Polaris Server Code: Java Implementation for TINI Andrew A. Kitchen Kevin Wiehe Computer Integrated Surgery 8 March 2001

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

Polaris Server Code: Java Implementation for TINI Creation of Server (and Client) code for distributed control of a Polaris Tracker device—in Java for the TINI device

The Polaris Device Efficient Optical Tracker Communicates via an RS232 port Already has C++ code written for it It is available in the ERC and is vital for other ERC endeavors

The TINI Device Communicates via an RS232 port & an Ethernet port Dedicated board with sufficient RAM & speed Runs JAVA Cheap & Small

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

JacOrb Server Client Polaris Tracker IDL Stub TINI Device Information Flow Through Polaris Server / Client Ethernet RS-232 Outside the LabIn the Lab

Single Threaded Approach Client TINI (Server) Polaris Client sends a request(a Polaris command) to TINI using CORBA 2.TINI handles the request in CORBA and sends it to Polaris in ASCII via RS TINI listens to the serial port waiting for a response from Polaris that it received the request, and any data the request solicited. 4.TINI translates the Polaris response into CORBA and passes it on to the Client. Client receives a response to its initial request.

Double Threaded Approach Client TINI (Server) Polaris 1 2 . TINI continuously queries Polaris and stores all data in a database residing in TINI. Client sends a request(a Polaris command) to TINI using CORBA 2.Given that all real time information is now stored on TINI, TINI can send back the response to the initial request. 

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

Deliverables I.Minimum: I.Server code that implements Config(), LoadTool(tool), Init(), getToolFrame() and getToolPos() methods II.A Client that will demonstrate these methods in a distributed environment III.A single threaded server implementation II.Maximum: I.Server code that implements all Polaris functions (loading and tracking multiple tools, tracking both passively and actively, etc.) II.A multi-threaded implementation of the server code III.Ability to scale well with multiple clients (multi-threaded implementation?)

2 – 12 March: Dissect & Study the C++ Tracker Reference Model 12 March: Begin Porting C++ Tracker Reference Model to Embedded Java 12 March:Define interaction of server IDL and JacOrb 26 March:Begin writing server code 15 April:Begin re-writing basic functions, such as setConfig() & getTool() in Embedded Java 22 April:Begin writing simple client 30 April:Complete Project (implementation of server and simple client) Original Project Timeline

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

2 – 12 March: Dissect & Study the C++ Tracker Reference Model 12 March:Define interaction of server IDL and JacOrb 26 March:Begin writing server code *3 April:Began serial port coding 9 April:Begin re-writing basic functions, such as setConfig() & getTool() in Embedded Java *22 April:Complete serial port code *22 April:Begin testing server code on Polaris Device *29 April:Complete server code 29 April:Begin writing simple client 11 May:Complete Project (implementation of server and simple client) Black = done; Blue = future; Red = future & delayed; * = new Revised Project Timeline

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

What’s the Problem? I. We had difficulty implementing the serial port control code I.Java JDK1.3 doesn’t contain the necessary libraries for serial port control I.Solution: Get Java.Comm library from Sun II.Does the TINI support the Java.Comm library? I.Solution: We aren’t sure, but it is small, so we can port it to the TINI board if we have to—no problem.

Plan of Attack Brief outline of Polaris Server Code Project Implementation Overview Progress Thus Far Revised Plan of Action Particular Problems Encountered Dependencies

Internal Dependencies I.Working serial port code I.Effectively done – 22 April 2001 II.Basic Server code III.(Distributed Control?) IV.Client code

I.Access to TINI Device – focus of project I.Currently accessible in ERC II.Access to Polaris Tracker - needed to effectively test the server code I.Thesis work of Adam Morris & Andy Bzostek – done 20 April III.TINI JacOrb Implementation- needed for maximum deliverable, this dependency must be met I.Mike Wortley & Walter Leung’s Project External Dependencies