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using System; |
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using System.Collections.Generic; |
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using System.Linq; |
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using Unity.XR.PXR; |
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using UnityEngine; |
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namespace UDESDK |
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{ |
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public class UDE_SDK |
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{ |
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private bool IsInitialized = false; |
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private Dictionary<string, BleHandDriver> bleHandDriver = new(); |
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/// <summary> |
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/// Bluetooth Initial. |
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/// </summary> |
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public void UDE_BleInit() |
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{ |
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UDE_API.UDE_Init(); |
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IsInitialized = true; |
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} |
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/// <summary> |
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/// Start Searching Device. |
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/// </summary> |
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/// <returns></returns> |
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public bool UDE_BleStartSearching() |
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{ |
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if(!IsInitialized) |
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{ |
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return false; |
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} |
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UDE_API.StartEnumDevices(); |
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return true; |
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} |
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/// <summary> |
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/// Stop Searching Device. |
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/// </summary> |
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/// <returns></returns> |
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public bool UDE_BleStopSearching() |
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{ |
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if (!IsInitialized) |
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{ |
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return false; |
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} |
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UDE_API.StopEnumDevices(); |
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return true; |
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} |
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/// <summary> |
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/// Get Bluetooth Devices List. |
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/// </summary> |
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/// <returns></returns> |
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public List<string> UDE_GetBleDeviceList() |
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{ |
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if (!IsInitialized) |
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{ |
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return new List<string>(); |
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} |
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return UDE_API.GetDeviceList(); |
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} |
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/// <summary> |
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/// Connecting a Device by Name. |
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/// </summary> |
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/// <param name="DeviceName">Device Name</param> |
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public bool UDE_ConnectCertainDevice(string DeviceName, Action<string, bool> action = null) |
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{ |
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if(string.IsNullOrEmpty(DeviceName) || !IsInitialized) |
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{ |
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return false; |
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} |
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if (UDE_API.OpenDeviceByName(DeviceName, action)) |
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{ |
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bleHandDriver.Add(DeviceName, new BleHandDriver(DeviceName)); |
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return true; |
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} |
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return false; |
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} |
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/// <summary> |
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/// Get Connection State of a Device. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_CheckDeviceIsConnect(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !IsInitialized) |
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{ |
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return false; |
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} |
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return UDE_API.CheckConnectByName(DeviceName); |
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} |
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/// <summary> |
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/// Disconnect a Device. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_DisconnectDevice(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !IsInitialized) |
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{ |
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return false; |
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} |
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return UDE_API.CloseDeviceByName(DeviceName); |
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} |
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/// <summary> |
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/// Get Device Current Battery Level (1~5) |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public int UDE_GetDeviceBatteryLevel(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !IsInitialized) |
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{ |
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return 0; |
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} |
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return UDE_API.GetDeviceBatteryByName(DeviceName); |
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} |
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/// <summary> |
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/// Data Update. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_RunningDataUpdate(string DeviceName) |
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{ |
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if(string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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bleHandDriver[DeviceName].Method_update(); |
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return true; |
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} |
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private int CalibrationStepIndex = 1; |
