public void AddParticle(string internalPath)
{
// adds pcf files and finds its dependencies
string externalPath = FindExternalFile(internalPath);
if (externalPath == String.Empty)
{
CompilePalLogger.LogLineColor($"Failed to find particle manifest file {internalPath}", Brushes.Red);
return;
}
if (AddFile(internalPath, externalPath))
{
PCF pcf = ParticleUtils.ReadParticle(externalPath);
pcfcount++;
foreach (string mat in pcf.MaterialNames)
{
AddTexture(mat);
}
foreach (string model in pcf.ModelNames)
{
AddModel(model);
}
}
else
{
CompilePalLogger.LogLineColor($"Failed to find particle manifest file {internalPath}", Brushes.Red);
return;
}
}
/// <summary>
/// Gets the offset position/rotation values and the PCF of the current Perception root.
/// </summary>
/// <param name="offsetPosition">Stores the value of the current offset from the root's position.</param>
/// <param name="offsetRotation">Stores the value of the current offset from the root's rotation.</param>
/// <param name="pcf">Stores the reference to the current root PCF.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation completed successfully.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionNotStarted</c> if unable to retrieve the Perception System.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// </returns>
public static MLResult GetPerceptionRoot(out Vector3 offsetPosition, out Quaternion offsetRotation, out PCF pcf)
{
offsetPosition = Vector3.zero;
offsetRotation = Quaternion.identity;
pcf = new PCF(new MagicLeapNativeBindings.MLCoordinateFrameUID());
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
MLResult.Code resultCode = NativeBindings.MLPerceptionGetRootCoordinateFrame(out MagicLeapNativeBindings.MLCoordinateFrameUID cfuid, out MagicLeapNativeBindings.MLTransform mlTransform);
if (MLResult.IsOK(resultCode))
{
offsetPosition = MLConvert.ToUnity(mlTransform.Position);
offsetRotation = MLConvert.ToUnity(mlTransform.Rotation);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.GetPerceptionRoot failed. Reason: {0}", MLResult.CodeToString(resultCode));
return(MLResult.Create(resultCode));
}
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.GetPerceptionRoot failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.GetPerceptionRoot failed. Reason: API symbols not found."));
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.GetPerceptionRoot failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.GetPerceptionRoot failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Retrieves the PCF associated with the given CFUID.
/// </summary>
/// <param name="cfuid">The CFUID to look up the PCF type with.</param>
/// <param name="callback">Delegate used to return the resulting MLResult.Result and the closest found PCF.</param>
/// <param name="update">Determines if the PCF should have it's pose and state updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to no API instance being found.
/// </returns>
public static MLResult FindPCFByCFUID(MagicLeapNativeBindings.MLCoordinateFrameUID cfuid, OnFoundSinglePCFDelegate callback, bool update = true)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
if (_instance.mapAllPCFs.ContainsKey(cfuid))
{
PCF pcf = _instance.mapAllPCFs[cfuid];
if (update)
{
MLResult updateResult = pcf.Update();
if (!updateResult.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed to update the found PCF. Reason: {0}", updateResult);
callback(MLResult.Code.PassableWorldNotFound, pcf);
return(updateResult);
}
}
callback(MLResult.Code.Ok, pcf);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TypesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession;
queryFilter.MaxResults = int.MaxValue;
queryFilter.Sorted = false;
FindPCFsByFilter(queryFilter, update: update, callback: (MLResult.Code resultCode, List <PCF> pcfList) =>
{
PCF pcfWithCFUID = pcfList.Find(pcf => pcf.CFUID == cfuid);
if (pcfWithCFUID != null)
{
if (update)
{
MLResult updateResult = pcfWithCFUID.Update();
if (!updateResult.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed to update the found PCF. Reason: {0}", updateResult);
callback(MLResult.Code.PassableWorldNotFound, pcfWithCFUID);
}
}
callback(MLResult.Code.Ok, pcfWithCFUID);
}
else
{
callback(resultCode, null);
}
});
return(MLResult.Create(MLResult.Code.Ok));
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
private void menuParticles_ItemClick(object sender, ItemClickEventArgs e)
{
// Manifest generator
if (e.Item == menuParticlesManifestGenerator)
{
PCF.CreateManifest(launcher);
XtraMessageBox.Show("Particle manifest generated.");
}
}
///<summary>
/// Returns a single repetition of Pre-Certification Req/Window(IN3-20).
