void Start()
{
// Get the global RTClient object from the Qualisys system
rtClient = RTClient.GetInstance();
// Loop through discovered servers to find one that matches our needs
foreach (var discoveryResponse in rtClient.GetServers())
{
// Check if the response has the right IP address
if (discoveryResponse.IpAddress == host)
{
Debug.Log("Desired Host Found");
server = discoveryResponse;
foundServer = true;
}
Debug.Log(discoveryResponse.IpAddress);
// else{
// Debug.Log("Desired Host not found");
// }
}
// If a server is found at the correct host, connect to the server
if (foundServer)
{
rtClient.Connect(server, 4545, true, true, false, false, false);
}
}
/// <summary>
/// Updates the rotation and position of the Character
/// </summary>
public void Update()
{
if (rtClient == null)
{
rtClient = RTClient.GetInstance();
}
if (!rtClient.GetStreamingStatus())
{
return;
}
markerData = rtClient.Markers;
if ((markerData == null || markerData.Count == 0))
{
Debug.LogError("The stream does not contain any markers");
return;
}
if (skeletonBuilder != null)
{
skeleton = skeletonBuilder.SolveSkeleton(markerData);
}
else
{
ResetSkeleton();
}
SetAll();
if (!headCam.UseHeadCamera && headCamera)
{
DestroyCamera();
}
}
/// <summary>
/// Locating the joints of the character and find the scale by which the position should be applied to
/// </summary>
public void Start()
{
rtClient = RTClient.GetInstance();
//Find all joints of the characters
jointsFound = charactersJoints.SetLimbs(this.transform, UseFingers);
// disable the animation
var animation = this.GetComponent<Animation>();
if (animation) animation.enabled = false;
}
private RTDE aRTDE; //RTDE instance, port: 30004
public Form1()
{
InitializeComponent();
// create instance of robot communication class
aDashBoard = new DashBoard(textBox1.Text);
aRTClient = new RTClient(textBox1.Text);
aRTDE = new RTDE(System.Windows.Forms.Application.StartupPath + "\\RTDEConfig.xml", textBox1.Text);
//aRTDE = new RTDE(@"D:\UR Work\020 VS Projects\DEMO_URSDK\DEMO_URSDK\bin\Debug\RTDEConfig.xml", textBox1.Text);
timer1.Interval = Convert.ToInt32(textBox10.Text);
}
void Update()
{
if (RTClient.GetInstance().GetStreamingStatus())
{
Disable();
}
if (contentPanel.childCount < 1)
{
UpdateList();
}
}
void Connect()
{
if (!RTClient.GetInstance().Connect(response, response.Port, true, true, true))
{
InfoText.color = Color.red;
InfoText.text = "Could not connect to this server";
}
else
{
SendMessageUpwards("Disable");
}
}
/// <summary>
/// Locating the joints of the character and find the scale by which the position should be applied to
/// </summary>
public void Start()
{
rtClient = RTClient.GetInstance();
//Find all joints of the characters
jointsFound = charactersJoints.SetLimbs(this.transform, UseFingers);
// disable the animation
var animation = this.GetComponent <Animation>();
if (animation)
{
animation.enabled = false;
}
}
// Start is called before the first frame update
void Start()
{
aRTClient = new RTClient(AdrIP);
aDashBoard = new DashBoard(AdrIP);
primaryInt = new PrimaryInterface(AdrIP, AdrPort);
demoInstance = new PrimaryInterface(AdrIP);
aRTDE = new RTDE("file:///F:/XC/Assets/UR10/URSDK/RTDEConfig.xml", AdrIP);
URConnect();
for (int i = 0; i < 6; i++)
{
pd.Add(0);
}
}
private void textBox1_TextChanged(object sender, EventArgs e) //IP address change event
{
aDashBoard = new DashBoard(textBox1.Text);
if (aRTClient.Status != RTClientStatus.Stopped)
{
aRTClient.stopRTClient();
}
aRTClient = new RTClient(textBox1.Text);
if (aRTDE.isSynchronizing)
{
aRTDE.stopSync();
}
aRTDE = new RTDE(System.Windows.Forms.Application.StartupPath + "\\RTDEConfig.xml", textBox1.Text);
}
/// <summary>
/// Updates the rotation and position of the Character
/// </summary>
public void Update()
{
if (rtClient == null) rtClient = RTClient.GetInstance();
if (!rtClient.GetStreamingStatus()) return;
markerData = rtClient.Markers;
if ((markerData == null || markerData.Count == 0))
{
Debug.LogError("The stream does not contain any markers");
return;
}
if (skeletonBuilder != null) skeleton = skeletonBuilder.SolveSkeleton(markerData);
else ResetSkeleton();
SetAll();
if (!headCam.UseHeadCamera && headCamera) DestroyCamera();
