/// <summary>
/// Enable the spatial mapping
/// </summary>
/// <param name="resolutionPreset"> A preset resolution</param>
/// <param name="rangePreset">A preset range</param>
/// <param name="isTextured">if true, images will be collected during the process</param>
/// <returns></returns>
private sl.ERROR_CODE EnableSpatialMapping(RESOLUTION resolutionPreset, RANGE rangePreset, bool isTextured)
{
sl.ERROR_CODE error;
this.isTextured = isTextured;
error = zedSpatialMapping.EnableSpatialMapping(ZEDSpatialMappingHelper.ConvertResolutionPreset(resolutionPreset), ZEDSpatialMappingHelper.ConvertRangePreset(rangePreset), isTextured);
ZEDMeshRenderer.isTextured = false;
stopWanted = false;
running = true;
if (error == sl.ERROR_CODE.SUCCESS)
{
display = true;
meshUpdated = false;
spatialMappingRequested = false;
updateTexture = false;
updatedTexture = false;
// clear all prevous meshes
ClearMeshes();
//start the requesting meshes
zedCamera.RequestMesh();
//Launch the thread to retrieve the chunks and their sizes
scanningThread = new Thread(UpdateMesh);
updateThreadRunning = true;
if (OnMeshStarted != null)
{
OnMeshStarted();
}
scanningThread.Start();
}
return(error);
}
private void InitPresenceTab()
{
btnViewRange.Text = "Monthly view";
m_ViewRange = RANGE.WEEK;
btnPreviousRange.Text = "Previous week";
btnNextRange.Text = "Next week";
m_CurrentMonth = DateTime.Today.Month;
GetPrograms();
gbPresence.Visible = false;
}
public MainForm()
{
InitializeComponent();
m_DatesWeekFormat = new string[7];
m_DatesMonthFormat = new string[31];
m_ViewRange = RANGE.WEEK;
m_CurrentMonth = DateTime.Today.Month;
this.CenterToScreen();
}
/// <summary>
/// Starts the spatial mapping
/// </summary>
/// <param name="resolutionPreset"></param>
/// <param name="rangePreset"></param>
/// <param name="isTextured"></param>
public void StartStatialMapping(RESOLUTION resolutionPreset, RANGE rangePreset, bool isTextured)
{
holder.transform.position = Vector3.zero;
holder.transform.rotation = Quaternion.identity;
spatialMappingRequested = true;
if (spatialMappingRequested && scanningInitState != sl.ERROR_CODE.SUCCESS)
{
scanningInitState = EnableSpatialMapping(resolutionPreset, rangePreset, isTextured);
}
zedManager.gravityRotation = Quaternion.identity;
}
public void Add(RANGE range)
{
int n = this.ranges.Length;
int i = this.length++;
if (i == n)
{
RANGE[] new_ranges = new RANGE[n + 8];
for (int j = 0; j < n; j++)
{
new_ranges[j] = ranges[j];
}
this.ranges = new_ranges;
}
this.ranges[i] = range;
}
/// <summary>
/// Updates the range and resolution to match the specified preset.
/// </summary>
static public float ConvertRangePreset(RANGE rangePreset)
{
if (rangePreset == RANGE.NEAR)
{
return(3.5f);
}
else if (rangePreset == RANGE.MEDIUM)
{
return(5.0f);
}
if (rangePreset == RANGE.FAR)
{
return(10.0f);
}
return(5.0f);
}
private void btnViewRange_Click(object sender, EventArgs e)
{
if (m_ViewRange.Equals(RANGE.WEEK))
{
btnViewRange.Text = "Weekly view";
m_ViewRange = RANGE.MONTH;
btnPreviousRange.Text = "Previous month";
btnNextRange.Text = "Next month";
UpdatePresenceGridInformationMonthFormat();
}
else if (m_ViewRange.Equals(RANGE.MONTH))
{
btnViewRange.Text = "Monthly view";
m_ViewRange = RANGE.WEEK;
btnPreviousRange.Text = "Previous week";
btnNextRange.Text = "Next week";
UpdatePresenceGridInformationWeekFormat();
}
}
protected override void Visit_RANGE(RANGE node)
{
/* MOVE CODE HERE */
}
public DISTATE(ulong start, RANGE mr)
{
pc = start;
memrange = mr;
}
public RANGE memrange; /* memory range */
public DIS(ulong _pc, RANGE _mr)
