//==========================================================================================
//
// Stops and restarts streaming
//
//==========================================================================================
public void SoftReset()
{
ISenseLib.ISD_GetStationConfig(handle, ref stationInfo[station - 1], station, true); // Get station config so we don't change anything accidentally
stationInfo[station - 1].State = false; // Setting state to false stops streaming
ISenseLib.ISD_SetStationConfig(handle, ref stationInfo[station - 1], station, true); // Send station config back to tracker
stationInfo[station - 1].State = true; // Re-enable streaming
ISenseLib.ISD_SetStationConfig(handle, ref stationInfo[station - 1], station, true); // Send station config back to tracker
}
//==========================================================================================
//
// Attempts to initialize connection to tracker
//
//==========================================================================================
void AttemptConnection()
{
DateTime maxWait = System.DateTime.Now;
DateTime curTime = System.DateTime.Now;
maxWait = maxWait.AddSeconds(10.0);
handle = 0;
while (maxWait.CompareTo(curTime) > 0 && handle < 1) //check for tracker for 10 seconds
{
handle = ISenseLib.ISD_OpenTracker(IntPtr.Zero, 0, false, true);
if (handle < 1)
{
Sleep(.1f);
}
curTime = System.DateTime.Now;
}
// Check value of handle to see if tracker was located
if (handle < 1)
{
print("Failed to detect");
print(handle);
}
else
{
print("Connected to InterSense tracking device!");
tracker = new ISenseLib.ISD_TRACKER_INFO_TYPE();
stationInfo = new ISenseLib.ISD_STATION_INFO_TYPE[8];
data = new ISenseLib.ISD_TRACKING_DATA_TYPE();
// Get tracker configuration info
ISenseLib.ISD_GetTrackerConfig(handle, ref tracker, true);
ISenseLib.ISD_GetStationConfig(handle, ref stationInfo[station - 1], station, true);
ISenseLib.ISD_SetStationConfig(handle, ref stationInfo[station - 1], station, true);
trackerModel = (ISenseLib.ISD_SYSTEM_MODEL)tracker.TrackerModel;
bufferSize = 180;
ISenseLib.ISD_RingBufferSetup(handle, station, null, bufferSize);
ISenseLib.ISD_RingBufferStart(handle, station);
}
}
public void SetPrediction(int pred)
{
ISenseLib.ISD_GetStationConfig(handle, ref stationInfo[station - 1], station, true);
stationInfo[station - 1].Prediction = pred;
ISenseLib.ISD_SetStationConfig(handle, ref stationInfo[station - 1], station, true);
}
//==========================================================================================
//
// Get and display tracker information
//
//==========================================================================================
static public void showTrackerStats(int handle, ref ISenseLib.ISD_HARDWARE_INFO_TYPE hwInfo)
{
ISenseLib.ISD_TRACKER_INFO_TYPE Tracker;
ISenseLib.ISD_STATION_INFO_TYPE Station;
int i, numStations = 4;
Tracker = new ISenseLib.ISD_TRACKER_INFO_TYPE();
Station = new ISenseLib.ISD_STATION_INFO_TYPE();
Console.ForegroundColor = ConsoleColor.Green;
if (ISenseLib.ISD_GetTrackerConfig(handle, ref Tracker, true))
{
Console.Out.WriteLine("\n\n********** InterSense Tracker Information ***********\n\n");
Console.Out.WriteLine("DLL Version: " + Tracker.LibVersion);
Console.Out.WriteLine("Type: " + systemType((int)Tracker.TrackerType) + " device on port " +
Tracker.Port);
Console.Out.WriteLine("Model: " + (hwInfo.Valid ?
new String(hwInfo.ModelName) : "Unknown Tracker"));
switch (Tracker.TrackerModel)
{
case (int)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS300:
case (int)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200:
numStations = 4;
break;
case (int)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS600:
case (int)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS900:
numStations = ISenseLib.ISD_MAX_STATIONS;
break;
default:
numStations = 1;
break;
}
Console.Out.WriteLine("\nStation\tTime\tState\tCube Enhancement Sensitivity Compass Prediction");
for (i = 1; i <= numStations; i++)
{
Console.Out.Write("{0:d}\t", i);
if (ISenseLib.ISD_GetStationConfig(handle, ref Station, i, false))
{
Console.Out.WriteLine("{0:s}\t{1:s}\t{2:s}\t {3:d}\t\t{4:d}\t {5:d}\t {6:d}",
Station.TimeStamped ? "ON" : "OFF",
Station.State ? "ON" : "OFF",
Station.InertiaCube == -1 ? "None" : Station.InertiaCube.ToString(),
Station.Enhancement,
Station.Sensitivity,
Station.Compass,
Station.Prediction);
}
else
{
Console.Out.WriteLine("ISD_GetStationConfig failed");
break;
}
}
Console.Out.WriteLine();
}
else
{
Console.Out.WriteLine("ISD_GetTrackerConfig failed");
}
}
static void Main(string[] args)
{
int handle;
ISenseLib.ISD_TRACKING_DATA_TYPE data;
ISenseLib.ISD_STATION_INFO_TYPE[] Station;
ISenseLib.ISD_TRACKER_INFO_TYPE Tracker;
ISenseLib.ISD_HARDWARE_INFO_TYPE hwInfo;
IntPtr handy;
bool done = false;
int station = 1;
uint maxStations = 8;
float lastTime;
// Detect first tracker. If you have more than one InterSense device and
