GHZSDKXR/Assets/SDK/Examples/SoftwareTest/Scripts/SoftwareTest.cs

using SC.XR.Unity;
using SC.XR.Unity.Module_InputSystem;
using System;
using System.Collections;
using System.Collections.Generic;
using TMPro;
using UnityEngine;
using UnityEngine.UI;
using static API_GSXR_Slam;

public class SoftwareTest : MonoBehaviour
{
    [SerializeField]
    private TextMeshProUGUI state_36Dof;
    [SerializeField]
    private TextMeshProUGUI state_isSlamRunning;
    [SerializeField]
    private TextMeshProUGUI state_isSlamSlamInitialized;
    [SerializeField]
    private TextMeshProUGUI action_InitializedCallBack;
    [SerializeField]
    private TextMeshProUGUI state_isSlamDataLost;
    [SerializeField]
    private TextMeshProUGUI state_SlamPosition;
    [SerializeField]
    private TextMeshProUGUI state_SlamRotation;
    [SerializeField]
    private RawImage renderTexture0;
    [SerializeField]
    private RawImage renderTexture1;
    [SerializeField]
    private RawImage FishEyeCamera0;
    [SerializeField]
    private RawImage FishEyeCamera1;
    [SerializeField]
    private int frameRate;

    private TrackMode trackMode = TrackMode.Mode_6Dof;
    List<RenderTexture> renderTextures;
    private bool render_Running = false;
    private bool isRenderCreated = false;
    private int onFloorOrOnHead = 0;

    Texture2D textureTemp;
    bool isPreview = false;


    int imageWidth;
    int imageHeight;
    bool outBUdate = true;
    uint outCurrFrameIndex = 0;
    ulong outFrameExposureNano = 0;
    byte[] outLeftFrameData;
    byte[] outRightFrameData;
    TextureFormat textureFormat = TextureFormat.Alpha8;

    private const string project_name = "SoftwareTest:";


    /// <summary>
    /// 设置渲染帧率
    /// 添加Slam初始化完成时的回调
    /// 添加按键按下回调
    /// </summary>
    private void Start()
    {
        GSXR_Set_RenderFrame(frameRate);
        GSXR_Add_InitializedCallBack(Action_InitializedCallBack);
        GSXR_Add_InitializedCallBack(Init);
        API_GSXR_Module_InputSystem.GSXR_KeyDownDelegateRegister(KeyDown);
    }

    /// <summary>
    /// 按下左手柄按钮触发事件
    /// X键启动Slam
    /// Y键停止Slam
    /// LFunction重置Slam
    /// </summary>
    /// <param name="keyCode"></param>
    /// <param name="part"></param>
    private void KeyDown(InputKeyCode keyCode, InputDevicePartBase part)
    {
        if (keyCode == InputKeyCode.LFunction && part.PartType == InputDevicePartType.KSLeft)
        {
            Slam_Reset();
        }
    }

    /// <summary>
    /// 3/6Dof模式
    /// Slam系统是否在运行
    /// Slam系统是否初始化完成
    /// 获取左右眼瞳距
    /// Slam数据是否丢失
    /// Slam头部数据
    /// </summary>
    private void Update()
    {
        //if (SlamManager == null || !GSXR_Is_SlamRunning())
        //{
        //    return;
        //}
        state_36Dof.text = "TrackMode:" + trackMode;
        state_isSlamRunning.text = "SlamIsRunning:" + GSXR_Is_SlamRunning();
        state_isSlamSlamInitialized.text = "SlamIsSlamInitialized:" + GSXR_Is_SlamInitialized();
        state_isSlamDataLost.text = "IsSlamDataLost:" + GSXR_Is_SlamDataLost;
        state_SlamPosition.text =Camera.main.transform.position.ToString("F3");
        state_SlamRotation.text =Camera.main.transform.rotation.ToString("F3");
    }
    private void LateUpdate()
    {
        if (isPreview)
        {
            ShowCamera();
        }
        else
        {
            FishEyeCamera0.texture = null;
            FishEyeCamera1.texture = null;

        }
    }

    /// <summary>
    /// 取消Slam初始化完成时的回调
    /// 取消按键按下回调
    /// 释放render
    /// </summary>
    private void OnDestroy()
    {
        GSXR_Remove_InitializedCallBack(Action_InitializedCallBack);
        API_GSXR_Module_InputSystem.GSXR_KeyDownDelegateUnRegister(KeyDown);
        if (isRenderCreated)
        {
            renderTextures[0].Release();
            renderTextures[1].Release();
        }
        GSXR_Remove_InitializedCallBack(Init);
        textureTemp = null;
        outCurrFrameIndex = 0;
        outFrameExposureNano = 0;
        outLeftFrameData = null;
        outRightFrameData = null;
    }

