private void handleImageCompletion(ref LEAP_IMAGE_COMPLETE_EVENT imageMsg)
{
LEAP_IMAGE_PROPERTIES props;
StructMarshal <LEAP_IMAGE_PROPERTIES> .PtrToStruct(imageMsg.properties, out props);
ImageFuture pendingImage = _pendingImageRequestList.FindAndRemove(imageMsg.token);
if (pendingImage == null)
{
return;
}
//Update distortion data, if changed
if ((_currentDistortionData.Version != imageMsg.matrix_version) || !_currentDistortionData.IsValid)
{
_currentDistortionData = new DistortionData();
_currentDistortionData.Version = imageMsg.matrix_version;
_currentDistortionData.Width = LeapC.DistortionSize; //fixed value for now
_currentDistortionData.Height = LeapC.DistortionSize; //fixed value for now
if (_currentDistortionData.Data == null || _currentDistortionData.Data.Length != (2 * _currentDistortionData.Width * _currentDistortionData.Height * 2))
{
_currentDistortionData.Data = new float[(int)(2 * _currentDistortionData.Width * _currentDistortionData.Height * 2)]; //2 float values per map point
}
LEAP_DISTORTION_MATRIX matrix;
StructMarshal <LEAP_DISTORTION_MATRIX> .PtrToStruct(imageMsg.distortionMatrix, out matrix);
Array.Copy(matrix.matrix_data, _currentDistortionData.Data, matrix.matrix_data.Length);
if (LeapDistortionChange != null)
{
LeapDistortionChange.DispatchOnContext <DistortionEventArgs>(this, EventContext, new DistortionEventArgs(_currentDistortionData));
}
}
pendingImage.imageData.CompleteImageData(props.type,
props.format,
props.bpp,
props.width,
props.height,
imageMsg.info.timestamp,
imageMsg.info.frame_id,
props.x_offset,
props.y_offset,
props.x_scale,
props.y_scale,
_currentDistortionData,
LeapC.DistortionSize,
imageMsg.matrix_version);
Image completedImage = pendingImage.imageObject;
if (LeapImageReady != null)
{
LeapImageReady.DispatchOnContext <ImageEventArgs>(this, EventContext, new ImageEventArgs(completedImage));
}
}
private void handleImageCompletion(ref LEAP_IMAGE_COMPLETE_EVENT imageMsg)
{
LEAP_IMAGE_PROPERTIES props = LeapC.PtrToStruct <LEAP_IMAGE_PROPERTIES>(imageMsg.properties);
ImageReference pendingImage = null;
lock (lockPendingImageList)
{
_pendingImageRequests.TryGetValue(imageMsg.token.requestID, out pendingImage);
}
if (pendingImage != null)
{
//Update distortion data, if changed
if ((_currentDistortionData.Version != imageMsg.matrix_version) || !_currentDistortionData.IsValid)
{
_currentDistortionData = new DistortionData();
_currentDistortionData.Version = imageMsg.matrix_version;
_currentDistortionData.Width = LeapC.DistortionSize; //fixed value for now
_currentDistortionData.Height = LeapC.DistortionSize; //fixed value for now
if (_currentDistortionData.Data == null || _currentDistortionData.Data.Length != (2 * _currentDistortionData.Width * _currentDistortionData.Height * 2))
{
_currentDistortionData.Data = new float[(int)(2 * _currentDistortionData.Width * _currentDistortionData.Height * 2)]; //2 float values per map point
}
LEAP_DISTORTION_MATRIX matrix = LeapC.PtrToStruct <LEAP_DISTORTION_MATRIX>(imageMsg.distortionMatrix);
Array.Copy(matrix.matrix_data, _currentDistortionData.Data, matrix.matrix_data.Length);
this.LeapDistortionChange.Dispatch <DistortionEventArgs>(this, new DistortionEventArgs(_currentDistortionData));
}
pendingImage.imageData.CompleteImageData(props.type,
props.format,
props.bpp,
props.width,
props.height,
imageMsg.info.timestamp,
imageMsg.info.frame_id,
props.x_offset,
props.y_offset,
props.x_scale,
props.y_scale,
_currentDistortionData,
LeapC.DistortionSize,
imageMsg.matrix_version);
Image completedImage = pendingImage.imageObject;
lock (lockPendingImageList)
