/// <summary>
/// 現在のPHANTOM手先速度を返します
/// </summary>
/// <returns>速度ベクトル [mm/s]</returns>
public Vector3 GetVelocity()
{
double[] velocity = new double[3] {
0, 0, 0
};
Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_VELOCITY, velocity);
return(new Vector3((float)velocity[0], (float)velocity[1], -(float)velocity[2]));
}
/// <summary>
/// PHANTOM発揮力を設定します
/// </summary>
/// <param name="force">力のベクトル [N]</param>
public void SetForce(Vector3 force)
{
double[] forceArray = new double[3];
forceArray[0] = force.x;
forceArray[1] = force.y;
forceArray[2] = -force.z;
Hd.hdSetDoublev(Hd.ParameterName.HD_CURRENT_FORCE, forceArray);
}
/// <summary>
/// 現在のPHANTOM手先座標を返します
/// </summary>
/// <returns>ジンバル座標 [mm]</returns>
public Vector3 GetPosition()
{
double[] position = new double[3] {
0, 0, 0
};
Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_POSITION, position);
return(new Vector3((float)position[0], (float)position[1], -(float)position[2]));
}
public void GenerateRandomKeys()
{
var keys = Hd.BuildKey();
var wallet = keys.ToWallet();
_testOutputHelper.WriteLine(keys.PrivateKey.ToHex());
_testOutputHelper.WriteLine(wallet.Base58Address);
}
/// <summary>
/// 同期的に処理を呼び出します
/// </summary>
public void Do(Callback callback)
{
Hd.hdScheduleSynchronous(
(data) => { return(DoCallback(callback)); },
IntPtr.Zero,
Hd.Priority.HD_DEFAULT_SCHEDULER_PRIORITY
);
ErrorCheck("ScheduleSynchronous");
}
public void CreateWalletFromSeed(string seed, int deriveIndex, string address)
{
var keys = new Hd(seed, deriveIndex);
_testOutputHelper.WriteLine(keys.PublicKey.ToHex());
var wallet = keys.ToWallet();
Assert.Equal(address, wallet.Base58Address);
}
public void CreateWallet(string pk, string address)
{
var keys = Hd.FromPrivateKey(pk);
_testOutputHelper.WriteLine(keys.PublicKey.ToHex());
var wallet = keys.ToWallet();
Assert.Equal(address, wallet.Base58Address);
}
public async Task GetTxHashesByWalletAddress()
{
var client = new Client(Url);
var hd = Hd.FromPrivateKey(Pk);
var hashes = await client.Tx.GetHashListByAddress(hd.ToWallet().Base58Address);
Assert.NotEmpty(hashes);
_testOutputHelper.WriteLine(hashes[0]);
}
/// <summary>
/// </summary>
/// <param name="unspents"></param>
/// <param name="amount"></param>
/// <param name="key"></param>
/// <param name="fromAddress"></param>
/// <param name="to"></param>
/// <param name="commission"></param>
public Transaction(PreviousOutput[] unspents, ulong amount, Hd key, string fromAddress, string to, ulong commission)
{
ulong totalin = 0;
foreach (var previousOutput in unspents)
{
totalin += previousOutput.Value;
}
var index = 0;
TxIns = new List <TxIn>();
// Comission
TxOuts = new List <TxOut>();
TxOuts.Add(new TxOut
{
Index = index++,
PublicKeyScript = "",
Value = commission
});
// Dest address
TxOuts.Add(new TxOut
{
Index = index++,
PublicKeyScript = Base58.Bitcoin.Decode(to).ToArray().ToHex(),
Value = amount
});
var change = totalin - amount - commission;
if (change > 0)
{
// My address
TxOuts.Add(new TxOut
{
Index = index,
PublicKeyScript = Base58.Bitcoin.Decode(fromAddress).ToArray().ToHex(),
Value = change
});
}
foreach (var previousOutput in unspents)
{
var sigMsg = MsgForSign(previousOutput.Hash, previousOutput.Index);
var sig = PublicKeyAuth.SignDetached(sigMsg, key.PrivateKey);
TxIns.Add(new TxIn
{
PublicKey = key.PublicKey,
Sequence = 1,
PreviousOutput = previousOutput,
SigScript = sig.ToHex()