/// throws HL7Exception if the repetition number is invalid.
/// <param name="rep">The repetition number (this is a repeating field)</param>
///</summary>
public PCF GetPreCertificationReqWindow(int rep)
{
PCF ret = null;
try
{
IType t = this.GetField(20, rep);
ret = (PCF)t;
} catch (System.Exception ex) {
HapiLogFactory.GetHapiLog(GetType()).Error("Unexpected problem obtaining field value. This is a bug.", ex);
throw new System.Exception("An unexpected error ocurred", ex);
}
return(ret);
}
/// <summary> Returns a single repetition of Pre-Certification Req/Window (IN3-20).</summary>
/// <param name="rep">the repetition number (this is a repeating field)
/// </param>
/// <throws> HL7Exception if the repetition number is invalid. </throws>
public virtual PCF getPreCertificationReqWindow(int rep)
{
PCF ret = null;
try
{
Type t = this.getField(20, rep);
ret = (PCF)t;
}
catch (System.InvalidCastException)
{
throw new Exception();
}
return(ret);
}
///<summary>
/// Returns all repetitions of Pre-Certification Req/Window (IN3-20).
///</summary>
public PCF[] GetPreCertificationReqWindow()
{
PCF[] ret = null;
try {
IType[] t = this.GetField(20);
ret = new PCF[t.Length];
for (int i = 0; i < ret.Length; i++)
{
ret[i] = (PCF)t[i];
}
} catch (HL7Exception he) {
HapiLogFactory.GetHapiLog(this.GetType()).Error("Unexpected problem obtaining field value. This is a bug.", he);
throw new System.Exception("An unexpected error ocurred", he);
} catch (System.Exception cce) {
HapiLogFactory.GetHapiLog(GetType()).Error("Unexpected problem obtaining field value. This is a bug.", cce);
throw new System.Exception("An unexpected error ocurred", cce);
}
return(ret);
}
/// <summary>
/// Adds the given PCF to the map of PCFs that are updated every frame as well as the map of all PCFs.
/// </summary>
/// <param name="pcf">PCF to be updated.</param>
public static void QueueForUpdates(PCF pcf)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
if (!_instance.mapAllPCFs.ContainsKey(pcf.CFUID))
{
_instance.mapAllPCFs.Add(pcf.CFUID, pcf);
}
if (!_instance.mapTrackedPCFs.ContainsKey(pcf.CFUID))
{
_instance.mapTrackedPCFs.Add(pcf.CFUID, pcf);
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.QueueForUpdates failed. Reason: No Instance for MLPersistentCoordinateFrames.");
}
}
public void AddParticle(string internalPath)
{
// adds pcf files and finds its dependencies
string externalPath = FindExternalFile(internalPath);
PCF pcf = ParticleUtils.ReadParticle(externalPath);
if (AddFile(internalPath, externalPath))
{
pcfcount++;
foreach (string mat in pcf.MaterialNames)
{
AddTexture(mat);
}
foreach (string model in pcf.ModelNames)
{
AddModel(model);
}
}
}
/// <summary> Returns all repetitions of Pre-Certification Req/Window (IN3-20).</summary>
public virtual PCF[] getPreCertificationReqWindow()
{
PCF[] ret = null;
try
{
Type[] t = this.getField(20);
ret = new PCF[t.Length];
for (int i = 0; i < ret.Length; i++)
{
ret[i] = (PCF)t[i];
}
}
catch (System.InvalidCastException)
{
throw new Exception();
}
catch (NuGenHL7Exception)
{
throw new Exception();
}
return(ret);
}
/// <summary>
/// Retrieves the closest known PCF of the types provided by the typesMask to the given position.
/// </summary>
/// <param name="position">The position of the object we want to anchor.</param>
/// <param name="pcf">Stores the resulting PCF.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</param>
/// <param name="update">Determines if the PCF should have it's pose and state updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindClosestPCF(Vector3 position, out PCF pcf, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
pcf = null;
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TargetPoint = position;
queryFilter.TypesMask = typesMask;
queryFilter.Sorted = true;
MLResult result = FindPCFsByFilter(queryFilter, out List <PCF> pcfList, update);
if (!result.IsOk || pcfList.Count == 0)
{
if (result.Result == MLResult.Code.PassableWorldLowMapQuality || result.Result == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindClosestPCF. Reason: {0}", result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: {0}", result);
}
}
else
{
pcf = pcfList[0];
}
return(result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Sets the offset position/rotation values from the current Perception root and can also set the PCF to be used as the new Perception root to which all MLSnapshotGetTransform will be relative to.
