private static void HandleDataFromServer(object client)
{
TcpClient serverConnection = (TcpClient)client;
BinaryReader binaryReader = new BinaryReader(new BufferedStream(serverConnection.GetStream()));
int bytesRead;
while (true)
{
bytesRead = 0;
bool readTimestamp = false;
try
{
//blocks until a client sends a message
char messageType = binaryReader.ReadChar();
bytesRead = 1;
switch (messageType)
{
case 'M': // Marker
Marker receivedMarker = new Marker();
receivedMarker.MarkerId = binaryReader.ReadInt32();
//if have been sent End of Frame indication
if (receivedMarker.MarkerId == -2147483648)
{
receivedMarker.TimeStamp = binaryReader.ReadInt64();
readTimestamp = true;
MarkerList.RemoveExcessMarkersFromList(receivedMarker.TimeStamp);
if (WholeFrameReceivedEvent != null)
{
WholeFrameReceivedEvent();
}
}
if (readTimestamp == false)
{
receivedMarker.TimeStamp = binaryReader.ReadInt64();
}
receivedMarker.xCoordinate = binaryReader.ReadDouble();
receivedMarker.yCoordinate = binaryReader.ReadDouble();
receivedMarker.zCoordinate = binaryReader.ReadDouble();
bytesRead = 36;
if (receivedMarker.MarkerId != -2147483648)
{
MarkerList.AddMarker(receivedMarker);
}
break;
case 'F': // Filtered Marker
Marker receivedFilteredMarker = new Marker();
receivedFilteredMarker.MarkerId = binaryReader.ReadInt32();
//if have been sent End of Frame indication
if (receivedFilteredMarker.MarkerId == -2147483648)
{
receivedFilteredMarker.TimeStamp = binaryReader.ReadInt64();
readTimestamp = true;
FilteredMarkerList.RemoveExcessMarkersFromList(receivedFilteredMarker.TimeStamp);
if (FilteredMarkerListReceivedEvent != null)
{
FilteredMarkerListReceivedEvent(FilteredMarkerList.listOfMarkers);
}
}
if (readTimestamp == false)
{
receivedFilteredMarker.TimeStamp = binaryReader.ReadInt64();
}
receivedFilteredMarker.xCoordinate = binaryReader.ReadDouble();
receivedFilteredMarker.yCoordinate = binaryReader.ReadDouble();
receivedFilteredMarker.zCoordinate = binaryReader.ReadDouble();
bytesRead = 36;
if (receivedFilteredMarker.MarkerId != -2147483648)
{
FilteredMarkerList.AddMarker(receivedFilteredMarker);
}
break;
case 'R': // Trackable
Trackable receivedTrackable = new Trackable();
receivedTrackable.ID = binaryReader.ReadInt32();
receivedTrackable.TimeStamp = binaryReader.ReadInt64();
if (receivedTrackable.ID == -2147483648)
{
if (receivedTrackable.TimeStamp == 0)
{
trackableList.Clear();
}
//End of List
if (TrackableListReceivedEvent != null)
{
TrackableListReceivedEvent(trackableList);
}
//Read in any remaining data out of the buffer
receivedTrackable.TrackableIndex = binaryReader.ReadInt32();
receivedTrackable.Name = binaryReader.ReadString();
receivedTrackable.xCoordinate = binaryReader.ReadInt32();
receivedTrackable.yCoordinate = binaryReader.ReadInt32();
receivedTrackable.zCoordinate = binaryReader.ReadInt32();
receivedTrackable.Roll = binaryReader.ReadDouble();
receivedTrackable.Pitch = binaryReader.ReadDouble();
receivedTrackable.Yaw = binaryReader.ReadDouble();
}
else
{
if (trackableList.Count != 0) // alread contains data
{
//If from a previous time frame, clear the list
if (receivedTrackable.TimeStamp != trackableList[0].TimeStamp)
{
trackableList.Clear();
}
}
receivedTrackable.TrackableIndex = binaryReader.ReadInt32();
receivedTrackable.Name = binaryReader.ReadString();
receivedTrackable.xCoordinate = binaryReader.ReadInt32();
receivedTrackable.yCoordinate = binaryReader.ReadInt32();
receivedTrackable.zCoordinate = binaryReader.ReadInt32();
receivedTrackable.Roll = binaryReader.ReadDouble();
receivedTrackable.Pitch = binaryReader.ReadDouble();
receivedTrackable.Yaw = binaryReader.ReadDouble();
trackableList.Add(receivedTrackable);
}
break;
case 'J': // Joint
Joint receivedJoint = new Joint();
receivedJoint.ID = binaryReader.ReadInt32();
receivedJoint.TimeStamp = binaryReader.ReadInt64();
if (receivedJoint.ID == -2147483648)
{
if (receivedJoint.TimeStamp == 0)
{
jointList.Clear();
}
//End of List
if (JointListReceivedEvent != null)