}
public void UpdateList()
{
for (int i = 0; i < contentPanel.childCount; i++)
{
Destroy(contentPanel.GetChild(i).gameObject);
}
discoveryResponses = RTClient.GetInstance().GetServers();
foreach (DiscoveryResponse server in discoveryResponses)
{
GameObject newServer = Instantiate(serverButtonPrefab) as GameObject;
ServerButton serverButton = newServer.GetComponent <ServerButton>();
serverButton.HostText.text = server.HostName;
serverButton.IpAddressText.text = server.IpAddress + ":" + server.Port;
serverButton.InfoText.text = server.InfoText;
serverButton.response = server;
newServer.transform.SetParent(contentPanel);
}
}
public void Initialize(string host, int port)
{
_host = host;
_port = port;
try
{
_webDataClient = new RTClient();
_webDataClient.Connect(_host, _port);
_webDataClient.Login("WebDispatcher");
_webDataClient.DataReceived += DataClient_DataReceived;
// _webDataClient.CommandReceived += DataClient_CommandReceived;
_webDataClient.Register(new string[] { "*" });
_macAddress = SystemHelper.GetMACAddress(string.Empty);
}
catch (Exception ex)
{
_logService.Error(string.Format("ExistCatch:<-{0}->:{1}", "Initialize", ex.ToString()));
}
}
private void initURRobot()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
//RTClient用来控制
aRTClient.startRTClient();
while (aRTClient.Status != RTClientStatus.Syncing)
{
Thread.Sleep(10);
}
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
// Start is called before the first frame update
void Start()
{
rtClient = RTClient.GetInstance();
// Loop through discovered servers to find one that matches our needs
foreach (var discoveryResponse in rtClient.GetServers())
{
if (discoveryResponse.IpAddress == host)
{
Debug.Log("Desired Host Found");
server = discoveryResponse;
foundServer = true;
}
}
// Maybe do something on update to attempt again?
if (foundServer)
{
rtClient.Connect(server, 4545, true, true, false, false, false, false);
}
}
IEnumerator Connect()
{
RTClient.GetInstance().StartConnecting(response.IpAddress, -1, true, true, false, true, false, true);
InfoText.color = Color.yellow;
InfoText.text = "Connecting ...";
while (RTClient.GetInstance().ConnectionState == RTConnectionState.Connecting)
{
yield return(null);
}
if (RTClient.GetInstance().ConnectionState == RTConnectionState.Connected)
{
SendMessageUpwards("Disable");
}
else
{
InfoText.color = Color.red;
InfoText.text = "Could not connect to this server";
}
}
//public float moveMult = 1f;
void Start()
{
// Get a reference to the global Qualisys client object
rtClient = RTClient.GetInstance();
}
// Start is called before the first frame update
void Start()
{
rtClient = RTClient.GetInstance();
}
private RTDE aRTDE; //RTDE instance, port: 30004
#endregion
#region initialize
private void initData()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
RobotInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
RobotOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "A1";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A2";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A3";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A4";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A5";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A6";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
/// <summary>
///PointCloudの各点に対応する色の配列
/// </summary>
//System.Numerics.Vector3[] vertices;
/// <summary>
/// vertices中の何番目の点を描画するかのリスト(全部描画するけど手続き上必要)
/// </summary>
//Color[] colors;
/// <summary>
/// 座標変換(Color⇔Depth対応やDepth→xyzなど)をするためのクラス
/// </summary>
//int[] indices;
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
//set the robotic arm
aDashBoard = new DashBoard("169.254.213.1");
aRTClient = new RTClient("169.254.213.1");
primaryInt = new PrimaryInterface("169.254.213.1", 30001); //30001
aRTClient.startRTClient(); //169.254.213.1 //192.168.1.128
primaryInt.startPrimary();
// Open the default device
this.kinect = Device.Open();
// Configure camera modes
this.kinect.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R1080p,
DepthMode = DepthMode.NFOV_2x2Binned,
SynchronizedImagesOnly = true
});
//NFOV
matrix_T_tool2tcp[0, 0] = -0.707;
matrix_T_tool2tcp[0, 1] = -0.0739;