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public enum CalibrationType |
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{ |
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AdductFin = -2, |
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FistFin = -1, |
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None, //δ<EFBFBD>궨 |
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Fist, //<EFBFBD><EFBFBD>ȭ |
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Adduct, //<EFBFBD><EFBFBD>£ |
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Stretch, //<EFBFBD>ſ<EFBFBD> |
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Completed //<EFBFBD><EFBFBD><EFBFBD><EFBFBD> |
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} |
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/// <summary> |
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/// Start First Calibration Motion. |
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/// </summary> |
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/// <returns></returns> |
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public bool UDE_CalibrationMotionController(string DeviceName, CalibrationType calibrationType, bool IsStart) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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if ((int)calibrationType < 1) // || (int)calibrationType > 3 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD>궨 |
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{ |
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return false; |
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} |
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BleHandDriver.CalibrationType type = (BleHandDriver.CalibrationType)calibrationType; |
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if (IsStart) |
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{ |
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CalibrationStepIndex = (int)calibrationType; |
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return bleHandDriver[DeviceName].StartCalibration(type); |
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} |
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else |
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{ |
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CalibrationStepIndex++; |
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if (CalibrationStepIndex == 4) CalibrationStepIndex = 1; |
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return bleHandDriver[DeviceName].StopCalibration(type); |
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} |
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} |
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/// <summary> |
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/// Get Calibration State, return None if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public CalibrationType UDE_GetCalibrationType(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return 0; |
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} |
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return (CalibrationType)bleHandDriver[DeviceName].GetCalibrationType(); |
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} |
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/// <summary> |
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/// Get Raw Angle Data, return empty list if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public List<double> UDE_GetRawAngleData(string DeviceName, bool Raw = false) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return new List<double>(); |
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} |
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if(Raw) |
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return bleHandDriver[DeviceName].GetRawData(); |
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else |
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return bleHandDriver[DeviceName].GetAngleData(); |
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} |
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/// <summary> |
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/// Get calibrate offset value, which shows calibration quaility. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public double[] UDE_GetCalibrationInfoOffset(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return new double[0]; |
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} |
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return bleHandDriver[DeviceName].GetCalibrationInfoOffset(); |
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} |
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/// <summary> |
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/// Get Bluetooth device data transfer frame rate. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public int UDE_GetDeviceTransferFPS(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return 0; |
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} |
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return UDE_API.GetTransferFrequency(DeviceName); |
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} |
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public enum FingerJointType |
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{ |
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Thumb1, Thumb2, Thumb3, |
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Index1, Index2, Index3, |
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Middle1, Middle2, Middle3, |
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Ring1, Ring2, Ring3, |
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Pinky1, Pinky2, Pinky3 |
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} |
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/// <summary> |
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/// Get Rotation Transfer Of Each Finger, Return null if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public Dictionary<FingerJointType, Vector3> UDE_GetFingerRotations(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return null; |
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} |
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Vector3 AddRotationTrans(float angle, Axis angleType) |
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{ |
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float angleX = 0; |
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float angleY = 0; |
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float angleZ = 0; |
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switch (angleType) |
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{ |
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case Axis.x_n: |
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angleX = -angle; |
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break; |
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case Axis.y_n: |
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angleY = -angle; |
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break; |
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case Axis.z_n: |
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angleZ = -angle; |
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break; |
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case Axis.x: |
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angleX = angle; |
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break; |
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case Axis.y: |
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angleY = angle; |
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break; |
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case Axis.z: |
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angleZ = angle; |
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break; |
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} |
