diff options
Diffstat (limited to 'bindings/cs/libsurvive.net')
| -rw-r--r-- | bindings/cs/libsurvive.net/SurviveContext.cs | 115 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/cfunctions.cs | 91 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/libsurvive.net.csproj | 7 |
3 files changed, 213 insertions, 0 deletions
diff --git a/bindings/cs/libsurvive.net/SurviveContext.cs b/bindings/cs/libsurvive.net/SurviveContext.cs new file mode 100644 index 0000000..bafcf2b --- /dev/null +++ b/bindings/cs/libsurvive.net/SurviveContext.cs @@ -0,0 +1,115 @@ +using System; + +namespace libsurvive +{ + using SurviveContextPtr = IntPtr; + using SurviveObjectPtr = IntPtr; + using SurvivePosePtr = IntPtr; + + public class SurviveContext : IDisposable + { + protected IntPtr ctx; + + public void Dispose() + { + cfunctions.survive_close(ctx); + ctx = IntPtr.Zero; + } + + public SurviveContext() : this(null) { } + + /** + * We need to keep these delegates around for the lifespan of this object. + * if we just pass the functions in, it creates temporary delegates that + * disappear if we don't keep managed ref around + */ + light_process_func light_Process_Func; + raw_pose_func raw_Pose_Func; + lighthouse_pose_func lighthouse_Pose_Func; + angle_process_func angle_Process_Func; + button_process_func button_Process_Func; + htc_config_func htc_Config_Func; + imu_process_func imu_Process_Func; + text_feedback_func error_func; + text_feedback_func info_func; + + public SurviveContext(string[] args) + { + string[] newArgs = new string[args.Length + 1]; + newArgs[0] = System.Reflection.Assembly.GetEntryAssembly().FullName; + Array.Copy(args, 0, newArgs, 1, args.Length); + + ctx = cfunctions.survive_init_internal(newArgs.Length, newArgs); + + light_Process_Func = LightEvent; + raw_Pose_Func = PoseEvent; + lighthouse_Pose_Func = LightHouseEvent; + angle_Process_Func = AngleEvent; + button_Process_Func = ButtonEvent; + htc_Config_Func = HTCConfigEvent; + imu_Process_Func = IMUEvent; + error_func = ErrorEvent; + info_func = InfoEvent; + + cfunctions.survive_install_raw_pose_fn(ctx, raw_Pose_Func); + cfunctions.survive_install_light_fn(ctx, light_Process_Func); + cfunctions.survive_install_lighthouse_pose_fn(ctx, lighthouse_Pose_Func); + cfunctions.survive_install_angle_fn(ctx, angle_Process_Func); + cfunctions.survive_install_button_fn(ctx, button_Process_Func); + cfunctions.survive_install_htc_config_fn(ctx, htc_Config_Func); + cfunctions.survive_install_imu_fn(ctx, imu_Process_Func); + cfunctions.survive_install_error_fn(ctx, error_func); + cfunctions.survive_install_info_fn(ctx, info_func); + } + + virtual protected void InfoEvent(SurviveObjectPtr ctx, string fault) + { + Console.Out.WriteLine(fault); + } + + virtual protected void ErrorEvent(SurviveObjectPtr ctx, string fault) + { + Console.Error.WriteLine(fault); + } + + virtual protected void IMUEvent(SurviveObjectPtr so, int mask, double[] accelgyro, uint timecode, int id) + { + cfunctions.survive_default_imu_process(so, mask, accelgyro, timecode, id); + } + + virtual protected int HTCConfigEvent(SurviveObjectPtr so, string ct0conf, int len) + { + return cfunctions.survive_default_htc_config_process(so, ct0conf, len); + } + + virtual protected void ButtonEvent(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, ushort axis1Val, byte axis2Id, ushort axis2Val) + { + cfunctions.survive_default_button_process(so, eventType, buttonId, axis1Id, axis1Val, axis2Id, axis2Val); + } + + virtual protected void AngleEvent(SurviveObjectPtr so, int sensor_id, int acode, uint timecode, double length, double angle, uint lh) + { + cfunctions.survive_default_angle_process(so, sensor_id, acode, timecode, length, angle, lh); + } + + protected void LightHouseEvent(SurviveObjectPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose) + { + cfunctions.survive_default_lighthouse_pose_process(ctx, lighthouse, lighthouse_pose, object_pose); + } + + virtual protected void LightEvent(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lighthouse) + { + cfunctions.survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); + } + + virtual protected void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose) + { + cfunctions.survive_default_raw_pose_process(so, lighthouse, pose); + } + + public int Poll() + { + return cfunctions.survive_poll(ctx); + } + } +}
