private void MotionCapture_TrackableListAvaliableEvent(List <Trackable> trackableList, long timeStamp)
{
tempTrackableList = new List <Trackable>(trackableList);
tempTrackableListTimeStamp = timeStamp;
foreach (Trackable trackable in tempTrackableList)
{
trackable.TimeStamp = timeStamp;
if (trackable.Name == null) // Prevents binarywriter in Transmit trying to write a null name
{
trackable.Name = "Unknown";
}
Transmit(trackable);
}
Trackable endOfFrameTrackable = new Trackable();
endOfFrameTrackable.TimeStamp = trackableList.Count;
endOfFrameTrackable.ID = -2147483648;
endOfFrameTrackable.Name = "End";
Transmit(endOfFrameTrackable);
//Filter Markers - if they are from the same camera update FilteredMarkers
if (tempTrackableListTimeStamp == tempMarkerListTimeStamp && processFilteredMarkers)
{
FilteredMarkerProcessor.UpdatedFilteredMarkers(tempMarkerList, tempTrackableList);
}
//Update Joints
JointProcessor.UpdateJoints(tempTrackableList);
}
/// <summary>
/// Converts byte to command and then executes command
/// </summary>
/// <param name="receivedCommand"></param>
public void handleCommand(byte[] receivedCommand)
{
lock (this) // Lock the code
{
int command = (int)receivedCommand[2];
switch (command)
{
// 0 is Start Cameras
case 0:
MotionCaptureStart();
break;
// 1 is Stop Cameras
case 1:
MotionCaptureStop();
break;
// 2 is Send Camera Coordinates
case 2:
if (MotionCaptureController.APIRunning)
{
MotionCaptureController.UpdateCameraList();
OptitrackCameraList.TransmitListOfCameras();
}
break;
// 3 is Start Treadmill At Fixed Speed
case 3:
{
TreadmillController.SetSpeed((float)BitConverter.ToDouble(receivedCommand, 4));
break;
}
// 4 is Stop Treadmill
case 4:
{
TreadmillController.SetSpeed(0.0f);
break;
}
case 6:
{
if (VirtualMotionCaputrePlayback)
{
VirtualMotionCaptureController.UpdateCoordinates();
}
else
{
MotionCaptureController.UpdateCoordinates(true, true);
}
break;
}
// 7 is Calibrate ground plane.
case 7:
{
//TODO: Reinstate or remove this?
//MotionCapture.Calibrate();
break;
}
//8 is toggle displaying feet
case 8:
{
if (ToggleFeetCommandReceivedEvent != null)
{
ToggleFeetCommandReceivedEvent(BitConverter.ToBoolean(receivedCommand, 4));
}
break;
}
case 9: // Shuts down the drivers so the application can close
{
FinalShutdown();
break;
}
case 10: // Clears the CoR data - This should be called at the start of each session
{
JointProcessor.ResetCoRCalculations();
break;
}
case 11: // Requests an update for the current speed
{
TreadmillController.TransmitSpeed();
break;
}
default:
{
System.Diagnostics.Debug.WriteLine("Invalid command received: " + command.ToString());
break;
}
}
}
}