});
}
}
public async Task GetUnspents()
{
var client = new Client(Url);
var keys = Hd.FromPrivateKey(Pk);
var wallet = keys.ToWallet();
var unspents = await client.Wallet.GetUnspent(wallet.Base58Address);
Assert.NotEmpty(unspents);
_testOutputHelper.WriteLine(unspents[0].Hash);
}
public async Task GetWalletBalance()
{
var client = new Client(Url);
var keys = Hd.FromPrivateKey(Pk);
var wallet = keys.ToWallet();
var balance = await client.Wallet.GetBalance(wallet.Base58Address);
Assert.NotEqual <ulong>(0, balance);
_testOutputHelper.WriteLine(balance.ToString());
}
/// <summary>
/// 登録済の非同期実行処理を全て消去します
/// </summary>
public void ClearSchedule()
{
foreach (uint handle in ScheduleHandles)
{
Hd.hdUnschedule(handle);
ErrorCheck("Unschedule #" + handle.ToString());
}
ScheduleHandles.Clear();
CallbackMethods.Clear();
}
/// <summary>
/// デバイスの使用を終了し、切断します
/// </summary>
public void Close()
{
Stop();
ClearSchedule();
if (hHD != (uint)Hd.DeviceHandle.HD_INVALID_HANDLE)
{
Hd.hdDisableDevice(hHD);
ErrorCheck();
}
}
// ↓たぶん誰も使わないし、Unity座標系への変換をしていないのでコメントアウト
// /// <summary>
// /// 現在のPHANTOMジンバル姿勢を返します
// /// <remarks>手先の姿勢ではありません。ジンバル部エンコーダの値です。</remarks>
// /// </summary>
// /// <returns>ジンバル部分の内、根元からペン部にかけて X～Z に対応した角度 [rad]</returns>
// public Vector3 GetGimbalAngles()
// {
// double[] gimbals = new double[3] { 0, 0, 0 };
// Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_GIMBAL_ANGLES, gimbals);
// return new Vector3((float)gimbals[0], (float)gimbals[1], (float)gimbals[2]);
// }
/// <summary>
/// 現在のPHANTOM手先姿勢を返します
/// </summary>
/// <returns>姿勢を表すクォータニオン</returns>
public Quaternion GetRotation()
{
double[] matrix = new double[16];
Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_TRANSFORM, matrix);
double qw = Math.Sqrt(1f + matrix[0] + matrix[5] + matrix[10]) / 2;
double w = 4 * qw;
double qx = (matrix[6] - matrix[9]) / w;
double qy = (matrix[8] - matrix[2]) / w;
double qz = (matrix[1] - matrix[4]) / w;
return(new Quaternion((float)-qx, (float)-qy, (float)qz, (float)qw));
}
/// <summary>
/// 直前のHDAPI呼び出しでエラーがあれば、例外を発生させます
/// </summary>
private void ErrorCheck()
{
Hd.ErrorInfo error;
if (Hd.IsError(error = Hd.hdGetError()))
{
string message = Hd.GetErrorString(error.ErrorCode);
Debug.LogError("HDAPI error : " + message);
//throw new UnityException("SimplePhantom : " + message);
}
}
/// <summary>
/// コールバックメソッド呼び出しをより簡略化するためのラップ
/// </summary>
/// <param name="callback">引数無しでboolを返すだけに簡略化したメソッド</param>
/// <returns>完了したか</returns>
private Hd.CallbackResult DoCallback(Callback callback)
{
bool result;
Hd.hdBeginFrame(hHD);
ErrorCheck("BeginFrame");
result = callback();
Hd.hdEndFrame(hHD);
ErrorCheck("EndFrame");
return(result ? Hd.CallbackResult.HD_CALLBACK_CONTINUE : Hd.CallbackResult.HD_CALLBACK_DONE);
}
/// <summary>
/// 非同期処理を停止します
/// </summary>
public void Stop()
{
if (!IsRunning)
{
return;
}
Hd.hdStopScheduler();
ErrorCheck();
// 力も停止
Hd.hdDisable(Hd.Capability.HD_FORCE_OUTPUT);
ErrorCheck();
IsRunning = false;
}
public ActionResult create(Hd hd, IEnumerable <Cthd> lstcthd)
{
try
{
TaiKhoan tk = (TaiKhoan)Session["USER_SESSION"];
HoaDonManger.insert(hd);
SanPham sp;
Hd item = HoaDonManger.GetItemById(hd.MaHD);
KhachHang kh = KhachHangMager.GetKhachHangByID(hd.MaKH);
if (kh != null)
{
decimal?thanhtien;
foreach (var x in lstcthd)
{
sp = SanPhamMager.GetSanPhamByID(x.MaSp);
if (x.SoLuong < sp.SoLuongTon)
{
