBlocks)

VB-Declaration

VB_FTR_SetupDownload(DeviceType As Long, FileType As Long,

ByVal FileNameSrc As String, BlockSize As Integer,

NumOfBlocks As Integer)

Request

%R1Q,23303: eDeviceType , eFileType,szFileNameSrc , unBlockSize

ASCII-Response

%R1P,0,0: RC, unNumOfBlocks

Remarks

This command sets up the download of a file from the instrument. It has to be called before command

FTR_Download can be used.

Parameters

File name with extension. I f file type is

FTR_FILE_UNKNOWN additional file path is required.

Block size. Max value is FTR_MAX_BLOCKSIZE.

Return-Codes

GRC_OK

GRC_IVPARAM

GRC_NOTOK

GRC_FTR_INVALIDINPUT

GRC_FTR_FILEACCESS

See Also

FTR_Download

FTR_AbortDownload

Example

See FTR_Download

2 Device not available or can not get path.

26 Setup already done or FTR_AbortDownload() not called.

13059 Block size too big.

13056 File access error.

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GeoCOM Reference Manual File Transfer - FTR

13.3.5

FTR_Download – Download file

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9013 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_Download(unsigned short unBlockNumber, FTR_BLOCK &rBlock)

VB-Declaration

VB_FTR_Download(BlockNumber As Integer, Block As FTR_BLOCK)

Request

%R1Q,23304: unBlockNumber

ASCII-Response

%R1P,0,0: RC , FTR_BLOCK_val,FTR_BLOCK_len

Remarks

This command gets one single block of data. The command FTR_SetupDownload has to be called first.

Note: The maximum block number in C/VB is 65535/32767 therefore the file size is limited to 28MB/14MB.

Visual Basic does not know data type unsigned integer.

Parameters number is 0 then the download process is aborted

Return-Codes

GRC_OK

GRC_FTR_MISSINGSETUP

GRC_FTR_INVALIDINPUT

GRC_FTR_FILEACCESS

13059 First block is missing.

13056 File access error.

See Also

FTR_SetupDownload

FTR_AbortDownload

Example

GRC_TYPE rc;

FTR_DEVICETYPE eDeviceType;

FTR_FILETYPE eFileType;

FTR_BLOCK Block; char szFileNameSrc[128]; unsigned short unBlockNumber; unsigned short unBlockSize; unsigned short unNumOfBlocks;

FILE *pFile; unsigned short unWritten; eDeviceType = FTR_DEVICE_PCPARD; eFileType = FTR_FILE_IMAGES; strcpy(szFileNameSrc, "image000.jpg"); unBlockSize = FTR_MAX_BLOCKSIZE; rc = FTR_SetupDownload(eDeviceType, eFileType, szFileNameSrc,

unBlockSize, unNumOfBlocks); if(rc == GRC_OK)

{

// open the file pFile = fopen(szFileNameSrc, "wb"); if(pFile == NULL)

{

return;

} for(unBlockNumber = 1; unBlockNumber <= unNumOfBlocks; unBlockNumber++)

{ rc = FTR_Download(unBlockNumber, Block); if(rc != GRC_OK)

Leica TPS1200 – Version 1.50 123

GeoCOM Reference Manual

{

break;

}

// write block to file unWritten = fwrite(Block.FTR_BLOCK_val, 1,

Block.FTR_BLOCK_len, pFile);

if(unWritten != Block.FTR_BLOCK_len)

{

break;

}

}

FTR_AbortDownload();

fclose(pFile);

}

File Transfer - FTR

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GeoCOM Reference Manual

13.3.6

FTR_AbortDownload – Abort download

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9014 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_AbortDownload(void)

VB-Declaration

VB_FTR_AbortDownload()

Request

%R1Q,23305:

ASCII-Response

%R1P,0,0: RC

Remarks

This command aborts or ends file download command.

Parameters

None

Return-Codes

GRC_OK

See Also

FTR_SetupDownload

FTR_Download

Example

See FTR_Download

File Transfer - FTR

Leica TPS1200 – Version 1.50 125

GeoCOM Reference Manual File Transfer - FTR

13.3.7

FTR_Delete – Delete file

AUT_ReadTol ...............................................

.............................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 9008

9015 .................................................................................................................................................

AUT_ReadTol

C-Declaration

FTR_Delete(FTR_DEVICETYPE eDeviceType, FTR_FILETYPE eFileType,

FTR_MODDATE DelDate, char *szFileName,

unsigned short &runNumFilesDeleted);

VB-Declaration

VB_FTR_Delete(DeviceType As Long, FileType As Long, DelDate As FTR_MODDATE,

ByVal FileName As String, NumFilesDeleted As Integer)

Request

%R1Q,23309: eDeviceType , eFileType,ucDay,ucMonth,ucYear,szFileName

ASCII-Response

%R1P,0,0: RC , unNumFilesDeleted

Remarks

This command deletes one or more files. Wildcards may be used to delete multiple files. If deletion date is valid only files older than deletion date are deleted.

Parameters

Deletion date. Valid if ucMonth is not 0.

Return-Codes

GRC_OK

GRC_IVPARAM 2 Device not available or can not get path.

See Also

FTR_List

Example

GRC_TYPE rc;

FTR_DEVICETYPE eDeviceType;

FTR_FILETYPE eFileType;

FTR_MODDATE DelDate; char szFileName[128]; unsigned short unNumFilesDeleted; eDeviceType = FTR_DEVICE_PCPARD; eFileType = FTR_FILE_IMAGES;

DelDate.ucMonth = 0; strcpy(szFileName, "image000.jpg"); unNumFilesDeleted = 0;

// delete file rc = FTR_Delete(eDeviceType, eFileType, DelDate, szFileName,

unNumFilesDeleted); if(rc == GRC_OK)

{ if(unNumFilesDeleted == 1)

{

// file deleted

}

}

Leica TPS1200 – Version 1.50 126

GeoCOM Reference Manual Image Processing – IMG

14 I

MAGE

P

ROCESSING

– IMG

14.1

INTRODUCTION

This subsystem enables the capture of Telescopic Camera Images and the configuration of image parameters. There are two functions available to configure the image parameters and to read the currently defined parameters,

IMG_SetTccConfig and IMG_GetTccConfig respectively. One can capture an image by invoking the

IMG_TakeTccImage command.

Captured images are saved in jpeg compressed format to the Internal Memory or CF card into the \Images directory.

Each file name contains a prefix and a number in the following format: prefix###.jpg (e.g. image024.jpg).

14.2

USAGE

Imaging functionality applicable for TM30 / TS30 only.

In order to use the imaging functionality, make sure that a valid GeoCOM Imaging license key is loaded onto the instrument. If not available , these functions return error messages.

Note: Imaging RPC’s require valid GeoCOM imaging license key for successful execution.

14.3

CONSTANTS AND TYPES

Memory device type enum IMG_MEM_TYPE // MemDeviceType

{

IMG_INTERNAL_MEMORY = 0x0, // internal memory module (optional)

IMG_PC_CARD = 0x1 // external pc card

};

Image Parameters struct IMG_TCC_CONFIG

{

unsigned long ulImageNumber;

unsigned long ulQuality;

unsigned long ulSubFunctNumber;

char szFileNamePrefix[IMG_MAX_FILE_PREFIX_LEN];

};

Length of file name prefix const short IMG_MAX_FILE_PREFIX_LEN 20;

Leica TPS1200 – Version 1.50 127

GeoCOM Reference Manual Image Processing – IMG

14.4

FUNCTIONS

14.4.1

IMG_GetTccConfig – reading the actual image configuration

EDM_Laserpointer........................................................................................................................................................................................................................................................

.....................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1004

1004 ................................................................................................................................................................................................................................................................EDM_Laserpoin

ter

C-Declaration

IMG_GetTccConfig (IMG_MEM_TYPE eMemType, IMG_TCC_CONFIG &Parameters)

VB-Declaration

VB_IMG_GetTccConfig ( MemType As Long, Parameters As IMG_TCC_CONFIG ) As Integer

ASCII-Request

%R1Q,23400: eMemType[long]

ASCII-Response

%R1P,0,0: RC , ulImageNumber[long],ulQuality[long],ulSubFunctNumber[long],szFileNamePrefix[string]

Remarks

Parameters

1: Test image

2: Automatic exposure time selection

4: two-times sub-sampling

8: four-times sub-sampling

Return-Code Names and Return-Code Values

GRC_OK

GRC_FATAL

GRC_IVVERSION

4

17

27

CF card is not available or configuration file does not exist

Configuration file version differs from that of system firmware

Imaging license key not available GRC_NA

See Also

IMG_SetTccConfig

Example

-

Leica TPS1200 – Version 1.50 128

GeoCOM Reference Manual Image Processing – IMG

14.4.2

IMG_SetTccConfig – setting the actual image configuration

EDM_Laserpointer.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1004

1004 ................................................................................................................................................................................................................................................................EDM_Laserpoin

ter

C-Declaration

IMG_SetTccConfig (IMG_MEM_TYPE eMemType, IMG_TCC_CONFIG Parameters)

VB-Declaration

VB_IMG_SetTccConfig ( MemType As Long, Parameters As IMG_TCC_CONFIG ) As Integer

ASCII-Request

%R1Q,23401: eMemType[long], ulImageNumber[long], ulQuality[long], ulSubFunctNumber[long], szFileNamePrefix[string]

ASCII-Response

%R1P,0,0: RC

Remarks

Parameters

1: Test image

2: Automatic exposure time selection

4: two-times sub-sampling

8: four-times sub-sampling

Return-Code Names and Return-Code Values

GRC_OK

GRC_FATAL 4

27

CF card is not available full

Any parameter is out of range

Imaging license key not available GRC_NA

See Also

IMG_GetTccConfig

IMG_TakeTccImage

Example

See IMG_TakeTccImage

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GeoCOM Reference Manual Image Processing – IMG

14.4.3

IMG_TakeTccImage – capture a telescopic image

EDM_Laserpointer.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 1004

1004 ................................................................................................................................................................................................................................................................EDM_Laserpoin

ter

C-Declaration

IMG_TakeTccImage (IMG_MEM_TYPE eMemType, unsigned short& runImageNumber)

VB-Declaration

VB_IMG_TakeTccImage ( MemType As Long, ImageNumber As Integer ) As Integer

ASCII-Request

%R1Q,23402: eMemType

ASCII-Response

%R1P,0,0: RC,runImageNumber

Remarks

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVRESULT 3 Not supported by Telescope Firmware

GRC_FATAL

GRC_NA

4

27

CF card is not available full

Imaging license key not available

See Also

IMG_GetTccConfig

IMG_SetTccConfig

Example

GRC_TYPE rc;

IMG_MEM_TYPE eMemType;

IMG_TCC_CONFIG Parameters; short nTimeout;

// Set parameters eMemType = IMG_PC_CARD;

Parameters.ulImageNumber = 999;

Parameters.ulQuality = 50;

// Automatic exposure time and two-times sub-sampling

Parameters.ulSubFunctNumber = 6; strcpy(Parameters.szFileNamePrefix, "def"); rc = IMG_SetTccConfig(eMemType, Parameters); if (rc != GRC_OK)

{

return rc;

}

// Increase geocom timeout, because image capture and readout takes long time

COM_GetTimeOut(nTimeout);

COM_SetTimeOut(200);

// Take image rc = IMG_TakeTccImage(eMemType, unBuf); if (rc != GRC_OK)

{

// Restore geocom timeout

COM_SetTimeOut(nTimeout);

return rc;

}

// Image "def999.jpg" is now stored on CF-Card

// Restore geocom timeout

COM_SetTimeOut(nTimeout);

Leica TPS1200 – Version 1.50 130

GeoCOM Reference Manual Motorisation – MOT

15 M

OTORISATION

– MOT

15.1

INTRODUCTION

The subsystem ‘Motorisation’ controls the motorised drive of the axis.

15.2

USAGE

Within the subsystem, there exist three different types of functions:

"Open-End" functions: These functions start a motorisation control task and continue execution until cancellation.

Special control functions are used to cancel such functions. An example for this type of function is the speed control function MOT_SetVelocity .

"Terminating" functions: These functions start control tasks, which terminate automatically. Examples for this type are positioning functions for example MOT_StartController and MOT_StopController .

Functions for the parameter handling: These functions manage system parameters. Examples are control parameter, motion parameter, tolerance and system configuration parameters (Example: MOT_ReadLockStatus ).

15.3

CONSTANTS AND TYPES

Lock Conditions enum MOT_LOCK_STATUS

{

MOT_LOCKED_OUT = 0, // locked out

MOT_LOCKED_IN = 1, // locked in

MOT_PREDICTION = 2 // prediction mode

};

Controller Stop Mode enum MOT_STOPMODE

{

MOT_NORMAL = 0, // slow down with current acceleration

MOT_SHUTDOWN = 1 // slow down by switch off power supply

};

Values for Horizontal (instrument) and Vertical (telescope) Speed struct MOT_COM_PAIR

{

double adValue[MOT_AXES];

};

Controller Configuration enum MOT_MODE

{

MOT_POSIT = 0, // configured for relative postioning

MOT_OCONST = 1, // configured for constant speed

MOT_MANUPOS = 2, // configured for manual positioning

// default setting

MOT_BREAK

MOT_TERM

};

Number of axis

= 4, // configured as "Brake"-controller

// do not use 5 and 6

= 7 // terminates the controller task const short MOT_AXES = 2;

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15.4

FUNCTIONS

15.4.1

MOT_ReadLockStatus – returning the condition of the LockIn control

MOT_ReadLockStatus...............................................................................................................................................................................................................................................................

................

6021 ................................................................................................................................................................................................................................................................MOT_ReadLock

Status

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 6021

C-Declaration

MOT_ReadLockStatus(MOT_LOCK_STATUS &Status)

VB-Declaration

VB_MOT_ReadLockStatus(Status As Long)

ASCII-Request

%R1Q,6021:

ASCII-Response

%R1P,0,0: RC, Status[long]

Remarks

This function returns the current condition of the LockIn control (see subsystem AUT for further information).

This command is valid for automated instruments only.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_NOT_IMPL 5

Example

GRC_TYPE rc;

MOT_LOCK_STATUS Status; rc = MOT_ReadLockStatus(Status) if (rc == GRC_OK)

{

// use lock status information

} else

{

// this is no automated instrument

}

No motorisation available (no automated instrument).

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15.4.2

MOT_StartController – starting the motor controller

MOT_StartController.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 6001

6001 ................................................................................................................................................................................................................................................................MOT_StartCont

roller

C-Declaration

MOT_StartController(MOT_MODE ControlMode)

VB-Declaration

VB_MOT_StartController(ControlMode As Long)

ASCII-Request

%R1Q,6001: ControlMode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This command is used to enable remote or user interaction to the motor controller.