\ No newline at end of file diff --git a/bindings/cs/libsurvive.net/cfunctions.cs b/bindings/cs/libsurvive.net/cfunctions.cs new file mode 100644 index 0000000..760681e --- /dev/null +++ b/bindings/cs/libsurvive.net/cfunctions.cs @@ -0,0 +1,91 @@ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; + +namespace libsurvive +{ + using SurviveContextPtr = IntPtr; + using SurviveObjectPtr = IntPtr; + using SurvivePosePtr = IntPtr; + + [StructLayout(LayoutKind.Sequential)] + public class SurvivePose + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] Pos; // Position in the form xyz + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] + public double[] Rot; // Quaternion in the form wxyz + } + + class cfunctions + { +#pragma warning disable IDE1006 // Naming Styles + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall) ] + public static extern SurviveContextPtr survive_init_internal(int argc, string[] args); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern SurviveContextPtr survive_close(SurviveContextPtr ctx); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_poll(SurviveContextPtr ctx); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_startup(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_htc_config_fn(SurviveContextPtr ctx, htc_config_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_info_fn(SurviveContextPtr ctx, text_feedback_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_error_fn(SurviveContextPtr ctx, text_feedback_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_imu_fn(SurviveContextPtr ctx, imu_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_angle_fn(SurviveContextPtr ctx, angle_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_button_fn(SurviveContextPtr ctx, button_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_raw_pose_fn(SurviveContextPtr ctx, raw_pose_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_lighthouse_pose_fn(SurviveContextPtr ctx, lighthouse_pose_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_light_fn(SurviveContextPtr ctx, light_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_cal_install(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_light_process(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lh); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_imu_process(SurviveObjectPtr so, int mode, double[] accelgyro, UInt32 timecode, int id); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_angle_process(SurviveObjectPtr so, int sensor_id, int acode, UInt32 timecode, double length, double angle, UInt32 lh); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_button_process(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, UInt16 axis1Val, byte axis2Id, UInt16 axis2Val); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_raw_pose_process(SurviveObjectPtr so, byte lighthouse, SurvivePose pose); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_lighthouse_pose_process(SurviveContextPtr ctx, byte lighthouse, SurvivePose lh_pose, + SurvivePose obj_pose); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_default_htc_config_process(SurviveObjectPtr so, string ct0conf, int len); + +#pragma warning restore IDE1006 // Naming Styles + } + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate int htc_config_func(SurviveObjectPtr so, string ct0conf, int len); + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void text_feedback_func(SurviveContextPtr ctx, string fault); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void light_process_func(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lighthouse); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void imu_process_func(SurviveObjectPtr so, int mask, double[] accelgyro, UInt32 timecode, int id); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void angle_process_func(SurviveObjectPtr so, int sensor_id, int acode, UInt32 timecode, double length, double angle, UInt32 lh); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void button_process_func(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, UInt16 axis1Val, byte axis2Id, UInt16 axis2Val); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void raw_pose_func(SurviveObjectPtr so, byte lighthouse, SurvivePose pose); + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void lighthouse_pose_func(SurviveContextPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose); + +} diff --git a/bindings/cs/libsurvive.net/libsurvive.net.csproj b/bindings/cs/libsurvive.net/libsurvive.net.csproj new file mode 100644 index 0000000..eac3503 --- /dev/null +++ b/bindings/cs/libsurvive.net/libsurvive.net.csproj @@ -0,0 +1,7 @@ +<Project Sdk="Microsoft.NET.Sdk"> + + <PropertyGroup> + <TargetFramework>netstandard1.6</TargetFramework> + </PropertyGroup> + +</Project> |