void Start()
{
Manus.ManusInit();
glove = new Glove(hand);
testloop = 0;
hg = HandGesture.Default;
}
public void ParseContent(Manus manus, string header, string __)
{
if (!float.TryParse(header, out speed))
{
throw new ManusBuildingException(this.GetType().Name + " was unable to parse \"" + header + "\" as a number!");
}
}
public void ParseContent(Manus manus, string header, string _)
{
if (!int.TryParse(header.Trim(), out p_steps))
{
throw new ManusBuildingException(this.GetType().Name + " was unable to parse \"" + header + "\" as an integer!");
}
}
public void ParseContent(Manus manus, string header, string _)
{
if (!float.TryParse(header.Trim(), out waittime))
{
throw new ManusBuildingException(this.GetType().Name + " was unable to parse \"" + header + "\" as a float!");
}
}
void Start()
{
Manus.ManusInit();
glove = new Glove(hand);
timer = new Timer();
timer.AutoReset = false;
timer.Elapsed += Timer_Elapsed;
}
/// <summary>
/// Returns the Manus hand object based on the given enum request.
/// </summary>
/// <param name="device">The enum for left/right hand</param>
/// <returns>The Manus hand object</returns>
public static manus_hand_t GetHand(device_type_t device)
{
manus_hand_t tempHand = new manus_hand_t();
Manus.ManusGetHand(handData.Session, device, out tempHand);
return(tempHand);
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_SDK_MANUS_VR
Manus.ManusSetVibration(handData.Session,
isRightGlove ? device_type_t.GLOVE_RIGHT : device_type_t.GLOVE_LEFT,
intensity,
(ushort)hapticDuration);
#endif
}
protected override void CancelHaptics()
{
#if VRTK_DEFINE_SDK_MANUS_VR
Manus.ManusSetVibration(handData.Session,
isRightGlove ? device_type_t.GLOVE_RIGHT : device_type_t.GLOVE_LEFT,
0,
(ushort)hapticDuration);
#endif
}
bool manusIsConnected(IEntity entity)
{
var vrGloveHand = entity.GetComponent <IF_VR_Glove_Hand>();
HandDataManager.EnsureLoaded();
var deviceType = vrGloveHand.Type == IF_VR_HandType.Left ? device_type_t.GLOVE_LEFT : device_type_t.GLOVE_RIGHT;
vrGloveHand.Connected = Manus.ManusIsConnected(HandDataManager.ManusSession, deviceType);
return(vrGloveHand.Connected);
}
/// <summary>
/// Makes the motor in the Manus Glove vibrate for a certain duration
/// </summary>
/// <param name="aPower">The power of the motor from 0 to 1</param>
/// <param name="aDuration">The duration in seconds</param>
public int SetVibrationPeriod(float aPower, float aDuration)
{
if (timer == null || timer.Enabled)
{
return(Manus.ERROR);
}
timer.Interval = aDuration * 1000.0;
timer.Start();
return(Manus.ManusSetVibration(hand, aPower));
}
public void ParseContent(Manus manus, string header, string body)
{
// Reset so they dont take values from previous manus
target = null;
doneAction = SetPopupSettings.Action.Undefined;
slowPrint = false;
this.header = header;
this.body = body;
//// Trim all the lines
//this.body = string.Join("\n", new List<string>(body.Split('\n')).ConvertAll(line=>line.Trim()).ToArray());
}
//Cycles one period of update for each of the manus hands.
