//==========================================================================================
//
// Display Tracker data
//
//==========================================================================================
static public void showStationData(int handle, ISenseLib.ISD_TRACKER_INFO_TYPE Tracker,
ISenseLib.ISD_STATION_INFO_TYPE Station, ISenseLib.ISD_STATION_DATA_TYPE data)
{
Console.ForegroundColor = ConsoleColor.Yellow;
// display position only if system supports it
if (Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS600 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS900 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
Console.Write("[{0:d2}%] ({1:F2},{2:F2},{3:F2})m ",
(int)(data.TrackingStatus / 2.55), data.Position[0], data.Position[1], data.Position[2]);
}
// all products can return orientation
if (Station.AngleFormat == ISenseLib.ISD_QUATERNION)
{
Console.Write("{0:F2} {1:F2} {2:F2} {3:F2} ",
data.Quaternion[0], data.Quaternion[1],
data.Quaternion[2], data.Quaternion[3]);
Console.ForegroundColor = ConsoleColor.Red;
Console.Write("Time: {0:F1} ", data.TimeStamp);
}
else // Euler angles
{
Console.Write("({0:F2},{1:F2},{2:F2})deg ",
data.Euler[0], data.Euler[1], data.Euler[2]);
Console.ForegroundColor = ConsoleColor.Red;
Console.Write("Time: {0:F1} ", data.TimeStamp);
}
// Reset the cursor
Console.CursorLeft = 0;
}
//==========================================================================================
//
// Called once per frame. If we've connected to a tracker, get its data and move attached object with device
//
//==========================================================================================
void Update()
{
if (handle > 0)
{
if (sync)
{ // Try to predict
ISenseLib.ISD_STATION_DATA_TYPE bufferData = new ISenseLib.ISD_STATION_DATA_TYPE();
ISenseLib.ISD_RingBufferQuery(handle, station, ref bufferData, new IntPtr(), new IntPtr());
float dT = (float)Time.deltaTime;
float curTime = bufferData.TimeStamp; //TODO: is this right?
float timeToPredict = curTime + (framePredict * dT);
GetRingBufferDataAtTime(timeToPredict);
}
else
{
ISenseLib.ISD_GetTrackingData(handle, ref data); // Get the tracking data
}
ISenseLib.ISD_STATION_DATA_TYPE dataSet = data.Station[station - 1]; // Specify the dataset
// Only IS-1200 and IS-1500 have trackState
if (trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 || trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
trackState = dataSet.TrackingState;
}
Vector3 pos;
// If device can control position, control position!
if (trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS600 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS900 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 ||
trackerModel == ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
pos = new Vector3(dataSet.Position[1], -dataSet.Position[2], dataSet.Position[0]); // Their y is up/down while that's our z
transform.localPosition = pos;
}
// Time to deal with rotation!
float[] cbn = dataSet.Cbn;
float[] eulers;
cbn = AngleUtil.ConvertUnityCbn(cbn); // Converts our right-handed rotation frame to unity's left-handed one.
