/// <summary>
/// Converts byte to command and then executes command
/// </summary>
/// <param name="receivedCommand"></param>
public void handleCommand(byte[] receivedCommand)
{
int command = (int)receivedCommand[2];
switch (command)
{
// 0 is Start Cameras
case 0:
{
MotionCapture.StartCameras();
camerasStartedEvent();
break;
}
// 1 is Stop Cameras
case 1:
{
MotionCapture.StopCameras();
break;
}
// 2 is Send Camera Coordinates
case 2:
{
MotionCapture.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;
}
//8 is toggle feet on/off
case 8:
{
break;
}
default:
{
System.Diagnostics.Debug.WriteLine("Invalid command received: " + command.ToString());
break;
}
}
}
public static void UpdateCameraList()
{
int numberOfCameras = pointcloud.CameraCount;
OptiTrackCamera camera = new OptiTrackCamera();
double[] tempRotationMatrix = new double[9];
for (int i = 0; i < numberOfCameras; i++)
{
camera.CameraNumber = i;
camera.xCoordinate = pointcloud.GetCamera(i).X * 1000;
camera.yCoordinate = pointcloud.GetCamera(i).Y * 1000;
camera.zCoordinate = pointcloud.GetCamera(i).Z * 1000;
for (int j = 0; j < 9; j++)
{
tempRotationMatrix[j] = pointcloud.GetCamera(i).GetRotationMatrix(j);
}
camera.RotationMatrix = tempRotationMatrix;
OptitrackCameraList.AddCamera(camera);
}
}
private void buttonUpdateCameraList_Click(object sender, EventArgs e)
{
MotionCapture.UpdateCameraList();
OptitrackCameraList.TransmitListOfCameras();
}