void Update()
{
//Manus.ManusInit(out session);
isL = Manus.ManusIsConnected(session, device_type_t.GLOVE_LEFT);
isR = Manus.ManusIsConnected(session, device_type_t.GLOVE_RIGHT);
add_manus_hand(ref lefth, ref leftraw, device_type_t.GLOVE_LEFT, left_arm, myProfileL);
add_manus_hand(ref righth, ref rightraw, device_type_t.GLOVE_RIGHT, right_arm, myProfileR);
//Finger[] f = this.hands[0].get_hand_profile_manus().ToArray();
if (Is_right)
{
double[] ls = this.hands[1].get_raw_hand().ToArray();
bat_value = this.hands[1].get_bat();
index = ls[0];
middle = ls[1];
ring = ls[2];
thumb = ls[3];
//List<Finger> tempF = this.hands[1].get_hand();
//List<pose> ps = tempF[my_finger_opt].get_finger_data();
//my_quart = ps[select_option].rotation;
my_quart = this.hands[1].get_wrist();
my_quart.x = (my_quart.x * 180F) / 3.14165F;
my_quart.y = (my_quart.y * 180F) / 3.14165F;
my_quart.z = (my_quart.z * 180F) / 3.14165F;
my_quart.w = (my_quart.w * 180F) / 3.14165F;
my_vec = my_quart.eulerAngles;
}
else
{
double[] ls = this.hands[0].get_raw_hand().ToArray();
bat_value = this.hands[0].get_bat();
index = ls[0];
middle = ls[1];
ring = ls[2];
thumb = ls[3];
//List<Finger> tempF = this.hands[0].get_hand();
//List<pose> ps = tempF[my_finger_opt].get_finger_data();
//my_quart = ps[select_option].rotation;
my_quart = this.hands[0].get_wrist();
my_quart.x = (my_quart.x * 180F) / 3.14165F;
my_quart.y = (my_quart.y * 180F) / 3.14165F;
my_quart.z = (my_quart.z * 180F) / 3.14165F;
my_quart.w = (my_quart.w * 180F) / 3.14165F;
my_vec = my_quart.eulerAngles;
}
//Quaternion q = hands[0].get_wrist();
// Debug.Log("Wrist data= X: " + q.x + "Y: " + q.y + "Z: " + q.z + "W: " + q.w);
//Debug.Log(carpal_inx);
}
//I start the program.
void Start()
{
Debug.Log("Starting Manus_API");
session = new IntPtr();
lefth = new manus_hand_t();
righth = new manus_hand_t();
leftraw = new manus_hand_raw_t();
rightraw = new manus_hand_raw_t();
myProfileL = new ik_profile_t();
myProfileR = new ik_profile_t();
left_arm = new ik_body_t();
right_arm = new ik_body_t();
isR = false;
isL = false;
Manus.ManusInit(out session);
Debug.Log("Done.");
}
//Function that phrases in a single finger
private void add_manus_hand(ref manus_hand_t hand, ref manus_hand_raw_t raw_hand, device_type_t which_hand_side, ik_body_t body_side, ik_profile_t my_profile)
{
//Manus Hand Objects
Manus_hand_obj hand_in_use = new Manus_hand_obj();
//Process data for the left hand, including raw data.
Manus.ManusGetHandRaw(session, which_hand_side, out raw_hand);
Manus.ManusGetProfile(session, out my_profile); ///Wrong assumption, it does not provide real-time data.
Manus.ManusGetHand(session, which_hand_side, out hand);
//Manus.ManusGetHand_id(session, 2602524395, which_hand_side, out hand);
Manus.ManusGetBatteryLevel(session, which_hand_side, out bat_value);
//Set Battery level
hand_in_use.set_bat(bat_value);
//Set Arm calculations
add_arm_calc(ref hand, ref body_side, ref my_profile, ref hand_in_use);
//Set the raw_double finger data from manus
add_hand_fingers_raw(ref raw_hand, ref which_hand_side, ref hand_in_use);
//Set manus_profile finger data
add_manus_profile_hands(ref my_profile, ref hand_in_use);
//Set regular Manus hand data
add_hand_fingers(ref hand, ref which_hand_side, ref hand_in_use);
//Add relevant data to the hands array
if (which_hand_side == device_type_t.GLOVE_LEFT)
{
//hands.insert(hands.begin(),hand_in_use); //Left Glove
hands[0] = hand_in_use;
}
else
{
//hands.assign(1, hand_in_use); //Right Glove
hands[1] = hand_in_use;
}
}
/// <summary>
/// Constructor which loads the HandModel
/// </summary>
void Start()
{
// Ensure the library initialized correctly.
Manus.ManusInit();
// Initialize the glove and the associated skeletal model.