Parameters

Controller mode. If used together with MOT_SetVelocity the control mode has to be MOT_OCONST .

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM

GRC_NOT_IMPL

GRC_MOT_BUSY

GRC_MOT_UNREADY

2

5

1793

1792

The value of ControlMode is not MOT_OCONST .

No motorization available (no automated instrument).

Subsystem is busy (e.g. controller already started).

Subsystem is not initialised.

See Also

MOT_SetVelocity

MOT_StopController

Example see MOT_SetVelocity

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15.4.3

MOT_StopController – stopping the motor controller

MOT_StopController .............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 6002

6002 ................................................................................................................................................................................................................................................................MOT_StopCont

roller

C-Declaration

MOT_StopController(MOT_STOPMODE Mode)

VB-Declaration

VB_MOT_StopController(Mode As Long)

ASCII-Request

%R1Q,6002: Mode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This command is used to stop movement and to stop the motor controller operation.

Parameters

Mode In Stop mode

Return-Code Names and Return-Code Values

GRC_OK

GRC_MOT_NOT_BUSY 1792 No movement in progress (e.g. stop without start).

See Also

MOT_SetVelocity

MOT_StartController

AUS_SetUserLockState

Example see MOT_SetVelocity

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15.4.4

MOT_SetVelocity – driving the instrument with a constant speed

MOT_SetVelocity..............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 6004

6004 ................................................................................................................................................................................................................................................................MOT_SetVeloci

ty

C-Declaration

MOT_SetVelocity(MOT_COM_PAIR RefOmega)

VB-Declaration

VB_MOT_SetVelocity(RefOmega As MOT_COM_PAIR)

ASCII-Request

%R1Q,6004: HZ-Speed[double],V-Speed[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This command is used to set up the velocity of motorization. This function is valid only if

MOT_StartController(MOT_OCONST) has been called previously. RefOmega[0] denotes the horizontal and

RefOmega[1] denotes the vertical velocity setting.

Parameters maximum speed is +/- 3.14 rad/s each for TM30 TS30 instruments and 0.79 rad/s each for TPS1200 instruments.

Return-Code Names and Return-Code Values

GRC_OK

GRC_MOT_NOT_CONFIG

GRC_MOT_NOT_OCONST

1795

1794

and/or RefOmega.adValue[V] values are not within the boundaries.

System is not in state MOT_CONFIG or MOT_BUSY_OPEN_END

(e.g. missing ‘start controller’).

Drive is not in mode MOT_OCONST (set by

MOT_StartController ).

No motorization available (no automated instrument). GRC_NOT_IMPL 5

See Also

MOT_StartController

MOT_StopController

AUS_SetUserLockState

Example

GRC_TYPE rc;

MOT_COM_PAIR RefOmega;

// set parameter

RefOmega.adValue[0] = 0.05;

RefOmega.adValue[1] = 0.05;

// stop controller and any possible movements

(void) MOT_StopController(MOT_NORMAL);

// wait at least 5 sec. wait(5);

// start controller; the only valid mode

// for SetVelocity is MOD_OCONST rc = MOT_StartController(MOT_OCONST); if (rc == GRC_OK)

{

rc = MOT_SetVelocity(RefOmega);

// insert here a time delay or a wait for user

// action; the movement stops by calling

// MOT_StopController

}

// stop controller and movements abruptly rc = MOT_StopController(MOT_SHUTDOWN);

// restart controller with default setting rc = MOT_StartController(MOT_MANUPOS); if (rc != GRC_OK)

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{

// handle error

}

Motorisation – MOT

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16 S

UPERVISOR

– SUP

16.1

USAGE

The subsystem ‘Supervisor’ performs the continuous control of the system (e.g. battery voltage, temperature) and allows to display automatically status information (e.g. system time, battery-, position-, Memory-Card-, and inclination measurement icons as well as local-remote display). It also controls the automatic shutdown mechanism.

16.2

CONSTANTS AND TYPES

On/Off Switch enum ON_OFF_TYPE

{

OFF = 0,

ON = 1

};

Automatic Shutdown Mechanism for the System enum SUP_AUTO_POWER

{

AUTO_POWER_DISABLED = 0, // instrument remains on

AUTO_POWER_OFF = 2 // turns off mechanism

};

System Time typedef long SYSTIME; // [ms]

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16.3

FUNCTIONS

16.3.1

SUP_GetConfig – getting the power management configuration status

SUP_GetConfig..........................................................................................................................................................................................................................................................................

14001...............................................................................................................................................................................................................................................................SUP_GetConfig

....

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 14001

C-Declaration

SUP_GetConfig(ON_OFF_TYPE & Reserved,

SUP_AUTO_POWER &AutoPower,

SYSTIME &Timeout)

VB-Declaration

VB_SUP_GetConfig(Reserved As Long,

AutoPower As Long,

Timeout As Long)

ASCII-Request

%R1Q,14001:

ASCII-Response

%R1P,0,0: RC, Reserved [long], AutoPower[long], Timeout[long]

Remarks

The returned settings are power off configuration and timing.

Parameters

Supervisor – SUP

Return-Code Names and Return-Code Values

GRC_OK

See Also

SUP_SetConfig

Example see SUP_SetConfig mode defined by the value of AutoPower when no user activity (press a key, turn the device or communication via

GeoCOM) occurs.

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16.3.2

SUP_SetConfig – setting the power management configuration

SUP_SetConfig................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 14002

14002...............................................................................................................................................................................................................................................................SUP_SetConfig

C-Declaration

SUP_SetConfig(ON_OFF_TYPE Reserved,

SUP_AUTO_POWER AutoPower,

SYSTIME Timeout)

VB-Declaration

VB_SUP_SetConfig(Reserved As Long,

AutoPower As Long,

Timeout As Long)

ASCII-Request

%R1Q,14002: Reserved[long], AutoPower[long], Timeout[long]

ASCII-Response

%R1P,0,0: RC

Remarks

Set the auto power off mode to AUTO_POWER_DISABLED or AUTO_POWER_OFF and the corresponding timeout.

Parameters mode defined by the value of AutoPower when no user activity (press a key, turn the device or communication via

GeoCOM) occurs. The parameter for timeout must be between 60’000 m/s (1 min) and 6’000’000 m/s (100 min).

Return-Code Names and Return-Code Values

GRC_OK

GRC_IVPARAM 2 Timeout parameter invalid.

See Also

SUP_GetConfig

Example

GRC_TYPE

ON_OFF_TYPE

SUP_AUTO_POWER

SYSTIME rc;

Reserved;

AutoPower;

Timeout;

// get parameter values rc = SUP_GetConfig (Reserved,

AutoPower,

Timeout);

// set new values for parameter

AutoPower = AUTO_POWER_DISABLED;

Timeout = 600000; // =10min rc = SUP_SetConfig (Reserved,

AutoPower,

Timeout);

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17 T

HEODOLITE

M

EASUREMENT AND

C

ALCULATION

– TMC

17.1

INTRODUCTION

This module is the central measurement, calculation and geodetic control module of the TPS1200 instrument family.

All sensors (angle, distance and compensator) deliver their respective data to this module. All sensor information is used to continuously calculate corrected or uncorrected values for angles, distance and position co-ordinates.

The functions handled by the TMC module are:

Measurement Functions

These functions deliver measurement results. Angle and inclination measurements are started by system functions directly, other measurement operations needs activating the corresponding sensor (e.g. distance measurement). This means a distance measurement needs to be previously activated in order to measure coordinates. ATR corrected angle values are automatically delivered once the ATR status is on. For simple measurements with a single procedure call, use the BAP MeasDist command.

Measurement Control Functions

These functions control measurement behaviour (activate/deactivate sensors) and basic data for the calculation of measurement results.

Data Set-up Functions

These functions allow sending destination data, location data and section data to the Theodolite.

Information Functions

These functions return additional information about measurement results, sensors, Theodolite status, etc.

Configuration Functions

These functions control the Theodolite behaviour in general.

The measurement functions of this subsystem generally can generate three types of return codes:

System Return Codes are of general use ( GRC_OK means result is okay,...)

Informative Return code indicates that the function was terminated successfully. But some restrictions apply (e.g. it can be reported that the angle values are okay, the distance is invalid).

Error Return Codes signal a non-successful termination of the function call.

17.2

USAGE

17.2.1

Inclination measurement/correction

The TMC module handles the inclination sensor data and correction. To get exact results (co-ordinates, angles, distances) the inclination of the instrument must be taken into account. In general, there are two ways how this can be done:

Measuring the inclination

Calculating the inclination

For a limited time of several seconds and a limited horizontal angle between 10 and 40 degrees (depending on instrument type) an inclination model is generated to speed up measurement. The model for the inclination is based on the last exact inclination measurement and is maintained within the TMC as a calculated inclination plane.

To control the kind of generating the results, all measurement functions have a parameter (of type TMC_INCLINE_PRG ), where the inclination mode can be selected. The different measurement modes are:

TMC_MEA_INC :

Measures the inclination (in any case). Use this mode by unstable conditions like e.g. the instrument has been moved or walking around the instrument may influence the inclination on an unstable underground (e.g. field grass). The disadvantage of this mode is the longer measurement time compared to TMC_PLANE_INC .

TMC_PLANE_INC :

Calculates the inclination (assumes that the instrument has not been moved). This mode gives an almost immediate result (some milliseconds).

TMC_AUTO_INC :

The system decides which method should be used (either TMC_MEA_INC or TMC_PLANE_INC ). You get the best performance regarding measure rate and accuracy with this mode; the instrument checks the conditions around the station. We recommend taking this mode any time.

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Note that the results depend on the system’s configuration, too. That means that the compensator must be switched on in order to get a result with inclination correction (see TMC_SetInclineSwitch ). The return code of the measurement functions holds information about the quality of the result. E.g. it is reported, if the compensation of inclination could not be done.

Note:

17.2.2

Sensor measurement programs

The instrument supports different measurement programs, which activates or deactivates the sensors in different manner. The programs can be selected by the control function TMC_DoMeasure (via the parameter of the type

TMC_MEASURE_PRG ).

Additionally the setting of the EDM measurement mode is set with the function TMC_SetEdmMode and influences the measurement. Here a choice between single measurement and continues measurement is possible (each is different in speed and precision).

General measurement programs:

TMC_DEF_DIST :

Starts the distance measurement with the set distance measurement program.

TMC_TRK_DIST :

Starts the distance measurement in tracking mode.

TMC_STOP :

Stops measurement.

TMC_CLEAR :

Stops the measurement and clears the data.

TMC_SIGNAL :

Help mode for signal intensity measurement (use together with function TMC_GetSignal ). While S ignal or frequency measurement no angle measurement data are available.

TMC_RED_TRK_DIST:

Starts the distance tracking measurement with red laser. This mode can be used for reflectorless short distance measurement or long distance measurement with reflector.

17.3

CONSTANTS AND TYPES

On / Off switches enum ON_OFF_TYPE // on/off switch type

{

OFF

ON

};

= 0,

= 1

// Switch is off

// Switch is on

Inclination Sensor Measurement Program

(see Chapter 17.2.1 for further information) enum TMC_INCLINE_PRG {

TMC_MEA_INC = 0, // Use sensor (apriori sigma)

TMC_AUTO_INC = 1, // Automatic mode (sensor/plane)

TMC_PLANE_INC = 2, // Use plane (apriori sigma)

};

TMC Measurement Mode

(see Chapter 17.2.2 for further information) enum TMC_MEASURE_PRG {

TMC_STOP = 0, // Stop measurement program

TMC_DEF_DIST = 1, // Default DIST-measurement

// program

TMC_CLEAR = 3, // TMC_STOP and clear data

TMC_SIGNAL = 4, // Signal measurement (test

// function)

TMC_DO_MEASURE = 6, // (Re)start measurement task

TMC_RTRK_DIST = 8, // Distance-TRK measurement

// program

TMC_RED_TRK_DIST = 10, // Reflectorless tracking

TMC_FREQUENCY = 11 // Frequency measurement (test)

};

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EDM Measurement Mode enum EDM_MODE {

EDM_MODE_NOT_USED = 0, // Init value

EDM_SINGLE_TAPE = 1, // IR Standard Reflector Tape

EDM_SINGLE_STANDARD = 2, // IR Standard

EDM_SINGLE_FAST = 3, // IR Fast

EDM_SINGLE_LRANGE = 4, // LO Standard

EDM_SINGLE_SRANGE = 5, // RL Standard

EDM_CONT_STANDARD = 6, // Standard repeated measurement

EDM_CONT_DYNAMIC

EDM_CONT_REFLESS

EDM_CONT_FAST

EDM_AVERAGE_IR

EDM_AVERAGE_SR

= 7, // IR Tacking

= 8, // RL Tracking

= 9, // Fast repeated measurement

= 10, // IR Average

= 11, // RL Average

EDM_AVERAGE_LR

EDM_PRECISE_IR = 13, // IR Precise (TS30, TM30)

EDM_PRECISE_TAPE = 14 // IR Precise Reflector Tape (TS30, TM30)

};

EDM Frequency typedef struct TMC_EDM_FREQUENCY {

double dFrequency; // EDM’s frequency in Hz

SYSTIME Time; // Time of last measurement

};

Calculated Co-ordinates based on a Distance Measurement struct TMC_COORDINATE {

double dE;

double dN;

double dH;

// E-Coordinate [m]

// N-Coordinate [m]

// H-Coordinate [m]

SYSTIME CoordTime;

double dE_Cont;

double dH_Cont;

double dN_Cont;

// Timestamp of dist. Measurement [ms]

// E-Coordinate (continuously) [m]

// N-Coordinate (continuously) [m]

// H-Coordinate (continuously) [m]

SYSTIME CoordContTime; // Timestamp of measurement [ms]

};

Corrected Angle Data struct TMC_HZ_V_ANG {

double dHz;

double dV;

};

// Horizontal angle [rad]

// Vertical angle [rad]

Corrected Angle Data with Inclination Data struct TMC_ANGLE {

double dHz;

double dV;

double dAngleAccuracy; // Accuracy of angles [rad]

SYSTIME AngleTime;

TMC_INCLINE Incline;

TMC_FACE eFace;

// Moment of measurement [ms]

// Corresponding inclination

// Face position of telescope

};

// Horizontal angle [rad]

// Vertical angle [rad]

Offset Values for Correction struct TMC_OFFSETDIST {

double dLengthVal; // Aim offset length

double dCrossVal; // Aim offset cross

double dHeightVal; // Aim offset height

};

Inclination Data struct TMC_INCLINE {

double dCrossIncline; // Transverse axis incl. [rad]

double dLengthIncline; // Longitud. axis inclination [rad]

double dAccuracyIncline ; // Inclination accuracy [rad]

SYSTIME InclineTime; // Moment of measurement [ms]

};

System Time typedef long SYSTIME; // time since poweron [ms]

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Face Position enum TMC_FACE_DEF {

TMC_FACE_NORMAL,

TMC_FACE_TURN

};

Actual Face enum TMC_FACE {

TMC_FACE_1,=0

TMC_FACE_2,=1

};

Reflector Height

// Face in normal position

// Face turned

// Pos 1 of telescope

// Pos 2 of telescope struct TMC_HEIGHT {

double dHr;

};

Atmospheric Correction Data

// Reflector height struct TMC_ATMOS_TEMPERATURE {

double dLambda;

double dPressure;

// Wave length of the EDM transmitter [m]

// Atmospheric pressure [mbar]

double dDryTemperature; // Dry temperature [°C]

double dWetTemperature; // Wet temperature [°C]

};

Refraction Control Data struct TMC_REFRACTION {

ON_OFF_TYPE eRefOn // Refraction correction On/Off

double dEarthRadius; // Radius of the earth [m]

double dRefractiveScale; // Refraction coefficient

};

Instrument Station Co-ordinates struct TMC_STATION {

double dE0;

double dN0;

double dH0;

double dHi;

};

EDM Signal Information

// Station easting coordinate [m]

// Station northing coordinate [m]

// Station height coordinate [m]

// Instrument height [m] struct TMC_EDM_SIGNAL {

double dSignalIntensity; // Signal intensity of EDM in %

SYSTIME Time; // Timestamp [ms]

};

Correction Switches struct TMC_ANG_SWITCH {

ON_OFF_TYPE eInclineCorr;

ON_OFF_TYPE eStandAxisCorr;

// Inclination correction

// Standing axis corr.

