/// <summary>
/// See <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_get_reference.html">GetReference</a>.
/// <para />
/// From the documentation: Tracking results are reported relative to a predefined right-handed Cartesian coordinate
/// system, called the reference system. The default reference system is located at 1 meter from the PST Tracker. It is
/// oriented such that the Z-axis points away from the PST tracker and the X-axis is parallel to the PST tracker. The
/// transformation matrix defining the reference system is a row-major 4x4 homogeneous transformation matrix.
/// </summary>
public Matrix4x4 GetReference()
{
RestRequest request = new RestRequest("GetReference");
IRestResponse response = m_client.Get(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return(Matrix4x4.identity);
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
Matrix4x4 referenceMatrix =
Array.ConvertAll(
ValuesBetweenBrackets(response.Content),
x => { return(float.Parse(x, NumberFormatInfo.InvariantInfo)); })
.FromRowMajor();
// the identity matrix represents the default PST reference system, which is located at 1 meter away from the tracker
// meaning whenever we get an identity matrix, we need to return a matrix that accurately represents this 1 meter offset!
if (referenceMatrix.isIdentity)
{
referenceMatrix.SetPosition(new Vector3(0, 0, 1));
}
return(referenceMatrix);
}
public void ProcessTrackerDataString(string restResponseContent)
{
string[] trackerData = restResponseContent.Split(
new[] { "\r\n", "data: " }, StringSplitOptions.RemoveEmptyEntries);
//trackerData.PrintElements();
for (int i = 0; i < trackerData.Length; i++)
{
// sanity check
if (!trackerData[i].StartsWith(@"{""TrackerData"":"))
{
continue;
}
try
{
TrackerData td = JsonConvert.DeserializeObject <TrackerDataWrapper>(trackerData[i]).trackerData;
CacheData(td);
}
catch (JsonException e)
{
Debug.LogWarning(
PstUtility.GetPstLogMessage(
"Consider adjusting the stream's polling interval or buffer size if this happens more often. " +
$"Error: {e.Message}."));
}
catch (Exception e)
{
Debug.LogWarning(PstUtility.GetPstLogMessage($"An error occured: {e.Message}."));
}
}
}
/// <summary>
/// See
/// <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_set_reference.html">SetReference</a>
/// .
/// </summary>
public void SetReference(Matrix4x4 newReference)
{
if (!newReference.ValidTRS())
{
Debug.LogWarning(PstUtility.GetPstLogMessage("No valid TRS matrix given. Not setting reference!"));
return;
}
RestRequest request = new RestRequest("SetReference");
var tmp = new { ReferenceMatrix = newReference.ToRowMajor() };
request.AddJsonBody(tmp);
IRestResponse response = m_client.Post(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return;
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
}
/// <summary>
/// See
/// <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_get_framerate.html">GetFramerate</a>.
/// </summary>
public double GetFramerate()
{
RestRequest request = new RestRequest("GetFramerate");
IRestResponse response = m_client.Get(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return(default);
/// <summary>
/// See
/// <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_start_tracker_data_stream.html">
/// StartTrackerDataStream
/// </a>
/// .
/// </summary>
public void StartTrackerDataStream()
{
if (s_processingContinuousTrackerData)
{
Debug.Log(PstUtility.GetPstLogMessage("PST TrackerData is already being processed."));
return;
}
s_processingContinuousTrackerData = true;
RestRequest request = new RestRequest("StartTrackerDataStream");
request.ResponseWriter = stream =>
{
Task.Run(
() =>
{
using (stream)
{
if (!stream.CanRead)
{
Debug.LogError(PstUtility.GetPstLogMessage("Cannot 'Read' stream!"));
s_processingContinuousTrackerData = false;
return;
}
// making buffer sufficiently large s.t. only complete 'TrackerData' is read from the stream
// --> no chunk, which has to be put together later on
byte[] buffer = new byte[m_trackerDataStreamBufferSize];
int readSize = 0;
while (s_processingContinuousTrackerData)
{
Array.Clear(buffer, 0, m_trackerDataStreamBufferSize);
if ((readSize = stream.Read(buffer, 0, buffer.Length)) > 0)
{
// cutting the zero bytes of the buffer before converting them to string
string contentAsString =
Encoding.UTF8.GetString(buffer, 0, readSize);
if (m_logContinuousResponses)
{
Debug.Log($"{readSize}; {contentAsString}");
}
OnNewTrackerData?.Invoke(contentAsString);
}
Thread.Sleep(m_pollInterval);
}
}
}).Start();
};
m_client.ExecuteAsync(request, null);
}
/// <summary>
/// See
/// <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_set_default_reference.html">SetDefaultReference</a>
/// .
/// </summary>
public void SetDefaultReference()
{
RestRequest request = new RestRequest("SetDefaultReference");
IRestResponse response = m_client.Post(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return;
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
}
/// <summary>
/// See <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_pause.html">Pause</a>.
/// </summary>
public void Pause()
{
s_processingContinuousTrackerData = false;
RestRequest request = new RestRequest("Pause");
IRestResponse response = m_client.Post(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return;
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
}
/// <summary>
/// See
/// <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_get_target_list.html">GetTargetList</a>.
/// </summary>
public string GetTargetList()
{
RestRequest request = new RestRequest("GetTargetList");
IRestResponse response = m_client.Get(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.Log(PstUtility.GetPstLogMessage(MSG_EMPTY_RESP));
return(string.Empty);
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
return(response.Content);
}
/// <summary>
/// See <a href="file:///C:/Program%20Files%20(x86)/PS-Tech/PST/Development/docs/_start.html">Start</a>.
/// </summary>
public void Start()
{
RestRequest request = new RestRequest("Start");
IRestResponse response = m_client.Post(request);
request = new RestRequest("Start");
response = m_client.Post(request);
if (string.IsNullOrEmpty(response.Content))
{
Debug.LogError(PstUtility.GetPstLogMessage("REST Server not running."));
s_serverIsOnline = false;
return;
}
if (m_logSingleResponses)
{
Debug.Log(PstUtility.GetPstLogMessage(response.Content));
}
s_serverIsOnline = true;
}