/// </summary>
/// <param name="offsetPosition">The offset to set from the root's position.</param>
/// <param name="offsetRotation">The offset to set from the root's rotation.</param>
/// <param name="pcf">The PCF to set the root to.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation completed successfully.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionNotStarted</c> if unable to retrieve the Perception System.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionInvalidPCFRoot</c> if the provided CFUID is not associated with a valid PCF.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if the CFUID is not valid.
/// </returns>
public static MLResult.Code SetPerceptionRoot(Vector3 offsetPosition, Quaternion offsetRotation, PCF pcf)
{
IntPtr cfuidPointer = IntPtr.Zero;
IntPtr mlTransformPointer = IntPtr.Zero;
try
{
if (pcf != null)
{
cfuidPointer = Marshal.AllocHGlobal(Marshal.SizeOf(pcf.CFUID));
Marshal.StructureToPtr(pcf.CFUID, cfuidPointer, false);
}
MagicLeapNativeBindings.MLTransform rootOffset = new MagicLeapNativeBindings.MLTransform();
rootOffset.Position = MLConvert.FromUnity(offsetPosition);
rootOffset.Rotation = MLConvert.FromUnity(offsetRotation);
mlTransformPointer = Marshal.AllocHGlobal(Marshal.SizeOf(rootOffset));
Marshal.StructureToPtr(rootOffset, mlTransformPointer, false);
MLResult.Code resultCode = NativeBindings.MLPerceptionSetRootCoordinateFrame(cfuidPointer, mlTransformPointer);
Marshal.FreeHGlobal(cfuidPointer);
Marshal.FreeHGlobal(mlTransformPointer);
return(resultCode);
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.NativeBindings.SetPerceptionRoot failed. Reason: API symbols not found.");
Marshal.FreeHGlobal(cfuidPointer);
Marshal.FreeHGlobal(mlTransformPointer);
return(MLResult.Code.UnspecifiedFailure);
}
}
/// <summary>
/// Returns filtered list of PCFs based on the parameters of the given queryFilter.
/// </summary>
/// <param name="queryFilter">Parameters used to curate the returned values.</param>
/// <param name="pcfList">Stores the resulting list of PCFs.</param>
/// <param name="update">Determines if the PCFs should have their pose updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if all the PCFs from the current map have been found successfully.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindPCFsByFilter(QueryFilter queryFilter, out List <PCF> pcfList, bool update = true)
{
pcfList = new List <PCF>();
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
uint numPCFs = 0;
MLResult.Code resultCode = NativeBindings.MLPersistentCoordinateFrameGetCount(_instance.nativeTracker, ref numPCFs);
if (MLResult.IsOK(resultCode) && numPCFs > 0)
{
MagicLeapNativeBindings.MLCoordinateFrameUID[] cfuidArray = new MagicLeapNativeBindings.MLCoordinateFrameUID[numPCFs];
NativeBindings.QueryFilterNative queryFilterNative = NativeBindings.QueryFilterNative.Create();
queryFilterNative.Data = queryFilter;
uint cfuidCount = 0;
//// With these conditions the user is asking for all PCFs, no need to use the slower filtered query call.
if (queryFilter.TypesMask == (PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession) &&
queryFilter.Radius <= 0 && !queryFilter.Sorted)
{
resultCode = NativeBindings.MLPersistentCoordinateFrameGetAllEx(_instance.nativeTracker, numPCFs, cfuidArray);
cfuidCount = (uint)cfuidArray.Length;
}
else
{
resultCode = NativeBindings.MLPersistentCoordinateFrameQuery(_instance.nativeTracker, in queryFilterNative, cfuidArray, out cfuidCount);
}
if (MLResult.IsOK(resultCode))
{
for (int i = 0; i < cfuidCount; ++i)
{
MagicLeapNativeBindings.MLCoordinateFrameUID pcfCFUID = cfuidArray[i];
if (!pcfCFUID.Equals(MagicLeapNativeBindings.MLCoordinateFrameUID.EmptyFrame))
{
PCF pcf = null;
if (_instance.mapAllPCFs.ContainsKey(pcfCFUID))
{
pcf = _instance.mapAllPCFs[pcfCFUID];
}
else
{
pcf = new PCF(pcfCFUID);
_instance.mapAllPCFs.Add(pcfCFUID, pcf);
}
pcfList.Add(pcf);
if (update)
{
MLResult result = pcf.Update();
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed to update the found PCF with CFUID {0}, Reason: {1}", pcf.CFUID, result);
}
}
}
}
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
if (resultCode == MLResult.Code.PassableWorldLowMapQuality || resultCode == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindPCFsByFilter. Reason: {0}", MLResult.CodeToString(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.CodeToString(resultCode));
}
return(MLResult.Create(resultCode, string.Format("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.CodeToString(resultCode))));
}
}
else
{
if (resultCode == MLResult.Code.PassableWorldLowMapQuality || resultCode == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindPCFsByFilter. Reason: {0}", MLResult.CodeToString(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.IsOK(resultCode) ? "No PCFs could be found." : MLResult.CodeToString(resultCode));
}
return(MLResult.Create(resultCode, string.Format("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.IsOK(resultCode) ? "No PCFs could be found." : MLResult.CodeToString(resultCode))));
}
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: API symbols not found."));
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Retrieves the PCF associated with the given CFUID.
