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using System;
using System.Collections.Generic;
namespace libsurvive
{
using SurviveContextPtr = IntPtr;
using SurviveObjectPtr = IntPtr;
using SurvivePosePtr = IntPtr;
public class SurviveContext : IDisposable
{
public delegate void PoseUpdate(int ObjectID, Vector3 pos);
protected IntPtr ctx;
public void Dispose()
{
Cfunctions.Survive_close(ctx);
ctx = IntPtr.Zero;
}
/**
* 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)
{
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);
if (ctx == 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(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);
}
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);
//Console.WriteLine("LightEvent");
}
virtual protected void PoseEvent(SurviveObjectPtr so, byte lighthouse, SurvivePose pose)
{
Cfunctions.Survive_default_raw_pose_process(so, lighthouse, pose);
Console.WriteLine("PoseEvent");
}
public int Poll()
{
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;
}
}
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