diff options
Diffstat (limited to 'bindings/cs')
| -rw-r--r-- | bindings/cs/Demo/Program.cs | 45 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/LibSurViveAPI.cs | 349 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/SurviveContext.cs | 93 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/cfunctions.cs | 159 | ||||
| -rw-r--r-- | bindings/cs/libsurvive.net/libsurvive.net.csproj | 2 |
5 files changed, 536 insertions, 112 deletions
diff --git a/bindings/cs/Demo/Program.cs b/bindings/cs/Demo/Program.cs index c03d83c..c838a4e 100644 --- a/bindings/cs/Demo/Program.cs +++ b/bindings/cs/Demo/Program.cs @@ -7,50 +7,19 @@ using System.Threading.Tasks; namespace Demo { - internal class MyHandler : SurviveContext + + class Program { - private static void WritePose(string name, SurvivePose pose) + static void Main(string[] args) { - 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(); - } + LibSurViveAPI api = LibSurViveAPI.Instance; - public MyHandler() : base() - { - } - - public MyHandler(string[] args) : base(args) - { + var so = api.GetSurviveObjectByName("HMD"); + } - protected void LightHouseEvent1(IntPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose) + public static void HMDUpdate(int ObjectID, Vector3 pos) { - 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) { - } } diff --git a/bindings/cs/libsurvive.net/LibSurViveAPI.cs b/bindings/cs/libsurvive.net/LibSurViveAPI.cs new file mode 100644 index 0000000..1fb8cae --- /dev/null +++ b/bindings/cs/libsurvive.net/LibSurViveAPI.cs @@ -0,0 +1,349 @@ +using System.Collections; +using System.Collections.Generic; + +using libsurvive; +using System; +using System.Threading; +using System.Runtime.InteropServices; + +public class LibSurViveAPI +{ + private static LibSurViveAPI _instance; + public static LibSurViveAPI Instance + { + get + { + if (_instance == null) + { + _instance = new LibSurViveAPI(); + } + + return _instance; + } + } + + bool running = true; + Thread internalPollTread; + + public IntPtr context; + + 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 delegate void Log(string message); + Log LogInfo = delegate { }; + + public delegate void ErrorLog(string message); + ErrorLog LogError = delegate { }; + + LibSurViveAPI() + { + CreateContext(); + + CreateTread(); + } + + ~LibSurViveAPI() + { + running = false; + } + + private void CreateTread() + { + internalPollTread = new Thread(InternalPoll); + internalPollTread.Start(); + } + + void InternalPoll() + { + while (running) + { + int code = Cfunctions.Survive_poll(context); + + if (code != 0) + { + running = false; + } + } + } + + internal void CreateContext() + { + LogInfo("Start Init"); + + SetupConfigs configs = new SetupConfigs + { + configFile = "survive_conf.json" + }; + + string[] args = CreateStartParameters(configs); + + //string[] vs = new[] { "--playback", "P:/c/libsurvive-data/lightcap-reformat/lightcap-reformat.log", "--disambiguator", "StateBased", "--calibrate" }; + + context = Cfunctions.Survive_init_internal(args.Length, args); + + if (context == IntPtr.Zero) + { + throw new Exception("There was a problem initializing the lib!"); + } + + 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(context, raw_Pose_Func); + Cfunctions.Survive_install_light_fn(context, light_Process_Func); + Cfunctions.Survive_install_lighthouse_pose_fn(context, lighthouse_Pose_Func); + Cfunctions.Survive_install_angle_fn(context, angle_Process_Func); + Cfunctions.Survive_install_button_fn(context, button_Process_Func); + Cfunctions.Survive_install_htc_config_fn(context, htc_Config_Func); + Cfunctions.Survive_install_imu_fn(context, imu_Process_Func); + Cfunctions.Survive_install_error_fn(context, error_func); + Cfunctions.Survive_install_info_fn(context, info_func); + + LogInfo("Finished Init"); + + LogInfo("Start Startup"); + + int a = 0; + try + { + a = Cfunctions.Survive_startup(context); + } + catch (Exception) + { + throw; + } + + if (a != 0) + { + throw new Exception("Error in startup"); + } + + LogInfo("Finished Startup"); + + } + + + static public string[] CreateStartParameters(SetupConfigs configs) + { + List<string> args = new List<string> + { + "unity" + }; + + if (configs.playbackFile != "" && configs.playbackFile != null) + { + args.AddRange(new[] { "--playback", configs.playbackFile }); + args.AddRange(new[] { "--playback-factor", configs.playbackFactor.ToString() }); + } + + if(configs.disambiguator != Disambiguator.Default) + args.AddRange(new[] { "--disambiguator", Enum.GetName(typeof(Disambiguator), configs.disambiguator) }); + + if (configs.calibrate != BoolConfig.Default) + args.Add(configs.calibrate == BoolConfig.Yes ? "--calibrate" : "--no-calibrate"); + + if (configs.configFile != "") + args.AddRange(new[] { "-c", configs.configFile }); + + //args.AddRange(new[] { "--disambiguator", Enum.GetName(typeof(Poser), disambiguator) }); + + + + return args.ToArray(); + } + + + + virtual protected void InfoEvent(IntPtr ctx, string fault) + { + LogInfo(fault); + } + + virtual protected void ErrorEvent(IntPtr ctx, string fault) + { + LogError(fault); + } + + virtual protected void IMUEvent(IntPtr so, int mask, double[] accelgyro, uint timecode, int id) + { + Cfunctions.Survive_default_imu_process(so, mask, accelgyro, timecode, id); + } + + virtual protected int HTCConfigEvent(IntPtr so, string ct0conf, int len) + { + return Cfunctions.Survive_default_htc_config_process(so, ct0conf, len); + } + + virtual protected void ButtonEvent(IntPtr 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(IntPtr 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); + + //Debug.Log("AngleEvent"); + } + + protected void LightHouseEvent(IntPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose) + { + Cfunctions.Survive_default_lighthouse_pose_process(ctx, lighthouse, lighthouse_pose, object_pose); + + //Debug.Log("LightHouseEvent"); + } + + virtual protected void LightEvent(IntPtr 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); + + //Console.WriteLine("LightEvent"); + //Debug.Log("LightEvent"); + } + + virtual protected void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose) + { + Cfunctions.Survive_default_raw_pose_process(so, lighthouse, pose); + + //Debug.Log("PoseEvent"); + } + + /* + public delegate void PoseUpdate(SurviveVector3 pos, SurviveQuaternion quat); + + public Dictionary<string, PoseUpdate> updates = new Dictionary<string, PoseUpdate>(); + + public void AddCalback(string ID, PoseUpdate update) + { + if (!updates.ContainsKey(ID)) + { + updates.Add(ID, update); + } + else + { + updates[ID] += update; + } + } + */ + + + public SurviveObject GetSurviveObjectByName(string name) + { + if (name == "") + { + throw new Exception("Empty string is not accepted"); + } + + if (context == IntPtr.Zero) + throw new Exception("The context hasn't been initialsied yet"); + + return new SurviveObject( Cfunctions.Survive_get_so_by_name(context, name)); + } +} + + +public struct SetupConfigs +{ + public string playbackFile; + public int playbackFactor; + public Disambiguator disambiguator; + public Poser poser; + public BoolConfig calibrate; + public string configFile; +} + +public enum Disambiguator +{ + StateBased, + Charles, + Turvey, + Default +} + +public enum Poser +{ + CharlesSlow, + DaveOrtho, + Dummy, + EPNP, + SBA +} + +public enum BoolConfig +{ + Yes, + No, + Default +} + + +public class SurviveObject +{ + private SurvivePose _pose; + public SurvivePose Pose + { + get + { + var ptr1 = Cfunctions.Survive_object_pose(ptr); + return (SurvivePose)Marshal.PtrToStructure(ptr1, typeof(SurvivePose)); + } + } + + private int _charge; + public int Charge + { + get + { + return Cfunctions.Survive_object_charge(ptr); + } + } + public bool Charging + { + get + { + return Cfunctions.Survive_object_charging(ptr); + } + } + + IntPtr ptr; + private bool _charging; + + public SurviveObject(IntPtr obj_ptr) + { + if (obj_ptr == IntPtr.Zero) + { + throw new Exception("Can't create SurviveObject with 0 pointer"); + } + ptr = obj_ptr; + } +} + +public class SurviveVector3 +{ + double x; + double y; + double z; +} + +public class SurviveQuaternion +{ + double x; + double y; + double z; + double w; +} diff --git a/bindings/cs/libsurvive.net/SurviveContext.cs b/bindings/cs/libsurvive.net/SurviveContext.cs index bafcf2b..b1eb711 100644 --- a/bindings/cs/libsurvive.net/SurviveContext.cs +++ b/bindings/cs/libsurvive.net/SurviveContext.cs @@ -1,4 +1,5 @@ using System; +using System.Collections.Generic; namespace libsurvive { @@ -8,16 +9,17 @@ namespace libsurvive public class SurviveContext : IDisposable { + public delegate void PoseUpdate(int ObjectID, Vector3 pos); + + protected IntPtr ctx; public void Dispose() { - cfunctions.survive_close(ctx); + 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 @@ -35,11 +37,27 @@ namespace libsurvive public SurviveContext(string[] args) { + Init(args); + } + + public SurviveContext(string replaydata) + { + string[] vs = new[] { "--playback", "P:/c/libsurvive-data/lightcap-reformat/lightcap-reformat.log", "--disambiguator", "StateBased", "--calibrate" }; + Init(vs); + } + + internal void Init(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); + ctx = Cfunctions.Survive_init_internal(newArgs.Length, newArgs); + + if (ctx == IntPtr.Zero) + { + throw new Exception("There was a problem initializing the lib!"); + } light_Process_Func = LightEvent; raw_Pose_Func = PoseEvent; @@ -51,17 +69,29 @@ namespace libsurvive 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); + 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); } + + //Dictionary<int,PoseUpdate> PoseUpdateCallbacks = new Dictionary<int, PoseUpdate>(); + PoseUpdate poseUpdate; + + public void AddPoseUpdateCallback(PoseUpdate update, int objectID) + { + //PoseUpdateCallbacks[objectID] += update; + poseUpdate += update; + } + + + virtual protected void InfoEvent(SurviveObjectPtr ctx, string fault) { Console.Out.WriteLine(fault); @@ -74,42 +104,61 @@ namespace libsurvive virtual protected void IMUEvent(SurviveObjectPtr so, int mask, double[] accelgyro, uint timecode, int id) { - cfunctions.survive_default_imu_process(so, mask, accelgyro, timecode, 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); + 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); + 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); + 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); + 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); + Cfunctions.Survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); + + //Console.WriteLine("LightEvent"); } - virtual protected void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose) + virtual protected void PoseEvent(SurviveObjectPtr so, byte lighthouse, SurvivePose pose) { - cfunctions.survive_default_raw_pose_process(so, lighthouse, pose); + Cfunctions.Survive_default_raw_pose_process(so, lighthouse, pose); + + Console.WriteLine("PoseEvent"); } public int Poll() { - return cfunctions.survive_poll(ctx); + return Cfunctions.Survive_poll(ctx); } } + + public struct Vector3 + { + public float x; + public float y; + public float z; + } + + public struct Qutarnion + { + public float x; + public float y; + public float z; + public float w; + } }
\ No newline at end of file diff --git a/bindings/cs/libsurvive.net/cfunctions.cs b/bindings/cs/libsurvive.net/cfunctions.cs index 760681e..d003976 100644 --- a/bindings/cs/libsurvive.net/cfunctions.cs +++ b/bindings/cs/libsurvive.net/cfunctions.cs @@ -12,80 +12,137 @@ namespace libsurvive [StructLayout(LayoutKind.Sequential)] public class SurvivePose { - [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + [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 + public double[] Rot; // Quaternion in the form wxyz } - class cfunctions + 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 + //#pragma warning disable IDE1006 // Naming Styles + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_init_internal")] + public static extern SurviveContextPtr Survive_init_internal(int argc, string[] args); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_close")] + public static extern SurviveContextPtr Survive_close(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_poll")] + public static extern int Survive_poll(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_startup")] + public static extern int Survive_startup(SurviveContextPtr ctx); + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_htc_config_fn")] + public static extern void Survive_install_htc_config_fn(SurviveContextPtr