private void Connect()
{
// [NatNet] connect to a NatNet server
int returnCode = 0;
returnCode = m_NatNet.Initialize(textBoxLocal.Text, textBoxServer.Text);
if (returnCode == 0)
{
OutputMessage("Initialization Succeeded.");
}
else
{
OutputMessage("Error Initializing.");
checkBoxConnect.Checked = false;
}
// [NatNet] validate the connection
returnCode = m_NatNet.GetServerDescription(desc);
if (returnCode == 0)
{
OutputMessage("Connection Succeeded.");
OutputMessage(" Server App Name: " + desc.HostApp);
OutputMessage(String.Format(" Server App Version: {0}.{1}.{2}.{3}", desc.HostAppVersion[0], desc.HostAppVersion[1], desc.HostAppVersion[2], desc.HostAppVersion[3]));
OutputMessage(String.Format(" Server NatNet Version: {0}.{1}.{2}.{3}", desc.NatNetVersion[0], desc.NatNetVersion[1], desc.NatNetVersion[2], desc.NatNetVersion[3]));
checkBoxConnect.Text = "Disconnect";
if (desc.HostApp.Contains("TrackingTools"))
{
m_ServerToMillimeters = 1000.0f;
}
// [NatNet] [optional] send a test/response message
OutputMessage("Sending TestRequest");
int nBytes = 0;
byte[] response = new byte[10000];
int rc = m_NatNet.SendMessageAndWait("TestRequest", out response, out nBytes);
if (rc == 0)
{
string str = " Server: " + System.Text.Encoding.ASCII.GetString(response, 0, nBytes);
OutputMessage(str);
}
else
{
OutputMessage(" Server: No Response.");
}
rc = m_NatNet.SendMessageAndWait("FrameRate", out response, out nBytes);
if (rc == 0)
{
try
{
m_ServerFramerate = BitConverter.ToSingle(response, 0);
OutputMessage(String.Format(" Server Framerate: {0}", m_ServerFramerate));
}
catch (System.Exception ex)
{
OutputMessage(ex.Message);
}
}
m_fCurrentMocapFrameTimestamp = 0.0f;
m_fFirstMocapFrameTimestamp = 0.0f;
}
else
{
OutputMessage("Error Connecting.");
checkBoxConnect.Checked = false;
checkBoxConnect.Text = "Connect";
}
}
/// <summary>
/// Connect to a NatNet server (e.g. Motive)
/// </summary>
private void Connect()
{
// [NatNet] connect to a NatNet server
int returnCode = 0;
string strLocalIP = comboBoxLocal.SelectedItem.ToString();
string strServerIP = textBoxServer.Text;
returnCode = m_NatNet.Initialize(strLocalIP, strServerIP);
if (returnCode == 0)
{
OutputMessage("Initialization Succeeded.");
}
else
{
OutputMessage("Error Initializing.");
checkBoxConnect.Checked = false;
}
// [NatNet] validate the connection
returnCode = m_NatNet.GetServerDescription(desc);
if (returnCode == 0)
{
OutputMessage("Connection Succeeded.");
OutputMessage(" Server App Name: " + desc.HostApp);
OutputMessage(String.Format(" Server App Version: {0}.{1}.{2}.{3}", desc.HostAppVersion[0], desc.HostAppVersion[1], desc.HostAppVersion[2], desc.HostAppVersion[3]));
OutputMessage(String.Format(" Server NatNet Version: {0}.{1}.{2}.{3}", desc.NatNetVersion[0], desc.NatNetVersion[1], desc.NatNetVersion[2], desc.NatNetVersion[3]));
checkBoxConnect.Text = "Disconnect";
// Tracking Tools and Motive report in meters - lets convert to millimeters
if (desc.HostApp.Contains("TrackingTools") || desc.HostApp.Contains("Motive"))
{
m_ServerToMillimeters = 1000.0f;
}
// [NatNet] [optional] Query mocap server for the current camera framerate
int nBytes = 0;
byte[] response = new byte[10000];
int rc;
rc = m_NatNet.SendMessageAndWait("FrameRate", out response, out nBytes);
if (rc == 0)
{
try
{
m_ServerFramerate = BitConverter.ToSingle(response, 0);
OutputMessage(String.Format(" Server Framerate: {0}", m_ServerFramerate));
}
catch (System.Exception ex)
{
OutputMessage(ex.Message);
}
}
// [NatNet] [optional] Query mocap server for the current up axis
rc = m_NatNet.SendMessageAndWait("UpAxis", out response, out nBytes);
if (rc == 0)
{
m_UpAxis = BitConverter.ToInt32(response, 0);
}
m_fCurrentMocapFrameTimestamp = 0.0f;
m_fFirstMocapFrameTimestamp = 0.0f;
}
else
{
OutputMessage("Error Connecting.");
checkBoxConnect.Checked = false;
checkBoxConnect.Text = "Connect";
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
int returnCode = 0;
if (FEnabled[0])
{
//If not connected already, try to connect
if (!FConnected[0])
{
// [NatNet] connect to a NatNet server
returnCode = mNatNet.Initialize(FLocal[0], FServer[0], FPort[0]);
FLogger.Log(LogType.Debug, "Trying to connect...");
if (returnCode == 0)
{
FLogger.Log(LogType.Debug, "Connected!");
// [NatNet] validate the connection
returnCode = mNatNet.GetServerDescription(mDesc);
if (returnCode == 0)
{
FLogger.Log(LogType.Debug, "Server App Name: " + mDesc.HostApp);
// [NatNet] [optional] send a test/response message
FLogger.Log(LogType.Debug, "Sending TestRequest");
int nBytes = 0;
byte[] response = new byte[10000];
int rc = mNatNet.SendMessageAndWait("TestRequest", out response, out nBytes);
if (rc == 0)
{
string str = " Server: " + System.Text.Encoding.ASCII.GetString(response, 0, nBytes);
FLogger.Log(LogType.Debug, str);
}
else
{
FLogger.Log(LogType.Debug, " Server: No Response.");
}
rc = mNatNet.SendMessageAndWait("FrameRate", out response, out nBytes);
if (rc == 0)
{
try
{
double serverFramerate = BitConverter.ToSingle(response, 0);
FLogger.Log(LogType.Debug, String.Format(" Server Framerate: {0}", serverFramerate));
}
catch (System.Exception ex)
{
FLogger.Log(LogType.Debug, ex.Message);
}
}
//Connected
FConnected[0] = true;
FEnabled[0] = FConnected[0];
}
}
//Get the rigid body names
this.RequestDataDescription();
}
else
{
// Already connected, update output
// Upon update, query server for data description
if (FUpdate.IsChanged)
{
this.RequestDataDescription();
}
lock (syncLock) {
//FLogger.Log(LogType.Debug, "" + m_FrameQueue.Count);
while (m_FrameQueue.Count > 0)
{
mFrameOfData = m_FrameQueue.Dequeue();
if (m_FrameQueue.Count > 0)
{
continue;
}
FFrame.SliceCount = 0;
FFrame.Add(mFrameOfData);
}
}
// Update the rigid bodies names
FRigidBody.SliceCount = mRBNames.Count;
for (int i = 0; i < mRBNames.Count; ++i)
{
FRigidBody[i] = mRBNames[i];
}
}
}
else
{
//If connected already, disconnect, else, do nothing
if (FConnected[0])
{
mRBNames.Clear();
returnCode = mNatNet.Uninitialize();
FConnected[0] = (0 == returnCode);
}
}
}