/// </summary>
/// <param name="cfuid">The CFUID to look up the PCF type with.</param>
/// <param name="pcf">Stores the resulting PCF.</param>
/// <param name="update">Determines if the PCF should have it's pose and state updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindPCFByCFUID(MagicLeapNativeBindings.MLCoordinateFrameUID cfuid, out PCF pcf, bool update = true)
{
pcf = null;
if (MLPersistentCoordinateFrames.IsValidInstance())
{
if (_instance.mapAllPCFs.ContainsKey(cfuid))
{
pcf = _instance.mapAllPCFs[cfuid];
if (update)
{
MLResult updateResult = pcf.Update();
if (!updateResult.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed to update the found PCF. Reason: {0}", updateResult);
}
return(updateResult);
}
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLResult result = FindAllPCFs(out List <PCF> list, update: false);
if (result.IsOk)
{
pcf = list.Find(PCF => PCF.CFUID == cfuid);
if (update && pcf != null)
{
MLResult updateResult = pcf.Update();
if (!updateResult.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed to update the found PCF. Reason: {0}", updateResult);
}
return(updateResult);
}
}
else
{
if (result.Result == MLResult.Code.PassableWorldLowMapQuality || result.Result == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindPCFByCFUID. Reason: {0}", result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed. Reason: {0}", result);
}
}
return(result);
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
private void UpdateSerialPortUI()
{
SerialPort P = GetSerialPort(comboBox1.Text);
if (P == null)
{
label1.Enabled = false;
comboBox2.Enabled = false;
label2.Enabled = false;
comboBox3.Enabled = false;
label3.Enabled = false;
comboBox4.Enabled = false;
label4.Enabled = false;
comboBox5.Enabled = false;
checkBox1.Enabled = false;
return;
}
Boolean wasOpen = P.IsOpen;
PCF dwProvCapabilities = 0;
SP dwSettableParams = 0;
BAUD dwSettableBaud = 0;
DATABITS wSettableData = 0;
SSP wSettableStopParity = 0;
try
{
if (!wasOpen)
{
P.Open();
}
Object o = P.BaseStream.GetType().GetField("commProp", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(P.BaseStream);
dwProvCapabilities = (PCF)(o.GetType().GetField("dwProvCapabilities", BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public).GetValue(o));
dwSettableParams = (SP)(o.GetType().GetField("dwSettableParams", BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public).GetValue(o));
dwSettableBaud = (BAUD)(o.GetType().GetField("dwSettableBaud", BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public).GetValue(o));
wSettableData = (DATABITS)(o.GetType().GetField("wSettableData", BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public).GetValue(o));
wSettableStopParity = (SSP)(o.GetType().GetField("wSettableStopParity", BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public).GetValue(o));
}
catch (Exception ex)
{
String buf = "Exception\r\n";
while (ex != null)
{
buf = String.Concat(buf, "\r\n", ex.Message, " [", ex.Source, "]\r\n", ex.StackTrace);
ex = ex.InnerException;
}
MessageBox.Show(buf, "UpdateSerialPortUI()");
}
if ((!wasOpen) && (P.IsOpen))
{
P.Close();
}
if (((dwSettableParams & SP.BAUD) == 0) || (dwSettableBaud == 0))
{
label1.Enabled = false;
comboBox2.Enabled = false;
}
else
{
label1.Enabled = true;
comboBox2.Enabled = true;
String s = comboBox2.Text;
if ((s == null) || (s.Length == 0))