{
_pendingImageRequests.Remove(imageMsg.token.requestID);
}
this.LeapImageReady.Dispatch <ImageEventArgs>(this, new ImageEventArgs(completedImage));
}
}
//Run in Polster thread, fills in object queues
private void processMessages()
{
try
{
eLeapRS result;
_leapInit.Dispatch <LeapEventArgs>(this, new LeapEventArgs(LeapEvent.EVENT_INIT));
while (true)
{
LEAP_CONNECTION_MESSAGE _msg = new LEAP_CONNECTION_MESSAGE();
lock (_connLocker) {
if (_leapConnection == IntPtr.Zero)
{
break;
}
uint timeout = 1000;
result = LeapC.PollConnection(_leapConnection, timeout, ref _msg);
}
if (result != eLeapRS.eLeapRS_Success)
{
reportAbnormalResults("LeapC PollConnection call was ", result);
continue;
}
switch (_msg.type)
{
case eLeapEventType.eLeapEventType_Connection:
LEAP_CONNECTION_EVENT connection_evt = StructMarshal <LEAP_CONNECTION_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleConnection(ref connection_evt);
break;
case eLeapEventType.eLeapEventType_ConnectionLost:
LEAP_CONNECTION_LOST_EVENT connection_lost_evt = StructMarshal <LEAP_CONNECTION_LOST_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleConnectionLost(ref connection_lost_evt);
break;
case eLeapEventType.eLeapEventType_Device:
LEAP_DEVICE_EVENT device_evt = StructMarshal <LEAP_DEVICE_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleDevice(ref device_evt);
break;
case eLeapEventType.eLeapEventType_DeviceLost:
LEAP_DEVICE_EVENT device_lost_evt = StructMarshal <LEAP_DEVICE_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleLostDevice(ref device_lost_evt);
break;
case eLeapEventType.eLeapEventType_DeviceFailure:
LEAP_DEVICE_FAILURE_EVENT device_failure_evt = StructMarshal <LEAP_DEVICE_FAILURE_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleFailedDevice(ref device_failure_evt);
break;
case eLeapEventType.eLeapEventType_Tracking:
LEAP_TRACKING_EVENT tracking_evt = StructMarshal <LEAP_TRACKING_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleTrackingMessage(ref tracking_evt);
break;
case eLeapEventType.eLeapEventType_ImageComplete:
completeCount++;
LEAP_IMAGE_COMPLETE_EVENT image_complete_evt = StructMarshal <LEAP_IMAGE_COMPLETE_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleImageCompletion(ref image_complete_evt);
break;
case eLeapEventType.eLeapEventType_ImageRequestError:
failedCount++;
LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT failed_image_evt = StructMarshal <LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleFailedImageRequest(ref failed_image_evt);
break;
case eLeapEventType.eLeapEventType_LogEvent:
LEAP_LOG_EVENT log_evt = StructMarshal <LEAP_LOG_EVENT> .PtrToStruct(_msg.eventStructPtr);
reportLogMessage(ref log_evt);
break;
case eLeapEventType.eLeapEventType_PolicyChange:
LEAP_POLICY_EVENT policy_evt = StructMarshal <LEAP_POLICY_EVENT> .PtrToStruct(_msg.eventStructPtr);
handlePolicyChange(ref policy_evt);
break;
case eLeapEventType.eLeapEventType_ConfigChange:
LEAP_CONFIG_CHANGE_EVENT config_change_evt = StructMarshal <LEAP_CONFIG_CHANGE_EVENT> .PtrToStruct(_msg.eventStructPtr);
handleConfigChange(ref config_change_evt);
break;
case eLeapEventType.eLeapEventType_ConfigResponse:
handleConfigResponse(ref _msg);
break;
default:
//discard unknown message types
Logger.Log("Unhandled message type " + Enum.GetName(typeof(eLeapEventType), _msg.type));
break;
} //switch on _msg.type
} //while running
}
catch (Exception e)
{
Logger.Log("Exception: " + e);
this.Cleanup();
}
}
//Run in Polster thread, fills in object queues
private void processMessages()
{
try
{
eLeapRS result;
LeapInit.Dispatch <LeapEventArgs>(this, new LeapEventArgs(LeapEvent.EVENT_INIT));