ON_OFF_TYPE eCollimationCorr; // Collimation error corr.

ON_OFF_TYPE eTiltAxisCorr; // Tilting axis corr.

};

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17.4

MEASUREMENT FUNCTIONS

17.4.1

TMC_GetCoordinate - getting the coordinates of a measured point

TMC_GetCoordinate..................................................................................................................................................................................................................................................................

............

2082 ................................................................................................................................................................................................................................................................TMC_GetCoord

inate

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2082

C-Declaration

TMC_GetCoordinate(SYSTIME WaitTime,

TMC_COORDINATE &Coordinate,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_GetCoordinate1(ByVal WaitTime As Long,

Coordinate As TMC_COORDINATE,

ByVal Mode As Long)

ASCII-Request

%R1Q,2082: WaitTime[long],Mode[long]

ASCII-Response

%R1P,0,0: RC,E[double],N[double],H[double],CoordTime[long],

E-Cont[double],N-Cont[double],H-Cont[double],CoordContTime[long]

Remarks

This function queries an angle measurement and, in dependence of the selected Mode , an inclination measurement and calculates the co-ordinates of the measured point with an already measured distance. A distance measurement has to be started in advance. The WaitTime is a delay to wait for the distance measurement to finish. Single and tracking measurements are supported. Information about a missing distance measurement and other information about the quality of the result is returned in the return- code.

Parameters

[ms].

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

1285

1289

1288

1292

1291

1290

Accuracy is not guaranteed, because the result is containing measurement data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

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GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy.

Repeat measurement.

GRC_ABORT

GRC_SHUT_DOWN

8

12

Measurement through customer aborted.

System power off through customer.

See Also

TMC_DoMeasure

TMC_IfDataAzeCorrError

TMC_IfDataIncCorrError

Example

GRC_TYPE

TMC_COORDINATE

Result;

Coordinate;

// make a single distance measurement first

Result=TMC_DoMeasure(TMC_DEF_DIST, TMC_AUTO_INC); if(Result==GRC_OK)

{// before you get the coordinates

Result=TMC_GetCoordinate(1000,Coordinate,

TMC_AUTO_INC);

} switch(Result)

{// result interpretation case GRC_OK:

break;

.

.

// error handling case ...:

.

. default:

break;

}

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17.4.2

TMC_GetSimpleMea – returning an angle and distance measurement

TMC_GetSimpleMea.............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2108

2108 ................................................................................................................................................................................................................................................................TMC_GetSimpl

eMea

C-Declaration

TMC_GetSimpleMea(SYSTIME WaitTime,

TMC_HZ_V_ANG &OnlyAngle,

double &SlopeDistance,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_GetSimpleMea(ByVal WaitTime As Long,

OnlyAngle As TMC_HZ_V_ANG,

SlopeDistance As Double,

ByVal Mode As Long)

ASCII-Request

%R1Q,2108: WaitTime[long],Mode[long]

ASCII-Response

%R1P,0,0: RC,Hz[double],V[double],SlopeDistance[double]

Remarks

This function returns the angles and distance measurement data. This command does not issue a new distance measurement. A distance measurement has to be started in advance. If a distance measurement is valid the function ignores WaitTime and returns the results. If no valid distance measurement is available and the distance measurement unit is not activated (by TMC_DoMeasure before the TMC_GetSimpleMea call) the angle measurement result is returned after the waittime. Information about distance measurement is returned in the return code.

Parameters

[ms].

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

1285

1288

1289

1292

1291

The results are not corrected by all active sensors. Angle and distance data are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

This message is to be considered as a warning.

Accuracy is not guaranteed because the result consists of data which accuracy could not be verified by the system. Angle and distance data are available.

Angle values okay, but no valid distance.

Perform a distance measurement previously.

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data.

Perform a distance measurement first before you call this function.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No measurement because of missing target point, angle data are available but distance data are not available.

Aim at target point and try it again.

No distance measurement respectively no distance data because of wrong EDM settings. Angle data are available but distance data are not available.

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GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

1290

1293

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Distance and angle data are not available.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

GRC_ABORT

GRC_SHUT_DOWN

8

12

See Also

TMC_DoMeasure

TMC_GetAngle5

Example

GRC_TYPE rc;

TMC_HZ_V_ANG OnlyAngle; double SlopeDistance;

// activate distance measurement rc = TMC_DoMeasure(TMC_DEF_DIST, TMC_AUTO_INC); if (rc == GRC_OK)

{

// distance measurement successful

rc = TMC_GetSimpleMea(3000, OnlyAngle,

SlopeDistance, TMC_MEA_INC);

if (rc == GRC_OK)

{

// use distance and angle values

else

{

// something with TMC_GetSimpleMea went wrong

} else

{

// something with dist. measurement went wrong

}

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17.4.3

TMC_GetAngle1 – returning a complete angle measurement

TMC_GetAngle1............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2003

2003 ................................................................................................................................................................................................................................................................TMC_GetAngle

1

C-Declaration

TMC_GetAngle(TMC_ANGLE &Angle,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_GetAngle1(Angle As TMC_ANGLE,

ByVal Mode As Long)

ASCII-Request

%R1Q,2003: Mode[long]

ASCII-Response

%R1P,0,0: RC,Hz[double],V[double],AngleAccuracy[double],

AngleTime[long],CrossIncline[double],LengthIncline[double], AccuracyIncline[double],InclineTime[long],FaceDef[long]

Remarks

This function carries out an angle measurement and, in dependence of configuration, inclination measurement and returns the results. As shown the result is very comprehensive. For simple angle measurements use

TMC_GetAngle5 or TMC_GetSimpleMea instead.

Information about measurement is returned in the return code.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

GRC_ABORT

GRC_SHUT_DOWN

See Also

TMC_DoMeasure

1285

1289

1288

1292

1291

1290

1293

8

12

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

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TMC_GetAngle5

TMC_GetSimpleMea

Example see TMC_GetAngle5

Theodolite Measurement and Calculation – TMC

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17.4.4

TMC_GetAngle5 – returning a simple angle measurement

TMC_GetAngle5............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2107

2107 ................................................................................................................................................................................................................................................................TMC_GetAngle

5

C-Declaration

TMC_GetAngle(TMC_HZ_V_ANG &OnlyAngle,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_GetAngle5(OnlyAngle As TMC_HZ_V_ANG,

ByVal Mode As Long)

ASCII-Request

%R1Q,2107: Mode[long]

ASCII-Response

%R1P,0,0: RC,Hz[double],V[double]

Remarks

This function carries out an angle measurement and returns the results. In contrast to the function

TMC_GetAngle1 this function returns only the values of the angle. For simple angle measurements use

TMC_GetSimpleMea instead.

Information about measurement is returned in the return code.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

GRC_ABORT

GRC_SHUT_DOWN

See Also

TMC_DoMeasure

TMC_GetAngle5

1285

1289

1288

1292

1291

1290

1293

8

12

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

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TMC_GetSimpleMea

Example

GRC_TYPE Result;

TMC_ANGLE Angle;

BOOLE bExit,

bAzeCorrError,

bIncCorrError; short nCnt; nCnt=0; do

{ bExit=TRUE;

// Gets the whole angle data

Result=TMC_GetAngle(Angle, TMC_AUTO_INC); switch(Result)

{ case GRC_OK:

// Execution successful

break; case GRC_TMC_NO_FULL_CORRECTION:

TMC_IfDataAzeCorrError(bAzeCorrError);

TMC_IfDataIncCorrError(bIncCorrError);

if(bAzeCorrError)

{

// coordinates are not corrected with the Aze-

// deviation correction

}

if(bIncCorrError)

{

// coordinates are not corrected with the

// incline correction

}

break; case GRC_TMC_ACCURACY_GUARANTEE:

// perform a forced incline measurement,

// see example TMC_QuickDist

break; case GRC_TMC_BUSY:

// repeat measurement

bExit=FALSE; case GRC_ABORT: case GRC_SHUT_DOWN: default:

break;

}// end switch nCnt++;

}while(!bExit && nCnt<3);

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17.4.5

TMC_QuickDist - returning a slope distance and hz-angle, v-angle

TMC_QuickDist.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2117

2117 ................................................................................................................................................................................................................................................................TMC_QuickDis

t

C-Declaration double &dSlopeDistance)

VB-Declaration

VB_TMC_QuickDist( OnlyAngle As

TMC_HZ_V_ANG,

ASCII- Request

%R1Q,2117:

ASCII-Response

%R1P,0,0: RC,dHz[double],dV[double],dSlopeDistance[double]

Remarks

The function starts an EDM Tracking measurement and waits until a distance is measured. Then it returns the angle and the slope-distance, but no co-ordinates. If no distance can be measured, it returns the angle values (hz, v) and the corresponding return-code.

In order to abort the current measuring program use the function TMC_DoMeasure .

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

GRC_ABORT

GRC_SHUT_DOWN

1285

1289

1288

1292

1291

1290

1293

8

12

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

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See Also

TMC_GetAngle

TMC_DoMeasure

TMC_IfDataAzeCorrError

TMC_IfDataIncCorrError

Example const short MAX=100;// number of measurements const double STATIC_TIME=4.0;// in seconds const double MAX_DIFFERENCE=0.0002// in rad

GRC_TYPE Result;

TMC_ANG_SWITCH SwCorr;

TMC_HZ_V_ANG HzVAng;

TMC_ANGLE AngleDummy;

BOOLE bExit;

DATIME Datime; double dSlopeDist,

dLastHzAng,

dhz_angle_diff, short nNoMeasurements;

TMC_GetAngSwitch(SwCorr);

SwCorr.eInclineCorr=ON; // measure rate will be

SwCorr.eStandAxisCorr=ON; // reduced if angle and

SwCorr.eCollimationCorr=ON;// incline correction are

SwCorr.eTiltAxisCorr=ON; // activated

TMC_DoMeasure(TMC_CLEAR); // clear distance first

TMC_SetAngSwitch(SwCorr); // before you can set the

// ANG switches, the

// distance must be

// cleared

CSV_GetDateTime(Datime); dstart_time=Datime.Time.Minute*60+

Datime.Time.Second;

// starts the rapid tracking dist. measurement program

TMC_QuickDist(HzVAng, dSlopeDist); bExit=FALSE; nNoMeasurements=0; do

{

dLastHzAng=HzVAng.dHz;

switch(Result)

{

// distance- and angles- data available

// perform a forced incline measurement

// caution: the calculation at zero rad is

// not consider

dhz_angle_diff=fabs(dLastHzAng-

HzVAng.dHz);

if(dhz_angle_diff<MAX_DIFFERENCE)

{// instrument is in static period

CSV_GetDateTime(Datime);

dact_time=Datime.Time.Minute*60+

Datime.Time.Second;

{// static mode exceeding 3-4 sec

TMC_GetAngle(TMC_MEA_INC,

AngleDummy);

TMC_GetAngle(TMC_MEA_INC,

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AngleDummy);

}

}

else

{// instrument is not in static period

CSV_GetDateTime(Datime);

dstart_time=Datime.Time.Minute*60+

Datime.Time.Second;

} case GRC_TMC_NO_FULL_CORRECTION:

break;

// no distance data available

break;

// neither angle- nor distance- data available

default:

bExit=TRUE;

break;

}

} while(!bExit && nNoMeasurements<MAX);

TMC_DoMeasure(TMC_STOP);// stop measureprogram

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17.4.6

TMC_GetFullMeas – returning an angle, inclination and distance measurement

TMC_QuickDist.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2117

2117 ................................................................................................................................................................................................................................................................TMC_QuickDist

TMC_GetSimpleMea......................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2108

2108 ................................................................................................................................................................................................................................................................TMC_GetSimpl

eMea

C-Declaration

TMC_GetFullMeas (SYSTIME WaitTime,

double &rdHzAngle,

double &rdVAngle,

double &rdAccuracyAngle,

double &rdCrossIncl,

double &rdLengthIncl,

double &rdAccuracyIncl,

double &rdSlopeDist,

double &rdDistTime,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_GetFullMeas(ByVal WaitTime As Long,

HzAngle As Double,

VAngle As Double,

AccuracyAngle As Double,

CrossIncl As Double,

LengthIncl As Double,

AccuracyIncl As Double,

SlopeDist As Double,

DistTime As Double,

ByVal Mode As Long)

ASCII-Request

%R1Q,2167: WaitTime[long],Mode[long]

ASCII-Response

%R1P,0,0: RC,Hz[double],V[double],AccAngle[double],C[double],L[double],AccIncl[double],SlopeDist[double],

DistTime[double]

Remarks

This function returns angle, inclination and distance measurement data including accuracy and distance measurement time. This command does not issue a new distance measurement. A distance measurement has to be started in advance. If a distance measurement is valid the function ignores WaitTime and returns the results.

If no valid distance measurement is available and the distance measurement unit is not activated (by

TMC_DoMeasure before the TMC_GetFullMeas call) the angle measurement result is returned after the waiting time. Information about distance measurement is returned in the return code.

Parameters

[ms].

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ACCURACY_GUARANTEE 1284

The results are not corrected by all active sensors. Angle and distance data are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

This message is to be considered as a warning.