ctx, htc_config_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_info_fn")] + public static extern void Survive_install_info_fn(SurviveContextPtr ctx, text_feedback_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_error_fn")] + public static extern void Survive_install_error_fn(SurviveContextPtr ctx, text_feedback_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_imu_fn")] + public static extern void Survive_install_imu_fn(SurviveContextPtr ctx, imu_process_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_angle_fn")] + public static extern void Survive_install_angle_fn(SurviveContextPtr ctx, angle_process_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_button_fn")] + public static extern void Survive_install_button_fn(SurviveContextPtr ctx, button_process_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_raw_pose_fn")] + public static extern void Survive_install_raw_pose_fn(SurviveContextPtr ctx, raw_pose_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_lighthouse_pose_fn")] + public static extern void Survive_install_lighthouse_pose_fn(SurviveContextPtr ctx, lighthouse_pose_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_install_light_fn")] + public static extern void Survive_install_light_fn(SurviveContextPtr ctx, light_process_func fbp); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_cal_install")] + public static extern void Survive_cal_install(SurviveContextPtr ctx); + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_default_light_process")] + 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, EntryPoint = "survive_default_imu_process")] + public static extern void Survive_default_imu_process(SurviveObjectPtr so, int mode, double[] accelgyro, UInt32 timecode, int id); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_default_angle_process")] + 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, EntryPoint = "survive_default_button_process")] + 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, EntryPoint = "survive_default_raw_pose_process")] + public static extern void Survive_default_raw_pose_process(SurviveObjectPtr so, byte lighthouse, SurvivePose pose); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_default_lighthouse_pose_process")] + public static extern void Survive_default_lighthouse_pose_process(SurviveContextPtr ctx, byte lighthouse, SurvivePose lh_pose, SurvivePose obj_pose); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_default_htc_config_process")] + public static extern int Survive_default_htc_config_process(SurviveObjectPtr so, string ct0conf, int len); + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_codename")] + public static extern string Survive_object_codename(SurviveObjectPtr so); + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_drivername")] + public static extern char Survive_object_drivername(SurviveObjectPtr so); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_charge")] + public static extern byte Survive_object_charge(SurviveObjectPtr so); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_charging")] + public static extern bool Survive_object_charging(SurviveObjectPtr so); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_pose")] + public static extern IntPtr Survive_object_pose(SurviveObjectPtr so); + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_sensor_locations")] + public static extern double[] Survive_object_sensor_locations(SurviveObjectPtr so); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_object_sensor_normals")] + public static extern double[] Survive_object_sensor_normals(SurviveObjectPtr so); + + + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall, EntryPoint = "survive_get_so_by_name")] + public static extern IntPtr Survive_get_so_by_name(IntPtr ctx, string name); + + //#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 index eac3503..9f5c4f4 100644 --- a/bindings/cs/libsurvive.net/libsurvive.net.csproj +++ b/bindings/cs/libsurvive.net/libsurvive.net.csproj @@ -1,7 +1,7 @@ <Project Sdk="Microsoft.NET.Sdk"> <PropertyGroup> - <TargetFramework>netstandard1.6</TargetFramework> + <TargetFramework>netstandard2.0</TargetFramework> </PropertyGroup> </Project> |