public async void NewGyro(Gyrometer sender, GyrometerReadingChangedEventArgs args)
{
var reading = args == null?sender?.GetCurrentReading() : args.Reading;
await this.dispatcher.RunAsync(
CoreDispatcherPriority.Normal,
() =>
{
this[GYROSCOPE] = reading == null
? this[GYROSCOPE].New(0, 0, 0, 0)
: this[GYROSCOPE].New(
reading.AngularVelocityX,
reading.AngularVelocityY,
reading.AngularVelocityZ,
0);
if (this[GYROSCOPE].IsChanged)
{
this.OnPropertyChanged(new PropertyChangedEventArgs("ItemsList"));
this.OnSensorUpdated?.Invoke(this[GYROSCOPE]);
}
});
if (this.SensorSwitches.G.HasValue && (this.SensorSwitches.G.Value == 1 || this.SensorSwitches.G.Value == 3))
{
this.SensorSwitches.G = 0;
}
}
/// <summary>
/// Invoked when 'Get Sample' button is pressed.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void GetGyrometerSample(object sender, RoutedEventArgs e)
{
GyrometerReading wpReading;
GyrometerReading windowsReading;
GetSampleButton.IsEnabled = false;
// Establish the report interval
gyrometerWP.ReportInterval = gyrometerWindows.MinimumReportInterval;
gyrometerWindows.ReportInterval = gyrometerWindows.MinimumReportInterval;
wpReading = gyrometerWP.GetCurrentReading();
windowsReading = gyrometerWindows.GetCurrentReading();
if (null != wpReading)
{
ScenarioOutput_X_WP.Text = wpReading.AngularVelocityX.ToString();
ScenarioOutput_Y_WP.Text = wpReading.AngularVelocityY.ToString();
ScenarioOutput_Z_WP.Text = wpReading.AngularVelocityZ.ToString();
}
if (null != windowsReading)
{
ScenarioOutput_X_Windows.Text = windowsReading.AngularVelocityX.ToString();
ScenarioOutput_Y_Windows.Text = windowsReading.AngularVelocityY.ToString();
ScenarioOutput_Z_Windows.Text = windowsReading.AngularVelocityZ.ToString();
}
gyrometerWP.ReportInterval = 0;
gyrometerWindows.ReportInterval = 0;
GetSampleButton.IsEnabled = true;
}
private void OnGetGyrometer(object sender, RoutedEventArgs e)
{
Gyrometer gyrometer = Gyrometer.GetDefault();
GyrometerReading reading = gyrometer.GetCurrentReading();
this.DefaultViewModel["GyrometerResult"] = GetGyrometerResult(reading);
}
void updateHeadTracking()
{
TrackingNode head = trackingNodes[TrackingNode.HEAD];
Vector3 screenRotation = new Vector3(-90, 0, 90);
Vector3 rotationRate = Vector3.zero;
Vector3 accel = default(Vector3);
var raw = gyro.GetCurrentReading();
rotationRate = new Vector3((float)-raw.AngularVelocityX, (float)-raw.AngularVelocityY, (float)raw.AngularVelocityZ) * Time.deltaTime;
head.Rotation = head.Rotation * Quaternion.Euler(-rotationRate.x, -rotationRate.y, rotationRate.z);
if (accel == default(Vector3))
{
accel = Input.acceleration;
}
//perform orientation transform for landscape left
accel = new Vector3(-accel.x, accel.y, accel.z);
Vector3 pitchVector = Vector3.ProjectOnPlane(accel, Vector3.right).normalized;
Vector3 rollVector = Vector3.ProjectOnPlane(accel, Vector3.forward).normalized;
float pitch = Mathf.Atan2(-pitchVector.y, pitchVector.z) * Mathf.Rad2Deg;
float roll = Mathf.Atan2(rollVector.y, rollVector.x) * Mathf.Rad2Deg;