Accuracy is not guaranteed because the result consists of data

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GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

1285

1288

1289

1292

1291

1290

1293 which accuracy could not be verified by the system. Angle and distance data are available.

Angle values okay, but no valid distance.

Perform a distance measurement previously.

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data.

Perform a distance measurement first before you call this function.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No measurement because of missing target point, angle data are available but distance data are not available.

Aim at target point and try it again.

No distance measurement respectively no distance data because of wrong EDM settings. Angle data are available but distance data are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Distance and angle data are not available.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

GRC_ABORT

GRC_SHUT_DOWN

8

12

See Also

TMC_DoMeasure

TMC_GetAngle5

Example

GRC_TYPE rc; double HzAngle, VAngle, AccuracyAngle; double double

CrossIncl, LenIncl, AccuracyIncl;

SlopeDistance, DistTime;

// activate distance measurement rc = TMC_DoMeasure(TMC_DEF_DIST, TMC_AUTO_INC); if (rc == GRC_OK)

{

// distance measurement successful

rc = TMC_GetFullMeas(3000, HzAngle, VAngle, AccuracyAngle,

if (rc == GRC_OK)

{

// use distance and angle values

else

{

// something with TMC_GetFullMeas went wrong

} else

{

// something with dist. measurement went wrong

}

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17.5

MEASUREMENT CONTROL FUNCTIONS

17.5.1

TMC_DoMeasure.......................................................................................................................................................................................................................................................................

2008 ................................................................................................................................................................................................................................................................TMC_DoMeasu

re

C-Declaration

TMC_DoMeasure - carrying out a distance measurement

TMC_DoMeasure(TMC_MEASURE_PRG Command,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_DoMeasure(ByVal Command As Long,

ByVal Mode As Long)

ASCII-Request

%R1Q,2008: Command[long],Mode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This function carries out a distance measurement according to the TMC measurement mode like single distance, tracking,... . Please note that this command does not output any values (distances). In order to get the values you have to use other measurement functions such as TMC_GetCoordinate , TMC_GetSimpleMea,

TMC_GetFullMeas or else TMC_GetAngle .

The result of the distance measurement is kept in the instrument and is valid to the next TMC_DoMeasure command where a new distance is requested or the distance is clear by the measurement program TMC_CLEAR .

Note: If you perform a distance measurement with the measure program TMC_DEF_DIST, the distance sensor will work with the set EDM mode, see TMC_SetEdmMode.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetEdmMode

TMC_GetCoordinate

TMC_GetSimpleMea

TMC_GetAngle1

TMC_GetAngle5

Example

GRC_TYPE Result; short nCnt;

// set average mode

Result=TMC_SetEdmMode(EDM_CONT_EXACT);

// perform a single distance measurement

Result=TMC_DoMeasure(TMC_DEF_DIST); nCnt=0; while(nCnt<100)

{// wait on the distance data max. 100x100ms

Result=TMC_GetCoordinate(100,Coordinate,

TMC_AUTO_INC);

nCnt++;

}

// to complete the measurement, and clear data

TMC_DoMeasure(TMC_CLEAR);

// set standard mode

TMC_SetEdmMode(EMD_SINGLE_STANDARD);

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17.5.2

TMC_SetHandDist - inputing a slope distance and height offset

TMC_SetHandDist.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2019

2019 ................................................................................................................................................................................................................................................................TMC_SetHandD

ist

C-Declaration

TMC_SetHandDist(double SlopeDistance,

double HgtOffset,

TMC_INCLINE_PRG Mode)

VB-Declaration

VB_TMC_SetHandDist(ByVal SlopeDistance As Double,

ByVal HgtOffset As Double,

ByVal Mode As Long)

ASCII-Request

%R1Q,2019: SlopeDistance[double],HgtOffset[double],Mode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to input manually measured slope distance and height offset for a following measurement.

Additionally an inclination measurement and an angle measurement are carried out to determine the co-ordinates of target. The V-angle is corrected to

π

/2 or 3

⋅π

/2 in dependence of the instrument’s face because of the manual input.

After this command the previous measured distance is cleared.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

GRC_ABORT

1285

1289

1288

1292

1291

1290

1293

8

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

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GRC_SHUT_DOWN 12 System power off through customer.

See Also

TMC_IfDataAzeCorrError

TMC_IfDataIncCorrError

Example

GRC_TYPE

TMC_COORDINATE rc;

Coordinate rc = VB_TMC_SetHandDist(10, 1, TMC_AUTO_INC) if (rc == GRC_OK)

{

// calculate coordinates

rc=TMC_GetCoordinate(1000,Coordinate,TMC_AUTO_INC)

if (rc == GRC_OK)

{

// use coordinates

else

{

// something went wrong

}

}

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17.6

DATA SETUP FUNCTIONS

17.6.1

TMC_GetHeight - returning the current reflector height

TMC_GetHeight.........................................................................................................................................................................................................................................................................

2011 ................................................................................................................................................................................................................................................................TMC_GetHeigh

t

....

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2011

C-Declaration

TMC_GetHeight(TMC_HEIGHT &Height)

VB-Declaration

VB_TMC_GetHeight(Height As TMC_HEIGHT)

ASCII-Request

%R1Q,2011:

ASCII-Response

%R1P,0,0: RC,Height[double]

Remarks

This function returns the current reflector height.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetHeight

Example

GRC_TYPE rc;

TMC_HEIGHT Height, NewHeight;

// reset reflector height to 0

// if it is not already rc = TMC_GetHeight(Height); if (Height.dHr != 0)

{

NewHeight.dHr = 0;

rc = TMC_SetHeight(NewHeight);

if (rc == GRC_OK)

{

// set of height successful

}

else

{

// TMC is busy, no set possible

}

}

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17.6.2

TMC_SetHeight – setting a new reflector height

TMC_SetHeight..............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2012

2012 ................................................................................................................................................................................................................................................................TMC_SetHeight

C-Declaration

TMC_SetHeight(TMC_HEIGHT Height)

VB-Declaration

VB_TMC_SetHeight(ByVal Height As TMC_HEIGHT)

ASCII-Request

%R1Q,2012: Height[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets a new reflector height.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293

GRC_IVPAR 2

TMC resource is locked respectively TMC task is busy. The reflector height is not set.

Repeat measurement.

A reflector height less than 10m or greater than 100m is entered. Invalid parameter.

See Also

TMC_GetHeight

Example see TMC_GetHeight

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17.6.3

TMC_GetAtmCorr – getting the atmospheric correction parameters

TMC_GetAtmCorr.............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2029

2029 ................................................................................................................................................................................................................................................................TMC_GetAtmC

orr

C-Declaration

TMC_GetAtmCorr

(TMC_ATMOS_TEMPERATURE &AtmTemperature)

VB-Declaration

VB_TMC_GetAtmCorr

(AtmTemperature As TMC_ATMOS_TEMPERATURE)

ASCII-Request

%R1Q,2029:

ASCII-Response

%R1P,0,0: RC,Lambda[double],Pressure[double], DryTemperature[double],WetTemperature[double]

Remarks

This function is used to get the parameters for the atmospheric correction.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetAtmCorr

Example see TMC_SetAtmCorr

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17.6.4

TMC_SetAtmCorr – setting the atmospheric correction parameters

TMC_SetAtmCorr..............................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2028

2028 ................................................................................................................................................................................................................................................................TMC_SetAtmCo

rr

C-Declaration

TMC_SetAtmCorr

(TMC_ATMOS_TEMPERATURE AtmTemperature)

VB-Declaration

VB_TMC_SetAtmCorr

(ByVal AtmTemperature As TMC_ATMOS_TEMPERATURE)

ASCII-Request

%R1Q,2028: Lambda[double],Pressure[double], DryTemperature[double],WetTemperature[double]

ASCII-Response

%R1P,0,0: RC,

Remarks

This function is used to set the parameters for the atmospheric correction.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_GetAtmCorr

Example

TMC_ATMOS_TEMPERATURE AtmCorr;

TMC_GetAtmCorr(AtmCorr);

// set new wet and dry temperature

AtmCorr.dDryTemperature=60;

AtmCorr.dWetTemperature=80;

TMC_SetAtmCorr(AtmCorr);

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17.6.5

TMC_SetOrientation - orientating the instrument in hz-direction

TMC_SetOrientation..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2113

2113 ................................................................................................................................................................................................................................................................TMC_SetOrient

ation

C-Declaration

TMC_SetOrientation(double HzOrientation)

VB-Declaration

VB_TMC_SetOrientation(ByVal HzOrientation As Double)

ASCII-Request

%R1Q,2113: HzOrientation[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to orientate the instrument in Hz direction. It is a combination of an angle measurement to get the Hz offset and afterwards setting the angle Hz offset in order to orientates onto a target. Before the new orientation can be set an existing distance must be cleared (use TMC_DoMeasure with the command =

TMC_CLEAR ).

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION 1283

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

GRC_ABORT

GRC_SHUT_DOWN

See Also

TMC_IfDataAzeCorrError

TMC_IfDataIncCorrError

TMC_DoMeasure

1285

1289

1288

1292

1291

1290

1293

8

12

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

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Example

GRC_TYPE Result;

// clear existing distance first

TMC_DoMeasure(TMC_CLEAR);

// set orientation to 0

Result=TMC_SetOrientation(0.0); if(Result!=GRC_OK)

{

// error or warning handling

}

Theodolite Measurement and Calculation – TMC

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17.6.6

TMC_GetPrismCorr - getting the prism constant

TMC_GetPrismCorr...............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2023

2023 ................................................................................................................................................................................................................................................................TMC_GetPrismC

orr

C-Declaration

TMC_GetPrismCorr(double &PrismCorr)

VB-Declaration

VB_TMC_GetPrismCorr(PrismCorr As Double)

ASCII-Request

%R1Q,2023:

ASCII-Response

%R1P,0,0: RC,PrismCorr[double]

Remarks

This function is used to get the prism constant.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetPrismCorr

Example const double Corr = 0.1;

GRC_TYPE rc; double PrismCorr;

// set the prism constant to

// 0.1 if not already set rc = TMC_GetPrismCorr(PrismCorr); if (PrismCorr != Corr)

{

rc = TMC_SetPrismCorr(Corr);

if (rc == GRC_OK)

{

// set of prisma corr successful

}

else

{

// Invalid parameter

}

}

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17.6.7

TMC_GetRefractiveCorr – getting the refraction coefficient

TMC_GetRefractiveCorr ...........................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2031

2031 ................................................................................................................................................................................................................................................................TMC_GetRefrac

tiveCorr

C-Declaration

TMC_GetRefractiveCorr(TMC_REFRACTION &Refractive)

VB-Declaration

VB_TMC_GetRefractiveCorr

(Refractive As TMC_REFRACTION)

ASCII-Request

%R1Q,2031:

ASCII-Response

%R1P,0,0: RC,RefOn[boolean],EarthRadius[double], RefractiveScale[double]

Remarks

This function is used to get the refraction coefficient for correction of measured height difference.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetRefractiveCorr

Example const double

GRC_TYPE

EarthRadius = 6378000; rc;

TMC_REFRACTION Refractive;

// check the earth radius setting

// and reset if necessary rc = TMC_GetRefractiveCorr(Refractive); if (Refractive.dEarthRadius != EarthRadius)

{

Refractive.dEarthRadius = EarthRadius;

rc = TMC_SetRefractiveCorr(Refractive);

if (rc == GRC_OK)

{

// set of earth radius successful

}

else

{

// set not successful (subsystem busy)

}

}

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17.6.8

TMC_SetRefractiveCorr - setting the refraction coefficient

TMC_SetRefractiveCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2030

2030 ................................................................................................................................................................................................................................................................TMC_SetRefrac

tiveCorr

C-Declaration

TMC_SetRefractiveCorr(TMC_REFRACTION Refractive)

VB-Declaration

VB_TMC_SetRefractiveCorr

(ByVal Refractive As TMC_REFRACTION)

ASCII-Request

%R1Q,2030: RefOn[boolean],EarthRadius[double], RefractiveScale[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to set the refraction distortion coefficient for correction of measured height difference.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy. The refraction distortion factor is not set.

Repeat measurement.

GRC_IVRESULT

GRC_SETINCOMPLETE

See Also

TMC_GetRefractiveCorr

Example see TMC_GetRefractiveCorr

7 Invalid number of parameters.

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17.6.9

TMC_GetRefractiveMethod – getting the refraction model

TMC_GetRefractiveMethod...............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2091

2091 ................................................................................................................................................................................................................................................................TMC_GetRefrac

tiveMethod

C-Declaration

TMC_GetRefractiveMethod(unsigned short &Method)

VB-Declaration

VB_TMC_GetRefractiveMethod(Method As Integer)

ASCII-Request

%R1Q,2091:

ASCII-Response

%R1P,0,0: RC,Method[unsigned short]

Remarks

This function is used to get the current refraction model. Note that changing the refraction method is not indicated on the instrument’s interface.

Parameters

Method = 1 means method 1 (for the rest of the world)

Method = 2 means method 2 (for Australia)

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetRefractiveMethod

Example const unsigned short

GRC_TYPE unsigned short

RefractiveMethod = 1; rc;

Method;

// set the refractive methode to 1

// if it is not already rc = TMC_GetRefractiveMethod(Method); if (Method != RefractiveMethod)

{

rc = TMC_SetRefractiveMethod(RefractiveMethod);

if (rc == GRC_OK)

{

// set of refractive methode successful

}

else

{

// set not successful (subsystem busy)

}

}

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17.6.10

TMC_SetRefractiveMethod - setting the refraction model

TMC_SetRefractiveMethod................................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2090

2090 ................................................................................................................................................................................................................................................................TMC_SetRefrac

tiveMethod

C-Declaration

TMC_SetRefractiveMethod(unsigned short Method)

VB-Declaration

VB_TMC_SetRefractiveMethod(ByVal Method As Integer)

ASCII-Request

%R1Q,2090: Method[unsigned short]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to set the refraction model.

Parameters

Method = 1 means method 1 (for the rest of the world)

Method = 2 means method 2 (for Australia)

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy. The refraction model is not set.

Repeat measurement.

