public void HandleStreaming()
{
// Check if there is a connection with QTM
if (!rtProtocol.IsConnected())
{
// If not connected, establish a connection
if (!rtProtocol.Connect(ipAddress))
{
Console.WriteLine("QTM: Trying to connect");
Thread.Sleep(1000);
return;
}
Console.WriteLine("QTM: Connected");
// Take control of QTM and load the desired file and start the realtime stream
if (rtProtocol.TakeControl(password))
{
Console.WriteLine("QTM: Took control of QTM using specified password in Options/Real-Time Output.");
rtProtocol.LoadFile(filename);
rtProtocol.StartCapture(true);
}
else
{
Console.WriteLine("QTM: Failed to take control of QTM using specified password in Options/Real-Time Output.");
}
}
// Check for available 6DOF rigid body data in the stream
if (rtProtocol.Settings6DOF == null)
{
if (!rtProtocol.Get6dSettings())
{
Console.WriteLine("QTM: Trying to get 6DOF settings");
Thread.Sleep(500);
return;
}
Console.WriteLine("QTM: 6DOF data available");
// If 6DOF was not streaming tell QTM to give the data as fast as possible
rtProtocol.StreamAllFrames(QTMRealTimeSDK.Data.ComponentType.Component6dEulerResidual);
Console.WriteLine("QTM: Starting to stream 6DOF data");
Thread.Sleep(500);
}
// Get RTPacket from stream
PacketType packetType;
rtProtocol.ReceiveRTPacket(out packetType, false);
// Handle 6DOF rigid body data
if (packetType == PacketType.PacketData)
{
var sixDofData = rtProtocol.GetRTPacket().Get6DOFEulerResidualData();
if (sixDofData != null)
{
// Print out the available 6DOF data.
for (int body = 0; body < sixDofData.Count; body++)
{
var sixDofBody = sixDofData[body];
var bodySetting = rtProtocol.Settings6DOF.Bodies[body];
Console.WriteLine("Frame:{0:D5} Body:{1,20} X:{2,7:F1} Y:{3,7:F1} Z:{4,7:F1} First Angle:{5,7:F1} Second Angle:{6,7:F1} Third Angle:{7,7:F1} Residual:{8,7:F1}",
rtProtocol.GetRTPacket().Frame,
bodySetting.Name,
sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,
sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,
sixDofBody.Residual);
}
}
}
// Handle event packet
if (packetType == PacketType.PacketEvent)
{
// If an event comes from QTM then print it out
var qtmEvent = rtProtocol.GetRTPacket().GetEvent();
Console.WriteLine("{0}", qtmEvent);
}
}