    /// <summary>
    /// 设置Slam初始化完成时的回调
    /// </summary>
    private void Action_InitializedCallBack()
    {
        action_InitializedCallBack.text = "GSXR_Add_InitializedCallBack succeed.";
        Debug.Log(project_name + "GSXR_Add_InitializedCallBack succeed.");
    }

    /// <summary>
    /// 切换6Dof/3Dof
    /// </summary>
    public void Set_3DofOR6Dof()
    {
        trackMode = trackMode == TrackMode.Mode_6Dof ? TrackMode.Mode_3Dof : TrackMode.Mode_6Dof;
        GSXR_Set_TrackMode(trackMode);
        Debug.Log(project_name + "Set trackMode to" + trackMode + ".");
    }

    /// <summary>
    /// 获取左右眼渲染画面
    /// </summary>
    public void Get_RenderTexure()
    {
        if (!isRenderCreated)
        {
            renderTextures = GSXR_Get_RenderTexure();
            isRenderCreated = true;
            Debug.Log(project_name + "Get RenderTexure.");
        }
        if (render_Running)
        {
            renderTexture0.texture = null;
            renderTexture1.texture = null;
            Debug.Log(project_name + "Clear render0 and render1.");
        }
        else
        {
            renderTexture0.texture = renderTextures[0];
            renderTexture1.texture = renderTextures[1];
            Debug.Log(project_name + "Show render0 and render1.");
        }
        render_Running = !render_Running;
    }

    /// <summary>
    /// 重定位
    /// </summary>
    public void RecenterTracking()
    {
        GSXR_RecenterTracking();
        Debug.Log(project_name + "GSXR_RecenterTracking.");
    }

    /// <summary>
    /// 重置SLAM
    /// </summary>
    public void Slam_Reset()
    {
        GSXR_Reset_Slam();
        Debug.Log(project_name + "GSXR_Reset_Slam.");
    }

    /// <summary>
    /// 以Head方式设置原点
    /// </summary>
    public void Set_HeadOrigin()
    {
        GSXR_Set_HeadOrigin(new Vector3(1, 0, 0));
        Debug.Log(project_name + "Set HeadOrigin by (1,0,0).");
    }

    /// <summary>
    /// 以World方式设置原点
    /// </summary>
    public void Set_WorldOrigin()
    {
        GSXR_Set_WorldOrigin(new Vector3(1, 0, 0));
        Debug.Log(project_name + "Set WorldOrigin by (1,0,0).");
    }

    public void Set_OnFloorOrOnHead()
    {
        if(onFloorOrOnHead==0)
        {
            GSXR_Set_OnFloorOrOnHead(0);
            Debug.Log(project_name + "GSXR_Set_OnFloorOrOnHead(0).");
            onFloorOrOnHead++;
        }
        else
        {
            GSXR_Set_OnFloorOrOnHead(1);
            Debug.Log(project_name + "GSXR_Set_OnFloorOrOnHead(1).");
            onFloorOrOnHead--;
        }
    }

    public void PreBtn()
    {
        isPreview = !isPreview;
    }

    void Init()
    {

        imageWidth = (int)API_Module_Device.Current.FishEyeResolution.x;
        imageHeight = (int)API_Module_Device.Current.FishEyeResolution.y;
        outBUdate = true;
        outCurrFrameIndex = 0;
        outFrameExposureNano = 0;
        outLeftFrameData = new byte[imageWidth * imageHeight];
        outRightFrameData = new byte[imageWidth * imageHeight];
        textureFormat = TextureFormat.Alpha8;

        textureTemp = new Texture2D(imageWidth, imageHeight, textureFormat, false);
    }
    public void ShowCamera()
    {
        if (Application.platform == RuntimePlatform.Android)
        {
            GSXR_Get_LatestFishEyeBinocularData(ref outBUdate, ref outCurrFrameIndex, ref outFrameExposureNano, outLeftFrameData, outRightFrameData);

            if (outBUdate)
            {
                FishEyeCamera0.texture = GetTexture(outLeftFrameData);
                FishEyeCamera0.rectTransform.sizeDelta = new Vector2(imageWidth, imageHeight);

                FishEyeCamera1.texture = GetTexture(outRightFrameData);
                FishEyeCamera1.rectTransform.sizeDelta = new Vector2(imageWidth, imageHeight);

            }
            else
            {
                Debug.Log("Error: Please Check Slamconfig prop: gUseXXXCamera = true");
            }
        }
    }

    public Texture2D GetTexture(byte[] outFrameData)
    {

        textureTemp.LoadRawTextureData(outFrameData);
        textureTemp.Apply();
        return textureTemp;
    }
}