public void SetData(ISDllBridge.ISD_TRACKER_DATA_TYPE dataISense)
{
Debug.Assert(nStationIndex != -1);
state = dataISense.Station[nStationIndex];
positionVector.X = state.Position[0];
positionVector.Y = state.Position[1];
positionVector.Z = state.Position[2];
orientationVector.X = state.Orientation[0];
orientationVector.Y = state.Orientation[1];
orientationVector.Z = state.Orientation[2];
CreateWorldMatrix();
}
public bool GetData(InterSense.StationArray stationArray, out ISDllBridge.ISD_TRACKER_DATA_TYPE dataISense)
{
dataISense = new ISDllBridge.ISD_TRACKER_DATA_TYPE();
for (int i = 0; i < ISDllBridge.ISD_MAX_STATIONS; i++)
{
ISDllBridge.ISD_STATION_STATE_TYPE isdStation = new ISDllBridge.ISD_STATION_STATE_TYPE();
isdStation.Position = new float[3];
isdStation.Orientation = new float[4];
dataISense.Station[i] = isdStation;
}
//[Concern("EC")]
if (udp == null)
{
return(false);
}
string str = "ISD_GetData -station ";
//first, send our request
int activeCount = 0; //how many stations are active
for (int i = 0; i < ISDllBridge.ISD_MAX_STATIONS; i++)
{
if (!stationArray.isActive(i))
{
continue;
}
activeCount++;
if (activeCount > 1)
{
str += ",";
}
str += (i + 1).ToString();
}
if (activeCount < 1)
{
return(true);
}
//should have our proper request string now
//need to turn it into bytes (there must be a better way to do this in C#)
byte[] bytes = new byte[str.Length];
for (int i = 0; i < str.Length; i++)
{
bytes[i] = Convert.ToByte(str[i]);
}
//send the command to get 6DOF information from the server (the server actually communicates with the device)
//[Concern("EH")]
try
{
udp.Send(bytes, bytes.Length);
}
catch (Exception ex)
{
HandleException(ex);
return(false);
}
//now read it back until we fill up everything
//get the bytes
//[Concern("EH")]
try
{
const int timeout = 1; // secs
//[Concern("EC")]
if (!udp.PollForData(timeout))
{
//[Concern("Logging")]
/*MyTrace.Log(TraceLevel.Warning,
* "Timed out waiting for station data. (Timeout: {0} secs).",
* timeout);*/
return(false);
}
bytes = udp.Receive(ref sourcePoint);
}
catch (Exception ex)
{
HandleException(ex);
return(false);
}
//parse it
str = Encoding.ASCII.GetString(bytes);
string[] stationMsgs = str.Split(splitSemicolon);
//[Concern("Logging")]
if (stationMsgs.Length != activeCount)
{
/*MyTrace.Log(TraceLevel.Warning,
* "Did not receive data for all stations. Requested {0} Received {1}",
* activeCount, stationMsgs.Length);*/
}
foreach (string stationMsg in stationMsgs)
{
string[] toks = stationMsg.Split(splitSpace);
int station = Int32.Parse(toks[0].Split(splitEquals)[1]) - 1;
dataISense.Station[station].Position[0] = (float)Double.Parse(toks[1].Split(splitEquals)[1]);
dataISense.Station[station].Position[1] = (float)Double.Parse(toks[2].Split(splitEquals)[1]);
dataISense.Station[station].Position[2] = (float)Double.Parse(toks[3].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[0] = (float)Double.Parse(toks[4].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[1] = (float)Double.Parse(toks[5].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[2] = (float)Double.Parse(toks[6].Split(splitEquals)[1]);
}
hasGottenData = true;
return(true);
}
public void SetData(ISDllBridge.ISD_TRACKER_DATA_TYPE dataISense)
{
Debug.Assert(nStationIndex != -1);
state = dataISense.Station[nStationIndex];
positionVector.X = state.Position[0];
positionVector.Y = state.Position[1];
positionVector.Z = state.Position[2];
orientationVector.X = state.Orientation[0];
orientationVector.Y = state.Orientation[1];
orientationVector.Z = state.Orientation[2];
CreateWorldMatrix();
}
public bool GetData(InterSense.StationArray stationArray, out ISDllBridge.ISD_TRACKER_DATA_TYPE dataISense)
{
dataISense = new ISDllBridge.ISD_TRACKER_DATA_TYPE();
for(int i=0;i<ISDllBridge.ISD_MAX_STATIONS;i++)
{
ISDllBridge.ISD_STATION_STATE_TYPE isdStation = new ISDllBridge.ISD_STATION_STATE_TYPE();
isdStation.Position = new float[3];
isdStation.Orientation = new float[4];
dataISense.Station[i] = isdStation;
}
//[Concern("EC")]
if(udp==null)
return false;
string str = "ISD_GetData -station ";
//first, send our request
int activeCount = 0; //how many stations are active
for(int i=0;i<ISDllBridge.ISD_MAX_STATIONS;i++)
{
if(!stationArray.isActive(i))
continue;
activeCount++;
if (activeCount > 1)
str += ",";
str += (i+1).ToString();
}
if(activeCount<1)
return true;
//should have our proper request string now
//need to turn it into bytes (there must be a better way to do this in C#)
byte[] bytes = new byte[str.Length];
for(int i=0;i<str.Length;i++)
bytes[i] = Convert.ToByte(str[i]);
//send the command to get 6DOF information from the server (the server actually communicates with the device)
//[Concern("EH")]
try
{
udp.Send(bytes,bytes.Length);
}
catch(Exception ex)
{
HandleException(ex);
return false;
}
//now read it back until we fill up everything
//get the bytes
//[Concern("EH")]
try
{
const int timeout = 1; // secs
//[Concern("EC")]
if (!udp.PollForData(timeout))
{
//[Concern("Logging")]
/*MyTrace.Log(TraceLevel.Warning,
"Timed out waiting for station data. (Timeout: {0} secs).",
timeout);*/
return false;
}
bytes = udp.Receive(ref sourcePoint);
}
catch(Exception ex)
{
HandleException(ex);
return false;
}
//parse it
str = Encoding.ASCII.GetString(bytes);
string[] stationMsgs = str.Split(splitSemicolon);
//[Concern("Logging")]
if (stationMsgs.Length != activeCount)
{
/*MyTrace.Log(TraceLevel.Warning,
"Did not receive data for all stations. Requested {0} Received {1}",
activeCount, stationMsgs.Length);*/
}
foreach(string stationMsg in stationMsgs)
{
string[] toks = stationMsg.Split(splitSpace);
int station = Int32.Parse(toks[0].Split(splitEquals)[1])-1;
dataISense.Station[station].Position[0] = (float)Double.Parse(toks[1].Split(splitEquals)[1]);
dataISense.Station[station].Position[1] = (float)Double.Parse(toks[2].Split(splitEquals)[1]);
dataISense.Station[station].Position[2] = (float)Double.Parse(toks[3].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[0] = (float)Double.Parse(toks[4].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[1] = (float)Double.Parse(toks[5].Split(splitEquals)[1]);
dataISense.Station[station].Orientation[2] = (float)Double.Parse(toks[6].Split(splitEquals)[1]);
}
hasGottenData = true;
return true;
}