matrix_T_tool2tcp[0, 2] = 0.7031;
matrix_T_tool2tcp[0, 3] = 0.0566;
matrix_T_tool2tcp[1, 0] = 0.7070;
matrix_T_tool2tcp[1, 1] = -0.0739;
matrix_T_tool2tcp[1, 2] = 0.7031;
matrix_T_tool2tcp[1, 3] = 0.0566;
matrix_T_tool2tcp[2, 0] = 0;
matrix_T_tool2tcp[2, 1] = 0.9945;
matrix_T_tool2tcp[2, 2] = 0.1045;
matrix_T_tool2tcp[2, 3] = 0.1002;
matrix_T_tool2tcp[3, 0] = 0;
matrix_T_tool2tcp[3, 1] = 0;
matrix_T_tool2tcp[3, 2] = 0;
matrix_T_tool2tcp[3, 3] = 1;
this.transform = this.kinect.GetCalibration().CreateTransformation();
this.colorWidth = this.kinect.GetCalibration().ColorCameraCalibration.ResolutionWidth;
this.colorHeight = this.kinect.GetCalibration().ColorCameraCalibration.ResolutionHeight;
this.depthWidth = this.kinect.GetCalibration().DepthCameraCalibration.ResolutionWidth;
this.depthHeight = this.kinect.GetCalibration().DepthCameraCalibration.ResolutionHeight;
this.bitmap = new WriteableBitmap(colorWidth, colorHeight, 96.0, 96.0, PixelFormats.Bgra32, null);
this.num = depthHeight * depthWidth;
vertices_0_b1 = new Vector3[num];
vertices_0_b2 = new Vector3[num];
vertices_0_b3 = new Vector3[num];
vertices_0_b4 = new Vector3[num];
vertices_0_b5 = new Vector3[num];
colors_0_b1 = new Color32[num];
colors_0_b2 = new Color32[num];
colors_0_b3 = new Color32[num];
colors_0_b4 = new Color32[num];
colors_0_b5 = new Color32[num];
this.DataContext = this;
this.InitializeComponent();
}
/// <summary>
/// ...
/// </summary>
void LateUpdate()
{
if (eyeAnchor == null)
{
return;
}
// Get streamed rigid body definition of rift
if (useRiftRigidBody && RTClient.GetInstance().GetStreamingStatus())
{
SixDOFBody rift = RTClient.GetInstance().GetBody(bodyName);
if (rift != null && !rift.Rotation.Convert().IsNaN())
{
sixDOFBodyRotation = new Quaternion(rift.Rotation.x, rift.Rotation.y, rift.Rotation.z, rift.Rotation.w);
// Reorientate the camera rig to match the 6 DOF coordinate system
if (
useInternalTracking &&
needsCameraRigReorientation &&
sixDOFBodyRotation != Quaternion.identity
)
{
Debug.Log("Calibrating Oculus Rift Pose...");
Debug.Log("Rift rotation " + rift.Rotation.eulerAngles);
Debug.Log("Anchor rotation " + eyeAnchor.localEulerAngles);
// Align the camera rig coordinate system to the QTM coordinate system by a rotation over the y-axis
//offsetAngle = (360 - eyeAnchor.eulerAngles.y) + sixDOFBodyRotation.eulerAngles.y;
//offsetAngle = eyeAnchor.localEulerAngles.y + sixDOFBodyRotation.eulerAngles.y + 180; // 180 cause of the rigid body axes
offsetAngle = 180 + sixDOFBodyRotation.eulerAngles.y - eyeAnchor.localEulerAngles.y;
// Enable avatar mesh
foreach (SkinnedMeshRenderer renderer in renderers)
{
renderer.enabled = true;
}
// OVR global coordinate system is calibrated
needsCameraRigReorientation = false;
}
// Show mirrored avatar when camera rig is orientated
if (showMirror)
{
mirroredCharacterJoints.root.gameObject.SetActive(true);
}
//RTClient.GetInstance().SetStatusMessage("OCULUS_RIFT", "", true);
}
else
{
//RTClient.GetInstance().SetStatusMessage("OCULUS_RIFT", "", false);
}
}
else if (!useRiftRigidBody && showMirror)
{
mirroredCharacterJoints.root.gameObject.SetActive(true);
}
// Get avatars head
Transform head = characterJoints.head;
Vector3 lookAt = eyeAnchor.forward * 10.0f;
// Set head orientation to rift orientation and position the camera rig in front of the head
if (useInternalTracking)
{
head.rotation = eyeAnchor.rotation;
cameraRig.transform.eulerAngles = new Vector3(0, this.transform.eulerAngles.y + offsetAngle, 0);
//cameraRig.transform.position = head.position + head.rotation * cameraOffset;
//cameraRig.transform.localPosition = head.position + cameraRig.transform.rotation * cameraOffset;
//cameraRig.transform.localPosition = head.position + eyeAnchor.rotation * cameraOffset;
// Need to substract the position of the eye anchor
cameraRig.transform.localPosition =
head.position
- cameraRig.transform.rotation * eyeAnchor.localPosition
+ eyeAnchor.rotation * cameraOffset;
}
else
{
head.localRotation = sixDOFBodyRotation;
}
// Draw debug ray in look direction
Debug.DrawRay(eyeAnchor.position, lookAt, Color.green);
// Set pose of the mirrored avatar
if (showMirror)
{
setMirroredAvatarPose();
}
}