/// <summary>
/// Returns the number of connected cameras as an int
/// </summary>
public int CameraCount()
{
return(MotionCaptureController.GetConnectedCameraCount());
}
/// <summary>
/// Starts the Motion Capture Engine
/// </summary>
public void MotionCaptureStart()
{
bool errors = false;
int result = -1;
string filepath = null;
msg = null;
filepath = SETTINGSFOLDER;
if (MotionCaptureController.APIRunning == false) // Only start motion capture if it isn't already running
{
result = MotionCaptureController.Initialize();
msg += "Initializing Tracking Tools Motion Caputre API :\n" + MotionCaptureController.GetErrorMessage(result);
if (result != 0)
{
errors = true;
}
result = MotionCaptureController.LoadCalibration(filepath + "cali.cal");
msg += "\nLoading Calibration File \"cali.cal\" :\n" + MotionCaptureController.GetErrorMessage(result);
if (result != 0)
{
errors = true;
}
result = MotionCaptureController.LoadTrackables(filepath + "Trackables.tra");
msg += "\nLoading Trackable File \"Trackables.tra\" :\n" + MotionCaptureController.GetErrorMessage(result);
if (result != 0)
{
errors = true;
}
result = DataProcessing.JointProcessor.LoadJointDefinition(filepath + "joints.xml");
if (result == 0)
{
msg += "\nLoading Joint File \"joints.xml\" :\nSuccess";
}
else
{
errors = true;
msg += "\nLoading Joint File \"joints.xml\" :\nFailed";
}
if (errors)
{
Thread messageBoxThread = new Thread(new ThreadStart(ShowMessageBox));
if (_viewingMsg == false)
{
messageBoxThread.Start();
}
MotionCaptureStop(); // Falied to start correctly so shut it down
}
else
{
msg = null; // Clear the log as there weren't any problems
StartUpdateTimer();
if (camerasStartedEvent != null)
{
camerasStartedEvent();
}
}
}
}
/// <summary>
/// Shuts down the api and drivers so that the program can exit
/// </summary>
public void FinalShutdown()
{
MotionCaptureController.FinalShutdown();
}
/// <summary>
/// Converts byte to command and then executes command
/// </summary>
/// <param name="receivedCommand"></param>
public void handleCommand(byte[] receivedCommand)
{
lock (this) // Lock the code
{
int command = (int)receivedCommand[2];
switch (command)
{
// 0 is Start Cameras
case 0:
MotionCaptureStart();
break;
// 1 is Stop Cameras
case 1:
MotionCaptureStop();
break;
// 2 is Send Camera Coordinates
case 2:
if (MotionCaptureController.APIRunning)
{
MotionCaptureController.UpdateCameraList();
OptitrackCameraList.TransmitListOfCameras();
}
break;
// 3 is Start Treadmill At Fixed Speed
case 3:
{
TreadmillController.SetSpeed((float)BitConverter.ToDouble(receivedCommand, 4));
break;
}
// 4 is Stop Treadmill
case 4:
{
TreadmillController.SetSpeed(0.0f);
break;
}
case 6:
{
if (VirtualMotionCaputrePlayback)
{
VirtualMotionCaptureController.UpdateCoordinates();
}
else
{
MotionCaptureController.UpdateCoordinates(true, true);
}
break;
}
// 7 is Calibrate ground plane.
case 7:
{
//TODO: Reinstate or remove this?
//MotionCapture.Calibrate();
break;
}
//8 is toggle displaying feet
case 8:
{
if (ToggleFeetCommandReceivedEvent != null)
{
ToggleFeetCommandReceivedEvent(BitConverter.ToBoolean(receivedCommand, 4));
}
break;
}
case 9: // Shuts down the drivers so the application can close
{
FinalShutdown();
break;
}
case 10: // Clears the CoR data - This should be called at the start of each session
{
JointProcessor.ResetCoRCalculations();
break;
}
case 11: // Requests an update for the current speed
{
TreadmillController.TransmitSpeed();
break;
}
default:
{
System.Diagnostics.Debug.WriteLine("Invalid command received: " + command.ToString());
break;
}
}
}
}
/// <summary>
/// Stops the Motion Capture Engine
/// </summary>
public void MotionCaptureStop()
{
StopUpdateTimer();
MotionCaptureController.Shutdown();
}