// would like to have a specific tracker, connected to a known port,
// initialized first, then enter the port number instead of 0. Otherwise,
// tracker connected to the rs232 port with lower number is found first
handy = new IntPtr();
Console.ForegroundColor = ConsoleColor.Cyan;
Console.Out.WriteLine("Connecting to InterSense tracking device...");
// handle = ISenseLib.ISD_OpenTracker(IntPtr.Zero, 0, false, true);
handle = ISenseLib.ISD_OpenAllTrackers(IntPtr.Zero, ref handy, false, true);
// Check value of handle to see if tracker was located
if (handle < 1)
{
Console.Out.WriteLine("Failed to detect InterSense tracking device");
}
else
{
Console.Out.WriteLine("Connected; press 'q' to quit, 'e' for enhancement, 'i' to get info\n");
if (handle > 0)
{
Tracker = new ISenseLib.ISD_TRACKER_INFO_TYPE();
hwInfo = new ISenseLib.ISD_HARDWARE_INFO_TYPE();
Station = new ISenseLib.ISD_STATION_INFO_TYPE[8];
// Get tracker configuration info
ISenseLib.ISD_GetTrackerConfig(handle, ref Tracker, true);
if (ISenseLib.ISD_GetSystemHardwareInfo(handle, ref hwInfo))
{
if (hwInfo.Valid)
{
maxStations = hwInfo.Cap_MaxStations;
}
}
lastTime = ISenseLib.ISD_GetTime();
ISenseLib.ISD_GetStationConfig(handle, ref Station[station - 1], station, true);
data = new ISenseLib.ISD_TRACKING_DATA_TYPE();
while (!done)
{
ISenseLib.ISD_GetTrackingData(handle, ref data);
if (ISenseLib.ISD_GetTime() - lastTime > 0.02f)
{
lastTime = ISenseLib.ISD_GetTime();
showStationData(handle, Tracker,
Station[station - 1], data.Station[station - 1]);
}
if (Console.KeyAvailable)
{
switch (Console.ReadKey(true).KeyChar)
{
case '1':
station = 1;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
break;
case '2':
if (maxStations > 1)
{
station = 2;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '3':
if (maxStations > 2)
{
station = 3;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '4':
if (maxStations > 3)
{
station = 4;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '5':
if (maxStations > 4)
{
station = 5;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '6':
if (maxStations > 5)
{
station = 6;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '7':
if (maxStations > 6)
{
station = 7;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case '8':
if (maxStations > 7)
{
station = 8;
Console.Write("\n>> Current Station is set to {0:d} <<\n", station);
}
break;
case 'Q':
case 'q':
done = true;
break;
case 'I':
case 'i':
showTrackerStats(handle, ref hwInfo);
break;
case 'e': // Set enhancement; IS-x products only, not for InterTrax
case 'E':
// First get current station configuration
if (ISenseLib.ISD_GetStationConfig(handle,
ref Station[station - 1], station, true))
{
// Cycle enhancement
Station[station - 1].Enhancement =
(Station[station - 1].Enhancement + 1) % 3;
// Send the new configuration to the tracker
if (ISenseLib.ISD_SetStationConfig(handle,
ref Station[station - 1], station, true))
{
// display the results
showTrackerStats(handle, ref hwInfo);
}
}
break;
case 't':
case 'T':
// First get current station configuration
if (ISenseLib.ISD_GetStationConfig(handle,
ref Station[station - 1], station, true))
{
Station[station - 1].TimeStamped = !(Station[station - 1].TimeStamped);
// Send the new configuration to the tracker
if (ISenseLib.ISD_SetStationConfig(handle,
ref Station[station - 1], station, true))
{
// display the results
showTrackerStats(handle, ref hwInfo);
}
}
break;
case 'd':
case 'D':
showTrackerStats(handle, ref hwInfo);
break;
case 'p':
case 'P':
// First get current station configuration
if (ISenseLib.ISD_GetStationConfig(handle,
ref Station[station - 1], station, true))
{
// Cycle enhancement
Station[station - 1].Prediction =
(Station[station - 1].Prediction + 10) % 60;
// Send the new configuration to the tracker
if (ISenseLib.ISD_SetStationConfig(handle,
ref Station[station - 1], station, true))
{
// display the results
showTrackerStats(handle, ref hwInfo);
}
}
break;
case 's':
case 'S':
// First get current station configuration
if (ISenseLib.ISD_GetStationConfig(handle,
ref Station[station - 1], station, true))
{
// Cycle enhancement
Station[station - 1].Sensitivity =
(Station[station - 1].Sensitivity + 1) % 5;
if (Station[station - 1].Sensitivity == 0)
{
Station[station - 1].Sensitivity = 1;
}
// Send the new configuration to the tracker
if (ISenseLib.ISD_SetStationConfig(handle,
ref Station[station - 1], station, true))
{
// display the results
showTrackerStats(handle, ref hwInfo);
}
}
break;
case 'c':
case 'C':
// First get current station configuration
if (ISenseLib.ISD_GetStationConfig(handle,
ref Station[station - 1], station, true))
{
// Cycle enhancement
Station[station - 1].Compass =
(Station[station - 1].Compass + 1) % 3;
// Send the new configuration to the tracker
if (ISenseLib.ISD_SetStationConfig(handle,
ref Station[station - 1], station, true))
{
// display the results
showTrackerStats(handle, ref hwInfo);
}
}
break;
}
}
}
ISenseLib.ISD_CloseTracker(handle);
}
}
}