See Also

TMC_GetRefractiveMethod

Example see TMC_GetRefractiveMethod

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17.6.11

TMC_GetStation - getting the station coordinates of the instrument

TMC_GetStation ............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2009

2009 ................................................................................................................................................................................................................................................................TMC_GetStation

C-Declaration

TMC_GetStation(TMC_STATION &Station)

VB-Declaration

VB_TMC_GetStation(Station As TMC_STATION)

ASCII-Request

%R1Q,2009:

ASCII-Response

%R1P,0,0: RC,E0[double],N0[double],H0[double],Hi[double]

Remarks

This function is used to get the station coordinates of the instrument.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetStation

Example

GRC_TYPE rc;

TMC_STATION Station, NullStation;

NullStation.dE0 = 0;

NullStation.dN0 = 0;

NullStation.dH0 = 0;

NullStation.dHi = 0;

// reset station coordinates to 0 rc = TMC_GetStation(Station); if ((Station.dE0 != 0)||

(Station.dN0 != 0)||

(Station.dH0 != 0)||

(Station.dHi != 0))

{ rc = TMC_SetStation(NullStation);

if (rc == GRC_OK)

{

// reset of station successful

}

else

{

// reset not successful (subsystem busy)

}

}

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17.6.12

TMC_SetStation - setting the station coordinates of the instrument

TMC_SetStation.............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2010

2010 ................................................................................................................................................................................................................................................................TMC_SetStation

C-Declaration

TMC_SetStation(TMC_STATION Station)

VB-Declaration

VB_TMC_SetStation(ByVal Station As TMC_STATION)

ASCII-Request

%R1Q,2010: E0[double],N0[double],H0[double],Hi[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to set the station coordinates of the instrument.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy or a distance is existing. The instrument co-ordinates are not set.

Clear distance and repeat measurement.

See Also

TMC_GetStation

TMC_DoMeasure

Example see TMC_GetStation

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17.6.13

TMC_GetAtmPpm – getting the atmospheric ppm correction factor

TMC_GetSlopeDistCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2126

2126 ................................................................................................................................................................................................................................................................TMC_GetSlopeD

istCorr

C-Declaration

TMC_GetAtmPpm (double &dPpmA)

VB-Declaration

VB_TMC_GetAtmPpm (dPpmA As Double)

ASCII-Request

%R1Q,2151:

ASCII-Response

%R1P,0,0: RC, dPpmA[double]

Remarks

This function retrieves the atmospheric ppm value.

Parameters

Return-Code Names and Return-Code Values

See Also

TMC_SetAtmPpm

TMC_GetGeoPpm

TMC_SetGeoPpm

TMC_GetPrismCorr

TMC_SetPrismCorr

Example see TMC_SetPrismCorr

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17.6.14

TMC_SetAtmPpm – setting the atmospheric ppm correction factor

TMC_GetSlopeDistCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2126

2126 ................................................................................................................................................................................................................................................................TMC_GetSlopeD

istCorr

C-Declaration

TMC_SetAtmPpm (double dPpmA)

VB-Declaration

VB_TMC_SetAtmPpm (ByVal dPpmA As Double)

ASCII-Request

%R1Q,2148: dPpmA[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to set the atmospheric ppm value.

Parameters

Return-Code Names and Return-Code Values

See Also

TMC_GetAtmPpm

TMC_GetGeoPpm

TMC_SetGeoPpm

TMC_GetPrismCorr

TMC_SetPrismCorr

Example see TMC_SetPrismCorr

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17.6.15

TMC_GetGeoPpm – getting the geometric ppm correction factor

TMC_GetSlopeDistCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2126

2126 ................................................................................................................................................................................................................................................................TMC_GetSlopeD

istCorr

C-Declaration

TMC_GetGeoPpm(unsigned short &unGeomUseAutomatic,

double &dScaleFactorCentralMeridian,

double &dOffsetCentralMeridian,

double &dHeightReductionPPM,

double &dIndividualPPM)

VB-Declaration

VB_TMC_GetGeoPpm(unGeomUseAutomatic as Integer,

dScaleFactorCentralMeridian as Double,

dOffsetCentralMeridian as Double,

dHeightReductionPPM as Double,

dIndividualPPM as Double)

ASCII-Request

%R1Q,2154:

ASCII-Response

%R1P,0,0: RC,unGeomUseAutomatic[unsigned short],dScaleFactorCentralMeridian[double], dOffsetCentralMeridian[double],dHeightReductionPPM[double],dIndividualPPM[double]

Remarks

This function retrieves the geometric ppm values.

Parameters dScaleFactorCentralMeridian Out

(automatic or manual)

Scale factor on central meridian

Return-Code Names and Return-Code Values

See Also

TMC_GetAtmPpm

TMC_SetAtmPpm

TMC_SetGeoPpm

TMC_GetPrismCorr

TMC_SetPrismCorr

Example see TMC_SetPrismCorr

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17.6.16

TMC_SetGeoPpm – setting the geometric ppm correction factor

TMC_GetSlopeDistCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2126

2126 ................................................................................................................................................................................................................................................................TMC_GetSlopeD

istCorr

C-Declaration

TMC_SetGeoPpm(unsigned short unGeomUseAutomatic,

double dScaleFactorCentralMeridian,

double dOffsetCentralMeridian,

double dHeightReductionPPM,

double dIndividualPPM)

VB-Declaration

VB_TMC_SetGeoPpm(ByVal unGeomUseAutomatic as Integer,

ByVal dScaleFactorCentralMeridian as Double,

ByVal dOffsetCentralMeridian as Double,

ByVal dHeightReductionPPM as Double,

ByVal dIndividualPPM as Double)

ASCII-Request

%R1Q,2153: unGeomUseAutomatic[unsigned short],dScaleFactorCentralMeridian[double], dOffsetCentralMeridian[double],dHeightReductionPPM[double],dIndividualPPM[double]

ASCII-Response

%R1P,0,0: RC

Remarks

This function is used to set the geometric ppm values.

Parameters dScaleFactorCentralMeridian In

(automatic or manual)

Scale factor on central meridian

Return-Code Names and Return-Code Values

See Also

TMC_GetAtmPpm

TMC_SetAtmPpm

TMC_GetGeoPpm

TMC_GetPrismCorr

TMC_SetPrismCorr

Example see TMC_SetPrismCorr

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17.7

INFORMATION FUNCTIONS

17.7.1

TMC_GetFace - getting the face information of the current telescope position

TMC_GetFace ............................................................................................................................................................................................................................................................................

2026 ................................................................................................................................................................................................................................................................TMC_GetFace

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2026

C-Declaration

TMC_GetFace(TMC_FACE &Face)

VB-Declaration

VB_TMC_GetFace(Face As Long)

ASCII-Request

%R1Q,2026:

ASCII-Response

%R1P,0,0: RC,Face[long]

Remarks

This function returns the face information of the current telescope position. The face information is only valid, if the instrument is in an active measurement state (that means a measurement function was called before the

TMC_GetFace call, see example). Note that the instrument automatically turns into an inactive measurement state after a predefined timeout.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

AUT_ChangeFace

Example

GRC_TYPE rc;

TMC_FACE Face;

// turn the face if not in normal position

// set active measurement state rc = TMC_DoMeasure(TMC_DEF_DIST, TMC_AUTO_INC); rc = TMC_GetFace(Face); if (Face == TMC_FACE_TURN)

{

rc = AUT_ChangeFace(AUT_NORMAL,

AUT_POSITION,

FALSE);

if (rc == GRC_OK)

{

// face successfuly turned

}

else

{

// change face problem: see AUT_ChangeFace

}

}

// clear distance rc = TMC_DoMeasure(TMC_CLEAR, TMC_AUTO_INC);

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17.7.2

TMC_GetSignal - getting information about the EDM signal intensity

TMC_GetSignal..............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2022

2022 ................................................................................................................................................................................................................................................................TMC_GetSignal

C-Declaration

TMC_GetSignal(TMC_EDM_SIGNAL &Signal)

VB-Declaration

VB_TMC_GetSignal(Signal As TMC_EDM_SIGNAL)

ASCII-Request

%R1Q,2022:

ASCII-Response

%R1P,0,0: RC,SignalIntensity[double],Time[long]

Remarks

This function returns information about the intensity of the EDM signal. The function can only perform a measurement if the signal measurement program is activated. Start the signal measurement program with

TMC_DoMeasure where Command = TMC_SIGNAL . After the measurement the EDM must be switched off

(use TMC_DoMeasure where Command = TMC_CLEAR ). While measuring there is no angle measurement data available.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_SIGNAL_ERROR

GRC_ABORT 8

At repeated occur call service.

Measurement through customer aborted.

GRC_SHUT_DOWN 12 System power off through customer.

See Also

TMC_DoMeasure

Example

GRC_TYPE Result;

TMC_SIGNAL Signal;

TMC_DoMeasure(TMC_SIGNAL); do

{

Result=TMC_GetSignal(Signal);

if(Result==GRC_OK)

{

.

.

.

}

}while(Result==GRC_OK);

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17.8

CONFIGURATION FUNCTIONS

17.8.1

TMC_GetAngSwitch - getting the angular correction status

TMC_GetAngSwitch .................................................................................................................................................................................................................................................................

............

2014 ................................................................................................................................................................................................................................................................TMC_GetAngSw

itch

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2014

C-Declaration

TMC_GetAngSwitch(TMC_ANG_SWITCH &SwCorr)

VB-Declaration

VB_TMC_GetAngSwitch(SwCorr As TMC_ANG_SWITCH)

ASCII-Request

%R1Q,2014:

ASCII-Response

%R1P,0,0: RC,InclineCorr[long],StandAxisCorr[long],

CollimationCorr[long],TiltAxisCorr[long]

Remarks

This function returns the angular corrections status.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetAngSwitch

Example

GRC_TYPE rc;

TMC_ANG_SWITCH SwCorr;

// get the switch state for the angular

// correction rc = TMC_GetAngSwitch(SwCorr); if (SwCorr.eTiltAxisCorr == ON)

{

// Tilting axis correction turned On

} else

{

// Tilting axis correction turned Off

}

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17.8.2

TMC_GetInclineSwitch - getting the dual axis compensator status

TMC_GetInclineSwitch.............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2007

2007 ................................................................................................................................................................................................................................................................TMC_GetIncline

Switch

C-Declaration

TMC_GetInclineSwitch(ON_OFF_TYPE &SwCorr)

VB-Declaration

VB_TMC_GetInclineSwitch(SwCorr As Long)

ASCII-Request

%R1Q,2007:

ASCII-Response

%R1P,0,0: RC,SwCorr[long]

Remarks

This function returns the current dual axis compensator status.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetInclineSwitch

Example

GRC_TYPE rc;

ON_OFF_TYPE SwCorr;

// clear distance first before you change the state

TMC_DoMeasure(TMC_CLEAR, TMC_AUTO,INC);

// deactivate the compensator

// if it is not already rc = TMC_GetInclineSwitch(SwCorr); if (SwCorr == ON)

{

rc = TMC_SetInclineSwitch(OFF);

if (rc == GRC_OK)

{

// successfully deactvated

}

else

{

// set not successful (subsystem busy)

}

}

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17.8.3

TMC_SetInclineSwitch – switching the dual axis compensator on/off

TMC_SetInclineSwitch..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2006

2006 ................................................................................................................................................................................................................................................................TMC_SetIncline

Switch

C-Declaration

TMC_SetInclineSwitch(ON_OFF_TYPE SwCorr)

VB-Declaration

VB_TMC_SetInclineSwitch(ByVal SwCorr As Long)

ASCII-Request

%R1Q,2006: SwCorr[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This function switches the dual axis compensator on or off.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy or a distance is existing. The incline state is not changed.

Clear distance and repeat measurement.

See Also

TMC_GetInclineSwitch

Example see TMC_GetInclineSwitch

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17.8.4

TMC_GetEdmMode - getting the EDM measurement mode

TMC_GetEdmMode...............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2021

2021 ................................................................................................................................................................................................................................................................TMC_GetEdmM

ode

C-Declaration

TMC_GetEdmMode(EDM_MODE &Mode)

VB-Declaration

VB_TMC_GetEdmMode(Mode As Long)

ASCII-Request

%R1Q,2021:

ASCII-Response

%R1P,0,0: RC,Mode[long]

Remarks

This function returns the EDM measurement mode.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_SetEdmMode

Example

GRC_TYPE rc;

EDM_MODE Mode;

// set EDM mode to single standard

// if it is in any repeated mode rc = TMC_GetEdmMode(Mode); switch (Mode)

{

case (EDM_CONT_STANDARD):

case (EDM_CONT_DYNAMIC):

case (EDM_CONT_FAST):

rc = TMC_SetEdmMode(EDM_SINGLE_STANDARD);

if (rc == GRC_OK)

{

// set to single mode successful

}

else

{

// set not successful (subsystem busy)

}

}

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17.8.5

TMC_SetEdmMode - setting EDM measurement modes

TMC_SetEdmMode ...........................................................................................................................................................................................................................................................................

................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2020

2020 ................................................................................................................................................................................................................................................................TMC_SetEdmM

ode

C-Declaration

TMC_SetEdmMode(EDM_MODE Mode)

VB-Declaration

VB_TMC_SetEdmMode(ByVal Mode As Long)

ASCII-Request

%R1Q,2020: Mode[long]

ASCII-Response

%R1P,0,0: RC

Remarks

This function sets the current measurement mode. The measure function TMC_DoMeasure(TMC_DEF_DIST) uses this configuration.

Parameters

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy. The

EDM mode is not set.

Repeat measurement.

See Also

TMC_GetEdmMode

TMC_DoMeasure

Example see TMC_GetEdmMode

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17.8.6

TMC_GetSimpleCoord - getting cartesian coordinates

TMC_GetSimpleCoord..............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2116

2116 ................................................................................................................................................................................................................................................................TMC_GetSimpl

eCoord

C-Declaration

TMC_GetSimpleCoord( SYSTIME WaitTime, double &dCoordE, double& dCoordN, double& dCoordH,

TMC_INCLINE_PRG eProg)

VB-Declaration

VB_TMC_GetSimpleCoord( ByVal WaitTime As Long, dCoordE As Double, dCoordN As Double, dCoordH As Double,

ByVal eProg As Long)

ASCII-Request

%R1Q,2116: WaitTime[long],eProg[long]

ASCII-Response

%R1P,0,0: RC,dCoordE[double], dCoordN[double], dCoordH[double]

Remarks

This function gets the cartesian co-ordinates if a valid distance exists. The parameter WaitTime defined the max wait time in order to get a valid distance. If after the wait time a valid distance does not exist, the function initialises the parameter for the co-ordinates ( E,N,H ) with 0 and returns an error. For the co-ordinate calculate will require incline results. With the parameter eProg you have the possibility to either measure an inclination, use the pre-determined plane to calculate an inclination, or use the automatic mode wherein the system decides which method is appropriate (see 15.1.1).

Parameters

WaitTime eProg dCoordE

In

In

Max. wait time to get a valid distance [ms].

Inclination sensor measurement mode.