eulers = AngleUtil.Cbn2Euler(cbn);
transform.localRotation = Quaternion.Euler(eulers[1], eulers[2], eulers[0]); // Pitch, Yaw, Roll
}
}
//==========================================================================================
//
// Display Tracker data in Unity console
//
//==========================================================================================
static public void ShowStationData(int handle, ISenseLib.ISD_TRACKER_INFO_TYPE Tracker,
ISenseLib.ISD_STATION_INFO_TYPE Station, ISenseLib.ISD_STATION_DATA_TYPE data)
{
// Display position only if system supports it
if (Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS600 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS900 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1200 ||
Tracker.TrackerModel == (uint)ISenseLib.ISD_SYSTEM_MODEL.ISD_IS1500)
{
print("[" + (int)(data.TrackingStatus / 2.55) + "%] (" + data.Position[0] + "," + data.Position[1] + "," + data.Position[2] + ")m ");
}
// All products can return orientation
if (Station.AngleFormat == ISenseLib.ISD_QUATERNION)
{
print(data.Quaternion[0] + " " + data.Quaternion[1] + " " + data.Quaternion[2] + " " + data.Quaternion[3] + " Time: " + data.TimeStamp);
}
else // Euler angles
{
print("(" + data.Euler[0] + "," + data.Euler[1] + "," + data.Euler[2] + ")deg Time: " + data.TimeStamp);
}
}
//==========================================================================================
//
// Prints pretty much everything not in ShowStationData
//
//==========================================================================================
static public void DebugPrintEverything(int handle, ISenseLib.ISD_TRACKER_INFO_TYPE Tracker,
ISenseLib.ISD_STATION_INFO_TYPE Station, ISenseLib.ISD_STATION_DATA_TYPE data)
{
String s;
s = "isense Lib Version: " + Tracker.LibVersion;
s = s + " Tracker Type: " + Tracker.TrackerType;
s = s + " Tracker Model: " + Tracker.TrackerModel;
s = s + " Port: " + Tracker.Port;
s = s + " Records Per Second: " + Tracker.RecordsPerSec;
s = s + " Kbits Per Second: " + Tracker.KBitsPerSec;
s = s + " Sync State: " + Tracker.SyncState;
s = s + " Sync Rate: " + Tracker.SyncRate;
s = s + " Sync Phase: " + Tracker.SyncPhase;
s = s + " Interface: " + Tracker.Interface;
s = s + " Ult Timeout: " + Tracker.UltTimeout;
s = s + " Ult Volume: " + Tracker.UltVolume;
s = s + " Firmware Revision: " + Tracker.FirmwareRev;
s = s + " LED Enable: " + Tracker.LedEnable;
print("ISD_TRACKER_INFO_TYPE");
print(s);
s = "ID: " + Station.ID;
s = s + " State: " + Station.State;
s = s + " Compass: "******" InertiaCube: " + Station.InertiaCube;
s = s + " Enhancement: " + Station.Enhancement;
s = s + " Sensitivity: " + Station.Sensitivity;
s = s + " Prediction: " + Station.Prediction;
s = s + " AngleFormat: " + Station.AngleFormat;
s = s + " TimeStamped: " + Station.TimeStamped;
s = s + " GetInputs: " + Station.GetInputs;
s = s + " GetEncoderData: " + Station.GetEncoderData;
s = s + " Compass Compensation: " + Station.CompassCompensation;
s = s + " ImuShockSuppression: " + Station.ImuShockSuppression;
s = s + " UrmRejectionFactor: " + Station.UrmRejectionFactor;
s = s + " GetAHRSData: " + Station.GetAHRSData;
s = s + " CoordFrame: " + Station.CoordFrame;
s = s + " AccelSensitivity: " + Station.AccelSensitivity;
for (int i = 0; i < 3; i = i + 1)
{
s = s + " TipOffset[" + i + "]: " + Station.TipOffset[i];
}
s = s + " GetCameraData: " + Station.GetCameraData;
s = s + " GetAuxInputs: " + Station.GetAuxInputs;