glove = new Glove(hand);
if (hand == GLOVE_HAND.GLOVE_LEFT)
{
modelObject = Resources.Load <GameObject>("Manus_Handv2_Left");
animationClip = Resources.Load <AnimationClip>("Manus_Handv2_Left");
}
else
{
modelObject = Resources.Load <GameObject>("Manus_Handv2_Right");
animationClip = Resources.Load <AnimationClip>("Manus_Handv2_Right");
}
gameRoot = FindDeepChild(gameObject.transform, "Wrist");
modelRoot = FindDeepChild(modelObject.transform, "Wrist");
modelObject.SetActive(true);
}
/// <summary>
/// Vibrate the glove
/// </summary>
private void VibrateHand(device_type_t device)
{
Manus.ManusSetVibration(HandData.Instance.Session, device, 0.7f, 150);
}
public static void ManusSDKDllInit()
{
Manus.ManusInit(out session);
}
public void VibrateVerySoftLeft()
{
Manus.ManusSetVibration(handData.Session, device_type_t.GLOVE_LEFT, 0.6f, 300);
}
public void VibrateSoftRight()
{
Manus.ManusSetVibration(handData.Session, device_type_t.GLOVE_RIGHT, 0.8f, 150);
}
public void VibrateSoftLeft()
{
Manus.ManusSetVibration(handData.Session, device_type_t.GLOVE_LEFT, 0.9f, 150);
}
public void VibrateVerySoftRight()
{
Manus.ManusSetVibration(handData.Session, device_type_t.GLOVE_RIGHT, 0.5f, 300);
}
/// <summary>
/// Vibrate the glove
/// </summary>
private void VibrateHand()
{
Manus.ManusSetVibration(HandData.Session, DeviceType, 0.7f, 150);
}
//vibrate right hand
private void VibrateHandRight()
{
Manus.ManusSetVibration(HandData.Instance.Session, DeviceTypeRight, 0.7f, 150);
}
public void ParseContent(Manus manus, string _, string body)
{
string[] allRows = body.Split(Loader.linebreaks, StringSplitOptions.None);
for (int i = 0; i < allRows.Length; i++)
{
string row = allRows[i].Trim();
if (row.Length == 0)
{
continue;
}
Match match = Regex.Match(row, @"^([_\-\wåäöÅÄÖ.,]+)\s*=\s*(.+)\s*$");
if (!match.Success)
{
throw new ManusBuildingException("Unable to parse bubble settings \"" + allRows[i] + "\"");
}
string g1 = match.Groups[1].Value.TrimEnd();
string g2 = match.Groups[2].Value.TrimEnd();
switch (g1.ToLower())
{
case "action":
try {
doneAction = (Action)Enum.Parse(typeof(Action), g2, true);
if (doneAction == Action.Undefined)
{
throw new Exception();
}
} catch {
throw new ManusBuildingException("Unable to parse action, no enum value matches \"" + g2 + "\"");
}
break;
case "target":
Match m = Regex.Match(g2, @"^\(([\s\d\.,\-;]+)\)$");
if (m.Success)
{
// It's in paranteses. Convert all to numbers
string content = m.Groups[1].Value;
List <float> numbers;
try {
numbers = content.Split(';', ',').Select(s => float.Parse(s.Replace(" ", "").Replace("\t", ""))).ToList();
} catch {
throw new ManusBuildingException("Unable to parse target position. Invalid number representations in \"" + g2 + "\"");
}
switch (numbers.Count)
{
case 1: target = Mathf.RoundToInt(numbers[0]); break;
case 2: target = new Vector2(numbers[0], numbers[1]); break;
case 3: target = new Vector3(numbers[0], numbers[1], numbers[2]); break;
default:
throw new ManusBuildingException("Invalid number of number values (" + numbers.Count + "). Only (row), (x,y), and (x,y,z) are valid.");
}
}
else
{
// May be a selectable
target = g2;
}
break;
case "slowprint":
slowPrint = MyParseBool(g2);
if (!slowPrint.HasValue)
{
throw new ManusBuildingException("Unable to parse slowprint, invalid boolean value \"" + g2 + "\"!");
}
break;
default:
throw new ManusBuildingException("Unknown bubble setting \"" + g1 + "\"");
}
}
}
/// <summary>
/// Makes the motor in the Manus Glove vibrate at a constant power.
/// If the motor is currently set with SetVibrationPeriod, that timer is stopped.
/// Turn the motor off by setting the power to 0.
/// </summary>
/// <param name="aPower">The power of the motor from 0 to 1</param>
public int SetConstantVibration(float aPower)
{
return(Manus.ManusSetVibration(hand, aPower));
}
void onApplicationQuit()
{
Manus.ManusExit();
}
private void Timer_Elapsed(object sender, ElapsedEventArgs e)
{
Manus.ManusSetVibration(hand, 0.0f);
}
public void ParseContent(Manus manus, string _, string body)
{
code = body ?? string.Empty;
}
public void ParseContent(Manus manus, string _, string __)
{
}
public static void ManusSDKDllShut()
{
Manus.ManusExit(session);
}