Out Easting. dcoordN Out Northing. dcoordH

Return-Code Names and Return-Code Values

GRC_OK

GRC_TMC_ACCURACY_GUARANTEE 1284

GRC_TMC_NO_FULL_CORRECTION

GRC_TMC_ANGLE_OK

GRC_TMC_ANGLE_NO_ACC_

GUARANTY

GRC_TMC_ANGLE_NO_FULL_

CORRECTION

GRC_TMC_DIST_ERROR

GRC_TMC_DIST_PPM

1283

1285

1289

1288

1292

1291

Accuracy is not guaranteed, because the result are consist of measuring data which accuracy could not be verified by the system. Co-ordinates are available.

The results are not corrected by all active sensors. Coordinates are available.

In order to secure which correction is missing use the both functions TMC_IfDataAzeCorrError and

TMC_IfDataIncCorrError

Angle values okay, but no valid distance. Co-ordinates are not available.

Only the angle measurement is valid but its accuracy cannot be guaranteed (the tilt measurement is not available).

No distance data available but angle data are valid. The return code is equivalent to the GRC_TMC_NO_FULL_CORRECTION and relates to the angle data. Co-ordinates are not available.

Perform a distance measurement first before you call this function.

No measuring, because of missing target point, co-ordinates are not available.

Aim target point and try it again

No distance measurement respectively no distance data because of wrong EDM settings. Co-ordinates are not

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GRC_TMC_ANGLE_ERROR

GRC_TMC_BUSY

1290

1293 available.

Angle or inclination measurement error. Check inclination modes in commands.

TMC resource is locked respectively TMC task is busy.

Repeat measurement.

Measurement through customer aborted.

System power off through customer.

GRC_ABORT

GRC_SHUT_DOWN

8

12

See Also

TMC_GetCoordinate

TMC_IfDataAzeCorrError

TMC_IfDataIncCorrError

Example

GRC_TYPE Result;

TMC_ANG_SWITCH SwCorr;

SYSTIME WaitTime;

TMC_INCLINE_PRG ePrgm;

BOOLE bExit;

Double dCoordE,dCoordN,dCoordH;

TMC_GetAngSwitch(SwCorr); // measure rate will

SwCorr.eInclineCorr=ON; // be reduced with

SwCorr.eStandAxisCorr=ON; // angle and incline

SwCorr.eCollimationCorr=ON; // corrections.

SwCorr.eTiltAxisCorr=ON;

TMC_DoMeasure(TMC_CLEAR); // clear distance first TMC_SetAngSwitch(SwCorr); // before you can set the

// ANG switches, the

// distance must be

// cleared

TMC_DoMeasure(TMC_RTRK_DIST);// execute rapid

// tracking

// measurement

WaitTime=500;// set max. wait time 500 [ms] eProg=TMC_AUTO_INC;// set automatically incline prgm bExit=FALSE; do

{

Result=TMC_GetSimpleCoord(WaitTime, dCoordE,

dCoordN, dCoordH,eProg); switch(Result)

{ case GRC_OK: case GRC_TMC_NO_FULL_CORRECTION: case GRC_TMC_ACCURACY_GUARANTEE:

// in this cases are the coordinates

// available

Break;

Default:

bExit=TRUE;

// in all other cases are the coordinates not

// valid and set to 0

// further errorhandling

Break;

}// end switch

}// end do while while(!bExit);

TMC_DoMeasure(TMC_CLEAR); // complete measurement

// and clear data

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17.8.7

TMC_IfDataAzeCorrError – returning the status if an ATR error occurs

TMC_IfDataAzeCorrError ............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2114

2114 ................................................................................................................................................................................................................................................................TMC_IfDataAze

CorrError

C-Declaration

TMC_IfDataAzeCorrError(BOOLE& bAtrCorrectionError)

VB-Declaration

VB_TMC_IfDataAzeCorrError

ASCII-Request

%R1Q,2114:

ASCII-Response

%R1P,0,0: RC,bAtrCorrectionError[long]

Remarks

This function returns the status of the ATR correction of the last measurement. If you get a return code

GRC_TMC_ANGLE_NOT_FULL_CORR or GRC_TMC_ NO_FULL_CORRECTION from a measurement function, this function indicates whether the returned data is missing a deviation correction of the ATR or not.

Parameters

BAtrCorrectionError Out Flag, if ATR correction error occurred or not

FALSE : no error occurred

TRUE : last data record not deviation corrected with the ATR-

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_IfDataIncCorrError

Example

GRC_TYPE Result;

SYSTIME WaitTime;

TMC_INCLINE_PRG ePrgm; double dCoordE,dCoordN,dCoordH;

TMC_DoMeasure(TMC_DEF_DIST);// execute single

// dist measurement

WaitTime=500;// set max. wait time 500 [ms] eProg=TMC_AUTO_INC;// set automatically incline prgm

Result=TMC_GetSimpleCoord(WaitTime, dCoordE, switch(Result)

{ case GRC_TMC_NO_FULL_CORRECTION:

TMC_IfDataAzeCorrError(bAzeCorrError);

TMC_IfDataIncCorrError(bIncCorrError);

if(bAzeCorrError)

{

// coordinates are not corrected with the Aze-

// deviation correction

}

if(bIncCorrError)

{

// coordinates are not corrected with the

// incline correction

} case GRC_OK: case GRC_TMC_ACCURACY_GUARANTEE:

// in this cases are the coordinates break; default:

// in all other cases are the coordinates not

// valid and set to 0

// further errorhandling

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}// end switch

TMC_DoMeasure(TMC_CLEAR); // complete measurement

// and clear data

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17.8.8

TMC_IfDataIncCorrError – returning the status if an incline error occurs

TMC_IfDataIncCorrError..............................................................................................................................................................................................................................................................................

.................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................... 2115

2115 ................................................................................................................................................................................................................................................................TMC_IfDataIncC

orrError

C-Declaration

TMC_IfDataIncCorrError(BOOLE& bIncCorrectionError)

VB-Declaration

VB_TMC_IfDataIncCorrError

ASCII-Request

%R1Q,2115:

ASCII-Response

%R1P,0,0: RC,bIncCorrectionError[long]

Remarks

This function returns the status of the inclination correction of the last measurement. If you get a return code

GRC_TMC_ANGLE_NOT_FULL_CORR or GRC_TMC_ NO_FULL_CORRECTION from a measurement function, this function indicates whether the returned data is missing an inclination correction or not. Error information can only occur if the incline sensor is active.

Parameters

BIncCorrectionError Out Flag, if incline correction error occurred or not

FALSE : no error occurred

TRUE : last data record not incline-correction corrected with the

Return-Code Names and Return-Code Values

GRC_OK

See Also

TMC_IfDataAzeCorrError

Example see example TMC_IfDataAzeCorrError

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17.8.9

TMC_SetAngSwitch - enabling/disabling the angle corrections

TMC_SetAngSwitch..............................................................................................................................................................................................................................................................................

............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2016

2016 ................................................................................................................................................................................................................................................................TMC_SetAngSw

itch

C-Declaration

TMC_SetAngSwitch(TMC_ANG_SWITCH Switch)

VB-Declaration

VB_TMC_SetAngSwitch(ByVal Switch As TMC_ANG_SWITCH)

ASCII-Request

%R1Q,2016: InclineCorr[long],StandAxisCorr[long],

CollimationCorr[long],TiltAxisCorr[long]

ASCII-Response

%R1P,0,0: RC

Remarks

With this function you can enable/disable the following angle measurement corrections. incline: The inclination will be considered for the angle measurement if enabled. stand axis: The standard axis correction will be considered for the angle measurement if enabled. collimation: tilt axis:

The collimation will be considered for the angle measurement if enabled

The tilt axis will be considered in the angle measurement if enabled.

Parameters

Switch

Return-Code Names and Return-Code Values

GRC_OK

Angle measurement corrections

GRC_TMC_BUSY 1293 TMC resource is locked respectively TMC task is busy or a distance exists.

Clear distance and try it again.

See-Also

TMC_DoMeasure

TMC_GetAngSwitch

Example

See example TMC_QuickDist

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17.8.10

TMC_GetSlopeDistCorr – getting the total ppm and prism correction factors

TMC_GetSlopeDistCorr............................................................................................................................................................................................................................................................................

........................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 2126

2126 ................................................................................................................................................................................................................................................................TMC_GetSlopeD

istCorr

C-Declaration

TMC_GetSlopeDistCorr (double dPpmCorr,

double dPrismCorr)

VB-Declaration

VB_TMC_GetSlopeDistCorr(dPpmCorr As Double,

dPrismCorr As Double)

ASCII-Request

%R1Q,2126:

ASCII-Response

%R1P,0,0: RC,dPpmCorr[double], dPrismCorr[double]

Remarks

This function retrieves the total ppm value (atmospheric+geometric ppm) plus the current prism constant.

Parameters

Return-Code Names and Return-Code Values

See Also

TMC_GetPrismCorr,

TMC_SetPrismCorr.

Example

-

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18 P

ORTING

A TPS1100 A

PPLICATION

Porting A TPS1100 Application

18.1

INTRODUCTION

The implementation of the TPS1200 theodolite series includes several new concepts compared to the firmware of

TPS1100 theodolites. To take care of the new functionality, which has been changed or removed in the implementation of TPS1200 firmware, a few changes in GeoCOM for TPS1200 theodolites were necessary.

This chapter contains all RPCs and data types, which has changed in GeoCOM. It should help the developer to port a

GeoCOM client application for TPS1100 theodolite series onto the new platform.

18.2

RPC CHANGES

The following section contains a list of all replaced, deleted and new RPCs. Refer to the RPC description in the corresponding subsystem to get further information on how to use the new RPCs.

18.2.1

Communication – COM

TPS1100 GeoCOM RPC: Changes in TPS1200 GeoCOM:

COM_SetSendDelay Deleted

COM_EnableSignOff Deleted

TPS1100 GeoCOM-DLL: Changes in TPS1200 GeoCOM-DLL:

18.2.2

Central Services - CSV

TPS1100 GeoCOM RPC: Changes in TPS1200 GeoCOM:

CSV_GetVMem Deleted

CSV_GetVBat Deleted

18.2.3

Alt User - AUS

TPS1100 GeoCOM RPC:

AUS_GetRcsSearchSwitch

AUS_SwitchRcsSearch

18.2.4

Automation – AUT

TPS1100 GeoCOM RPC:

18.2.5

Controller Task - CTL

TPS1100 GeoCOM RPC:

CTL_GetUpCounter

18.2.6

WI Registration - WIR

TPS1100 GeoCOM RPC:

WIR_SetRecFormat

WIR_GetRecFormat

Leica TPS1200 – Version 1.50

Changes in TPS1200 GeoCOM:

Deleted

Deleted

Changes in TPS1200 GeoCOM:

‘c’<Term>

Changes in TPS1200 GeoCOM:

Not supported

Changes in TPS1200 GeoCOM:

Deleted

Deleted

191

GeoCOM Reference Manual Porting A TPS1100 Application

18.2.7

Basic Application – BAP

TPS1100 GeoCOM RPC:

BAP_GetHzOrientationFlag

BAP_GetLastDisplayedError

BAP_SetHzOrientationFlag

Changes in TPS1200 GeoCOM:

Deleted

Deleted

Deleted

New:BAP_GetPrismType2

New:BAP_SetPrismType2

BAP_SetPrismDef Replaced by: BAP_SetUserPrismDef

New: BAP_GetATRSetting

New: BAP_SetATRSetting

New: BAP_GetRedATRFov

New: BAP_SetRedATRFov

18.2.8

Theodolite Measurement and Calculation – TMC

TPS1100 GeoCOM RPC: Changes in TPS1200 GeoCOM:

New: TMC_GetAtmPpm

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18.3

DATA TYPES AND CONSTANTS CHANGES

The following data types and constants have changed or are new. Refer to the chapter constants and types in the corresponding subsystem to get the full description.

TPS1100 GeoCOM type definition: Changes in TPS1200 GeoCOM:

COM_BAUD_RATE

BAP_PRISMTYPE

TPS_DEVICE_CLASS

Extended

Extended

Extended

18.4

RETURN-CODES

The return code names have been harmonised. They all start with the prefix GRC and if subsystem specific followed by the triple digit subsystem name (e.g. GRC_IVRESULT, GRC_TMC_ANGLE_OK ). Please refer to Appendix A for a detailed listing.

TPS1100 return code definition: Changes in TPS1200 GeoCOM:

GMF_ Deleted

TMC_

TMC_ANGLE_NO_FULL_CORRECTION

Renamed: GRC_TMC_

GRC_TMC_ANGLE_NOT_FULL_CORR

TMC_ANGLE_ACCURACY_GUARANTEE GRC_TMC_ANGLE_NO_ACC_GUARANTY

MEM_ Deleted

LDR_ Replaced by: GRC_LOD_

New: GRC_KDM_

TXT_ Deleted

MMI_ Deleted

DPL_RC_ Deleted

WIR_ Deleted

BAP_ Deleted

SAP_ Deleted

COD_RC_ Deleted

BAS_ Deleted

IOS_ Deleted

CNF_ Deleted

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GeoCOM Reference Manual GeoCOM Releases

19 G

EO

COM R

ELEASES

This chapter shows the changes between the different Releases of GeoCOM

19.1

RELEASE 1.00

This GeoCOM Release 1.00 was introduced with TPS Firmware Release 1.0.

19.2

RELEASE 1.10

This GeoCOM Release 1.10 was introduced with TPS Firmware Release 4.0.

19.3

RELEASE 1.20

This GeoCOM Release 1.20 was introduced with TPS Firmware Release 5.0.

19.4

RELEASE 1.50

This GeoCOM Release 1.50 was introduced with TPS Firmware Release 7.5.

Added subsystem Imaging (IMG) and File Transfer (FTR) for TS30 and TM30 instrument.

A new EDM measurement mode (Precise Mode) as well as a new TMC command (TMC_GetFullMeas) are added

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GeoCOM Reference Manual Return-Code names and return-code values

20 A

PPENDIX

A R

ETURN

-C

ODE NAMES AND RETURN

-

CODE VALUES

The return codes described here are codes, which may be returned from RPC’s and GeoCOM general functions

(COMF). A successful completion will be denoted by GRC_OK. Almost all of the return codes are error codes.

Nevertheless, some of them have a more informational character. Therefore, refer also to the description of a specific function. In a special context the meaning of a return code might vary a little bit.

The list described here is organised in subsystem related categories. The RetCodeName describes the constant as it is defined for the TPS1200 series instruments. Additionally to find an error code by number they are given too

TPS 0 0x0

GRC_OK

GRC_UNDEFINED

0

1

0x0

0x1

Function successfully completed.

Unknown error, result unspecified.

GRC_TIME_OUT

GRC_SET_INCOMPL

GRC_ABORT

GRC_NOMEMORY

6

7

8

9

0x6

0x7

0x8

0x9

Function execution timed out. Result unspecified.

Parameter setup for subsystem is incomplete.