sp.SoLuongTon = sp.SoLuongTon - x.SoLuong;
SanPhamMager.tinhgiaban(x.MaSp);
SanPhamMager.uppdateSanPham(sp);
x.MaHD = item.MaHD;
x.TenSP = sp.TenSp;
x.DonGiaBan = sp.DonGiaBan;
thanhtien = x.SoLuong * x.DonGiaBan * (decimal)0.1;
kh.Diemso = kh.Diemso + (int)thanhtien;
KhachHangMager.uppdateKhachHang(kh);
}
}
}
CTHDMager.insertall(lstcthd);
KhachHangMager.checkpointKH(kh.MaKh);
return(RedirectToAction("Index"));
}
catch
{
TaiKhoan tk = (TaiKhoan)Session["USER_SESSION"];
List <SanPham> lst = SanPhamMager.getAllSanPham();
List <KhachHang> lstkh = KhachHangMager.GetAllKhachHang();
ViewBag.khachhang = lstkh;
ViewBag.sanpham = new SelectList(lst, "Masp", "TenSp");
ViewBag.nhanvien = TaiKhoanMager.getNVbytk(tk.MaTK);
return(View());
}
}
/// <summary>
/// デフォルトのデバイスに接続します
/// </summary>
public SimplePhantomUnity()
{
IsRunning = false;
// デフォルトのデバイスを準備
hHD = Hd.hdInitDevice(Hd.DeviceHandle.HD_DEFAULT_DEVICE);
ErrorCheck("Initialize device");
// コールバックメソッドを保持するリスト
CallbackMethods = new List <Hd.SchedulerCallback>();
// スケジューリングされたメソッドのハンドルをこれで保持
ScheduleHandles = new List <ulong>();
// 可動範囲を取得
LoadWorkspaceLimit();
}
/// <summary>
/// ペン先端の座標を返します
/// </summary>
/// <returns>ペン先端座標 [mm]</returns>
public Vector3 GetTipPosition()
{
double[] position = new double[3] {
0, 0, 0
};
double[] matrix = new double[16];
Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_POSITION, position);
Hd.hdGetDoublev(Hd.ParameterName.HD_CURRENT_TRANSFORM, matrix);
Vector3 tipPosition;
tipPosition.x = (float)(position[0] + matrix[0] * TipOffset.x + matrix[4] * TipOffset.y + matrix[8] * TipOffset.z);
tipPosition.y = (float)(position[1] + matrix[1] * TipOffset.x + matrix[5] * TipOffset.y + matrix[9] * TipOffset.z);
tipPosition.z = -(float)(position[2] + matrix[2] * TipOffset.x + matrix[6] * TipOffset.y + matrix[10] * TipOffset.z);
return(tipPosition);
}
/// <summary>
/// 非同期処理を開始します
/// </summary>
public void Start()
{
if (IsRunning)
{
return;
}
// 力を発生させるのは標準でON
Hd.hdEnable(Hd.Capability.HD_FORCE_OUTPUT);
ErrorCheck();
// 非同期処理も開始
Hd.hdStartScheduler();
ErrorCheck();
IsRunning = true;
}
/// <summary>
/// 非同期実行にメソッドを追加します
/// </summary>
/// <param name="callback">要継続ならtrueを返すコールバックメソッド</param>
public void AddSchedule(Callback callback)
{
Hd.SchedulerCallback method = (data) =>
{
return(DoCallback(callback));
};
CallbackMethods.Add(method);
ulong handle = Hd.hdScheduleAsynchronous(
method,
IntPtr.Zero,
Hd.Priority.HD_DEFAULT_SCHEDULER_PRIORITY
);
ErrorCheck("ScheduleAsynchronous");
ScheduleHandles.Add(handle);
}
/// <summary>
/// 非同期処理を開始します
/// </summary>
public void Start()
{
if (!IsAvailable || IsRunning)
{
return;
}
// 力を発生させるのは標準でON
Hd.hdEnable(Hd.Capability.HD_FORCE_OUTPUT);
ErrorCheck("Enable force output");
// 非同期処理も開始
Hd.hdStartScheduler();
ErrorCheck("Start scheduler");
IsRunning = true;
}
/// <summary>
/// 直前のHDAPI呼び出しでエラーがあれば、例外を発生させます
/// </summary>
/// <param name="situation">何をしていたかを伝える文字列</param>
static private void ErrorCheck(string situation)
{
Hd.ErrorInfo error;
if (Hd.IsError(error = Hd.hdGetError()))
{
string errorMessage = Hd.GetErrorString(error.ErrorCode);
if (situation.Equals(""))
{
throw new UnityException("HDAPI : " + errorMessage);
}
else
{
throw new UnityException(situation + " / HDAPI : " + errorMessage);
}
}
}
public async Task ValidateTx()
{
var keys = Hd.FromPrivateKey(Pk);
var wallet = keys.ToWallet();
var client = new Client(Url);
