private void ReceivingMain()
{
log.Info("Started the receive thread.");
Volatile.Write(ref this.receivingState, RUNNING);
var msg = new Msg();
msg.InitPool(this.maxFrameSize);
using (var pullSocket = new PullSocket(this.incomingConnection))
{
while (Volatile.Read(ref this.receivingState) == RUNNING)
{
try
{
if (pullSocket.TryReceive(ref msg, new TimeSpan(0, 0, 5)))
{
var body = msg.Data;
if (this.encoder.Decode(body, out var envelope))
{
this.subject.OnNext(envelope);
}
}
msg.InitPool(this.maxFrameSize);
}
catch (Exception ex)
{
log.Error(ex, ex.Message);
}
}
}
Volatile.Write(ref this.receivingState, STOPPED);
log.Info("Receiving thread has stopped.");
}
protected override void UpdateExtendedControls()
{
if (isRegistered == false)
{
return;
}
if (_lastCenterEyePosition == Vector3.zero)
{
Vector3 position = Vector3.zero;
Quaternion orientation = Quaternion.identity;
GetTransform((byte)AirVRHeadTrackerKey.Transform, ref position, ref orientation);
if (position != Vector3.zero)
{
_lastCenterEyePosition = position;
}
}
Debug.Assert(_zmqPredictedMotion != null);
while (_zmqPredictedMotion.TryReceive(ref _msgRecv, System.TimeSpan.Zero))
{
if (_msgRecv.Size <= 0)
{
continue;
}
if (BitConverter.IsLittleEndian)
{
Array.Reverse(_msgRecv.Data, 0, 8);
for (int i = 0; i < 9; i++)
{
Array.Reverse(_msgRecv.Data, 8 + i * 4, 4);
}
}
_lastTimeStamp = BitConverter.ToDouble(_msgRecv.Data, 0);
_lastOrientation = new Quaternion(BitConverter.ToSingle(_msgRecv.Data, 8),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 2),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 3));
_predictionTime = BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 4);
_originalOrientation = new Quaternion(BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 5),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 6),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 7),
BitConverter.ToSingle(_msgRecv.Data, 8 + 4 * 8));
}
if (eventHandler != null)
{
eventHandler.OnReceivedPredictionServerData(_lastTimeStamp, _lastOrientation, _predictionTime, _originalOrientation);
}
OverrideControlTransform((byte)AirVRHeadTrackerKey.Transform, _lastTimeStamp, _lastOrientation * _lastCenterEyePosition, _lastOrientation);
}
private void Main()
{
Volatile.Write(ref this.currentState, RUNNING);
log.Info("Incoming Connection Started...");
using (this.pullSocket = new PullSocket(this.connectionString))
{
Msg msg = new Msg();
msg.InitPool(this.maxFrameSize);
while (Volatile.Read(ref this.currentState) == RUNNING)
{
try
{
if (pullSocket.TryReceive(ref msg, new TimeSpan(0, 0, 5)))
{
if (msg.Data.Length >= MessageSettings.HEADER_SIZE &&
this.encoder.Decode(msg.Data, out MessageEnvelope <TPayloadType, TBody> envelope))
{
if (this.incomingMessageBuilder.Add(envelope, out Message <TPayloadType, TBody> message))
{
this.incomingMessageProcessor.Handle(message);
}
}
else
{
log.Warn($"Invalid message received");
}
}
}
catch (Exception ex)
{
log.Error(ex, ex.Message);
}
}
}
log.Info("Incoming connection stopped.");
Volatile.Write(ref this.currentState, STOPPED);
}
public void Update()
{
if (_owner.bypassPrediction)
{
leftProjection = rightProjection = Rect.MinMaxRect(-1, -1, 1, 1);
return;
}
if (_zmqPredictedMotion == null)
{
return;
}
_prevExternalInputActualPress = externalInputActualPress;
_prevExternalInputPredictivePress = externalInputPredictivePress;
while (_zmqPredictedMotion.TryReceive(ref _msgRecv, TimeSpan.Zero))
{
if (_msgRecv.Size <= 0)
{
continue;
}
if (BitConverter.IsLittleEndian)
{
Array.Reverse(_msgRecv.Data, 0, 8);
for (int i = 0; i < 49; i++)
{
Array.Reverse(_msgRecv.Data, 8 + i * 4, 4);
}
}
int pos = 0;
timestamp = getLong(_msgRecv.Data, ref pos);
predictionTime = getFloat(_msgRecv.Data, ref pos);
var inputLeftEyePosition = getPosition(_msgRecv.Data, ref pos);
var inputRightEyePosition = getPosition(_msgRecv.Data, ref pos);
var inputHeadOrientation = getRotation(_msgRecv.Data, ref pos);
var inputProjection = getProjection(_msgRecv.Data, ref pos);
var inputRightHandPose = new Pose(getPosition(_msgRecv.Data, ref pos), getRotation(_msgRecv.Data, ref pos));
var leftEyePosition = getPosition(_msgRecv.Data, ref pos);
var rightEyePosition = getPosition(_msgRecv.Data, ref pos);
var headOrientation = getRotation(_msgRecv.Data, ref pos);
leftEye = new Pose(leftEyePosition, headOrientation);
rightEye = new Pose(rightEyePosition, headOrientation);
leftProjection = getProjection(_msgRecv.Data, ref pos);
rightProjection = getProjection(_msgRecv.Data, ref pos);
foveationInnerRadius = getFloat(_msgRecv.Data, ref pos);
foveationMiddleRadius = getFloat(_msgRecv.Data, ref pos);
rightHand = new Pose(getPosition(_msgRecv.Data, ref pos), getRotation(_msgRecv.Data, ref pos));
externalInputId = getUshort(_msgRecv.Data, ref pos);
var actualPress = getBool(_msgRecv.Data, ref pos);
var predictedPress = getBool(_msgRecv.Data, ref pos);
if (_prevExternalInputActualPress != actualPress)
{
externalInputActualPress = actualPress;
}
if (_prevExternalInputPredictivePress != predictedPress)
{
externalInputPredictivePress = predictedPress;
}
_motionDataProvider.Put(timestamp, predictionTime,
new Pose(inputLeftEyePosition, inputHeadOrientation), new Pose(inputRightEyePosition, inputHeadOrientation),
MPPProjection.FromRect(inputProjection), inputRightHandPose,
leftEye, rightEye,
MPPProjection.FromRect(leftProjection), MPPProjection.FromRect(rightProjection),
foveationInnerRadius, foveationMiddleRadius, rightHand);
}
}