PhidgetSpatial connection to plus

[LisanneVenix]

Hi, I am new to Plus. I am trying to connect phidgetSpatial 3/3/3 precision 1044_1 to plus, but I keep getting this error:

_Connection failed!

Please select another device set and try again!_

I used the example config on the website for phidget but I am not sure what to change in the file. How can I get this started?

<PlusConfiguration version="2.1">
  <DataCollection StartupDelaySec="1.0">
    <DeviceSet 
      Name="PlusServer: PhidgetSpatial MARG sensor" 
      Description="Broadcasting tool tracking data through OpenIGTLink
Keep the device stationary for 2 seconds after connect for accurate gyroscope initialization."
    />
    <Device
      Id="TrackerDevice"
      Type="PhidgetSpatial"
      AhrsAlgorithm="MADGWICK_MARG"
      AhrsAlgorithmGain="1.5"
      TiltSensorWestAxisIndex="1"
      FilteredTiltSensorAhrsAlgorithm="MADGWICK_IMU"
      FilteredTiltSensorAhrsAlgorithmGain="0.01"
      FilteredTiltSensorWestAxisIndex="1"      
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />    
        <DataSource Type="Tool" Id="TiltSensor" PortName="TiltSensor" />
        <DataSource Type="Tool" Id="FilteredTiltSensor" PortName="FilteredTiltSensor" />
        <DataSource Type="Tool" Id="Accelerometer" PortName="Accelerometer" />
        <DataSource Type="Tool" Id="Gyroscope" PortName="Gyroscope" />
        <DataSource Type="Tool" Id="Magnetometer" PortName="Magnetometer" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerStream" >
          <DataSource Id="OrientationSensor"/>
          <DataSource Id="TiltSensor"/>
          <DataSource Id="FilteredTiltSensor"/>
          <DataSource Id="Accelerometer"/>
          <DataSource Id="Gyroscope"/>
          <DataSource Id="Magnetometer"/>
        </OutputChannel>
      </OutputChannels>
    </Device>
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerStream" />
      </InputChannels>
    </Device>    
  </DataCollection>
  
  <PlusOpenIGTLinkServer 
    MaxNumberOfIgtlMessagesToSend="1" 
    MaxTimeSpentWithProcessingMs="50" 
    ListeningPort="18944" 
    OutputChannelId="TrackerStream" > 
    <DefaultClientInfo> 
      <MessageTypes> 
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames> 
        <Transform Name="OrientationSensorToTracker" /> 
        <Transform Name="TiltSensorToTracker" /> 
        <Transform Name="FilteredTiltSensorToTracker" /> 
        <xTransform Name="AccelerometerToTracker" /> 
        <xTransform Name="GyroscopeToTracker" /> 
        <xTransform Name="MagnetometerToTracker" /> 
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
  
</PlusConfiguration>

[LisanneVenix]

This was in the log file:
|458.363000|SERVER> Device TrackerDevice cannot connect to PhidgetSpatial hardware device (serial number: any). Problem waiting for attachment (Timed Out)| in :\D\PSNPb\PlusLib\src\PlusDataCollection\PhidgetSpatialTracking\vtkPlusPhidgetSpatialTracker.cxx(382)
|ERROR|458.392000|SERVER> TrackerDevice: Cannot connect to data source, ConnectInternal failed| in :\D\PSNPb\PlusLib\src\PlusDataCollection\vtkPlusDevice.cxx(1147)
|ERROR|458.393000|SERVER> Unable to connect device: TrackerDevice.| in :\D\PSNPb\PlusLib\src\PlusDataCollection\vtkPlusDataCollector.cxx(353)
|ERROR|458.394000|SERVER> Datacollector failed to connect to devices| in :\D\PSNPb\PlusLib\src\PlusServer\Tools\PlusServer.cxx(106)
|ERROR|458.679000| Server stopped unexpectedly. Return code: 1| in E:\D\PSNPb\PlusApp\PlusServerLauncher\PlusServerLauncherMainWindow.cxx(864)
|INFO|458.680000| Disconnect request successful| in E:\D\PSNPb\PlusApp\PlusServerLauncher\PlusServerLauncherMainWindow.cxx(632)

[adamrankin]

I'm not very familiar with the Phidget device. Can you click connect, then try unplugging and plugging the device while it's trying to connect?

[LisanneVenix]

It is giving the exact same error! By the way, I am not pressing 'connect' but i am pressing the 'Launch server' button. Does that mean I am doing something wrong?

[adamrankin]

No, sorry, I just used the wrong words. I'm not sure what to do. It is failing here:
https://github.com/PlusToolkit/PlusLib/blob/master/src/PlusDataCollection/PhidgetSpatialTracking/vtkPlusPhidgetSpatialTracker.cxx#L376

but I don't know why. @lassoan @Sunderlandkyl any experience with the Phidget tracker?

[Sunderlandkyl]

Sorry, I don't have much experience with it.

[dgmato]

@LisanneVenix if you've recently purchased the Phidget device, you might have acquired the model MOT0109_0. This new model uses a different processor and it is not compatible with the old library. See message in website:

Due to parts and components going obsolete and becoming unavailable, the MOT0109_0 uses a different processor than the 1044_1B that is not supported under Phidget21. If you're using our old libraries you must upgrade to Phidget22 before you can make use of this Phidget.

It seems that in order to use this new model, Phidget libraries should be upgraded in PLUS toolkit.

I hope this helps.