var unspents = await client.Wallet.GetUnspent(wallet.Base58Address);
var tx = new Transaction(
unspents,
1000,
keys,
wallet.Base58Address,
"VLa1hi77ZXD2BSWDD9wQe8vAhejXyS7vBM4",
1000000
).Sign();
var result = await client.Tx.Validate(tx);
Assert.Equal("ok", result);
_testOutputHelper.WriteLine(result);
}
/// <summary>
/// 可動範囲を取得
/// </summary>
private void LoadWorkspaceLimit()
{
double[] val = new double[6];
// 可動限界範囲を取得
Hd.hdGetDoublev(Hd.ParameterName.HD_MAX_WORKSPACE_DIMENSIONS, val);
ErrorCheck("Getting max workspace");
WorkspaceMinimum = new Vector3((float)val[0], (float)val[1], -(float)val[2]);
WorkspaceMaximum = new Vector3((float)val[3], (float)val[4], -(float)val[5]);
// 推奨可動範囲を取得
Hd.hdGetDoublev(Hd.ParameterName.HD_USABLE_WORKSPACE_DIMENSIONS, val);
ErrorCheck("Getting usable workspace");
UsableWorkspaceMinimum = new Vector3((float)val[0], (float)val[1], -(float)val[2]);
UsableWorkspaceMaximum = new Vector3((float)val[3], (float)val[4], -(float)val[5]);
// 机の高さを取得
float[] offset = new float[1];
Hd.hdGetFloatv(Hd.ParameterName.HD_TABLETOP_OFFSET, offset);
ErrorCheck("Getting table-top offset");
TableTopOffset = (float)offset[0];
}
/// <summary>
/// 非同期処理を停止します
/// </summary>
public void Stop()
{
if (!IsAvailable || !IsRunning)
{
return;
}
IsRunning = false;
////System.Threading.Thread.Sleep (10);
//foreach (uint handle in ScheduleHandles)
//{
// Hd.hdWaitForCompletion(handle, Hd.WaiteCode.HD_WAIT_INFINITE);
// ErrorCheck("Waiting for completion");
//}
Hd.hdStopScheduler();
ErrorCheck("StopScheduler");
// 力も停止
Hd.hdDisable(Hd.Capability.HD_FORCE_OUTPUT);
ErrorCheck("Disable force output");
}
/*private void btnLoc_Click(object sender, EventArgs e)
* {
* try
* {
* int d1 = System.Convert.ToInt32(DateStart.Text);
* int d2 = System.Convert.ToInt32(DateEnd.Text);
* int m1 = System.Convert.ToInt32(mothStart.Text);
* int m2 = System.Convert.ToInt32(monthEnd.Text);
* int y1 = System.Convert.ToInt32(yearStart.Text);
* int y2 = System.Convert.ToInt32(yearEnd.Text);
*
* DateTime dateFrom = new DateTime(y1, m1, d1);
* DateTime dateTo = new DateTime(y2, m2, d2);
*
* if (dateTo.CompareTo(dateFrom) > 0)
* {
* Data.DataSource = from s in db.Sds
* from h in db.Hds
* from k in db.Khs
* from _s in db.Sims
* where s.TgBd.Value.CompareTo(dateFrom)>=0
* && s.TgKt.Value.CompareTo(dateTo)<=0 && k.MaKh == h.MaKh
* select new
* {
* ID = s.MaSd,
* NumberPhone = _s.SoSim,
* Customer = k.TenKh,
* Buildday = h.Ngaylap,
* Payday = h.Ngaytra,
* Time = s.TgKt - s.TgBd,
* Total = s.TongTien
* };
* }
* else
* {
* MessageBox.Show("Kiểm tra lại dữ liệu nhập");
* }
* }
* catch(Exception ex)
* {
* Console.WriteLine(ex.Message);
* }
* }*/
private void button2_Click(object sender, EventArgs e)
{
try
{
if (Data.SelectedCells[0].OwningRow.Cells["Status"].FormattedValue.ToString() == "Đã thanh toán")
{
MessageBox.Show("Đã cập nhật rồi");
}
else
{
//Hd hd = new db.Hds.Where(p => p.SoSim.Equals(cbxSosim.Text)).SingleOrDefault();
int a = System.Convert.ToInt32(Data.SelectedCells[0].OwningRow.Cells["ID"].FormattedValue.ToString());
Hd h = db.Hds.Where(p => p.MaHd.Equals(a)).SingleOrDefault();
h.TrangThai = true;
db.SubmitChanges();
MessageBox.Show("Cập nhật thành công!");
LayDanhSach();
}
}
catch
{
MessageBox.Show("Lỗi!");
}
}
public static Hd insert(Hd item)
{
return(new HdController().Insert(item));
}
public static Hd uppdate(Hd item)
{
return(new HdController().Update(item));
}