{
JointListReceivedEvent(jointList);
}
//Read in any remaining data out of the buffer
receivedJoint.Exists = binaryReader.ReadBoolean();
receivedJoint.Name = binaryReader.ReadString();
receivedJoint.Trackable1 = binaryReader.ReadInt32();
receivedJoint.Trackable2 = binaryReader.ReadInt32();
receivedJoint.RollOffset = binaryReader.ReadDouble();
receivedJoint.PitchOffset = binaryReader.ReadDouble();
receivedJoint.YawOffset = binaryReader.ReadDouble();
receivedJoint.Roll = binaryReader.ReadDouble();
receivedJoint.Pitch = binaryReader.ReadDouble();
receivedJoint.Yaw = binaryReader.ReadDouble();
receivedJoint.xCoordinate = binaryReader.ReadInt32();
receivedJoint.yCoordinate = binaryReader.ReadInt32();
receivedJoint.zCoordinate = binaryReader.ReadInt32();
}
else
{
if (jointList.Count != 0) // alread contains data
{
//If from a previous time frame, clear the list
if (receivedJoint.TimeStamp != jointList[0].TimeStamp)
{
jointList.Clear();
}
}
receivedJoint.Exists = binaryReader.ReadBoolean();
receivedJoint.Name = binaryReader.ReadString();
receivedJoint.Trackable1 = binaryReader.ReadInt32();
receivedJoint.Trackable2 = binaryReader.ReadInt32();
receivedJoint.RollOffset = binaryReader.ReadDouble();
receivedJoint.PitchOffset = binaryReader.ReadDouble();
receivedJoint.YawOffset = binaryReader.ReadDouble();
receivedJoint.Roll = binaryReader.ReadDouble();
receivedJoint.Pitch = binaryReader.ReadDouble();
receivedJoint.Yaw = binaryReader.ReadDouble();
receivedJoint.xCoordinate = binaryReader.ReadInt32();
receivedJoint.yCoordinate = binaryReader.ReadInt32();
receivedJoint.zCoordinate = binaryReader.ReadInt32();
jointList.Add(receivedJoint);
}
break;
case 'C': // Camera
OptiTrackCamera receivedCamera = new OptiTrackCamera();
receivedCamera.CameraNumber = binaryReader.ReadInt32();
receivedCamera.xCoordinate = binaryReader.ReadDouble();
receivedCamera.yCoordinate = binaryReader.ReadDouble();
receivedCamera.zCoordinate = binaryReader.ReadDouble();
double[] rotationMatrixBuffer = new double[9];
for (int i = 0; i < 9; i++)
{
rotationMatrixBuffer[i] = binaryReader.ReadDouble();
}
receivedCamera.RotationMatrix = rotationMatrixBuffer;
bytesRead = 108;
OptitrackCameraList.AddCamera(receivedCamera);
break;
case 'T': // Treadmill (Speed)
if (AvatarSpeedChangedEvent != null)
{
AvatarSpeedChangedEvent((float)binaryReader.ReadDouble());
bytesRead = 8;
}
else
{
binaryReader.ReadDouble();
bytesRead = 8;
}
break;
case 'B': //flag type and flag
{
System.Diagnostics.Debug.WriteLine("MessageType: " + messageType.ToString());
char type = binaryReader.ReadChar();
System.Diagnostics.Debug.WriteLine("Type: " + type.ToString());
bool flag = binaryReader.ReadBoolean();
System.Diagnostics.Debug.WriteLine("Flag: " + flag.ToString());
bytesRead = 9;
switch (type)
{
case 'F': //Toggle Feet
{
if (ToggleDrawingOfFeetEvent != null)
{
ToggleDrawingOfFeetEvent(flag);
}
break;
}
}
break;
}
default:
System.Diagnostics.Debug.WriteLine("A transmit error has occured. " + messageType.ToString() + " recieved");
bytesRead = 5;
break;
}
}
catch (System.IO.IOException)
{
// a socket error has occured
System.Diagnostics.Debug.WriteLine("Socket error has occured in TCPServer.HandleClientComm");
break;
}
if (bytesRead == 0)
{
// the client has disconnected from the server
System.Diagnostics.Debug.WriteLine("The client has disconnected from the server");
break;
}
}
}
/// <summary>
/// Updates the list of markers with lastest marker coordinates
/// </summary>
public static void UpdateCoordinates(bool updateMarker, bool updateTrackable)
{
if (APIRunning)
{
// Get the timestamp to apply to all markers and trackables
long timeStamp = System.DateTime.Now.Ticks;
try
{
if (TrackingTools.UpdateAll() == 0) // If it updates correctly
{
if (updateMarker)
{
int markerCount = TrackingTools.FrameMarkerCount();
Marker marker = new Marker();
for (int i = 0; i < markerCount; i++)
{
//Get the marker details from TrackingTools
marker.MarkerId = i;
marker.TimeStamp = timeStamp;