Quaternion rotation = Quaternion.Euler(new Vector3(pitch, head.Rotation.eulerAngles.y, roll) + screenRotation);
//This represents a basic complimentary filter, it's not good long term we should use a Kalman filter here [ld]
head.Rotation = Quaternion.Slerp(head.Rotation, rotation, 1.0F * Time.deltaTime);
}
public SensorReading Get()
{
var reading = new SensorReading();
if (lightSensor != null)
{
reading.Lux = lightSensor.GetCurrentReading().IlluminanceInLux;
}
if (gyroMeter != null)
{
var gyroReading = gyroMeter.GetCurrentReading();
reading.GyroValue = new XYZValue
{
X = gyroReading.AngularVelocityX,
Y = gyroReading.AngularVelocityY,
Z = gyroReading.AngularVelocityZ
};
}
if (magnetometer != null)
{
var magReading = magnetometer.GetCurrentReading();
reading.MagnetoValue = new XYZValue
{
X = magReading.MagneticFieldX,
Y = magReading.MagneticFieldY,
Z = magReading.MagneticFieldZ
};
}
Console.WriteLine("returning sensor reading: " + JsonConvert.SerializeObject(reading));
return(reading);
}
public void PrintSensors(bool fast = false)
{
//BarometerReading read = baro.GetCurrentReading();
var accR = acc.GetCurrentReading();
//Debug.WriteLine(Math.Sqrt(Math.Pow(accR.AccelerationX; 2) + Math.Pow(accR.AccelerationY; 2) + Math.Pow(accR.AccelerationZ; 2)) + " (" + accR.AccelerationX + "/" + accR.AccelerationX + "/" + accR.AccelerationX + ")");
//var actR = act.GetCurrentReadingAsync().GetResults();
//Debug.WriteLine(actR.Activity + " (" + actR.Confidence + ")");
//Debug.WriteLine(alt.GetCurrentReading().AltitudeChangeInMeters);
//Debug.WriteLine(baro.GetCurrentReading().StationPressureInHectopascals);
var compR = comp.GetCurrentReading();
//Debug.WriteLine(compR.HeadingMagneticNorth + " (+/-" + compR.HeadingAccuracy + ")");
var gyroR = gyro.GetCurrentReading();
//Debug.WriteLine("(" + gyroR.AngularVelocityX + "/" + gyroR.AngularVelocityY + "/" + gyroR.AngularVelocityZ + ")");
var incR = inc.GetCurrentReading();
//Debug.WriteLine("(" + incR.PitchDegrees + "/" + incR.RollDegrees + "/" + incR.YawDegrees + ")");
//var psR=ps.GetCurrentReading();
//Debug.WriteLine(psR.IsDetected + ": " + psR.DistanceInMillimeters);
//Debug.WriteLine(sos.GetCurrentOrientation());
String csv = (Math.Sqrt(Math.Pow(accR.AccelerationX, 2) + Math.Pow(accR.AccelerationY, 2) + Math.Pow(accR.AccelerationZ, 2)) + ";" + accR.AccelerationX + ";" + accR.AccelerationY + ";" + accR.AccelerationZ + ";"
+ alt.GetCurrentReading().AltitudeChangeInMeters + ";" + baro.GetCurrentReading().StationPressureInHectopascals + ";" + compR.HeadingMagneticNorth + ";" + compR.HeadingTrueNorth + ";" + compR.HeadingAccuracy
+ ";" + gyroR.AngularVelocityX + ";" + gyroR.AngularVelocityY + ";" + gyroR.AngularVelocityZ + ";" + incR.PitchDegrees + ";" + incR.RollDegrees + ";" + incR.YawDegrees + ";" + sos.GetCurrentOrientation() + ";" + accR.Timestamp.ToUnixTimeMilliseconds() + ";" + fast);
Debug.WriteLine(csv);
StorageInterface.AppendToKnownStorageFile(Token, csv + "\r\n").GetAwaiter();
OUT.Text += csv + "\r\n";
}
/// <summary>
/// This is the dispatcher callback.