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return new Vector3(angleX, angleY, angleZ); |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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var Data = Driver.GetAngleData(); |
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if(Data.Count == 0) |
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{ |
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return null; |
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} |
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return new Dictionary<FingerJointType, Vector3> |
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{ |
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{ FingerJointType.Thumb3, AddRotationTrans((float)Data[0], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Thumb2, AddRotationTrans((float)Data[1], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Thumb1, AddRotationTrans((float)Data[2] * Driver.coefficient + Driver.Thumb1Offset.z, (Axis)Driver.Pitch) |
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+ AddRotationTrans((float)Data[3] + Driver.Thumb1Offset.y, Axis.y) |
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+ AddRotationTrans((float)Data[20] + Driver.Thumb1Offset.x, Axis.x) |
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}, |
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{ FingerJointType.Index3, AddRotationTrans((float)Data[4], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Index2, AddRotationTrans((float)Data[5], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Index1, AddRotationTrans((float)Data[6], (Axis)Driver.Pitch) |
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+ AddRotationTrans((float)Data[7], Axis.y) |
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+ AddRotationTrans((float)Data[21], (Axis)Driver.Roll) |
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}, |
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{ FingerJointType.Middle3, AddRotationTrans((float)Data[8],(Axis)Driver.Pitch) }, |
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{ FingerJointType.Middle2, AddRotationTrans((float)Data[9],(Axis)Driver.Pitch) }, |
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{ FingerJointType.Middle1, AddRotationTrans((float)Data[10], (Axis)Driver.Pitch) |
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+ AddRotationTrans((float)Data[11], Axis.y) |
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}, |
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{ FingerJointType.Ring3, AddRotationTrans((float)Data[12], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Ring2, AddRotationTrans((float)Data[13], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Ring1, AddRotationTrans((float)Data[14], (Axis)Driver.Pitch) |
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+ AddRotationTrans(-(float)Data[15], (Axis)Driver.Yaw) |
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}, |
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{ FingerJointType.Pinky3, AddRotationTrans((float)Data[16], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Pinky2, AddRotationTrans((float)Data[17], (Axis)Driver.Pitch) }, |
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{ FingerJointType.Pinky1, AddRotationTrans((float)Data[18], (Axis)Driver.Pitch) |
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+ AddRotationTrans(-(float)Data[19], (Axis)Driver.Yaw) |
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+ AddRotationTrans(-(float)Data[22], (Axis)Driver.Roll) |
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}, |
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}; |
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} |
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public string UDE_GetAlgorithmVersionName(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return ""; |
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} |
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return bleHandDriver[DeviceName].GetAlgorithmVerName(); |
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} |
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public enum Axis |
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{ |
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x = -3, |
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y = -2, |
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z = -1, |
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x_n, |
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y_n, |
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z_n |
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} |
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/// <summary> |
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/// Rotate Joint in Specific Order |
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/// </summary> |
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/// <param name="Angle"></param> |
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/// <param name="joint"></param> |
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public void UDE_FingerRotate(Transform Joint, Vector3 Angle) |
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{ |
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Joint.Rotate(0,0,Angle.z); |
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Joint.Rotate(0,Angle.y,0); |
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Joint.Rotate(Angle.x,0,0); |
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} |
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/// <summary> |
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/// Get Three Axis Index order:Pitch, Roll, Yaw. |
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/// Return null if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public Axis[] UDE_GetThreeAxis(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return null; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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return new Axis[3] { (Axis)Driver.Pitch, (Axis)Driver.Roll, (Axis)Driver.Yaw }; |
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} |
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/// <summary> |
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/// Set Three Axis Index order:Pitch, Roll, Yaw. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_SetThreeAxis(string DeviceName, Axis[] axes) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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Driver.Pitch = (BleHandDriver.Axis)axes[0]; |
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Driver.Roll = (BleHandDriver.Axis)axes[1]; |
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Driver.Yaw = (BleHandDriver.Axis)axes[2]; |
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return true; |
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} |
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/// <summary> |
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/// Get Thumb Coefficient Value, return -1 if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public float UDE_GetThumbCoefficient(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return -1; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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return Driver.coefficient; |
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} |
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/// <summary> |
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/// Set Thumb Coefficient Value, Range[0,1]. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_SetThumbCoefficient(string DeviceName, float value) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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if(value < 0 || value > 1) |
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{ |
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return false; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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Driver.coefficient = value; |
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return true; |