marker.xCoordinate = -(int)(TrackingTools.FrameMarkerX(i) * 1000);
marker.yCoordinate = (int)(TrackingTools.FrameMarkerY(i) * 1000);
marker.zCoordinate = (int)(TrackingTools.FrameMarkerZ(i) * 1000);
MarkerList.AddMarker(marker);
marker = new Marker();
}
MarkerList.RemoveExcessMarkersFromList(markerCount);
OnMarkerListAvaliable(MarkerList.listOfMarkers, timeStamp);
}
if (updateTrackable)
{
int trackableCount = TrackingTools.TrackableCount();
trackableList.Clear();
Trackable newTrackable = null;
// Go through the loaded trackables and if they are in the current frame
// add them to the trackableList
for (int i = 0; i < trackableCount; i++)
{
if (TrackingTools.IsTrackableTracked(i))
{
newTrackable = TrackingTools.GetTrackableLocation(i);
newTrackable.TimeStamp = timeStamp;
trackableList.Add(newTrackable);
}
}
OnTrackableListAvaliable(trackableList, timeStamp);
}
}
}
catch (AccessViolationException ex)
{
System.Diagnostics.Debug.WriteLine("Error With UpdateALL() " + ex + " Time Stamp : " + timeStamp);
}
catch (System.Runtime.InteropServices.SEHException ex)
{
System.Diagnostics.Debug.WriteLine("Error With UpdateALL() " + ex + " Time Stamp : " + timeStamp);
}
}
}
private static void HandleDataFromServer(object client)
{
TcpClient serverConnection = (TcpClient)client;
//NetworkStream serverStream = serverConnection.GetStream();
Marker receivedMarker = new Marker();
OptiTrackCamera receivedCamera = new OptiTrackCamera();
BinaryReader binaryReader = new BinaryReader(new BufferedStream(serverConnection.GetStream()));
int bytesRead;
while (true)
{
bytesRead = 0;
bool readTimestamp = false;
try
{
//blocks until a client sends a message
char messageType = binaryReader.ReadChar();
bytesRead = 1;
switch (messageType)
{
case 'M':
receivedMarker.MarkerId = binaryReader.ReadInt32();
//if have been sent End of Frame indication
//TimeStamp field of End of Frame Indicator contains number of markers in the frame
//ie. receivedMarker.TimeStamp = number of markers in list
if (receivedMarker.MarkerId == -2147483648)
{
receivedMarker.TimeStamp = binaryReader.ReadInt32();
readTimestamp = true;
MarkerList.RemoveExcessMarkersFromList(receivedMarker.TimeStamp);
//MarkerList.MarkerBinList();
if (WholeFrameReceivedEvent != null)
{
WholeFrameReceivedEvent();
}
}
if (readTimestamp == false)
{
receivedMarker.TimeStamp = binaryReader.ReadInt32();
}
receivedMarker.xCoordinate = binaryReader.ReadDouble();
receivedMarker.yCoordinate = binaryReader.ReadDouble();
receivedMarker.zCoordinate = binaryReader.ReadDouble();
bytesRead = 36;
if (receivedMarker.MarkerId != -2147483648)
{
MarkerList.AddMarker(receivedMarker);
}
break;
case 'C':
receivedCamera.CameraNumber = binaryReader.ReadInt32();
receivedCamera.xCoordinate = binaryReader.ReadDouble();
receivedCamera.yCoordinate = binaryReader.ReadDouble();
receivedCamera.zCoordinate = binaryReader.ReadDouble();
double[] rotationMatrixBuffer = new double[9];
for (int i = 0; i < 9; i++)
{
rotationMatrixBuffer[i] = binaryReader.ReadDouble();
}
receivedCamera.RotationMatrix = rotationMatrixBuffer;
bytesRead = 108;
OptitrackCameraList.AddCamera(receivedCamera);
break;
case 'T':
if (AvatarSpeedChangedEvent != null)
{
AvatarSpeedChangedEvent((float)binaryReader.ReadDouble());
bytesRead = 8;
}
else
{
binaryReader.ReadDouble();
bytesRead = 8;
}
break;
default:
System.Diagnostics.Debug.WriteLine("A transmit error has occured. " + messageType.ToString() + " recieved");
bytesRead = 5;
break;
}
}
catch (System.IO.IOException)
{
// a socket error has occured
System.Diagnostics.Debug.WriteLine("Socket error has occured in TCPServer.HandleClientComm");
break;
}
if (bytesRead == 0)
{
// the client has disconnected from the server
System.Diagnostics.Debug.WriteLine("The client has disconnected from the server");
break;
}
//else message has been successfully recieved
//OptitrackCommandParser commandParser = new OptitrackCommandParser();
//commandParser.handleCommand(recievedCommand[0]);
}
}