{
s = "9600";
}
comboBox2.Items.Clear();
if ((dwSettableBaud & BAUD._075) != 0)
{
comboBox2.Items.Add("75");
}
if ((dwSettableBaud & BAUD._110) != 0)
{
comboBox2.Items.Add("110");
}
if ((dwSettableBaud & BAUD._134_5) != 0)
{
comboBox2.Items.Add("134.5");
}
if ((dwSettableBaud & BAUD._150) != 0)
{
comboBox2.Items.Add("150");
}
if ((dwSettableBaud & BAUD._300) != 0)
{
comboBox2.Items.Add("300");
}
if ((dwSettableBaud & BAUD._600) != 0)
{
comboBox2.Items.Add("600");
}
if ((dwSettableBaud & BAUD._1200) != 0)
{
comboBox2.Items.Add("1200");
}
if ((dwSettableBaud & BAUD._1800) != 0)
{
comboBox2.Items.Add("1800");
}
if ((dwSettableBaud & BAUD._2400) != 0)
{
comboBox2.Items.Add("2400");
}
if ((dwSettableBaud & BAUD._4800) != 0)
{
comboBox2.Items.Add("4800");
}
if ((dwSettableBaud & BAUD._7200) != 0)
{
comboBox2.Items.Add("7200");
}
if ((dwSettableBaud & BAUD._9600) != 0)
{
comboBox2.Items.Add("9600");
}
if ((dwSettableBaud & BAUD._14400) != 0)
{
comboBox2.Items.Add("14400");
}
if ((dwSettableBaud & BAUD._19200) != 0)
{
comboBox2.Items.Add("19200");
}
if ((dwSettableBaud & BAUD._38400) != 0)
{
comboBox2.Items.Add("38400");
}
if ((dwSettableBaud & BAUD._56K) != 0)
{
comboBox2.Items.Add("56000");
}
if ((dwSettableBaud & BAUD._57600) != 0)
{
comboBox2.Items.Add("57600");
}
if ((dwSettableBaud & BAUD._115200) != 0)
{
comboBox2.Items.Add("115200");
}
if ((dwSettableBaud & BAUD._128K) != 0)
{
comboBox2.Items.Add("128000");
}
comboBox2.DropDownStyle = ((dwSettableBaud & BAUD.USER) != 0) ? ComboBoxStyle.DropDown : ComboBoxStyle.DropDownList;
if ((s != null) && (s.Length != 0))
{
Boolean f = false;
for (Int32 i = 0; i < comboBox2.Items.Count; i++)
{
if (String.Compare(s, comboBox2.Items[i] as String, StringComparison.OrdinalIgnoreCase) == 0)
{
comboBox2.SelectedIndex = i;
f = true;
break;
}
}
if (!f)
{
if ((dwSettableBaud & BAUD.USER) != 0)
{
comboBox2.Text = s;
}
else
{
comboBox2.SelectedIndex = 0;
}
}
}
else
{
comboBox2.SelectedIndex = 0;
}
}
if (((dwSettableParams & SP.DATABITS) == 0) || (wSettableData == 0))
{
label2.Enabled = false;
comboBox3.Enabled = false;
}
else
{
label2.Enabled = true;
comboBox3.Enabled = true;
String s = comboBox3.Text;
if ((s == null) || (s.Length == 0))
{
s = "8";
}
comboBox3.Items.Clear();
if ((wSettableData & DATABITS._5) != 0)
{
comboBox3.Items.Add("5");
}
if ((wSettableData & DATABITS._6) != 0)
{
comboBox3.Items.Add("6");
}
if ((wSettableData & DATABITS._7) != 0)
{
comboBox3.Items.Add("7");
}
if ((wSettableData & DATABITS._8) != 0)
{
comboBox3.Items.Add("8");
}
if ((wSettableData & DATABITS._16) != 0)
{
comboBox3.Items.Add("16");
}
if ((s != null) && (s.Length != 0))
{
Boolean f = false;
for (Int32 i = 0; i < comboBox3.Items.Count; i++)
{
if (String.Compare(s, comboBox3.Items[i] as String, StringComparison.OrdinalIgnoreCase) == 0)
{
comboBox3.SelectedIndex = i;
f = true;
break;
}
}
if (!f)
{
comboBox3.SelectedIndex = 0;
}
}
else
{
comboBox3.SelectedIndex = 0;
}
}
if (((dwSettableParams & SP.PARITY) == 0) || ((wSettableStopParity & SSP.PARITY_MASK) == 0))
{
label3.Enabled = false;
comboBox4.Enabled = false;
}
else
{
label3.Enabled = true;
comboBox4.Enabled = true;
String s = comboBox4.Text;
if ((s == null) || (s.Length == 0))
{
s = "None";
}
comboBox4.Items.Clear();
if ((wSettableStopParity & SSP.PARITY_NONE) != 0)
{
comboBox4.Items.Add("None");
}
if ((wSettableStopParity & SSP.PARITY_EVEN) != 0)
