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using System;
using System.Runtime.InteropServices;
namespace LibSurVive
{
class Program
{
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern IntPtr survive_init_internal(int argc, string[] args);
public delegate void raw_pose_func(IntPtr so, byte lighthouse, IntPtr pose);
public delegate void lighthouse_pose_func(IntPtr ctx, byte lighthouse, IntPtr lighthouse_pose, IntPtr object_pose);
public delegate void light_process_func( IntPtr so, int sensor_id, int acode, int timeinsweep,
UInt32 timecode, UInt32 length, UInt32 lighthouse);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern void survive_install_raw_pose_fn(IntPtr ctx, raw_pose_func fbp);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern void survive_install_lighthouse_pose_fn(IntPtr ctx, lighthouse_pose_func fbp);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern void survive_install_light_fn(IntPtr ctx, light_process_func fbp);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern int survive_startup(IntPtr ctx);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern void survive_cal_install(IntPtr ctx);
[DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)]
static extern int survive_poll(IntPtr ctx);
static void Main(string[] args)
{
IntPtr context = survive_init_internal(args.Length, args);
survive_install_lighthouse_pose_fn(context, LighthousPos);
survive_install_raw_pose_fn(context, PositionUpdate);
survive_install_light_fn(context, LightUpdate);
survive_startup(context);
survive_cal_install(context);
while(survive_poll(context) == 0) {}
}
public static void LightUpdate( IntPtr so, int sensor_id, int acode, int timeinsweep,
UInt32 timecode, UInt32 length, UInt32 lighthouse) {
Console.WriteLine(timeinsweep);
}
public static void PositionUpdate(IntPtr so, byte lighthouse, IntPtr pose)
{
Console.WriteLine(pose);
}
public static void LighthousPos(IntPtr ctx, byte lighthouse, IntPtr lighthouse_pose, IntPtr object_pose)
{
}
}
}
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