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void DisplayCurrentReading(object sender, object args)
{
GyrometerReading reading = _gyrometer.GetCurrentReading();
if (reading != null)
{
ScenarioOutput_X.Text = String.Format("{0,5:0.00}", reading.AngularVelocityX);
ScenarioOutput_Y.Text = String.Format("{0,5:0.00}", reading.AngularVelocityY);
ScenarioOutput_Z.Text = String.Format("{0,5:0.00}", reading.AngularVelocityZ);
}
}
/// <summary>
/// Update Gyrometer readings event and update UI
/// </summary>
/// <param name="sender">Event sender.</param>
/// <param name="e">The <see cref="object"/> instance containing the event data.</param>
private void UpdateGyrometer(object sender, EventArgs e)
{
try
{
Gyrometer gyrometer = Gyrometer.GetDefault();
if (gyrometer != null)
{
XPanel.Text = LocRM.GetString("XAxis") + ": " +
String.Format("{0,5:0.00}", gyrometer.GetCurrentReading().AngularVelocityX) + "(°)/s";
YPanel.Text = LocRM.GetString("YAxis") + ": " +
String.Format("{0,5:0.00}", gyrometer.GetCurrentReading().AngularVelocityY) + "(°)/s";
ZPanel.Text = LocRM.GetString("ZAxis") + ": " +
String.Format("{0,5:0.00}", gyrometer.GetCurrentReading().AngularVelocityZ) + "(°)/s";
pictureBoxX.Image = Rotate(imageX, Math.Max(-135, Math.Min(135, gyrometer.GetCurrentReading().AngularVelocityX)));
pictureBoxY.Image = Rotate(imageY, Math.Max(-135, Math.Min(135, gyrometer.GetCurrentReading().AngularVelocityY)));
pictureBoxZ.Image = Rotate(imageZ, Math.Max(-135, Math.Min(135, gyrometer.GetCurrentReading().AngularVelocityZ)));
}
else
{
XPanel.Text = LocRM.GetString("NotFound");
_timer.Stop();
}
}
catch (Exception ex)
{
Log.LogError(ex.ToString());
XPanel.Text = LocRM.GetString("Error");
_timer.Stop();
}
}
void ReadGyrometerData()
{
if (gyroSensor != null)
{
GyrometerReading reading = gyroSensor.GetCurrentReading();
if (reading != null)
{
gyroX.Value = reading.AngularVelocityX;
gyroY.Value = reading.AngularVelocityY;
gyroZ.Value = reading.AngularVelocityZ;
}
}
}
public void OnGetGyrometer()
{
Gyrometer sensor = Gyrometer.GetDefault();
if (sensor != null)
{
GyrometerReading reading = sensor.GetCurrentReading();
GyrometerInfo = $"X: {reading.AngularVelocityX} Y: {reading.AngularVelocityY} Z: {reading.AngularVelocityZ}";
}
else
{
GyrometerInfo = "Gyrometer not found";
}
}
public GyrometerReading GetGyrometerReading()
{
if (_gyrometer == null)
{
throw new InvalidOperationException("The gyrometer is either not present or has not been initialized");
}
var reading = _gyrometer.GetCurrentReading();
return(reading);
// Available reading values include:
//reading.AngularVelocityX
//reading.AngularVelocityY
//reading.AngularVelocityZ
//reading.Timestamp
}
private void IMUTimer_Tick(object StateObject)
{
string timeStamp = nanoTime().ToString();
if (DEBUG)
{
writerCSV.WriteLine(timeStamp + "," + "omega_x" + "," + "omega_y" + "," + "omega_z" + "," + "alpha_x" + "," + "alpha_y" + "," + "alpha_z");
}
else
{
AccelerometerReading readingAccl = _accelerometer.GetCurrentReading();
GyrometerReading readingGyro = _gyrometer.GetCurrentReading();
writerCSV.WriteLine(timeStamp + ","
+ readingGyro.AngularVelocityX + "," + readingGyro.AngularVelocityY + "," + readingGyro.AngularVelocityZ
+ "," + readingAccl.AccelerationX + "," + readingAccl.AccelerationY + "," + readingAccl.AccelerationZ);
}
}
async void initialize()
{
//-----------------------------------------------------------------------------陀螺仪部分
string errMessage = "";
try
{
//获取默认的陀螺仪对象
gyrometer = Gyrometer.GetDefault();
if (gyrometer == null)
{
await new MessageDialog("不支持陀螺仪").ShowAsync();
return;
}
//设置读取数据的时间间隔
gyrometer.ReportInterval = 1000;
gyrometer.ReadingChanged += gyrometer_ReadingChanged;
gyrometerReading = gyrometer.GetCurrentReading();
}
catch (Exception err)
{
errMessage = err.Message;
}
if (errMessage != "")
{
await new MessageDialog(errMessage).ShowAsync();
}
//-------------------------------------------------------------
GetLocation();
ShowData();
starclient = new StarClient(GetTime()[0], GetTime()[1], GetTime()[2], GetTime()[3], weidu, jingdu,
Double.Parse(currentX), Double.Parse(currentY), Double.Parse(currentZ));
number = starclient.planetnumber();
//MySqlite = new mysqlite();
//MySqlite.creatTable();
}