public void Evaluate(int SpreadMax)
{
if (FInputInit[0])
{
if (m_NatNet != null)
{
m_NatNet.Disconnect();
}
m_NatNet = new NatNetML.NatNetClientML();
NatNetClientML.ConnectParams _params = new NatNetClientML.ConnectParams();
_params.ServerAddress = FInputIPServer[0];
_params.LocalAddress = FInputIPClient[0];
_params.ConnectionType = ConnectionType.Multicast;
returnCode = m_NatNet.Connect(_params);
returnCode = m_NatNet.GetServerDescription(desc);
FOutputStatus.SliceCount = 1;
FOutputStatus[0] = "";
m_NatNet.OnFrameReady += new NatNetML.FrameReadyEventHandler(m_NatNet_OnFrameReady);
//Version info
int[] ver = new int[4];
ver = m_NatNet.NatNetVersion();
FOutputVersion.SliceCount = 1;
FOutputVersion[0] = String.Format("{0}.{1}.{2}.{3}", ver[0], ver[1], ver[2], ver[3]);
FOutputClient.SliceCount = 1;
FOutputClient[0] = m_NatNet;
}
}
public void Disconnect()
{
/* [NatNet] Disabling data handling function */
//mNatNet.OnFrameReady -= fetchFrameData;
/* Clearing Saved Descriptions */
mRigidBodies.Clear();
mSkeletons.Clear();
mHtSkelRBs.Clear();
mForcePlates.Clear();
mNatNet.Disconnect();
}
static void Main()
{
Console.WriteLine("SampleClientML managed client application starting...\n");
/* [NatNet] Initialize client object and connect to the server */
connectToServer(); // Initialize a NatNetClient object and connect to a server.
Console.WriteLine("============================ SERVER DESCRIPTOR ================================\n");
/* [NatNet] Confirming Server Connection. Instantiate the server descriptor object and obtain the server description. */
bool connectionConfirmed = fetchServerDescriptor(); // To confirm connection, request server description data
if (connectionConfirmed) // Once the connection is confirmed.
{
Console.WriteLine("============================= DATA DESCRIPTOR =================================\n");
Console.WriteLine("Now Fetching the Data Descriptor.\n");
fetchDataDescriptor(); //Fetch and parse data descriptor
Console.WriteLine("============================= FRAME OF DATA ===================================\n");
Console.WriteLine("Now Fetching the Frame Data\n");
/* [NatNet] Assigning a event handler function for fetching frame data each time a frame is received */
mNatNet.OnFrameReady += new NatNetML.FrameReadyEventHandler(fetchFrameData);
Console.WriteLine("Success: Data Port Connected \n");
Console.WriteLine("======================== STREAMING IN (PRESS ESC TO EXIT) =====================\n");
}
while (!(Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Escape))
{
// Continuously listening for Frame data
// Enter ESC to exit
// Exception handler for updated assets list.
if (mAssetChanged == true)
{
Console.WriteLine("\n===============================================================================\n");
Console.WriteLine("Change in the list of the assets. Refetching the descriptions");
/* Clear out existing lists */
mDataDescriptor.Clear();
mHtSkelRBs.Clear();
mRigidBodies.Clear();
mSkeletons.Clear();
mForcePlates.Clear();
/* [NatNet] Re-fetch the updated list of descriptors */
fetchDataDescriptor();
Console.WriteLine("===============================================================================\n");
mAssetChanged = false;
}
}
/* [NatNet] Disabling data handling function */
mNatNet.OnFrameReady -= fetchFrameData;
/* Clearing Saved Descriptions */
mRigidBodies.Clear();
mSkeletons.Clear();
mHtSkelRBs.Clear();
mForcePlates.Clear();
mNatNet.Disconnect();
}
private static void Main(string[] args)
{
// Create a timer and set a two second interval.
aTimer = new System.Timers.Timer();
aTimer.Interval = 2000;
// Hook up the Elapsed event for the timer.
aTimer.Elapsed += delegate { OnTimeEvent(client_); };
// Have the timer fire repeated events (true is the default)
aTimer.AutoReset = true;
// Start the timer
aTimer.Enabled = true;
Console.WriteLine("SampleClientML managed client application starting...\n");
/* [NatNet] Initialize client object and connect to the server */
connectToServer(); // Initialize a NatNetClient object and connect to a server.
connectToHLServer();
Console.WriteLine("============================ SERVER DESCRIPTOR ================================\n");
/* [NatNet] Confirming Server Connection. Instantiate the server descriptor object and obtain the server description. */
bool connectionConfirmed = fetchServerDescriptor(); // To confirm connection, request server description data
if (connectionConfirmed) // Once the connection is confirmed.
