public void PulseFinger(Location hand, GloveFinger finger, float intensity = 0.8f, uint duration = 1000)
{
int numDevices = _nd.getNumberOfDevices();
int[] devices = new int[numDevices];
//get Id's from service
_resultValue = _nd.getDevicesId(devices);
if (_resultValue >= 0)
{
print("There is " + numDevices + " device(s)n");
for (int i = 0; i < devices.Length; i++)
{
print("Hand: " + (Location)_nd.getDeviceLocation(devices[i]) + ", Target: " + hand);
if ((Location)_nd.getDeviceLocation(devices[i]) == hand)
{
int numberActuators = _nd.getNumberOfActuators(devices[i]);
if (_resultValue > 0)
{
print("Start sending pulses to device with Id: " + devices[i] + "n");
int fingerIndex = (int)finger;
_resultValue = _nd.setActuatorPulse((Actuator)fingerIndex, intensity, duration, devices[i]);
if (_resultValue < 0)
{
print("Error sending pulse to Actuator: " + fingerIndex);
}
else
{
print("Pulse sent to Actuator: " + fingerIndex);
}
}
}
}
}
else
{
print("Error getting devicesId: " + numDevices);
}
}
static void Main(string[] args)
{
//instance of library
NDAPI nd = new NDAPI();
//variable to get result value
int res = 0;
//connect with service NDSvc
res = nd.connectToServer();
if (res == (int)Error.ND_ERROR_SERVICE_UNAVAILABLE)
{
Console.WriteLine("Error: Service Unavailable");
}
else
{
//get number of devices
int numDevices = nd.getNumberOfDevices();
if (numDevices < 0)
{
Console.WriteLine("Error: " + numDevices);//you could get the error from Error enum
}
else if (numDevices == 0)
{
Console.WriteLine("There is no devices connected\n");
}
else //There is at least 1 Gloveone connected
{
int[] devices = new int[numDevices];
//get Id's from service
res = nd.getDevicesId(devices);
if (res >= 0)
{
Console.WriteLine("There is " + numDevices + " device(s)\n");
//get number of Actuators of the first id
int numberActuators = nd.getNumberOfActuators(devices[0]);
if (res > 0)
{
Console.WriteLine("Start sending pulses to device with Id: " + devices[0] + "\n");
//sending a pulse of 1000 ms to all actuators with value of power: 0.8
for (int i = 0; i < numberActuators; i++)
{
res = nd.setActuatorPulse((Actuator)i, 0.8f, 1000, devices[0]);
if (res < 0)
{
Console.WriteLine("Error sending pulse to Actuator: " + i);
break;
}
else
{
Console.WriteLine("Pulse sent to Actuator: " + i);
}
Thread.Sleep(1000);
}
}
else
{
Console.WriteLine("Error getting actuators of device with Id: " + devices[0]);
}
}
else
{
Console.WriteLine("Error getting devicesId: " + numDevices);
}
}
}
Console.WriteLine();
Console.ReadLine();
}