internal void Init(string[] args)
{
string[] newArgs = new string[args.Length + 1];
newArgs[0] = "program";
if (System.Reflection.Assembly.GetEntryAssembly() != null)
{
newArgs[0] = System.Reflection.Assembly.GetEntryAssembly().FullName;
}
Array.Copy(args, 0, newArgs, 1, args.Length);
ctx = Cfunctions.Survive_init_internal(newArgs.Length, newArgs, IntPtr.Zero, log_func);
if (ctx == IntPtr.Zero)
{
throw new Exception("There was a problem initializing the lib!");
}
light_Process_Func = LightEvent;
raw_Pose_Func = PoseEvent;
lighthouse_pose_process_func = LightHouseEvent;
angle_Process_Func = AngleEvent;
button_Process_Func = ButtonEvent;
Config_Func = ConfigEvent;
imu_Process_Func = IMUEvent;
log_func = InfoEvent;
Cfunctions.Survive_install_pose_fn(ctx, raw_Pose_Func);
Cfunctions.Survive_install_light_fn(ctx, light_Process_Func);
Cfunctions.Survive_install_lighthouse_pose_fn(ctx, lighthouse_pose_process_func);
Cfunctions.Survive_install_angle_fn(ctx, angle_Process_Func);
Cfunctions.Survive_install_button_fn(ctx, button_Process_Func);
Cfunctions.Survive_install_config_fn(ctx, Config_Func);
Cfunctions.Survive_install_imu_fn(ctx, imu_Process_Func);
}
public void Close()
{
if (ctx != IntPtr.Zero)
{
Cfunctions.Survive_close(ctx);
}
ctx = IntPtr.Zero;
}
public int Poll()
{
return(Cfunctions.Survive_poll(ctx));
}
virtual protected void LightEvent(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lighthouse)
{
Cfunctions.Survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse);
}
virtual protected void PoseEvent(SurviveObjectPtr so, UInt32 timecode, SurvivePose pose)
{
Cfunctions.Survive_default_pose_process(so, timecode, pose);
}
virtual protected void AngleEvent(SurviveObjectPtr so, int sensor_id, int acode, uint timecode, double length, double angle, uint lh)
{
Cfunctions.Survive_default_angle_process(so, sensor_id, acode, timecode, length, angle, lh);
}
protected void LightHouseEvent(SurviveObjectPtr ctx, byte lighthouse, SurvivePose lighthouse_pose)
{
Cfunctions.Survive_default_lighthouse_pose_process(ctx, lighthouse, lighthouse_pose);
}
virtual protected void ButtonEvent(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, ushort axis1Val, byte axis2Id, ushort axis2Val)
{
Cfunctions.Survive_default_button_process(so, eventType, buttonId, axis1Id, axis1Val, axis2Id, axis2Val);
}
virtual protected int ConfigEvent(SurviveObjectPtr so, string ct0conf, int len)
{
return(Cfunctions.Survive_default_config_process(so, ct0conf, len));
}
virtual protected void IMUEvent(SurviveObjectPtr so, int mask, SurviveIMUData accelgyro, uint timecode,
int id)
{
Cfunctions.Survive_default_imu_process(so, mask, accelgyro, timecode, id);
}
public void Dispose()
{
Cfunctions.Survive_close(ctx);
ctx = IntPtr.Zero;
}
virtual protected void PoseEvent(SurviveObjectPtr so, byte lighthouse, SurvivePose pose)
{
Cfunctions.Survive_default_raw_pose_process(so, lighthouse, pose);
Console.WriteLine("PoseEvent");
}