{
Console.WriteLine("============================= DATA DESCRIPTOR =================================\n");
Console.WriteLine("Now Fetching the Data Descriptor.\n");
fetchDataDescriptor(); //Fetch and parse data descriptor
Console.WriteLine("============================= FRAME OF DATA ===================================\n");
Console.WriteLine("Now Fetching the Frame Data\n");
/* [NatNet] Assigning a event handler function for fetching frame data each time a frame is received */
mNatNet.OnFrameReady += new NatNetML.FrameReadyEventHandler(fetchFrameData);
Console.WriteLine("Success: Data Port Connected \n");
}
while (!(Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Escape))
{
// Continuously listening for Frame data
// Enter ESC to exit
// Exception
if (mAssetChanged == true)
{
Console.WriteLine("\n===============================================================================\n");
Console.WriteLine("Change in the list of the assets. Refetching the descriptions");
/* Clear out existing lists */
mDataDescriptor.Clear();
mRigidBodies.Clear();
/* [NatNet] Re-fetch the updated list of descriptors */
fetchDataDescriptor();
Console.WriteLine("===============================================================================\n");
mAssetChanged = false;
}
}
/* [NatNet] Disabling data handling function */
mNatNet.OnFrameReady -= fetchFrameData;
/* Clearing Saved Descriptions */
mRigidBodies.Clear();
mNatNet.Disconnect();
}
static void Main()
{
stopwatch = new Stopwatch();
stopwatch.Start();
drones.Add("micro_uwb", new DroneData("127.0.0.1", 20000, 0));
drones.Add("micro_uwb2", new DroneData("127.0.0.1", 20000, 1));
drones.Add("micro_uwb3", new DroneData("127.0.0.1", 20000, 2));
Console.WriteLine("SampleClientML managed client application starting...\n");
/* [NatNet] Initialize client object and connect to the server */
connectToServer(); // Initialize a NatNetClient object and connect to a server.
Console.WriteLine("============================ SERVER DESCRIPTOR ================================\n");
/* [NatNet] Confirming Server Connection. Instantiate the server descriptor object and obtain the server description. */
bool connectionConfirmed = fetchServerDescriptor(); // To confirm connection, request server description data
MAVLink.mavlink_system_time_t cmd = new MAVLink.mavlink_system_time_t();
cmd.time_boot_ms = 0;
cmd.time_unix_usec = (ulong)((DateTime.UtcNow - unix_epoch).TotalMilliseconds * 1000);
byte[] pkt = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.SYSTEM_TIME, cmd);
foreach (KeyValuePair <string, DroneData> drone in drones)
{
mavSock.SendTo(pkt, drone.Value.ep);
}
if (connectionConfirmed) // Once the connection is confirmed.
{
Console.WriteLine("============================= DATA DESCRIPTOR =================================\n");
Console.WriteLine("Now Fetching the Data Descriptor.\n");
fetchDataDescriptor(); //Fetch and parse data descriptor
Console.WriteLine("============================= FRAME OF DATA ===================================\n");
Console.WriteLine("Now Fetching the Frame Data\n");
/* [NatNet] Assigning a event handler function for fetching frame data each time a frame is received */
mNatNet.OnFrameReady += new NatNetML.FrameReadyEventHandler(fetchFrameData);
Console.WriteLine("Success: Data Port Connected \n");
Console.WriteLine("======================== STREAMING IN (PRESS ESC TO EXIT) =====================\n");
}
while (!(Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Escape))
{
// Continuously listening for Frame data
// Enter ESC to exit
// Exception handler for updated assets list.
if (mAssetChanged == true)
{
Console.WriteLine("\n===============================================================================\n");
Console.WriteLine("Change in the list of the assets. Refetching the descriptions");
/* Clear out existing lists */
mDataDescriptor.Clear();
mHtSkelRBs.Clear();
mRigidBodies.Clear();
mSkeletons.Clear();
mForcePlates.Clear();
/* [NatNet] Re-fetch the updated list of descriptors */
fetchDataDescriptor();
Console.WriteLine("===============================================================================\n");
mAssetChanged = false;
}
}
/* [NatNet] Disabling data handling function */
mNatNet.OnFrameReady -= fetchFrameData;
mavSock.Close();
stopwatch.Stop();
/* Clearing Saved Descriptions */
mRigidBodies.Clear();
mSkeletons.Clear();
mHtSkelRBs.Clear();
mForcePlates.Clear();
mNatNet.Disconnect();
}