Merge remote-tracking branch 'origin/master' into imu

1 files changed, 58 insertions, 0 deletions

diff --git a/bindings/cs/Demo/Program.cs b/bindings/cs/Demo/Program.cs
new file mode 100644
index 0000000..c03d83c
--- /dev/null
+++ b/bindings/cs/Demo/Program.cs
@@ -0,0 +1,58 @@
+using libsurvive;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Demo
+{
+    internal class MyHandler : SurviveContext
+    {
+        private static void WritePose(string name, SurvivePose pose)
+        {
+            Console.Out.WriteLine(name);
+            Console.Out.Write(" [ ");
+            for (int i = 0; i < 3; i++)
+                Console.Out.Write("{0} ", pose.Pos[i]);
+            Console.Out.Write(" ] [ ");
+            for (int i = 0; i < 4; i++)
+                Console.Out.Write("{0} ", pose.Rot[i]);
+            Console.Out.Write(" ] ");
+            Console.Out.WriteLine();
+        }
+
+        public MyHandler() : base()
+        {
+        }
+
+        public MyHandler(string[] args) : base(args)
+        {
+        }
+
+        protected void LightHouseEvent1(IntPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose)
+        {
+            base.LightHouseEvent(ctx, lighthouse, lighthouse_pose, object_pose);
+            WritePose("Lighthouse", lighthouse_pose);
+            WritePose("Object", object_pose);
+        }
+     
+        protected override void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose)
+        {
+            WritePose("Pose", pose);
+            base.PoseEvent(so, lighthouse, pose);
+        }
+    }
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            MyHandler handler = new MyHandler(args);
+            
+            while (handler.Poll() == 0) {
+            }
+
+        }
+
+    }
+}