/// <summary>
/// Turns on or off playing back motion capture data
/// You must call OpenMotionCaptureSubSession first
/// </summary>
/// <param name="playback"></param>
public static void MotionCaptureDataPlayback(bool playback)
{
if (playback)
{
MotionCaptureDataRecord(false);
if (_lastSpeed != -1f)
{
TreadmillController.SetSpeed(_lastSpeed);
}
}
else
{
_lastSpeed = TreadmillController.GetSpeed(); // save the current speed
}
}
/// <summary>
/// Sends the virtual motion capture data to the motion capture controller
/// and sends out any treadmill speed updates
/// </summary>
public static void UpdateCoordinates()
{
// Get the next frame from the database
bool status = GetNextFrame();
if (status == false)
{
OnVirtualMotionCaptureSubSessionPlaybackEnded();
return;
}
else
{
// Check to see if the treadmill speed changed this session, if so send it out
float _treadmillSpeed = 0f;
if (TreadmillSpeedChanged(out _treadmillSpeed))
{
TreadmillController.SetSpeed(_treadmillSpeed);
}
// Send out the motion capture data
MotionCaptureController.VirtualMotionCaptureControllerCallbackOnMarkerListAvaliable(_currentFrame.MarkerList, _currentFrame.TimeStamp);
MotionCaptureController.VirtualMotionCaptureControllerCallbackOnTrackableListAvaliable(_currentFrame.TrackableList, _currentFrame.TimeStamp);
}
}
/// <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;
}
}
}
}