void Start()
{
Debug.Log("Starting Vicon");
mConnected = false;
pClient = new ViconDataStreamSDK.DotNET.Client();
Debug.Log("Connecting to Vicon");
Output_Connect connect_result = pClient.Connect("localhost:801");
if (connect_result.Result == Result.Success)
{
Debug.Log("Connected");
mConnected = true;
}
else
{
Debug.Log("Not Connected");
}
pClient.EnableSegmentData();
pClient.SetStreamMode(StreamMode.ClientPull);
pClient.SetAxisMapping(Direction.Forward, Direction.Left, Direction.Up);
}
void Start () {
Debug.Log ("Starting Vicon");
mConnected = false;
pClient = new ViconDataStreamSDK.DotNET.Client();
Debug.Log ("Connecting to Vicon");
Output_Connect connect_result = pClient.Connect ("localhost:801");
if (connect_result.Result == Result.Success)
{
Debug.Log ("Connected");
mConnected = true;
} else {
Debug.Log ("Not Connected");
}
pClient.EnableSegmentData();
pClient.SetStreamMode (StreamMode.ClientPull);
pClient.SetAxisMapping (Direction.Forward, Direction.Left, Direction.Up);
}
static void Main(string[] args)
{
// Program options
bool TransmitMulticast = false;
bool EnableHapticTest = false;
bool bReadCentroids = false;
List<String> HapticOnList = new List<String>();
int Counter = 1;
string HostName = "localhost:801"; // connect to Vicon system locally
// string HostName = "192.168.1.1:801";
if (args.Length > 0)
{
HostName = args[0];
}
// parsing all the haptic arguments
for (int j = 1; j < args.Length; ++j)
{
string HapticArg = "--enable_haptic_test";
if (String.Compare(args[j], HapticArg) == 0)
{
EnableHapticTest = true;
++j;
while (j < args.Length && String.Compare(args[j], 0, "--", 0, 2) != 0)
{
HapticOnList.Add(args[j]);
++j;
}
}
string CentroidsArg = "--centroids";
if (String.Compare(args[j], CentroidsArg) == 0)
{
bReadCentroids = true;
}
}
// Make a new client
ViconDataStreamSDK.DotNET.Client MyClient = new ViconDataStreamSDK.DotNET.Client();
// Connect to a server
Console.Write("Connecting to {0} ...", HostName);
while (!MyClient.IsConnected().Connected)
{
// Direct connection
MyClient.Connect(HostName);
// Multicast connection
// MyClient.ConnectToMulticast( HostName, "224.0.0.0" );
System.Threading.Thread.Sleep(200);
Console.Write(".");
}
Console.WriteLine();
// Enable some different data types
MyClient.EnableSegmentData();
MyClient.EnableMarkerData();
MyClient.EnableUnlabeledMarkerData();
MyClient.EnableDeviceData();
if (bReadCentroids)
{
MyClient.EnableCentroidData();
}
Console.WriteLine("Segment Data Enabled: {0}", MyClient.IsSegmentDataEnabled().Enabled);
Console.WriteLine("Marker Data Enabled: {0}", MyClient.IsMarkerDataEnabled().Enabled);
Console.WriteLine("Unlabeled Marker Data Enabled: {0}", MyClient.IsUnlabeledMarkerDataEnabled().Enabled);
Console.WriteLine("Device Data Enabled: {0}", MyClient.IsDeviceDataEnabled().Enabled);
Console.WriteLine("Centroid Data Enabled: {0}", MyClient.IsCentroidDataEnabled().Enabled);
// Set the streaming mode
MyClient.SetStreamMode(ViconDataStreamSDK.DotNET.StreamMode.ClientPull);
// MyClient.SetStreamMode( ViconDataStreamSDK.DotNET.StreamMode.ClientPullPreFetch );
// MyClient.SetStreamMode( ViconDataStreamSDK.DotNET.StreamMode.ServerPush );
// Set the global up axis
MyClient.SetAxisMapping(ViconDataStreamSDK.DotNET.Direction.Forward,
ViconDataStreamSDK.DotNET.Direction.Left,
ViconDataStreamSDK.DotNET.Direction.Up); // Z-up
// MyClient.SetAxisMapping( ViconDataStreamSDK.DotNET.Direction.Forward,
// ViconDataStreamSDK.DotNET.Direction.Up,
// ViconDataStreamSDK.DotNET.Direction.Right ); // Y-up
Output_GetAxisMapping _Output_GetAxisMapping = MyClient.GetAxisMapping();
Console.WriteLine("Axis Mapping: X-{0} Y-{1} Z-{2}", Adapt(_Output_GetAxisMapping.XAxis),
Adapt(_Output_GetAxisMapping.YAxis),
Adapt(_Output_GetAxisMapping.ZAxis));
// Discover the version number
Output_GetVersion _Output_GetVersion = MyClient.GetVersion();
Console.WriteLine("Version: {0}.{1}.{2}", _Output_GetVersion.Major,
_Output_GetVersion.Minor,
_Output_GetVersion.Point);
if (TransmitMulticast)
{
MyClient.StartTransmittingMulticast("localhost", "224.0.0.0");
}
// Let the user set the IP Address and Port for sending out OSC info
Console.WriteLine("Enter IP Address of Remote Computer receiving data: ");
String oscIP = Console.ReadLine();
Console.WriteLine("Enter PORT of Remote Computer receiving data: ");
String oscPORT = Console.ReadLine();
// offer a use a default IP / PORT
if (oscIP.Length == 0 && oscPORT.Length == 0)
{
oscIP = "192.168.125.20";
oscPORT = "55555";
Console.WriteLine("...Set to default IP and PORT: "+oscIP+":"+oscPORT);
}
// Setup OSC sender to remote computer
var sender = new SharpOSC.UDPSender(oscIP, Int32.Parse(oscPORT));// "10.140.76.75", 55555);
Console.WriteLine();
Console.WriteLine("Ready to Stream!");
Console.WriteLine("+ + + + + + + + + + + + ");
// Stream Mocap Data
while (true)
{
++Counter;
// Console.KeyAvailable throws an exception if stdin is a pipe (e.g.
// with TrackerDssdkTests.py), so we use try..catch:
try {
if (Console.KeyAvailable){
break;
}
}
catch (InvalidOperationException){}
// Get a frame
//Console.Write("Waiting for new frame...");
while (MyClient.GetFrame().Result != ViconDataStreamSDK.DotNET.Result.Success){
System.Threading.Thread.Sleep(200);
//Console.Write(".");
}
// stream out data to remote location via OSC
sendRigidBodies(MyClient, sender);
sendLocalRotationQuaternion(MyClient, sender);
sendLabledMarkers(MyClient, sender);
sendUnlabeledMarkers(MyClient,sender);
}
// shut down and disconnect
if (TransmitMulticast){
MyClient.StopTransmittingMulticast();
}
// Disconnect and dispose
MyClient.Disconnect();
MyClient = null;
}
