void processSignal(string str)
{
char[] delimiters = { ' ', ',' };
if (str == "")
{
return;
}
string[] substrings = str.Split(delimiters, StringSplitOptions.RemoveEmptyEntries);
if (substrings.Length == 0)
{
return;
}
SparrowHawkSignal s = new SparrowHawkSignal(SparrowHawkSignal.ESparrowHawkSigalType.InitType, new float[substrings.Length - 1]);
for (int i = 1; i < substrings.Length; i++)
{
if (substrings[0] != "del:")
{
if (!float.TryParse(substrings[i], out s.data[i - 1]))
{
return;
}
}
else
{
s.strData = substrings[1];
}
}
switch (substrings[0])
{
case "init:":
RhinoApp.WriteLine("Calibration point recieved");
s.type = SparrowHawkSignal.ESparrowHawkSigalType.InitType;
mSignalQueue.Enqueue(s);
break;
case "angle:":
s.type = SparrowHawkSignal.ESparrowHawkSigalType.EncoderType;
mSignalQueue.Enqueue(s);
break;
case "stroke:":
s.type = SparrowHawkSignal.ESparrowHawkSigalType.LineType;
mSignalQueue.Enqueue(s);
break;
case "del:":
s.type = SparrowHawkSignal.ESparrowHawkSigalType.CutType;
mSignalQueue.Enqueue(s);
break;
}
//mSignalQueue.Enqueue(s);
}
protected void handleSignals()
{
SparrowHawkSignal s = SparrowHawkEventListeners.Instance.getOneSignal();
if (s == null)
{
return;
}
switch (s.type)
{
case SparrowHawkSignal.ESparrowHawkSigalType.InitType:
if (s.data.Length >= 3)
{
//To compute VRtoRobot matrix, press V key 8 times.
//robotPoint is in mm unit so the calibration result already deal with scale issue
Vector3 robotPoint = new Vector3(s.data[0], s.data[1], s.data[2]);
robotCallibrationPoints.Add(robotPoint);
Rhino.RhinoApp.WriteLine("add robotPoint: " + robotPoint.ToString());
if (mIsLefty && mScene.leftControllerIdx < 0 || !mIsLefty && mScene.leftControllerIdx < 0)
{
break;
}
}
break;
case SparrowHawkSignal.ESparrowHawkSigalType.LineType:
if (s.data.Length >= 4)
{
if (s.data[0] == 0)
{
OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]);
p1 = UtilOld.platformToVRPoint(ref mScene, p1);
OpenTK.Vector3 p2 = new Vector3(s.data[4], s.data[5], s.data[6]);
p2 = UtilOld.platformToVRPoint(ref mScene, p2);
if (((Geometry.RobotPrintStroke)printStroke).mPoints.Count == 0)
{
printStroke = new Geometry.RobotPrintStroke(ref mScene);
((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2);
printStrokeSN = new SceneNode("PrintStroke", ref printStroke, ref printStroke_m);
mScene.tableGeometry.add(ref printStrokeSN);
}
else
{
((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2);
printStrokeSN.geometry = printStroke;
}
}
else
{
OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]);
p1 = UtilOld.platformToVRPoint(ref mScene, p1);
//((Geometry.GeometryStroke2)printStroke).addPoint(p1);
((Geometry.RobotPrintStroke)printStroke).addEdge(((Geometry.RobotPrintStroke)printStroke).mPoints[((Geometry.RobotPrintStroke)printStroke).mPoints.Count - 1], p1);
printStrokeSN.geometry = printStroke;
}
}
break;
case SparrowHawkSignal.ESparrowHawkSigalType.CutType:
string guidStr = s.strData;
Guid delId = new Guid(guidStr);
UtilOld.removeRhinoObjectSceneNode(ref mScene, delId);
//removePrintStroke and show the model again
((Geometry.RobotPrintStroke)printStroke).removePoint();
//mScene.tableGeometry.remove(ref printStrokeSN); //already remove
Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
{
if (rhObj.Attributes.Name.Contains("aprint"))
{
SceneNode sn = mScene.BiDictionaryRhinoVR.GetByFirst(rhObj.Id);
Material.LambertianMaterial show_m = new Material.LambertianMaterial(((Material.LambertianMaterial)sn.material).mColor.R, ((Material.LambertianMaterial)sn.material).mColor.G, ((Material.LambertianMaterial)sn.material).mColor.B, .3f);
sn.material = show_m;
}
}
mScene.rhinoDoc.Views.Redraw();
break;
case SparrowHawkSignal.ESparrowHawkSigalType.EncoderType:
//for rhino object
OpenTK.Matrix4 currentRotation = mScene.platformRotation;
float theta = (float)(s.data[0] / 360f * 2 * Math.PI);
mScene.rhinoTheta = theta;
Rhino.RhinoApp.WriteLine("Theta = " + theta);
Matrix4.CreateRotationZ(-theta, out mScene.platformRotation);
mScene.platformRotation.Transpose();
//rotate Rhino objects
OpenTK.Matrix4 rotMRhino = mScene.platformRotation * currentRotation.Inverted();
mScene.transM = new Transform();
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
mScene.transM[row, col] = rotMRhino[row, col];
}
}
/*
* Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
* settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
* foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
* {
* if (mScene.brepToSceneNodeDic.ContainsKey(rhObj.Id) && !rhObj.Attributes.Name.Contains("planeXY") && !rhObj.Attributes.Name.Contains("planeXZ")
* && !rhObj.Attributes.Name.Contains("planeYZ"))
* {
* //SceneNode sn = mScene.brepToSceneNodeDic[rhObj.Id];
* //mScene.brepToSceneNodeDic.Remove(rhObj.Id);
*
* Guid newGuid = mScene.rhinoDoc.Objects.Transform(rhObj.Id, mScene.transM, true);
* Rhino.RhinoApp.WriteLine("transM " + mScene.transM.ToString());
* mScene.rhinoDoc.Views.Redraw();
*
* //mScene.brepToSceneNodeDic.Add(newGuid, sn);
* //mScene.SceneNodeToBrepDic[sn.guid] = mScene.rhinoDoc.Objects.Find(newGuid);
* }
*
* }*/
//rotate the current interaction curve as well
/*
* foreach(Curve iCurve in mScene.iCurveList)
* {
* iCurve.Transform(transM);
*
* }
* if (mScene.peekInteraction().GetType() == typeof(Interaction.EditPoint2))
* {
* mScene.peekInteraction().init();
* }*/
break;
}
}