while (_isRunning)
{
if (_leapConnection != IntPtr.Zero)
{
LEAP_CONNECTION_MESSAGE _msg = new LEAP_CONNECTION_MESSAGE();
uint timeout = 1000;
result = LeapC.PollConnection(_leapConnection, timeout, ref _msg);
reportAbnormalResults("LeapC PollConnection call was ", result);
if (result == eLeapRS.eLeapRS_Success)
{
switch (_msg.type)
{
case eLeapEventType.eLeapEventType_Connection:
LEAP_CONNECTION_EVENT connection_evt = LeapC.PtrToStruct <LEAP_CONNECTION_EVENT>(_msg.eventStructPtr);
handleConnection(ref connection_evt);
break;
case eLeapEventType.eLeapEventType_ConnectionLost:
LEAP_CONNECTION_LOST_EVENT connection_lost_evt = LeapC.PtrToStruct <LEAP_CONNECTION_LOST_EVENT>(_msg.eventStructPtr);
handleConnectionLost(ref connection_lost_evt);
break;
case eLeapEventType.eLeapEventType_Device:
LEAP_DEVICE_EVENT device_evt = LeapC.PtrToStruct <LEAP_DEVICE_EVENT>(_msg.eventStructPtr);
handleDevice(ref device_evt);
break;
case eLeapEventType.eLeapEventType_DeviceLost:
LEAP_DEVICE_EVENT device_lost_evt = LeapC.PtrToStruct <LEAP_DEVICE_EVENT>(_msg.eventStructPtr);
handleLostDevice(ref device_lost_evt);
break;
case eLeapEventType.eLeapEventType_DeviceFailure:
LEAP_DEVICE_FAILURE_EVENT device_failure_evt = LeapC.PtrToStruct <LEAP_DEVICE_FAILURE_EVENT>(_msg.eventStructPtr);
handleFailedDevice(ref device_failure_evt);
break;
case eLeapEventType.eLeapEventType_Tracking:
LEAP_TRACKING_EVENT tracking_evt = LeapC.PtrToStruct <LEAP_TRACKING_EVENT>(_msg.eventStructPtr);
handleTrackingMessage(ref tracking_evt);
break;
case eLeapEventType.eLeapEventType_ImageComplete:
completeCount++;
LEAP_IMAGE_COMPLETE_EVENT image_complete_evt = LeapC.PtrToStruct <LEAP_IMAGE_COMPLETE_EVENT>(_msg.eventStructPtr);
handleImageCompletion(ref image_complete_evt);
break;
case eLeapEventType.eLeapEventType_ImageRequestError:
failedCount++;
LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT failed_image_evt = LeapC.PtrToStruct <LEAP_IMAGE_FRAME_REQUEST_ERROR_EVENT>(_msg.eventStructPtr);
handleFailedImageRequest(ref failed_image_evt);
break;
case eLeapEventType.eLeapEventType_TrackedQuad:
LEAP_TRACKED_QUAD_EVENT quad_evt = LeapC.PtrToStruct <LEAP_TRACKED_QUAD_EVENT>(_msg.eventStructPtr);
handleQuadMessage(ref quad_evt);
break;
case eLeapEventType.eLeapEventType_LogEvent:
LEAP_LOG_EVENT log_evt = LeapC.PtrToStruct <LEAP_LOG_EVENT>(_msg.eventStructPtr);
reportLogMessage(ref log_evt);
break;
case eLeapEventType.eLeapEventType_PolicyChange:
LEAP_POLICY_EVENT policy_evt = LeapC.PtrToStruct <LEAP_POLICY_EVENT>(_msg.eventStructPtr);
handlePolicyChange(ref policy_evt);
break;
case eLeapEventType.eLeapEventType_ConfigChange:
LEAP_CONFIG_CHANGE_EVENT config_change_evt = LeapC.PtrToStruct <LEAP_CONFIG_CHANGE_EVENT>(_msg.eventStructPtr);
handleConfigChange(ref config_change_evt);
break;
case eLeapEventType.eLeapEventType_ConfigResponse:
handleConfigResponse(ref _msg);
break;
default:
//discard unknown message types
Logger.Log("Unhandled message type " + Enum.GetName(typeof(eLeapEventType), _msg.type));
break;
} //switch on _msg.type
} // if valid _msg.type
else if (result == eLeapRS.eLeapRS_NotConnected)
{
this.LeapConnectionLost.Dispatch <ConnectionLostEventArgs>(this, new ConnectionLostEventArgs());
result = LeapC.CreateConnection(out _leapConnection);
reportAbnormalResults("LeapC CreateConnection call was ", result);
result = LeapC.OpenConnection(_leapConnection);
reportAbnormalResults("LeapC OpenConnection call was ", result);
}
} // if have connection handle
} //while running
}
catch (Exception e)
{
Logger.Log("Exception: " + e);
}
}
