public PSMoveDataContext(
int moveID,
PSMoveRawControllerData_Concurrent controllerConcurrentData)
{
PSMoveID = moveID;
Pose = new PSMovePose();
RawControllerData = new PSMoveRawControllerData_TLS(controllerConcurrentData);
}
private PSMoveWorker()
{
WorkerSettings = new PSMoveWorkerSettings();
HaltThreadSignal = new ManualResetEvent(false);
ThreadExitedSignal = new ManualResetEvent(false);
WorkerThread = new Thread(() => { this.ThreadProc(); });
WorkerThread.Priority = System.Threading.ThreadPriority.AboveNormal;
WorkerControllerDataArray_Concurrent = new PSMoveRawControllerData_Concurrent[MAX_CONTROLLERS];
WorkerControllerDataArray = new PSMoveRawControllerData_TLS[MAX_CONTROLLERS];
for (int i = 0; i < WorkerControllerDataArray_Concurrent.Length; i++)
{
WorkerControllerDataArray_Concurrent[i] = new PSMoveRawControllerData_Concurrent();
WorkerControllerDataArray[i] = new PSMoveRawControllerData_TLS(WorkerControllerDataArray_Concurrent[i]);
}
psmoveapiHandle = IntPtr.Zero;
psmoveapiTrackerHandle = IntPtr.Zero;
}
public void ThreadUpdate()
{
using (new PSMoveHitchWatchdog("PSMoveWorker_ThreadUpdate", 34 * PSMoveHitchWatchdog.MICROSECONDS_PER_MILLISECOND)) {
// Setup or teardown tracking based on the updated tracking state
if (WorkerSettings.bTrackerEnabled && !WorkerContextIsTrackingSetup(Context))
{
WorkerContextSetupTracking(WorkerSettings, Context);
}
else if (!WorkerSettings.bTrackerEnabled && WorkerContextIsTrackingSetup(Context))
{
WorkerContextTeardownTracking(Context);
}
// Setup or tear down controller connections based on the number of active controllers
WorkerContextUpdateControllerConnections(Context);
// Renew the image on camera, if tracking is enabled
if (WorkerContextIsTrackingSetup(Context))
{
using (
new PSMoveHitchWatchdog("PSMoveWorker_UpdateImage", 33 * PSMoveHitchWatchdog.MICROSECONDS_PER_MILLISECOND)) {
PSMoveAPI.psmove_tracker_update_image(Context.PSMoveTracker); // Sometimes libusb crashes here.
}
}
// Update the raw positions on the local controller data
if (WorkerContextIsTrackingSetup(Context))
{
for (int psmove_id = 0; psmove_id < Context.PSMoveCount; psmove_id++)
{
PSMoveRawControllerData_TLS localControllerData = WorkerControllerDataArray[psmove_id];
if (WorkerSettings.bTrackerEnabled)
{
ControllerUpdatePositions(
WorkerSettings,
Context.PSMoveTracker,
Context.PSMoveFusion,
Context.PSMoves[psmove_id],
localControllerData);
}
else
{
localControllerData.IsSeenByTracker = false;
}
}
}
// Do bluetooth IO: Orientation, Buttons, Rumble
for (int psmove_id = 0; psmove_id < Context.PSMoveCount; psmove_id++)
{
//TODO: Is it necessary to keep polling until no frames are left?
while (PSMoveAPI.psmove_poll(Context.PSMoves[psmove_id]) > 0)
{
PSMoveRawControllerData_TLS localControllerData = WorkerControllerDataArray[psmove_id];
// Update the controller status (via bluetooth)
PSMoveAPI.psmove_poll(Context.PSMoves[psmove_id]); // Necessary to poll yet again?
// Store the controller orientation
ControllerUpdateOrientations(Context.PSMoves[psmove_id], localControllerData);
// Store the button state
ControllerUpdateButtonState(Context.PSMoves[psmove_id], localControllerData);
// Now read in requested changes from Component. e.g., RumbleRequest, CycleColourRequest
localControllerData.WorkerRead();
// Set the controller rumble (uint8; 0-255)
PSMoveAPI.psmove_set_rumble(Context.PSMoves[psmove_id], localControllerData.RumbleRequest);
// Push the updated rumble state to the controller
PSMoveAPI.psmove_update_leds(Context.PSMoves[psmove_id]);
if (localControllerData.CycleColourRequest)
{
if (WorkerSettings.bTrackerEnabled)
{
Debug.WriteLine("PSMoveWorker:: CYCLE COLOUR");
PSMoveAPI.psmove_tracker_cycle_color(Context.PSMoveTracker, Context.PSMoves[psmove_id]);
}
else
{
Debug.WriteLine("PSMoveWorker:: CYCLE COLOUR ignored! Tracking is disabled!");
}
localControllerData.CycleColourRequest = false;
}
// Publish Position, Orientation, and Button state to the concurrent data
// This also publishes updated CycleColourRequest.
localControllerData.WorkerPost();
}
}
}
}