Function execution has been aborted.

Fatal error - not enough memory.

GRC_NOTINIT 10 - subsystem not initialized.

GRC_SHUT_DOWN 12 0xC Subsystem is down.

GRC_SYSBUSY 13 0xD System busy/already in use of another process.

Cannot execute function.

(SHIFT-ESC). level.

GRC_NO_EVENT

GRC_OUT_OF_TEMP

20

21

0x14

0x15 no event pending. out of temperature range

GRC_SLEEP_MODE

GRC_NOTOK

GRC_NA

GRC_STOPPED

ANG

GRC_ANG_ERROR

GRC_ANG_INCL_ERROR

GRC_ANG_BAD_ACC

GRC_ANG_BAD_ANGLE_ACC

Leica TPS1200 – Version 1.50

25

26

27

0x19

0x1A

0x1B

Instr. run into the sleep mode

Function not successfully completed.

Not available

29 0x1D

256 0x100

System or subsystem has been stopped

257

258

259

260

0x101

0x102

0x103

0x104

Angles and Inclinations not valid inclinations not valid value accuracies not reached angle-accuracies not reached

195

GeoCOM Reference Manual

GRC_ANG_BAD_INCLIN_ACC

GRC_ANG_WRITE_PROTECTED

GRC_ANG_OUT_OF_RANGE

GRC_ANG_IR_OCCURED

GRC_ANG_HZ_MOVED

261

266

267

268

269

0x105

0x10A

0x10B

0x10C

0x10D

Return-Code names and return-code values inclination accuracies not reached no write access allowed value out of range function aborted due to interrupt hz moved during incline measurement

GRC_ANG_DATA_ERROR 271 overflow at parameter values

GRC_ANG_PEAK_CNT_UFL 272 0x110 too less peaks

GRC_ANG_TOO_MANY_EXPOS 274 0x112 too many exposures wanted

GRC_ANG_MAX_POS_SKIP

GRC_ANG_MAX_NEG_SKIP

276

277

0x114

0x115 positive exposure dynamic overflow negative exposure dynamic overflow

GRC_ANG_TMANY_PEAKS

GRC_ANG_TLESS_PEAKS

GRC_ANG_PEAK_TOO_SLIM

GRC_ANG_BAD_PEAKDIFF

GRC_ANG_UNDER_EXP_PICT

GRC_ANG_NO_DECOD_POSS

GRC_ANG_UNSTABLE_DECOD

GRC_ANG_TLESS_FPEAKS

GRC_ANG_INCL_NO_PLANE

GRC_ANG_FAST_ANG_ERR_5

GRC_ANG_FAST_ANG_ERR_25

GRC_ANG_TRANS_ERR

GRC_ANG_TRANS_ERR_5

GRC_ANG_TRANS_ERR_25

ATA

307

308

309

317

300

301

302

304

305

0x12C

0x12D

0x12E

0x130

0x131

0x133

0x134

0x135

0x13D too many peaks detected too less peaks detected peak too slim bad peak difference too less peak amplitude no peak decoding possible peak decoding not stable too less valid finepeaks inclination no plane available

327

328

329

330

331

0x147

0x148

0x149

0x14A

0x14B

512 0x200 errors in 5kHz angle errors in 2.5kHz angle

LVDS transfer error detected

LVDS transfer error detected in 5kHz mode

LVDS transfer error detected in 2.5kHz mode

GRC_ATA_NO_RESULT 513 0x201 Result isn't available yet.

Several Targets detected.

GRC_ATA_BACKGROUND 516 0x204 Background is too bright.

GRC_ATA_NO_TARGETS 517 No targets detected.

GRC_ATA_NOT_BUSY

GRC_ATA_V24_FAIL

523

525

0x20B

0x20D

ATR isn't in a continuous mode.

Communication error to sensor (ATR).

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GeoCOM Reference Manual Return-Code names and return-code values

GRC_ATA_HZ_STRANGE_L 529 0x211 Strange light in Hz-direction.

GRC_ATA_V_STRANGE_L 530 Strange light in V-direction.

GRC_ATA_SLDR_TRANSFER_PENDING 531 0x213 On multiple ATA_SLDR_OpenTransfer.

GRC_ATA_SLDR_TRANSFER_ILLEGAL 532 0x214

GRC_ATA_SLDR_DATA_ERROR 533 0x215

GRC_ATA_SLDR_CHK_SUM_ERROR 534 0x216

GRC_ATA_SLDR_ADDRESS_ERROR

GRC_ATA_SLDR_INV_LOADFILE

GRC_ATA_SLDR_UNSUPPORTED

535

536

537

0x217

0x218

0x219

No ATA_SLDR_OpenTransfer happened.

Unexpected data format received.

Checksum error in transmitted data.

Address out of valid range.

Firmware file has invalid format.

Current (loaded) firmware doesn't support upload.

GRC_ATA_ATR_SYSTEM_ERR 539 0x21B ATR system error

EDM 768 0x300

GRC_EDM_SYSTEM_ERR

GRC_EDM_INVALID_COMMAND

GRC_EDM_SIGN_LOW_ERR

GRC_EDM_SIGN_HIGH_ERR

GRC_EDM_TIMEOUT

GRC_EDM_FLUKT_ERR

GRC_EDM_FMOT_ERR

769

770

772

774

775

776

777

0x301

0x302

0x304

0x306

0x307

0x308

0x309

Fatal EDM sensor error. See for the exact reason the original EDM sensor error number.

In the most cases a service problem.

Invalid command or unknown command, see command syntax.

Received signal to low, prism to far away, or natural barrier, bad environment, etc.

Received signal to strong, prism to near, stranger light effect.

Timeout, measuring time exceeded (signal too weak, beam interrupted,..) to much turbulences or distractions filter motor defective

GRC_EDM_MISSING_SRVPWD

GRC_EDM_INVALID_ANSWER

GRC_EDM_SEND_ERR

GRC_EDM_RECEIVE_ERR

GRC_EDM_INTERNAL_ERR

GRC_EDM_CHKSUM_ERR

GRC_EDM_SRL_NOT_AVAILABLE

781

782

783

784

785

788

790

0x30D

0x30E

0x30F

0x310

0x311

0x314

0x316

GRC_EDM_SLDR_TRANSFER_PENDING 798 0x31E

GRC_EDM_SLDR_TRANSFER_ILLEGAL 799 0x31F

GRC_EDM_SLDR_DATA_ERROR

GRC_EDM_SLDR_CHK_SUM_ERROR

800

801

0x320

0x321

GRC_EDM_SLDR_ADDR_ERROR

GRC_EDM_SLDR_INV_LOADFILE

802

803

0x322

0x323 see in the description of the called function. the EDM sensor.

No service password is set.

Communication ok, but an unexpected answer received.

Data send error, sending buffer is full.

Data receive error, like parity buffer overflow.

Internal EDM subsystem error. measuring first.

Calculated checksum, resp. received data wrong (only in binary communication mode possible). occured. It is saved in the DEL buffer.

Red laser not available on this sensor HW. the laser security)

Multiple OpenTransfer calls.

No open transfer happened.

Unexpected data format received.

Checksum error in transmitted data.

Address out of valid range.

Firmware file has invalid format.

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GeoCOM Reference Manual Return-Code names and return-code values

GRC_EDM_SLDR_UNSUPPORTED

GRC_EDM_UNKNOW_ERR

GRC_EDM_DISTRANGE_ERR

GRC_EDM_SIGNTONOISE_ERR

GRC_EDM_NOISEHIGH_ERR

804

808

818

819

820

0x324

0x328

0x332

0x333

0x334

Current (loaded) firmware doesn't support upload.

Undocumented error from the EDM sensor, should not occur.

Out of distance range (dist too small or large)

Signal to noise ratio too small

Noise to high

GRC_EDM_PWD_NOTSET 821 0x335 Password is not set

GRC_EDM_ACTION_NO_MORE_VALID 822 0x336 Elapsed time between prepare und start fast measurement for ATR to long

GRC_EDM_MULTRG_ERR 823 more than one target (also a sensor

GRC_EDM_MISSING_EE_CONSTS 824 0x338 error) eeprom consts are missing

GRC_EDM_NOPRECISE 825 0x339 No precise measurement possible

GRC_EDM_MEAS_DIST_NOT_ALLOWED 826 0x33A Measured distance is to big (not allowed)

TMC 1280 0x500

GRC_TMC_ANGLE_OK 1285 0x505 Warning: only angle measurement valid without full correction

GRC_TMC_ANGLE_NO_ACC_GUARANTY 1289 0x509 Info: only angle measurement valid but accuracy can not be guarantee

GRC_TMC_DIST_PPM 1291 0x50B

GRC_TMC_BUSY

GRC_TMC_SIGNAL_ERROR

1293

1294

0x50D

0x50E

Error: wrong setting of PPM or MM on EDM etc.)

Error: system is busy (no measurement done)

Error: no signal on EDM (only in signal mode)

MOT 1792 0x700

GRC_MOT_UNREADY

GRC_MOT_BUSY

GRC_MOT_NOT_OCONST

GRC_MOT_NOT_CONFIG

1792

1793

1794

1795

0x700

0x701

0x702

0x703 motorization is not ready motorization is handling another task motorization is not in velocity mode motorization is in the wrong mode or busy

GRC_MOT_NOT_SERVICE 1797 motorization is not in service mode

GRC_MOT_NOT_BUSY 1798 0x706 motorization is handling no task

GRC_MOT_NOT_LOCK

GRC_MOT_NOT_SPIRAL

1799

1800

0x707

0x708 motorization is not in tracking mode motorization is not in spiral mode

BMM

GRC_BMM_XFER_PENDING

GRC_BMM_NO_XFER_OPEN

GRC_BMM_UNKNOWN_CHARSET

GRC_BMM_NOT_INSTALLED

GRC_BMM_ALREADY_EXIST

GRC_BMM_CANT_DELETE

Leica TPS1200 – Version 1.50 horizontal and vertical encoder/motor error

2304 0x900

2305

2306

2307

2308

2309

2310

0x901

0x902

0x903

0x904

0x905

0x906

Loading process already opened

Transfer not opened

Unknown character set

Display module not present

Character set already exists

Character set cannot be deleted

198

GeoCOM Reference Manual

GRC_BMM_MEM_ERROR

GRC_BMM_CHARSET_USED

2311

2312

0x907

0x908

Return-Code names and return-code values

Memory cannot be allocated

Character set still used allocated memory

GRC_BMM_INVALID_SIZE 2316 0x90C Number of bytes specified in header does not match the bytes read

GRC_BMM_CANCELANDINVSIZE_ERROR 2317 0x90D Allocated memory could not be released

GRC_BMM_CANT_DEL_LAYERS 2319 0x90F

Max. number of character sets already loaded

Layer cannot be deleted

GRC_BMM_UNKNOWN_LAYER

GRC_BMM_INVALID_LAYERLEN

2320

2321

0x910

0x911

Required layer does not exist

Layer length exceeds maximum

COM 3072 0xC00

GRC_COM_CANT_DECODE

GRC_COM_CANT_SEND

GRC_COM_CANT_RECV

GRC_COM_CANT_DECODE_REQ

GRC_COM_PROC_UNAVAIL

3074

3075

3076

3080

3081

0xC02

0xC03

0xC04

0xC08

0xC09

Cannot decode results in client.

Hardware error while sending.

Hardware error while receiving.

Packet format error.

Cannot decode arguments in server.

Unknown RPC, procedure ID invalid.

GRC_COM_TR_ID_MISMATCH

GRC_COM_NOT_GEOCOM

GRC_COM_UNKNOWN_PORT

GRC_COM_ERO_END

GRC_COM_NO_PARTNER

3093

3094

3095

3099

3105

0xC15

0xC16

0xC17

0xC1B

0xC21

TRANSACTIONS ID mismatch error.

Protocol not recognizable.

(WIN) Invalid port address.

ERO is terminating.

GRC_COM_OVERRUN 3100

GRC_COM_SRVR_RX_CHECKSUM_ERRR 3101

0xC1C

0xC1D

Internal error: data buffer overflow.

Invalid checksum on server side received.

GRC_COM_CLNT_RX_CHECKSUM_ERRR 3102 0xC1E Invalid checksum on client side received.

(WIN) Port not available.

(WIN) Port not opened.

(WIN) Unable to find TPS.

GRC_COM_CONS_REQ 3107 0xC23 started.

Att to send cons reqs

AUT

GRC_AUT_TIMEOUT

GRC_AUT_DETENT_ERROR

Leica TPS1200 – Version 1.50

8704 0x2200

8704

8705

0x2200

0x2201

Position not reached

Positioning not possible due to mounted EDM

199

GeoCOM Reference Manual

GRC_AUT_ANGLE_ERROR

GRC_AUT_INCACC

GRC_AUT_DEV_ERROR

GRC_AUT_NO_TARGET

GRC_AUT_BAD_ENVIRONMENT

GRC_AUT_DETECTOR_ERROR

GRC_AUT_NOT_ENABLED

8706

8708

8709

8710

8712

8713

8714

0x2202

Return-Code names and return-code values

Angle measurement error

0x2204

0x2205

0x2206

Position not exactly reached

Deviation measurement error

No target detected

0x2208

0x2209

0x220A

Bad environment conditions

Error in target acquisition

Target acquisition not enabled

GRC_AUT_DIST_STARTED 8717 Info: dist. measurement has been started

GRC_AUT_SUPPLY_TOO_HIGH

GRC_AUT_SUPPLY_TOO_LOW

8718

8719

0x220E

0x220F external Supply voltage is too high int. or ext. Supply voltage is too low

GRC_AUT_NO_WORKING_AREA

GRC_AUT_ARRAY_FULL

GRC_AUT_NO_DATA

8720

8721

8722

0x2210

0x2211

0x2212 working area not set power search data array is filled no data available

KDM 12544 0x3100

GRC_KDM_NOT_AVAILABLE 12544

FTR

0x3100 KDM device is not available.

13056 0x3300

GRC_FTR_NOTENOUGHSPACE

GRC_FTR_INVALIDINPUT

GRC_FTR_MISSINGSETUP

13058

13059

13060

0x3302

0x3303

0x3304 not enough space on device to proceed uploading

Rename of file failed. invalid parameter as input

Leica TPS1200 – Version 1.50 200

GeoCOM Reference Manual Hardware interface

B H

ARDWARE INTERFACE

B-1 SERIAL INTERFACE

A RS-232 interface is used as a hardware link between the TPS1200 and an external computer.

