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VuzixTrackerPlugin.cs
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VuzixTrackerPlugin.cs
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using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using FreePIE.Core.Contracts;
namespace FreePIE.Core.Plugins {
//==========================================================================
// Vuzix (iWearDrv interface)
//==========================================================================
static class VuzixAPI {
[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWROpenTracker", CallingConvention = CallingConvention.Cdecl)]
public static extern int IWROpenTracker();
[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWRCloseTracker", CallingConvention = CallingConvention.Cdecl)]
public static extern void IWRCloseTracker();
//[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWRGetProductID")]
//public static extern ushort IWRGetProductID();
[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWRGetTracking", CallingConvention = CallingConvention.Cdecl)]
public static extern int IWRGetTracking(out int yaw, out int pitch, out int roll);
[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWRGet6DTracking", CallingConvention = CallingConvention.Cdecl)]
public static extern int IWRGet6DTracking(out int yaw, out int pitch, out int roll, out int x, out int y, out int z);
[DllImport("iWearDrv.dll", SetLastError = false, EntryPoint = "IWRSetFilterState", CallingConvention = CallingConvention.Cdecl)]
public static extern void IWRSetFilterState(Boolean on);
}
//==========================================================================
[GlobalEnum]
public enum VuzixDataUnits {
RAW = 0,
DEGREES = 1,
RADIANS = 2
}
//==========================================================================
// VuzixTrackerPlugin
//==========================================================================
[GlobalType(Type = typeof(VuzixTrackerPluginGlobal))]
public class VuzixTrackerPlugin : Plugin {
bool Sampled;
int YawSample;
int ContinuousYaw;
int PitchSample;
int RollSample;
int XSample;
int YSample;
int ZSample;
double DataModeScale;
//-----------------------------------------------------------------------
public VuzixTrackerPlugin() {
SetDataUnits(VuzixDataUnits.DEGREES);
}
//-----------------------------------------------------------------------
public override object CreateGlobal() {
return new VuzixTrackerPluginGlobal(this);
}
//-----------------------------------------------------------------------
public override Action Start() {
// This method is called just before script starts
int err = VuzixAPI.IWROpenTracker();
if (err == 0) {
// Turn on Vuzix signal filtering
// TODO: Expose this to allow scripts to do their own filtering
VuzixAPI.IWRSetFilterState(true);
// Grab a single test sample just to make sure everything is linked up properly
SampleVuzixTracker();
OnStarted(this, new EventArgs());
}
else {
throw new Exception("Failed to connect to Vuzix Tracker");
}
return null;
}
//-----------------------------------------------------------------------
public override void Stop() {
VuzixAPI.IWRCloseTracker();
}
//-----------------------------------------------------------------------
public override string FriendlyName {
get { return "Vuzix"; }
}
//-----------------------------------------------------------------------
public override bool GetProperty(int index, IPluginProperty property) {
return false;
}
//-----------------------------------------------------------------------
public override bool SetProperties(Dictionary<string, object> properties) {
return true;
}
//-----------------------------------------------------------------------
public override void DoBeforeNextExecute() {
//This method will be executed each iteration of the script
Sampled = false;
}
//-----------------------------------------------------------------------
public void SetDataUnits(VuzixDataUnits mode) {
switch (mode) {
case VuzixDataUnits.RAW:
DataModeScale = 1.0;
break;
case VuzixDataUnits.DEGREES:
DataModeScale = 180.0 / 32768.0;
break;
case VuzixDataUnits.RADIANS:
DataModeScale = Math.PI / 32768.0;
break;
default:
DataModeScale = 1.0;
break;
}
}
public bool ContinousYawMode { get; set; }
//-----------------------------------------------------------------------
void SampleVuzixTracker() {
int previous_yaw = YawSample;
VuzixAPI.IWRGet6DTracking(out YawSample, out PitchSample, out RollSample, out XSample, out YSample, out ZSample);
int delta = YawSample - previous_yaw;
int HALF_CIRCLE = 32768;
if (Math.Abs(delta) > HALF_CIRCLE) {
// We turned across the discontinuity at 180 degrees so modify the delta to
// reflect the probable angular motion
if (delta > 0)
delta -= (2 * HALF_CIRCLE);
else
delta += (2 * HALF_CIRCLE);
}
ContinuousYaw += delta;
Sampled = true;
}
//-----------------------------------------------------------------------
public double Yaw {
get {
if (!Sampled)
SampleVuzixTracker();
double yaw;
if (ContinousYawMode)
yaw = ContinuousYaw * DataModeScale;
else
yaw = YawSample * DataModeScale;
return yaw;
}
}
//-----------------------------------------------------------------------
public double Roll {
get {
if (!Sampled)
SampleVuzixTracker();
double roll = RollSample * DataModeScale;
return roll;
}
}
//-----------------------------------------------------------------------
public double Pitch {
get {
if (!Sampled)
SampleVuzixTracker();
double pitch = PitchSample * DataModeScale;
return pitch;
}
}
//-----------------------------------------------------------------------
public int X {
get {
if (!Sampled)
SampleVuzixTracker();
return XSample;
}
}
//-----------------------------------------------------------------------
public int Y {
get {
if (!Sampled)
SampleVuzixTracker();
return YSample;
}
}
//-----------------------------------------------------------------------
public int Z {
get {
if (!Sampled)
SampleVuzixTracker();
return ZSample;
}
}
}
//==========================================================================
// VuzixTrackerPluginGlobal
//==========================================================================
[Global(Name = "vuzix")]
public class VuzixTrackerPluginGlobal
{
private readonly VuzixTrackerPlugin vuzix;
//-----------------------------------------------------------------------
public VuzixTrackerPluginGlobal(VuzixTrackerPlugin plugin)
{
vuzix = plugin;
}
//-----------------------------------------------------------------------
public VuzixDataUnits DataUnits
{
set { vuzix.SetDataUnits(value); }
}
public bool continuousYawMode
{
get { return vuzix.ContinousYawMode; }
set { vuzix.ContinousYawMode = value; }
}
public double yaw
{
get { return vuzix.Yaw; }
}
public double pitch
{
get { return vuzix.Pitch; }
}
public double roll
{
get { return vuzix.Roll; }
}
public double x
{
get { return vuzix.X; }
}
public double y
{
get { return vuzix.Y; }
}
public double z
{
get { return vuzix.Z; }
}
}
}