public void Connect(NatNetConnectionType connType,
IPAddress localAddress,
IPAddress serverAddress,
UInt16 serverCommandPort = NatNetConstants.DefaultCommandPort,
UInt16 serverDataPort = NatNetConstants.DefaultDataPort,
IPAddress multicastAddress = null)
{
ThrowIfDisposed();
sNatNetClientConnectParams initParams = new sNatNetClientConnectParams {
ConnectionType = connType,
ServerCommandPort = serverCommandPort,
ServerDataPort = serverDataPort,
LocalAddress = localAddress.ToString(),
ServerAddress = serverAddress.ToString(),
MulticastAddress = multicastAddress == null ? null : multicastAddress.ToString()
};
NatNetError result;
result = NatNetLib.NativeMethods.NatNet_Client_Connect(m_clientHandle, ref initParams);
NatNetException.ThrowIfNotOK(result, "NatNet_Client_Connect failed.");
result = NatNetLib.NativeMethods.NatNet_Client_GetServerDescription(m_clientHandle, out m_serverDesc);
NatNetException.ThrowIfNotOK(result, "NatNet_Client_GetServerDescription failed.");
ServerAppVersion = new Version(
m_serverDesc.HostAppVersion[0],
m_serverDesc.HostAppVersion[1],
m_serverDesc.HostAppVersion[2],
m_serverDesc.HostAppVersion[3]);
Connected = true;
}
public NatNetServerDiscovery(IEnumerable <string> knownServerAddresses = null)
{
m_nativeCallbackHandler = ServerDiscoveredNativeThunk;
if (knownServerAddresses == null)
{
NatNetError result = NatNetLib.NativeMethods.NatNet_CreateAsyncServerDiscovery(out m_discoveryHandle, m_nativeCallbackHandler);
NatNetException.ThrowIfNotOK(result, "NatNet_CreateAsyncServerDiscovery failed.");
if (m_discoveryHandle == IntPtr.Zero)
{
throw new NatNetException("NatNet_CreateAsyncServerDiscovery returned null handle.");
}
}
else
{
NatNetError result = NatNetLib.NativeMethods.NatNet_CreateAsyncServerDiscovery(out m_discoveryHandle, m_nativeCallbackHandler, IntPtr.Zero, false);
NatNetException.ThrowIfNotOK(result, "NatNet_CreateAsyncServerDiscovery failed.");
foreach (string serverAddress in knownServerAddresses)
{
result = NatNetLib.NativeMethods.NatNet_AddDirectServerToAsyncDiscovery(m_discoveryHandle, serverAddress);
NatNetException.ThrowIfNotOK(result, "NatNet_AddDirectServerToAsyncDiscovery failed.");
}
result = NatNetLib.NativeMethods.NatNet_StartAsyncDiscovery(m_discoveryHandle);
NatNetException.ThrowIfNotOK(result, "NatNet_StartAsyncDiscovery failed.");
}
}
public void RemoteTrigger(string command)
{
ThrowIfDisposed();
// TODO: MarshalAs...
NatNetError retval = NatNetLib.NativeMethods.SendMessage(command);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client RemoteTrigger failed.");
}
public NatNetError Request(string request, out IntPtr pResponse, out Int32 pResponseLenBytes, Int32 timeoutMs = 1000, Int32 numAttempts = 1)
{
ThrowIfDisposed();
NatNetError retval = NatNetLib.NativeMethods.NatNet_Client_Request(m_clientHandle, request, out pResponse, out pResponseLenBytes, timeoutMs, numAttempts);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_Request failed.");
return(retval);
}
public void Disconnect()
{
ThrowIfDisposed();
if (Connected)
{
NatNetError retval = NatNetLib.NativeMethods.NatNet_Client_Disconnect(m_clientHandle);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_Disconnect failed.");
Connected = false;
}
}
public NatNetClient(NatNetConnectionType connectionType)
{
NatNetError retval = NatNetLib.NativeMethods.NatNet_Client_Create(out m_clientHandle, connectionType);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_Create failed.");
if (m_clientHandle == IntPtr.Zero)
{
throw new NatNetException("NatNet_Client_Create returned null handle.");
}
// This ensures the reverse P/Invoke delegate passed to the native code stays alive.