{
flags = 0;
pc = _pc;
data[0] = data[1] = data[2] = 0xDEAD;
n = 0;
w = 0;
c = 0;
i = Reg.NOREG;
j = Reg.NOREG;
x = 0;
opnds = null;
comment = null;
memrange = _mr;
}
public void Add(RANGE r)
{
list.Add(r);
}
static ulong dis(ulong start, ulong end, RANGE drp, RANGE mrp)
{
DisFun disfn;
if ((start & 1) != 0)
{
Error("Odd start address 0x{0:x8}", start);
start &= 0xffFFffFFffFFffFe;
}
if ((end & 1) != 0)
{
end++;
}
switch (mrp.data.mem)
{
default:
case MemType.MEMTYPE_NONE:
return end + 1;
case MemType.MEMTYPE_UNKNOWN:
case MemType.MEMTYPE_CODE:
disfn = discode;
break;
case MemType.MEMTYPE_DATA:
disfn = disdata;
break;
}
if (seekto(start))
{
Debug.WriteLine("Seek failed");
return end + 1;
}
DISTATE state = new DISTATE(start, mrp);
while (state.pc < end)
{
int n;
if ((n = disfn(state)) < 0)
{
if (n != -1)
Error("input error: {0}", (-n - 1));
drp.end = state.pc;
state.pc = 0xFFffFFffFFffFFff;
break;
}
state.pc += (uint)n;
}
return state.pc;
}
protected virtual void Visit_RANGE(RANGE node)
{
}
static bool options(params string[] args)
{
parseopt pos = new parseopt(args);
ulong start, end;
DATA map;
int opt;
string r;
string arg;
while ((opt = pos.next()) >= 0)
{
switch (opt)
{
case 0:
if (opt_infile != "")
{
Log("{0}: too many input files", cmdname);
usage();
return(false);
}
opt_infile = pos.arg();
break;
case 'D':
case 'd':
arg = pos.arg();
if (arg == null || arg == "")
{
goto missing;
}
if (parserange(opt, arg, out r, out start, out end))
{
break;
}
rangemap.Add(new RANGE(start, end, 1));
break;
case 'E':
case 'e':
// if (!(arg = parseopt_arg(&pos)))
// goto missing;
// fprintf(stderr, "%s: symbol table not implemented yet!\n");
return(false);
case 'F':
case 'f':
// if (!(arg = parseopt_arg(&pos)))
// goto missing;
// if (parsemap(opt, arg, &r, &start, &end, &map))
// break;
// insmap(&filemap, map, map + end - start, start);
break;
case 'H':
case 'h':
case '?':
usage();
return(false);
case 'I':
case 'i':
arg = pos.arg();
if (arg == null || arg == "")
{
goto missing;
}
RANGE range = parsemap(opt, arg, out r);
if (range == null)
{
break;
}
filemap.Add(range);
break;
case 'L':
case 'l':
opt_little = true;
break;
case 'M':
case 'm':
arg = pos.arg();
if (arg == null ||
parserange(opt, arg, out r, out start, out end))
{
showhelp(memtypehelp);
return(false);
}
if (parsememtype(r.Substring(1), out map))
{
return(false);
}
memmap.Add(new RANGE(start, end, map));
break;
case 'O':
case 'o':
opt_outfile = pos.arg();
if (opt_outfile == null || opt_outfile == "")
{
goto missing;
}
break;
case 'R':
case 'r':
opt_split = true;
break;
case 'S':
case 's':
// if (!(arg = parseopt_arg(&pos)))
// goto missing;
// fprintf(stderr, "%s: symbol table not implemented yet!\n");
// exit(1);
break;
case 'T':
case 't':
// if (!(arg = parseopt_arg(&pos)))
// goto missing;
// start = parseul(arg, &r);
// insmap(&memmap, start, start + 0x3FF, MKDATA(1, MD_VECTOR));
break;
case 'V':
case 'v':
opt_outflag |= OutOpt.OF_VERBOSE;
break;
case 'W':
case 'w':
// if (!(arg = parseopt_arg(&pos)))
// goto missing;
// if (parseflags(opt, arg, &opt_outflag, outflags))
// exit(1);
break;
case 'X':
case 'x':
arg = pos.arg();
if (arg == null ||
fileoptions(arg) == false)
{
Log("{0}: cannot open options file \"{1}\"", cmdname, arg);
usage();
return(false);
}
break;
case 'Z':
case 'z':
opt_outflag |= OutOpt.OF_DEBUG;
break;
default:
Log("{0}: unknown option \"-{1}\"", cmdname, opt);
usage();
return(false);
}
}
pos.end();
return(true);
missing:
Log("{0}: option \"-{1}\" requires an argument", cmdname, opt);
return(false);
}
