/// <summary>
/// Updates the state of the PCF.
/// </summary>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation completed successfully.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if there was a lack of privileges.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldNotFound</c> if the passed CFUID is not available.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
private MLResult UpdateState()
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
NativeBindings.FrameStateNative nativeState = NativeBindings.FrameStateNative.Create();
MLResult.Code resultCode = NativeBindings.MLPersistentCoordinateFramesGetFrameState(MLPersistentCoordinateFrames._instance.nativeTracker, in this.cfuid, ref nativeState);
if (!MLResult.IsOK(resultCode))
{
MLPluginLog.ErrorFormat("PCF.UpdateState failed to get frame state. Reason: {0}", MLResult.CodeToString(resultCode));
return(MLResult.Create(resultCode, string.Format("PCF.UpdateState failed to get frame state. Reason: {0}", MLResult.CodeToString(resultCode))));
}
this.FrameState = nativeState.Data();
return(MLResult.Create(resultCode));
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("PCF.UpdateState failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "PCF.UpdateState failed. Reason: API symbols not found."));
}
}
else
{
MLPluginLog.ErrorFormat("PCF.UpdateState failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "PCF.UpdateState failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Updates the PCF's pose and state.
/// </summary>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation was successful.
/// MLResult.Result will be <c>MLResult.Code.SnapshotPoseNotFound</c> if the PCF could not be found in the current map.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if there was a lack of privileges.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldNotFound</c> if the passed CFUID is not available.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public MLResult Update()
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
if (!MLPersistentCoordinateFrames._instance.mapUpdatedPCFsThisFrame.ContainsKey(this.cfuid))
{
MLPersistentCoordinateFrames._instance.mapUpdatedPCFsThisFrame.Add(this.cfuid, this);
try
{
MLResult result = MLResult.Create(MLResult.Code.Ok);
if (MLPersistentCoordinateFrames.IsLocalized)
{
if (MagicLeapNativeBindings.UnityMagicLeap_TryGetPose(this.CFUID, out Pose newPose))
{
this.Pose = newPose;
result = this.UpdateState();
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("PCF.Update failed because PCF.UpdateState failed. Reason: {0}", result);
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("PCF.Update failed because PCF.UpdateState failed. Reason: {0}", result)));
}
this.CurrentResultCode = MLResult.Code.Ok;
}
else
{
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("PCF.Update failed. Reason: No pose could be found for the CFUID {0}", this.cfuid));
this.CurrentResultCode = MLResult.Code.SnapshotPoseNotFound;
}
}
else
{
this.CurrentResultCode = MLResult.Code.SnapshotPoseNotFound;
}
return(result);
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("PCF.Update failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "PCF.Update failed. Reason: API symbols not found."));
}
}
else
{
return(MLResult.Create(MLResult.Code.Ok));
}
}
else
{
MLPluginLog.ErrorFormat("PCF.Update failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "PCF.Update failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
