完成GeekTrack第一版SDK和C#测试工程

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詹力 2022-09-23 01:45:38 +08:00
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##
## PROJECT: Mouri Internal Library Essentials
## FILE: .gitignore
## PURPOSE: The root .gitignore file for Mile.Project Project
##
## LICENSE: The MIT License
##
## DEVELOPER: Mouri_Naruto (Mouri_Naruto AT Outlook.com)
##
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## Ignore Mile.Project specific temporary files, build results,
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#ifndef _GEEKTRACK_SDK_H_
#define _GEEKTRACK_SDK_H_
extern "C" {
typedef struct {
float x, y, z;
}EulerAngles_t;
__declspec(dllexport) void GeekTrack_Init();
__declspec(dllexport) EulerAngles_t GetEulerAngles();
}
#endif

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#include"stdafx.h"
#include"GeekTrackSDK.h"
#include<stdio.h>
#include<thread>
#include<winsock2.h>
#include<windows.h>
#pragma comment(lib,"ws2_32.lib")
SOCKET sock;
sockaddr_in from, a;
WSADATA wsdata;
int fromlength = 0;
std::thread* t;
EulerAngles_t Pose;
float yaw = 0.0f, roll = 0.0f, pitch = 0.0f;
void GeekTrackUpdate() {
char buf[256];
int i = 0;
while (1)
{
//从广播地址接收消息,注意用来绑定的地址和接收消息的地址是不一样的
recvfrom(sock, buf, 256, 0, (struct sockaddr FAR*) &from, (int FAR*) & fromlength);
Sleep(10);
int ret = sscanf_s(buf, "%f %f %f\n", &yaw, &roll, &pitch);
if (ret > 0) {
Pose.x = pitch;
Pose.y = roll;
Pose.z = yaw;
}
ZeroMemory(buf, 256);
}
}
void GeekTrack_Init() {
bool optval;
//启动SOCKET库版本为2.0
WSAStartup(0x0202, &wsdata);
optval = true;
//然后赋值给两个地址,一个用来绑定套接字,一个用来从网络上的广播地址接收消息;
a.sin_family = AF_INET;
a.sin_addr.s_addr = 0;
a.sin_port = htons(9000);
//from.sin_family = AF_INET;
//from.sin_addr.s_addr = INADDR_BROADCAST;
//from.sin_port = htons(5050);
fromlength = sizeof(SOCKADDR);
//用UDP初始化套接字
sock = socket(AF_INET, SOCK_DGRAM, 0);
// 设置该套接字为广播类型,
//setsockopt(sock, SOL_SOCKET, SO_BROADCAST, (char FAR *)&optval, sizeof(optval));
// 把该套接字绑定在一个具体的地址上
bind(sock, (sockaddr*)&a, sizeof(sockaddr_in));
t = new std::thread(GeekTrackUpdate);
Pose.x = -1.0f;
Pose.y = -1.0f;
Pose.z = -1.0f;
}
EulerAngles_t GetEulerAngles() {
return Pose;
}
int main()
{
GeekTrack_Init();
while (1) {
Sleep(50);
printf("%f,%f,%f\n", Pose.x, Pose.y, Pose.z);
}
system("pause");
return 0;
}

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========================================================================
控制台应用程序UDP 项目概述
========================================================================
应用程序向导已为您创建了此 UDP 应用程序。
本文件概要介绍组成 UDP 应用程序的每个文件的内容。
UDP.vcxproj
这是使用应用程序向导生成的 VC++ 项目的主项目文件,其中包含生成该文件的 Visual C++ 的版本信息,以及有关使用应用程序向导选择的平台、配置和项目功能的信息。
UDP.vcxproj.filters
这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中,通过这种关联,在特定节点下以分组形式显示具有相似扩展名的文件。例如,“.cpp”文件与“源文件”筛选器关联。
UDP.cpp
这是主应用程序源文件。
/////////////////////////////////////////////////////////////////////////////
其他标准文件:
StdAfx.h, StdAfx.cpp
这些文件用于生成名为 UDP.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。
/////////////////////////////////////////////////////////////////////////////
其他注释:
应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。
/////////////////////////////////////////////////////////////////////////////

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// stdafx.h : 标准系统包含文件的包含文件,
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#include "targetver.h"
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// TODO: 在此处引用程序需要的其他头文件

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using System;
using System.Runtime.InteropServices;
using System.Threading;
namespace TestGeekTrack
{
class Program
{
public struct GeekEulerAngles
{
public float x, y, z;
};
[DllImport("GeekTrackSDK.dll", EntryPoint = "GeekTrack_Init", CallingConvention = CallingConvention.Cdecl)]
public extern static void GeekTrack_Init();
[DllImport("GeekTrackSDK.dll", EntryPoint = "GetEulerAngles", CallingConvention = CallingConvention.Cdecl)]
public extern static GeekEulerAngles GetEulerAngles();
static void Main(string[] args)
{
GeekTrack_Init();
while (true) {
GeekEulerAngles angles = GetEulerAngles();
Thread.Sleep(100);
//Debug.Log("<color=#9400D3>" + + "</color>");
Console.WriteLine(angles.x + "," + angles.y + "," + angles.z);
}
}
}
}

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// 对此文件的更改可能会导致不正确的行为,并且如果
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// 对此文件的更改可能会导致不正确的行为,并且如果
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