// Disconnect from server
public void Disconnect()
{
mBodies.Clear();
mMarkers.Clear();
mBones.Clear();
mStreamingStatus = false;
mProtocol.StreamFramesStop();
mProtocol.StopStreamListen();
mProtocol.Disconnect();
}
private static void OnProcessExit(object sender, EventArgs e, RTProtocol rtProtocol)
{
if (rtProtocol != null)
{
if (rtProtocol.IsConnected())
{
rtProtocol.StreamFramesStop();
rtProtocol.Disconnect();
}
}
}
// Disconnect from server
public void Disconnect()
{
mBodies.Clear();
mMarkers.Clear();
mUnlabeledMarkers.Clear();
mBones.Clear();
mGazeVectors.Clear();
mAnalogChannels.Clear();
mStreamingStatus = false;
mProtocol.StreamFramesStop();
mProtocol.StopStreamListen();
mProtocol.Disconnect();
}
private void Timer_Tick(object sender, EventArgs e)
{
// Try and connect
if (!rtProtocol.IsConnected())
{
if (!rtProtocol.Connect(ipAddress))
{
Color.BackColor = System.Drawing.Color.Red;
return;
}
Color.BackColor = System.Drawing.Color.OrangeRed;
}
// Check for available 6DOF data in the stream
if (rtProtocol.Settings6DOF == null)
{
if (!rtProtocol.Get6dSettings())
{
return;
}
Color.BackColor = System.Drawing.Color.Yellow;
if (sixDofBodyNameToUse.Length > 0)
{
for (int bodyIndex = 0; bodyIndex < rtProtocol.Settings6DOF.BodyCount; bodyIndex++)
{
if (string.Equals(rtProtocol.Settings6DOF.Bodies[bodyIndex].Name, sixDofBodyNameToUse, StringComparison.OrdinalIgnoreCase))
{
bodyIndexToUse = bodyIndex;
break;
}
}
}
else
{
if (rtProtocol.Settings6DOF.BodyCount > 0)
{
sixDofBodyNameToUse = rtProtocol.Settings6DOF.Bodies[0].Name;
bodyIndexToUse = 0;
}
}
eulerNames = rtProtocol.Settings6DOF.EulerNames;
// Start streaming 6dof euler residual data at 10Hz frequency
rtProtocol.StreamFrames(StreamRate.RateFrequency, 10, QTMRealTimeSDK.Data.ComponentType.Component6dEulerResidual);
Thread.Sleep(500);
}
// Get RTPacket from stream
PacketType packetType;
rtProtocol.ReceiveRTPacket(out packetType, false);
// Handle data packet
if (packetType == PacketType.PacketData)
{
Color.BackColor = System.Drawing.Color.Green;
var sixDofData = rtProtocol.GetRTPacket().Get6DOFEulerResidualData();
if (sixDofData != null)
{
// Put 6dof data information in the labels
if (sixDofData.Count > bodyIndexToUse)
{
var sixDofBody = sixDofData[bodyIndexToUse];
this.Body.Text = sixDofBodyNameToUse;
this.X.Text = float.IsNaN(sixDofBody.Position.X) ? "X:---" : string.Format("X:{0:F1}", sixDofBody.Position.X);
this.Y.Text = float.IsNaN(sixDofBody.Position.Y) ? "Y:---" : string.Format("Y:{0:F1}", sixDofBody.Position.Y);
this.Z.Text = float.IsNaN(sixDofBody.Position.Z) ? "Z:---" : string.Format("Z:{0:F1}", sixDofBody.Position.Z);
this.Residual.Text = float.IsNaN(sixDofBody.Residual) ? "Residual:---" : string.Format("Residual:{0:F1}", sixDofBody.Residual);
this.First.Text = float.IsNaN(sixDofBody.Rotation.First) ? string.Format("{0}:---", eulerNames.First) : string.Format("{0}:{1:F1}", eulerNames.First, sixDofBody.Rotation.First);
this.Second.Text = float.IsNaN(sixDofBody.Rotation.Second) ? string.Format("{0}:---", eulerNames.Second) : string.Format("{0}:{1:F1}", eulerNames.Second, sixDofBody.Rotation.Second);
this.Third.Text = float.IsNaN(sixDofBody.Rotation.Third) ? string.Format("{0}:---", eulerNames.Third) : string.Format("{0}:{1:F1}", eulerNames.Third, sixDofBody.Rotation.Third);
}
}
}
// Handle event packet
if (packetType == PacketType.PacketEvent)
{
var qtmEvent = rtProtocol.GetRTPacket().GetEvent();
switch (qtmEvent)
{
case QTMEvent.EventConnectionClosed:
case QTMEvent.EventCaptureStopped:
case QTMEvent.EventCalibrationStopped:
case QTMEvent.EventRTFromFileStopped:
case QTMEvent.EventQTMShuttingDown:
// If QTM is shutting down then handle it, disconnect and empty labels
rtProtocol.StreamFramesStop();
rtProtocol.Disconnect();
Color.BackColor = System.Drawing.Color.Red;
this.Body.Text = "Body";
this.X.Text = "X";
this.Y.Text = "Y";
this.Z.Text = "Z";
this.Residual.Text = "Residual";
this.First.Text = eulerNames.First;
this.Second.Text = eulerNames.Second;
this.Third.Text = eulerNames.Third;
break;
}
}
}