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} |
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/// <summary> |
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/// Get Thumb First Joint Offset Value, return Zero Vector3 if invalid. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public Vector3 UDE_GetThumbFirstJointOffset(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return Vector3.zero; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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return Driver.Thumb1Offset; |
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} |
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/// <summary> |
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/// Set Thumb First Joint Offset Value. |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <param name="value"></param> |
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/// <returns></returns> |
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public bool UDE_SetThumbFirstJointOffset(string DeviceName, Vector3 value) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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Driver.Thumb1Offset = value; |
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return true; |
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} |
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/// <summary> |
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/// Get Data Of Extra Connected Device (Button, Joystick) |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public InputData UDE_GetInputDeviceData(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return new InputData(); |
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} |
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var Driver = bleHandDriver[DeviceName]; |
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return Driver.GetInputData(); |
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} |
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/// <summary> |
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/// Make Jostick Reset to Zero center point |
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/// </summary> |
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/// <param name="DeviceName"></param> |
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/// <returns></returns> |
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public bool UDE_JoystickCenterCalibration(string DeviceName) |
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{ |
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if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
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{ |
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return false; |
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} |
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var Driver = bleHandDriver[DeviceName]; |
|
|
Driver.CalibrationCenterData(); |
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Get the Maximum Range Value of Joystick and Make Calibration |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="IsStart">true is start, false is end</param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_JoystickRangeCalibration(string DeviceName, bool IsStart) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
if(IsStart) |
|
|
{ |
|
|
Driver.StartCalibrationRangeData(); |
|
|
} |
|
|
else |
|
|
{ |
|
|
Driver.StopCalibrationRangeData(); |
|
|
} |
|
|
|
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Get Joystick Dead Zone Value, range[0,1], return -1 if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <returns></returns> |
|
|
public float UDE_GetJoystickDeadZone(string DeviceName) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return -1; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
return Driver.GetDeadZone(); |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Set Joystick Dead Zone Value, range[0,1], return false if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="value"></param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_SetJoystickDeadZone(string DeviceName, float value) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
if(value < 0 || value > 1) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
Driver.SetDeadZone(value); |
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Get Trigger Button Active Value, range[0,1], return -1 if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <returns></returns> |
|
|
public float UDE_GetTriggerActiveValue(string DeviceName) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return -1; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
return Driver.GetTriggerValue(); |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Set Trigger Button Active Value, range[0,1], return false if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="value"></param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_SetTriggerActiveValue(string DeviceName, float value) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
if (value < 0 || value > 1) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
Driver.SetTriggerValue(value); |
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Get Grip Button Active Value, range[0,1], return -1 if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <returns></returns> |
|
|
public float UDE_GetGripActiveValue(string DeviceName) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return -1; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
return Driver.GetGrabValue(); |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Set Grip Button Active Value, range[0,1], return false if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="value"></param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_SetGripActiveValue(string DeviceName, float value) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
if (value < 0 || value > 1) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
Driver.SetGrabValue(value); |
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Get Grip Button Active Value, range[0,1], return -1 if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <returns></returns> |
|
|
public float UDE_GetTrackpadActiveValue(string DeviceName) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return -1; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
return Driver.GetTrackpadValue(); |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Set Grip Button Active Value, range[0,1], return false if invalid. |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="value"></param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_SetTrackpadActiveValue(string DeviceName, float value) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
if (value < 0 || value > 1) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
var Driver = bleHandDriver[DeviceName]; |
|
|
Driver.SetTrackpadValue(value); |
|
|
return true; |
|
|
} |
|
|
|
|
|
/// <summary> |
|
|
/// Control the Vibration of extra device, return false if setting value is invlid |
|
|
/// </summary> |
|
|
/// <param name="DeviceName"></param> |
|
|
/// <param name="PlaceIndex">only available with 1 or 2</param> |
|
|
/// <param name="SustainedTenMillionsecond">default minimum is 4</param> |
|
|
/// <param name="Strength">default minimum is 1, range[1,7]</param> |
|
|
/// <returns></returns> |
|
|
public bool UDE_ControlVibration(string DeviceName, int PlaceIndex, int SustainedTenMillionsecond = 4, int Strength = 1) |
|
|
{ |
|
|
if (string.IsNullOrEmpty(DeviceName) || !bleHandDriver.ContainsKey(DeviceName)) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
if(PlaceIndex != 2 && PlaceIndex != 1) |
|
|
{ |
|
|
return false; |
|
|
} |
|
|
|
|
|
SustainedTenMillionsecond = SustainedTenMillionsecond < 4 ? 4 : SustainedTenMillionsecond; |
|
|
Strength = Strength < 1 ? 1 : Strength; |
|
|
Strength = Strength > 7 ? 7 : Strength; |
|
|
|
|
|
UDE_API.Pc2Mcu_SendVibration(DeviceName, (byte)PlaceIndex, (byte)SustainedTenMillionsecond, (byte)(Strength + 3)); |
|
|
return true; |
|
|
} |
|
|
} |
|
|
|
|
|
}
|
|
|
|