Signal paths RxD

TxD

Signal Ground

Voltage levels Logical 0 +3V to +25V

Logical 1 -3V to -25V

Baud rate 2400

4800

9600

19200 Default

Parity

38400

57600

115200

None Fixed

Data bits

Stop bits

8 Fixed

1 Fixed

Terminator CR/LF Default

The default settings for the interface are 19200 Baud, 8 data bits, 1 stop bit, no parity. The communication terminator is set to CR/LF. The parameters marked as ‘Fixed’ may not be changed. The other parameters are variable may be changed by the user.

Leica TPS1200 – Version 1.50 201

GeoCOM Reference Manual Hardware interface

B-2 DEBUGGING UTILITY

When debugging communicating systems it may be hard to locate the source of an error. Especially in combination with radios to communicate wireless, the number of error sources increases. The following should be checked carefully therefore:

- Are all communication parameters set up properly? Do both participants share the same parameters?

- Have the serial buffer been flushed after opening the serial port? If not and you are using the ASCII protocol then use a leading <LF> to clear the receiver buffer. In the function call protocol you do not need to take care of that.

- When using the ASCII protocol: Is your implementation of the protocol flow indeed synchronous? Or are you sending requests before having received the last reply?

- Are handshake lines for the radios set correctly?

- In case of character errors check shielding of the radio wiring and potential buffer overflow. In case of

Windows on 386 and 486 computers, check the UART type. If you do not have a UART with built in buffers

(16550 type), you may loose characters too.

It may be helpful for debugging purposes to build up a special cable to monitor the data transfers.

PC-

Appl

GND

TxD

RxD

GND

RxD

TxD

TPS

1N4148 or similar

TxD GND

PC/

Monitor

Leica TPS1200 – Version 1.50 202

GeoCOM Reference Manual Provided Samples

C P

ROVIDED

S

AMPLES

C-1 PROGRAM FRAMES

C-1.1

VBA Sample Program

The sample program shows how simple it is to build an effective application with Visual Basic. The sample program represents a simple measurement task that measures and displays the Hz angle and the V angle continuously. In addition you have the possibility to perform a distance measurement with the following distance measurement programs: single distance standard, single distance fast and tracking.

In order to execute this example program, install MSVB6.0 (or later) on your hard disk and copy the following files in a directory of your choice:

\SAMPLES\VB\VBSAMPLE.VBP

\SAMPLES\VB\VBSAMPLE.FRM

Visual Basic Project of the sample.

Main form of the sample.

\SAMPLES\VB\VBSAMPLE_SETUP.FRM

\SAMPLES\VB\COM_STUBSPUB.BAS

Communication parameter setup form.

Contains the declarations of the TPS1200 system functions.

\SAMPLES\VB\GEOCOMS2K.DLL

\SAMPLES\VB\VBSAMP32.EXE

Contains the implementation of GeoCOM.

Executable of the sample.

Finally connect the TPS1200 Theodolite with the preferred serial port on your personal computer and invoke the executable file. Press the Setup button to select the communication parameters (Serial Port, Baudrate, Protocol) and start the application with the button Go online . The button Quit terminates the application.

C-1.2

C/C++ Sample Programs

The provided sample programs show simple Visual C++ MFC (Microsoft foundation classes) applications. The functionality is exactly the same as in the Visual Basic program above.

The following files have to be copied into a Visual C++ Version 6.0 (or later) working directory in order to build a

32bit application:

\SAMPLES\VC\GEOCOM_SAMPLE.DSW Work space file of the project

\SAMPLES\VC\*.CPP

\SAMPLES\VC\*.H

C++ source files

C++ header files

\SAMPLES\VC\GEOCOM_SAMPLE.RC

\SAMPLES\VC\RES\GEOCOM_SAMPLE.RC

\SAMPLES\VC\RES\GEOCOM_SAMPLE.ICO

Resource file 1

Resource file 2

Icon file

\SAMPLES\VC\COM_PUB.HPP

\SAMPLES\VC\Release\GEOCOMS2K.LIB

Header file for GeoCOM

GeoCOM Library

\SAMPLES\VC\Release\GEOCOMS2K.DLL

\SAMPLES\VC\Release\GeoCOM_SAMPLE.EXE

Contains the implementation of GeoCOM

Executable of the sample

Note : To operate successfully the geocoms2k.dll

file must be accessible for the operating system, hence it must be located in a directory, which the operating system looks up for the requested DLL file

Leica TPS1200 – Version 1.50 203

GeoCOM Reference Manual Provided Samples

C-1.3

TCC Image Grabber Sample Program

The sample program shows how to use the imaging and file transfer commands with C++ .NET. The sample program allows to take an image with the on-axis ATR camera and show it on the PC. Please note that a valid GeoCOM imaging license key is required for this feature.

In order to execute this example program, install Microsoft Visual Studio 2005 (or later) on your hard disk and copy the following files in a directory of your choice:

\SAMPLES\TCCImageGrabber\

GeoComDllSample.sln

\SAMPLES\TCCImageGrabber\GeoComDllSample\

GeoComDllSample.vcproj

\SAMPLES\TCCImageGrabber\GeoComDllSample\

*.cpp

\SAMPLES\TCCImageGrabber\GeoComDllSample\

*.h

\SAMPLES\TCCImageGrabber\GeoComDllSample\

*.resx

\SAMPLES\TCCImageGrabber\GeoComDllSample\ com_pub.hpp

Visual Studio .NET solution.

Visual Studio .NET project.

C++ source files

C++ header files

Resource files

Header file for GeoCOM

\SAMPLES\TCCImageGrabber\GeoComDllSample\ release\GeoComS2K.lib

\SAMPLES\TCCImageGrabber\release\

GeoCOM Library

Contains the implementation of GeoCOM

GeoComS2K.dll

\SAMPLES\TCCImageGrabber\release\ Executable of the sample

GeoComDllSample.exe

Connect the theodolite with the preferred serial port on your personal computer and invoke the executable file. Press the

Com Port Settings button to select the communication parameters (Port, Baudrate, Mode) and start the application with the button Grab Image. The image is stored on the external CF-Card and is subsequently transferred to the PC. Exit terminates the application.

It may be necessary to install the Microsoft Visual C++ 2005 Redistributable Package (x86) on your computer if it does not have Visual C++ 2005 installed. The Microsoft Visual C++ 2005 SP1 Redistributable Package (x86) installs runtime components of Visual C++ Libraries and can be downloaded from the Microsoft Home Page.

Leica TPS1200 – Version 1.50 204

GeoCOM Reference Manual List of Remote Procedure Calls (RPC)

D L

IST OF

R

EMOTE

P

ROCEDURE

C

ALLS

(RPC)

D-1 RPC IN ALPHABETICAL ORDER

A

AUS_GetUserAtrState: 18006.......................................................................................................................................... 39

AUS_GetUserLockState: 18008....................................................................................................................................... 41

AUS_SetUserAtrState: 18005 .......................................................................................................................................... 40

AUS_SetUserLockState: 18007 ....................................................................................................................................... 42

AUT_ChangeFace: 9028 .................................................................................................................................................. 52

AUT_FineAdjust: 9037 .................................................................................................................................................... 54

AUT_GetFineAdjustMode: 9030 ..................................................................................................................................... 58

AUT_GetSearchArea: 9042.............................................................................................................................................. 61

AUT_GetUserSpiral: 9040 ............................................................................................................................................... 63

AUT_LockIn: 9013 .......................................................................................................................................................... 60

AUT_MakePositioning: 9027........................................................................................................................................... 49

AUT_PS_EnableRange: 9048 .......................................................................................................................................... 65

AUT_PS_SearchNext: 9051 ............................................................................................................................................. 68

AUT_PS_SearchWindow: 9052 ....................................................................................................................................... 67

AUT_PS_SetRange: 9047 ................................................................................................................................................ 66

AUT_ReadTimeout: 9012 ................................................................................................................................................ 47

AUT_ReadTol: 9008 ........................................................................................................................................................ 45

AUT_Search: 9029 ........................................................................................................................................................... 56

AUT_SetFineAdjustMode: 9031...................................................................................................................................... 59

AUT_SetSearchArea: 9043 .............................................................................................................................................. 62

AUT_SetTimeout: 9011 ................................................................................................................................................... 48

AUT_SetTol: 9007 ........................................................................................................................................................... 46

AUT_SetUserSpiral: 9041................................................................................................................................................ 64

B

BAP_GetMeasPrg: 17018 ................................................................................................................................................ 80

BAP_GetPrismDef: 17023 ............................................................................................................................................... 77

BAP_GetPrismType: 17009 ............................................................................................................................................. 73

BAP_GetPrismType: 17031 ............................................................................................................................................. 75

BAP_GetTargetType: 17022 ............................................................................................................................................ 71

BAP_GetUserPrismDef: 17033........................................................................................................................................ 78

BAP_MeasDistanceAngle: 17017 .................................................................................................................................... 82

BAP_SearchTarget: 17020 ............................................................................................................................................... 84

BAP_SetMeasPrg: 17019 ................................................................................................................................................. 81

BAP_SetPrismType: 17008.............................................................................................................................................. 74

BAP_SetPrismType: 17030.............................................................................................................................................. 76

BAP_SetTargetType: 17021............................................................................................................................................. 72

BAP_SetUserPrismDef: 17032......................................................................................................................................... 79

BMM_BeepAlarm: 11004 ................................................................................................................................................ 90

BMM_BeepNormal: 11003 .............................................................................................................................................. 91

C

COM_CloseConnection.................................................................................................................................................... 27

COM_End......................................................................................................................................................................... 25

COM_GetBaudRate.......................................................................................................................................................... 28

COM_GetBinaryAvailable: 113 ....................................................................................................................................... 99

COM_GetComFormat ...................................................................................................................................................... 32

COM_GetDoublePrecision: 108....................................................................................................................................... 22

COM_GetErrorText.......................................................................................................................................................... 36

COM_GetSWVersion: 110............................................................................................................................................... 95

COM_GetTimeOut ........................................................................................................................................................... 30

COM_GetWinSWVersion ................................................................................................................................................ 37

COM_Init ......................................................................................................................................................................... 24

Leica TPS1200 – Version 1.50 D-205

GeoCOM Reference Manual List of Remote Procedure Calls (RPC)

COM_NullProc: 0............................................................................................................................................................. 98

COM_OpenConnection .................................................................................................................................................... 26

COM_SetBinaryAvailable: 114...................................................................................................................................... 100

COM_SetComFormat....................................................................................................................................................... 33

COM_SetDoublePrecision: 107 ....................................................................................................................................... 23

COM_SetTimeOut............................................................................................................................................................ 31

COM_SwitchOffTPS: 112................................................................................................................................................ 97

COM_SwitchOnTPS: 111 ................................................................................................................................................ 96

COM_UseWindow ........................................................................................................................................................... 34

COM_ViewError .............................................................................................................................................................. 35

CSV_GetDateTime: 5008............................................................................................................................................... 107

CSV_GetDateTimeCentiSec: 5117 ................................................................................................................................ 112

CSV_GetDeviceConfig: 5035 ........................................................................................................................................ 105

CSV_GetInstrumentName: 5004.................................................................................................................................... 104

CSV_GetInstrumentNo: 5003......................................................................................................................................... 103

CSV_GetIntTemp: 5011 ................................................................................................................................................. 111

CSV_GetReflectorlessClass: 5100 ................................................................................................................................. 106

CSV_GetSWVersion: 5034 ............................................................................................................................................ 109

CSV_SetDateTime: 5007 ............................................................................................................................................... 108

E

EDM_GetEglIntensity: 1058 .......................................................................................................................................... 115

EDM_Laserpointer: 1004 ............................................................................................................................................... 114

EDM_SetEglIntensity: 1059........................................................................................................................................... 116

I

IMG_GetTccConfig: 23400............................................................................................................................................ 128

IMG_SetTccConfig: 23401 ............................................................................................................................................ 129

IMG_TakeTccImage: 23402........................................................................................................................................... 130

IOS_BeepOff: 20000 ........................................................................................................................................................ 93

IOS_BeepOn: 20001......................................................................................................................................................... 92

M

MOT_ReadLockStatus: 6021 ......................................................................................................................................... 132

MOT_SetVelocity: 6004 ................................................................................................................................................ 135

MOT_StartController: 6001 ........................................................................................................................................... 133

MOT_StopController: 6002............................................................................................................................................ 134

S

SUP_GetConfig: 14001 .................................................................................................................................................. 138

SUP_SetConfig: 14002................................................................................................................................................... 139

T

TMC_DoMeasure: 2008 ................................................................................................................................................. 157

TMC_GetAngle1: 2003 .................................................................................................................................................. 148

TMC_GetAngle5: 2107 .................................................................................................................................................. 150

TMC_GetAngSwitch: 2014............................................................................................................................................ 179

TMC_GetAtmCorr: 2029 ............................................................................................................................................... 162

TMC_GetCoordinate: 2082 ............................................................................................................................................ 144

TMC_GetEdmMode: 2021 ............................................................................................................................................. 182

TMC_GetFace: 2026 ...................................................................................................................................................... 177

TMC_GetFullMeas: 2167............................................................................................................................................... 155

TMC_GetHeight: 2011................................................................................................................................................... 160

TMC_GetInclineSwitch: 2007........................................................................................................................................ 180

TMC_GetPrismCorr: 2023 ............................................................................................................................................. 166

TMC_GetRefractiveCorr: 2031...................................................................................................................................... 167

TMC_GetRefractiveMethod: 2091................................................................................................................................. 169

TMC_GetSignal: 2022.................................................................................................................................................... 178

TMC_GetSimpleCoord: 2116......................................................................................................................................... 184

TMC_GetSimpleMea: 2108 ........................................................................................................................................... 146

Leica TPS1200 – Version 1.50 D-206

GeoCOM Reference Manual List of Remote Procedure Calls (RPC)

TMC_GetSlopeDistCorr: 2126....................................................................................................................................... 190

TMC_GetStation: 2009 .................................................................................................................................................. 171

TMC_IfDataAzeCorrError: 2114 ................................................................................................................................... 186

TMC_IfDataIncCorrError: 2115..................................................................................................................................... 188

TMC_QuickDist: 2117 ................................................................................................................................................... 152

TMC_SetAngSwitch: 2016 ............................................................................................................................................ 189

TMC_SetAtmCorr: 2028 ................................................................................................................................................ 163

TMC_SetEdmMode: 2020.............................................................................................................................................. 183

TMC_SetHandDist: 2019 ............................................................................................................................................... 158

TMC_SetHeight: 2012.................................................................................................................................................... 161

TMC_SetInclineSwitch: 2006 ........................................................................................................................................ 181

TMC_SetOrientation: 2113 ............................................................................................................................................ 164

TMC_SetRefractiveCorr: 2030....................................................................................................................................... 168

TMC_SetRefractiveMethod: 2090 ................................................................................................................................. 170

TMC_SetStation: 2010 ................................................................................................................................................... 172

Leica TPS1200 – Version 1.50 D-207