void OnApplicationQuit()
{
// shut down communication to Xsens
if (_masterDevice != null)
{
_masterDevice.clearCallbackHandlers();
}
_measuringMts.Clear();
UnityEngine.Debug.Log("Disable radio");
if (_masterDevice != null)
{
if (_masterDevice.isRadioEnabled())
{
_masterDevice.disableRadio();
}
}
UnityEngine.Debug.Log("closing connection to MTws");
_xda.Dispose();
_xda = null;
// shut down connection to server
_client.Close();
}
private void disposeDevices()
{
if (_measuringDevice != null)
{
_measuringDevice.clearCallbackHandlers();
}
_measuringMts.Clear();
_xda.Dispose();
_xda = null;
}
void Start()
{
_currentMesh = new Mesh();
_meshRenderer = GetComponent <SkinnedMeshRenderer>();
_poseUpdater = new SMPLPoseUpdater(this.transform);
_client = new Client();
// must match the name of the object in the scene
_imuIdToName.Add(_rArmId, "r_arm");
_imuIdToName.Add(_rLegId, "r_leg");
_imuIdToName.Add(_lArmId, "l_arm");
_imuIdToName.Add(_lLegId, "l_leg");
_imuIdToName.Add(_pelvisId, "pelvis");
_imuIdToName.Add(_headId, "head");
// must match name in definition of SMPL model
_imuIdToBoneName.Add(_rArmId, "R_Elbow");
_imuIdToBoneName.Add(_rLegId, "R_Knee");
_imuIdToBoneName.Add(_lArmId, "L_Elbow");
_imuIdToBoneName.Add(_lLegId, "L_Knee");
_imuIdToBoneName.Add(_pelvisId, "Pelvis");
_imuIdToBoneName.Add(_headId, "Head");
// to determine location where to display IMU sensors
_imuIdToVertex.Add(_rArmId, 5431); // right arm
_imuIdToVertex.Add(_rLegId, 4583); // right leg
_imuIdToVertex.Add(_lArmId, 1962); // left arm
_imuIdToVertex.Add(_lLegId, 1096); // left leg
_imuIdToVertex.Add(_pelvisId, 3021); // pelvis
_imuIdToVertex.Add(_headId, 412);
// intialize control object that handles communication to XSens device
_xda = new MyXda();
// scan for devices
ScanForStations();
// enable radio for master device found when scanning for stations
EnableRadio();
_totalConnectedMTWs = _masterDevice.childCount();
UnityEngine.Debug.Log("Waiting for MTWs to connect to the master.");
// connect to inference server
_client.ConnectToTcpServer();
// load the model into a TensorFlow session
LoadModel();
}
private static bool scanMeasuringDevices()
{
var retries = 0;
_xda = new MyXda();
while (retries < scanRetries)
{
_xda.scanPorts();
if (_xda._DetectedDevices.Any())
{
logger.Log($"{_xda._DetectedDevices.Count()} Devics Detected after {retries} retries.");
logger.Log($"IDs: { string.Join(", ", _xda._DetectedDevices.Select(d => d.deviceId().toInt().ToString())) }");
return(true);
}
retries++;
}
return(false);
}
