private void EnableOpenTrack(bool en)
{
if (en && OpenTrackThread == null)
{
SetState(CommState.TrackerActive, true);
var port = 0;
if (!int.TryParse(txtOpenTrackPort.Text, out port) || port <= 0)
{
MessageBox.Show(this, "Invalid UDP port", "OpenTrack Port Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
rdOpenTrack.Checked = false;
return;
}
OpenTrackThread = new Thread(() =>
{
ushort sequence = 0;
var RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
List <byte[]> outgoingPackets = null;
var lastOutgoing = DateTime.MinValue;
using (var uc = new UdpClient(port))
{
uc.Client.Blocking = false;
var sleep = 0;
while (OpenTrackThread != null)
{
SetState(CommState.DriverActive, _sharedMem.IsDriverActive);
sleep = 1;
if (uc.Client.Available >= OpenTrackPacket.Size)
{
var bytes = uc.Receive(ref RemoteIpEndPoint);
var packet = StructFromBytes <OpenTrackPacket>(bytes);
USBRotationData rotData;
USBPositionData posData;
packet.Init(out rotData, out posData);
var usbPacket = USBPacket.Create((byte)(ROTATION_DATA | HMD_SOURCE), sequence++, rotData);
var d = StructToBytes(usbPacket);
SetPacketCrc(ref d);
_sharedMem.WriteIncomingPacket(d);
if (IsDebug && IsVisible)
{
lock (InPacketMonitor)
InPacketMonitor.Add(usbPacket);
}
usbPacket = USBPacket.Create((byte)(POSITION_DATA | HMD_SOURCE), sequence++, posData);
d = StructToBytes(usbPacket);
SetPacketCrc(ref d);
_sharedMem.WriteIncomingPacket(d);
if (IsDebug && IsVisible)
{
lock (InPacketMonitor)
InPacketMonitor.Add(usbPacket);
}
sleep = 0;
}
//opentrack doesnt receive data from us, just empty outgoing queue
outgoingPackets = _sharedMem.ReadOutgoingPackets();
//this block is only for outputting data to monitor
if (outgoingPackets != null)
{
lock (OutgoingPackets)
{
foreach (var item in outgoingPackets)
{
OutgoingPackets.Enqueue(item);
}
}
}
lock (OutgoingPackets)
{
if (OutgoingPackets.Count > 0 && (DateTime.Now - lastOutgoing).TotalMilliseconds >= 100)
{
lastOutgoing = DateTime.Now;
var d = OutgoingPackets.Dequeue(); //33 byte packets in queue
if (IsDebug && IsVisible)
{
var packet = StructFromBytes <USBPacket>(d);
packet.ParseFields();
lock (OutPacketMonitor)
OutPacketMonitor.Add(packet);
}
}
}
Thread.Sleep(sleep);
}
}
});
OpenTrackThread.Start();
}
else if (!en && OpenTrackThread != null)
{
var t = OpenTrackThread;
OpenTrackThread = null;
t.Join();
SetState(CommState.TrackerActive, false);
}
}
private void USBProcessor()
{
List <byte[]> outgoingPackets = null;
HIDDev _usb = null;
var data = new byte[33];
DateTime lastOutgoing = DateTime.MinValue;
while (_running)
{
if (_usb == null)
{
var hd = HIDBrowse.Browse().FirstOrDefault(h => h.Vid == 0x1974 && h.Pid == 0x001);
if (hd != null)
{
_usb = new HIDDev();
_usb.Open(hd);
State = CommState.Connected;
_sharedMem.SetState(State);
}
}
try
{
if (_usb != null)
{
outgoingPackets = _sharedMem.ReadOutgoingPackets();
if (outgoingPackets != null)
{
lock (OutgoingPackets)
foreach (var item in outgoingPackets)
{
OutgoingPackets.Enqueue(item);
}
}
lock (OutgoingPackets)
if (OutgoingPackets.Count > 0 && (DateTime.Now - lastOutgoing).TotalMilliseconds >= 100)
{
lastOutgoing = DateTime.Now;
var d = OutgoingPackets.Dequeue(); //33 byte packets in queue
_usb.Write(d); //send before monitor process
if (IsDebug && IsVisible)
{
var packet = StructFromBytes <USBPacket>(d, 1);
packet.ParseFields();
lock (OutPacketMonitor)
OutPacketMonitor.Add(packet);
}
}
_usb.Read(data);
if (CheckPacketCrc(data, 1))
{
_sharedMem.WriteIncomingPacket(data); //send before monitor process
State = _sharedMem.IsDriverActive ? CommState.Active : CommState.ActiveNoDriver;
if (IsDebug && IsVisible)
{
//var x = Marshal.SizeOf(typeof(USBPacket));
var packet = StructFromBytes <USBPacket>(data, 1);
packet.ParseFields();
lock (InPacketMonitor)
InPacketMonitor.Add(packet);
}
}
}
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
if (_usb != null)
{
_usb.Close();
_usb.Dispose();
}
_usb = null;
State = CommState.Disconnected;
_sharedMem.SetState(State);
Thread.Sleep(100);
}
}
if (_usb != null)
{
_usb.Close();
_usb.Dispose();
}
_usb = null;
State = CommState.Disconnected;
_sharedMem.SetState(CommState.Disconnected);
}