m_nativeFrameReceivedHandler = FrameReceivedNativeThunk;
retval = NatNetLib.NativeMethods.NatNet_Client_SetFrameReceivedCallback(m_clientHandle, m_nativeFrameReceivedHandler);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_SetFrameReceivedCallback failed.");
}
public Int32 RequestInt32(string request, Int32 timeoutMs = 1000, Int32 numAttempts = 1)
{
ThrowIfDisposed();
IntPtr responsePtr;
Int32 responseLen;
NatNetError result = NatNetLib.NativeMethods.NatNet_Client_Request(m_clientHandle, request, out responsePtr, out responseLen, timeoutMs, numAttempts);
NatNetException.ThrowIfNotOK(result, "NatNet_Client_Request failed.");
if (responseLen != Marshal.SizeOf(typeof(Int32)))
{
throw new NatNetException("Response has incorrect length");
}
Int32[] responseArray = { Int32.MinValue };
Marshal.Copy(responsePtr, responseArray, 0, 1);
return(responseArray[0]);
}
public void Connect(IPAddress localAddress,
IPAddress serverAddress,
UInt16 serverCommandPort = NatNetConstants.DefaultCommandPort,
UInt16 serverDataPort = NatNetConstants.DefaultDataPort,
IPAddress multicastAddress = null)
{
ThrowIfDisposed();
sNatNetClientConnectParams initParams = new sNatNetClientConnectParams {
LocalAddress = localAddress.ToString(),
ServerAddress = serverAddress.ToString(),
ServerCommandPort = serverCommandPort,
ServerDataPort = serverDataPort,
MulticastAddress = multicastAddress == null ? null : multicastAddress.ToString()
};
NatNetError retval = NatNetLib.NativeMethods.NatNet_Client_Connect(m_clientHandle, ref initParams);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_Connect failed.");
Connected = true;
}
public DataDescriptions GetDataDescriptions()
{
ThrowIfDisposed();
IntPtr pDataDescriptions;
NatNetError retval = NatNetLib.NativeMethods.NatNet_Client_GetDataDescriptionList(m_clientHandle, out pDataDescriptions);
NatNetException.ThrowIfNotOK(retval, "NatNet_Client_GetDataDescriptions failed.");
sDataDescriptions dataDescriptions = (sDataDescriptions)Marshal.PtrToStructure(pDataDescriptions, typeof(sDataDescriptions));
// Do a quick first pass to determine the required capacity for the returned lists.
Int32 numMarkerSetDescs = 0;
Int32 numRigidBodyDescs = 0;
Int32 numSkeletonDescs = 0;
Int32 numForcePlateDescs = 0;
for (Int32 i = 0; i < dataDescriptions.DataDescriptionCount; ++i)
{
sDataDescription desc = dataDescriptions.DataDescriptions[i];
switch (desc.DescriptionType)
{
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_MarkerSet:
++numMarkerSetDescs;
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_RigidBody:
++numRigidBodyDescs;
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_Skeleton:
++numSkeletonDescs;
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_ForcePlate:
++numForcePlateDescs;
break;
}
}
// Allocate the lists to be returned based on our counts.
DataDescriptions retDescriptions = new DataDescriptions {
MarkerSetDescriptions = new List <sMarkerSetDescription>(numMarkerSetDescs),
RigidBodyDescriptions = new List <sRigidBodyDescription>(numRigidBodyDescs),
SkeletonDescriptions = new List <sSkeletonDescription>(numSkeletonDescs),
ForcePlateDescriptions = new List <sForcePlateDescription>(numForcePlateDescs),
};
// Now populate the lists.
for (Int32 i = 0; i < dataDescriptions.DataDescriptionCount; ++i)
{
sDataDescription desc = dataDescriptions.DataDescriptions[i];
switch (desc.DescriptionType)
{
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_MarkerSet:
sMarkerSetDescription markerSetDesc = (sMarkerSetDescription)Marshal.PtrToStructure(desc.Description, typeof(sMarkerSetDescription));
retDescriptions.MarkerSetDescriptions.Add(markerSetDesc);
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_RigidBody:
sRigidBodyDescription rigidBodyDesc = (sRigidBodyDescription)Marshal.PtrToStructure(desc.Description, typeof(sRigidBodyDescription));
retDescriptions.RigidBodyDescriptions.Add(rigidBodyDesc);
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_Skeleton:
sSkeletonDescription skeletonDesc = (sSkeletonDescription)Marshal.PtrToStructure(desc.Description, typeof(sSkeletonDescription));
retDescriptions.SkeletonDescriptions.Add(skeletonDesc);
break;
case (Int32)NatNetDataDescriptionType.NatNetDataDescriptionType_ForcePlate:
sForcePlateDescription forcePlateDesc = (sForcePlateDescription)Marshal.PtrToStructure(desc.Description, typeof(sForcePlateDescription));
retDescriptions.ForcePlateDescriptions.Add(forcePlateDesc);
break;
}
}
return(retDescriptions);
}
