//==========================================================================================
//
// Called once per frame. If we've connected to a tracker, get its data and move attached object with device
//
//==========================================================================================
void Update()
{
if (handle > 0)
{
if (sync)
{ // Try to predict
ISenseLib.ISD_STATION_DATA_TYPE bufferData = new ISenseLib.ISD_STATION_DATA_TYPE();
ISenseLib.ISD_RingBufferQuery(handle, station, ref bufferData, new IntPtr(), new IntPtr());
float dT = (float)Time.deltaTime;
float curTime = bufferData.TimeStamp; //TODO: is this right?
float timeToPredict = curTime + (framePredict * dT);
GetRingBufferDataAtTime(timeToPredict);
}
else
{
ISenseLib.ISD_GetTrackingData(handle, ref data); // Get the tracking data
}
ISenseLib.ISD_STATION_DATA_TYPE dataSet = data.Station[station - 1]; // Specify the dataset
// Only IS-1200 and IS-1500 have trackState
if (trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 || trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
trackState = dataSet.TrackingState;
}
Vector3 pos;
// If device can control position, control position!
if (trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS600 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS900 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
pos = new Vector3(dataSet.Position[1], -dataSet.Position[2], dataSet.Position[0]); // Their y is up/down while that's our z
transform.localPosition = pos;
}
// Time to deal with rotation!
float[] cbn = dataSet.Cbn;
float[] eulers;
cbn = AngleUtil.ConvertUnityCbn(cbn); // Converts our right-handed rotation frame to unity's left-handed one.
eulers = AngleUtil.Cbn2Euler(cbn);
transform.localRotation = Quaternion.Euler(eulers[1], eulers[2], eulers[0]); // Pitch, Yaw, Roll
}
}
//==========================================================================================
//
// Approximates data at time using closest data in ring buffer
//
//==========================================================================================
void GetRingBufferDataAtTime(float time)
{
ISenseLib.ISD_GetTrackingData(handle, ref data);
float[] lastPos = new float[3];
float[] lastCbn = new float[9];
float lastTime = -1;
// Search for first data point after time
while (data.Station[station - 1].NewData == 1 && data.Station[station - 1].TimeStamp < time)
{
// Store old data
for (int i = 0; i < 3; i = i + 1)
{
lastPos[i] = data.Station[station - 1].Position[i];
}
for (int i = 0; i < 9; i = i + 1)
{
lastCbn[i] = data.Station[station - 1].Cbn[i];
}
lastTime = data.Station[station - 1].TimeStamp;
ISenseLib.ISD_GetTrackingData(handle, ref data);
}
// If last data was saved
if (lastTime > 0)
{
float postTime = data.Station[station - 1].TimeStamp - time;
float prevTime = time - lastTime;
float postWeight = 1 - (postTime / (postTime + prevTime));
float prevWeight = 1 - (prevTime / (postTime + prevTime));
// Approximate data at time by weighing data from immediately before and immediately after
for (int i = 0; i < 3; i = i + 1)
{
data.Station[station - 1].Position[i] = (data.Station[station - 1].Position[i] * postWeight) + (lastPos[i] * prevWeight);
}
for (int i = 0; i < 9; i = i + 1)
{
data.Station[station - 1].Cbn[i] = (data.Station[station - 1].Cbn[i] * postWeight) + (lastCbn[i] * prevWeight);
}
data.Station[station - 1].TimeStamp = time;
}
}
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);
}
}
}