void processSignal(string str) { char[] delimiters = { ' ', ',' }; if (str == "") { return; } string[] substrings = str.Split(delimiters, StringSplitOptions.RemoveEmptyEntries); if (substrings.Length == 0) { return; } SparrowHawkSignal s = new SparrowHawkSignal(SparrowHawkSignal.ESparrowHawkSigalType.InitType, new float[substrings.Length - 1]); for (int i = 1; i < substrings.Length; i++) { if (substrings[0] != "del:") { if (!float.TryParse(substrings[i], out s.data[i - 1])) { return; } } else { s.strData = substrings[1]; } } switch (substrings[0]) { case "init:": RhinoApp.WriteLine("Calibration point recieved"); s.type = SparrowHawkSignal.ESparrowHawkSigalType.InitType; mSignalQueue.Enqueue(s); break; case "angle:": s.type = SparrowHawkSignal.ESparrowHawkSigalType.EncoderType; mSignalQueue.Enqueue(s); break; case "stroke:": s.type = SparrowHawkSignal.ESparrowHawkSigalType.LineType; mSignalQueue.Enqueue(s); break; case "del:": s.type = SparrowHawkSignal.ESparrowHawkSigalType.CutType; mSignalQueue.Enqueue(s); break; } //mSignalQueue.Enqueue(s); }
protected void handleSignals() { SparrowHawkSignal s = SparrowHawkEventListeners.Instance.getOneSignal(); if (s == null) { return; } switch (s.type) { case SparrowHawkSignal.ESparrowHawkSigalType.InitType: if (s.data.Length >= 3) { //To compute VRtoRobot matrix, press V key 8 times. //robotPoint is in mm unit so the calibration result already deal with scale issue Vector3 robotPoint = new Vector3(s.data[0], s.data[1], s.data[2]); robotCallibrationPoints.Add(robotPoint); Rhino.RhinoApp.WriteLine("add robotPoint: " + robotPoint.ToString()); if (mIsLefty && mScene.leftControllerIdx < 0 || !mIsLefty && mScene.leftControllerIdx < 0) { break; } } break; case SparrowHawkSignal.ESparrowHawkSigalType.LineType: if (s.data.Length >= 4) { if (s.data[0] == 0) { OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]); p1 = UtilOld.platformToVRPoint(ref mScene, p1); OpenTK.Vector3 p2 = new Vector3(s.data[4], s.data[5], s.data[6]); p2 = UtilOld.platformToVRPoint(ref mScene, p2); if (((Geometry.RobotPrintStroke)printStroke).mPoints.Count == 0) { printStroke = new Geometry.RobotPrintStroke(ref mScene); ((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2); printStrokeSN = new SceneNode("PrintStroke", ref printStroke, ref printStroke_m); mScene.tableGeometry.add(ref printStrokeSN); } else { ((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2); printStrokeSN.geometry = printStroke; } } else { OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]); p1 = UtilOld.platformToVRPoint(ref mScene, p1); //((Geometry.GeometryStroke2)printStroke).addPoint(p1); ((Geometry.RobotPrintStroke)printStroke).addEdge(((Geometry.RobotPrintStroke)printStroke).mPoints[((Geometry.RobotPrintStroke)printStroke).mPoints.Count - 1], p1); printStrokeSN.geometry = printStroke; } } break; case SparrowHawkSignal.ESparrowHawkSigalType.CutType: string guidStr = s.strData; Guid delId = new Guid(guidStr); UtilOld.removeRhinoObjectSceneNode(ref mScene, delId); //removePrintStroke and show the model again ((Geometry.RobotPrintStroke)printStroke).removePoint(); //mScene.tableGeometry.remove(ref printStrokeSN); //already remove Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings(); settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep; foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings)) { if (rhObj.Attributes.Name.Contains("aprint")) { SceneNode sn = mScene.BiDictionaryRhinoVR.GetByFirst(rhObj.Id); Material.LambertianMaterial show_m = new Material.LambertianMaterial(((Material.LambertianMaterial)sn.material).mColor.R, ((Material.LambertianMaterial)sn.material).mColor.G, ((Material.LambertianMaterial)sn.material).mColor.B, .3f); sn.material = show_m; } } mScene.rhinoDoc.Views.Redraw(); break; case SparrowHawkSignal.ESparrowHawkSigalType.EncoderType: //for rhino object OpenTK.Matrix4 currentRotation = mScene.platformRotation; float theta = (float)(s.data[0] / 360f * 2 * Math.PI); mScene.rhinoTheta = theta; Rhino.RhinoApp.WriteLine("Theta = " + theta); Matrix4.CreateRotationZ(-theta, out mScene.platformRotation); mScene.platformRotation.Transpose(); //rotate Rhino objects OpenTK.Matrix4 rotMRhino = mScene.platformRotation * currentRotation.Inverted(); mScene.transM = new Transform(); for (int row = 0; row < 4; row++) { for (int col = 0; col < 4; col++) { mScene.transM[row, col] = rotMRhino[row, col]; } } /* * Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings(); * settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep; * foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings)) * { * if (mScene.brepToSceneNodeDic.ContainsKey(rhObj.Id) && !rhObj.Attributes.Name.Contains("planeXY") && !rhObj.Attributes.Name.Contains("planeXZ") * && !rhObj.Attributes.Name.Contains("planeYZ")) * { * //SceneNode sn = mScene.brepToSceneNodeDic[rhObj.Id]; * //mScene.brepToSceneNodeDic.Remove(rhObj.Id); * * Guid newGuid = mScene.rhinoDoc.Objects.Transform(rhObj.Id, mScene.transM, true); * Rhino.RhinoApp.WriteLine("transM " + mScene.transM.ToString()); * mScene.rhinoDoc.Views.Redraw(); * * //mScene.brepToSceneNodeDic.Add(newGuid, sn); * //mScene.SceneNodeToBrepDic[sn.guid] = mScene.rhinoDoc.Objects.Find(newGuid); * } * * }*/ //rotate the current interaction curve as well /* * foreach(Curve iCurve in mScene.iCurveList) * { * iCurve.Transform(transM); * * } * if (mScene.peekInteraction().GetType() == typeof(Interaction.EditPoint2)) * { * mScene.peekInteraction().init(); * }*/ break; } }