s = s + " GetCovarianceData: " + Station.GetCovarianceData;
s = s + " GetExtendedData: " + Station.GetExtendedData;
print("ISD_STATION_INFO_TYPE");
print(s);
ISenseLib.ISD_HARDWARE_INFO_TYPE hwInfo = new ISenseLib.ISD_HARDWARE_INFO_TYPE();
ISenseLib.ISD_GetSystemHardwareInfo(handle, ref hwInfo);
s = "Valid: " + hwInfo.Valid;
s = s + " TrackerType: " + hwInfo.TrackerType;
s = s + " TrackerModel: " + hwInfo.TrackerModel;
s = s + " Port: " + hwInfo.Port;
s = s + " Interface: " + hwInfo.Interface;
s = s + " OnHost: " + hwInfo.OnHost;
s = s + " AuxSystem: " + hwInfo.AuxSystem;
s = s + " FirmwareRev: " + hwInfo.FirmwareRev;
s = s + " Model Name: " + hwInfo.ModelName;
s = s + " Cap_Position: " + hwInfo.Cap_Position;
s = s + " Cap_Orientation: " + hwInfo.Cap_Orientation;
s = s + " Cap_Encoders: " + hwInfo.Cap_Encoders;
s = s + " Cap_Prediction: " + hwInfo.Cap_Prediction;
s = s + " Cap_Compass: "******" Cap_SelfTest: " + hwInfo.Cap_SelfTest;
s = s + " Cap_ErrorLog: " + hwInfo.Cap_ErrorLog;
s = s + " Cap_UltVolume: " + hwInfo.Cap_UltVolume;
s = s + " Cap_UltGain: " + hwInfo.Cap_UltGain;
s = s + " Cap_UltTimeout: " + hwInfo.Cap_UltTimeout;
s = s + " Cap_PhotoDiode: " + hwInfo.Cap_PhotoDiode;
s = s + " Cap_MaxStations: " + hwInfo.Cap_MaxStations;
s = s + " Cap_MaxImus: " + hwInfo.Cap_MaxImus;
s = s + " Cap_MaxFPses: " + hwInfo.Cap_MaxFPses;
s = s + " Cap_MaxChannels: " + hwInfo.Cap_MaxChannels;
s = s + " Cap_MaxButtons: " + hwInfo.Cap_MaxButtons;
s = s + " Cap_MeasData: " + hwInfo.Cap_MeasData;
s = s + " Cap_DiagData: " + hwInfo.Cap_DiagData;
s = s + " Cap_PseConfig: " + hwInfo.Cap_PseConfig;
s = s + " Cap_ConfigLock: " + hwInfo.Cap_ConfigLock;
s = s + " Cap_UltMaxRange: " + hwInfo.Cap_UltMaxRange;
s = s + " Cap_CompassCal: " + hwInfo.Cap_CompassCal;
s = s + " BaudRate: " + hwInfo.BaudRate;
s = s + " NumTestLevels: " + hwInfo.NumTestLevels;
print("ISD_HARDWARE_INFO_TYPE");
print(s);
ISenseLib.ISD_STATION_HARDWARE_INFO_TYPE sh = new ISenseLib.ISD_STATION_HARDWARE_INFO_TYPE();
ISenseLib.ISD_GetStationHardwareInfo(handle, ref sh, 0);
s = "Valid: " + sh.Valid;
s = s + " ID: " + sh.ID;
s = s + " DescVersion: " + sh.DescVersion;
s = s + " FirmwareRev: " + sh.FirmwareRev;
s = s + " Serial Number: " + sh.SerialNum;
s = s + " CalDate: " + sh.CalDate;
s = s + " Port: " + sh.Port;
s = s + " Type: " + sh.Type;
print("ISD_STATION_HARDWARE_INFO_TYPE");
print(s);
s = "TrackingStatus: " + data.TrackingStatus;
s = s + " NewData: " + data.NewData;
s = s + " CommIntegrity: " + data.CommIntegrity;
s = s + " BatteryState: " + data.BatteryState;
s = s + " TimeStamp: " + data.TimeStamp;
s = s + " StillTime: " + data.StillTime;
s = s + " BatteryLevel: " + data.BatteryLevel;
s = s + " CompassYaw: " + data.CompassYaw;
s = s + " MeasQuality: " + data.MeasQuality;
s = s + " HardIronCal: " + data.HardIronCal;
s = s + " SoftIronCal: " + data.SoftIronCal;
s = s + " EnvironmentalCal: " + data.EnvironmentalCal;
s = s + " TimeSTampSeconds: " + data.TimeStampSeconds;
s = s + " TimeStampMicroSec: " + data.TimeStampMicroSec;
s = s + " OSTimeStampSeconds: " + data.OSTimeStampSeconds;
s = s + " OSTimeSTampMicroSec: " + data.OSTimeStampMicroSec;
s = s + " CompassQuality: " + data.CompassQuality;
s = s + " Temperature: " + data.Temperature;
for (int i = 0; i < 3; i = i + 1)
{
s = s + " MagBodyFrame[" + i + "]: " + data.MagBodyFrame[i];
}
s = s + " TrackingState: " + data.TrackingState;
print("ISD_STATION_DATA_TYPE");
print(s);
}