{
comboBox4.Items.Add("Even");
}
if ((wSettableStopParity & SSP.PARITY_ODD) != 0)
{
comboBox4.Items.Add("Odd");
}
if ((wSettableStopParity & SSP.PARITY_MARK) != 0)
{
comboBox4.Items.Add("Mark");
}
if ((wSettableStopParity & SSP.PARITY_SPACE) != 0)
{
comboBox4.Items.Add("Space");
}
if ((s != null) && (s.Length != 0))
{
Boolean f = false;
for (Int32 i = 0; i < comboBox4.Items.Count; i++)
{
if (String.Compare(s, comboBox4.Items[i] as String, StringComparison.OrdinalIgnoreCase) == 0)
{
comboBox4.SelectedIndex = i;
f = true;
break;
}
}
if (!f)
{
comboBox4.SelectedIndex = 0;
}
}
else
{
comboBox4.SelectedIndex = 0;
}
}
if (((dwSettableParams & SP.STOPBITS) == 0) || ((wSettableStopParity & SSP.STOPBITS_MASK) == 0))
{
label4.Enabled = false;
comboBox5.Enabled = false;
}
else
{
label4.Enabled = true;
comboBox5.Enabled = true;
String s = comboBox5.Text;
if ((s == null) || (s.Length == 0))
{
s = "1";
}
comboBox5.Items.Clear();
if ((wSettableStopParity & SSP.STOPBITS_10) != 0)
{
comboBox5.Items.Add("1");
}
if ((wSettableStopParity & SSP.STOPBITS_15) != 0)
{
comboBox5.Items.Add("1.5");
}
if ((wSettableStopParity & SSP.STOPBITS_20) != 0)
{
comboBox5.Items.Add("2");
}
if ((s != null) && (s.Length != 0))
{
Boolean f = false;
for (Int32 i = 0; i < comboBox5.Items.Count; i++)
{
if (String.Compare(s, comboBox5.Items[i] as String, StringComparison.OrdinalIgnoreCase) == 0)
{
comboBox5.SelectedIndex = i;
f = true;
break;
}
}
if (!f)
{
comboBox5.SelectedIndex = 0;
}
}
else
{
comboBox5.SelectedIndex = 0;
}
}
if (((dwSettableParams & SP.HANDSHAKING) == 0) || ((dwProvCapabilities & PCF.RTSCTS) == 0))
{
checkBox1.Enabled = false;
}
else
{
checkBox1.Enabled = true;
}
}
/// <summary>
/// Sets the offset position/rotation values from the current Perception root and can also set the PCF to be used as the new Perception root to which all MLSnapshotGetTransform will be relative to.
/// </summary>
/// <param name="offsetPosition">The offset to set from the root's position.</param>
/// <param name="offsetRotation">The offset to set from the root's rotation.</param>
/// <param name="pcf">The PCF to set the root to.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation completed successfully.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionNotStarted</c> if unable to retrieve the Perception System.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionInvalidPCFRoot</c> if the provided CFUID is not associated with a valid PCF.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if the CFUID is not valid.
/// </returns>
public static MLResult SetPerceptionRoot(Vector3 offsetPosition, Quaternion offsetRotation, PCF pcf = null)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
MLResult.Code resultCode = NativeBindings.SetPerceptionRoot(offsetPosition, offsetRotation, pcf);
if (!MLResult.IsOK(resultCode))
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.SetPerceptionRoot failed. Reason: {0}", MLResult.CodeToString(resultCode));
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("MLPersistentCoordinateFrames.SetPerceptionRoot failed. Reason: {0}", MLResult.CodeToString(resultCode))));
}
return(MLResult.Create(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.SetPerceptionRoot failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.SetPerceptionRoot failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
