Beispiel #1
0
    // GUI
    void OnGUI()
    {
        GUIStyle myButtonStyle = new GUIStyle(GUI.skin.button);

        myButtonStyle.fontSize = 13;
        GUIStyle labelDetails = new GUIStyle(GUI.skin.GetStyle("label"));

        labelDetails.fontSize         = 14;
        labelDetails.normal.textColor = Color.black;
        if (GUI.Button(new Rect(Screen.width - 170, 60, 150, 30), "IMU29 Heading Reset", myButtonStyle))
        {
            print("Performing Heading Reset for IMU29");
            ZenComponentHandle_t mComponent = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle, OpenZen.g_zenSensorType_Imu, 0, mComponent);
            // perform heading reset
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
        }

        if (GUI.Button(new Rect(Screen.width - 170, 100, 150, 30), "IMU98 Heading Reset", myButtonStyle))
        {
            print("Performing Heading Reset for IMU98");
            ZenComponentHandle_t mComponent2 = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle2, OpenZen.g_zenSensorType_Imu, 0, mComponent2);
            // perform heading reset
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
        }

        if (GUI.Button(new Rect(Screen.width - 170, 140, 150, 30), "IMUusb Heading Reset", myButtonStyle))
        {
            print("Performing Heading Reset for IMUusb");
            ZenComponentHandle_t mComponent3 = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle3, OpenZen.g_zenSensorType_Imu, 0, mComponent3);
            // perform heading reset
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
        }

        //if (GUI.Button(new Rect(20, 20, 150, 30), "Calibrate Mousepad", myButtonStyle))
        //{
        //    print("Record palm position");
        //
        //}
        GUI.Label(new Rect(20, 20, 150, 50),
                  "Timer: " + visualTime.ToString("f4") + " seconds.", labelDetails);
    }
Beispiel #2
0
    // Start is called before the first frame update
    void Start()
    {
        // connection = new UdpConnection();
        // connection.StartConnection(sendIp, sendPort, receivePort);

        Hand_demo.SetActive(!Hand_demo.activeSelf);
        initializeJoints();


        // create OpenZen
        OpenZen.ZenInit(mZenHandle);
        // Hint: to get the io type and identifer for all connected sensor,
        // you cant start the DiscoverSensorScene. The information of all
        // found sensors is printed in the debug console of Unity after
        // the search is complete.

        // print("Trying to connect to OpenZen Sensor on IO " + OpenZenIoType +
        //    " with sensor name " + OpenZenIdentifier);


        var sensorInitError = OpenZen.ZenObtainSensorByName(mZenHandle,
                                                            OpenZenIoType,
                                                            OpenZenIdentifier,
                                                            0,
                                                            mSensorHandle);


        if (sensorInitError != ZenSensorInitError.ZenSensorInitError_None)
        {
            print("Error while connecting to sensor 29.");
        }
        else
        {
            ZenComponentHandle_t mComponent = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle, OpenZen.g_zenSensorType_Imu, 0, mComponent);

            // enable sensor streaming, normally on by default anyways
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle, mComponent,
                                                      (int)EZenImuProperty.ZenImuProperty_StreamData, true);

            // set offset mode to heading
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);

            // set the sampling rate to 100 Hz
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
                                                       (int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);

            // filter mode using accelerometer & gyroscope & magnetometer
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
                                                       (int)EZenImuProperty.ZenImuProperty_FilterMode, 1);

            // Ensure the Orientation data is streamed out
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle, mComponent,
                                                      (int)EZenImuProperty.ZenImuProperty_OutputQuat, true);

            print("Sensor 29 configuration complete");
        }


        // print("Trying to connect to OpenZen Sensor on IO " + OpenZenIoType +
        //  " with sensor name " + OpenZenIdentifier2);

        var sensorInitError2 = OpenZen.ZenObtainSensorByName(mZenHandle,
                                                             OpenZenIoType,
                                                             OpenZenIdentifier2,
                                                             0,
                                                             mSensorHandle2);

        if (sensorInitError2 != ZenSensorInitError.ZenSensorInitError_None)
        {
            print("Error while connecting to sensor 98.");
        }
        else
        {
            ZenComponentHandle_t mComponent2 = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle2, OpenZen.g_zenSensorType_Imu, 0, mComponent2);

            // enable sensor streaming, normally on by default anyways
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle2, mComponent2,
                                                      (int)EZenImuProperty.ZenImuProperty_StreamData, true);

            // set offset mode to heading
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);

            // set the sampling rate to 100 Hz
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
                                                       (int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);

            // filter mode using accelerometer & gyroscope & magnetometer
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
                                                       (int)EZenImuProperty.ZenImuProperty_FilterMode, 1);

            // Ensure the Orientation data is streamed out
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle2, mComponent2,
                                                      (int)EZenImuProperty.ZenImuProperty_OutputQuat, true);

            print("Sensor 98 configuration complete");
        }

        var sensorInitError3 = OpenZen.ZenObtainSensorByName(mZenHandle,
                                                             OpenZenIoType2.ToString(),
                                                             OpenZenIdentifier3,
                                                             0,
                                                             mSensorHandle3);

        if (sensorInitError3 != ZenSensorInitError.ZenSensorInitError_None)
        {
            print("Error while connecting to sensor USB.");
        }
        else
        {
            ZenComponentHandle_t mComponent3 = new ZenComponentHandle_t();
            OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle3, OpenZen.g_zenSensorType_Imu, 0, mComponent3);

            // enable sensor streaming, normally on by default anyways
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle3, mComponent3,
                                                      (int)EZenImuProperty.ZenImuProperty_StreamData, true);

            // set offset mode to heading
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
                                                       (int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);

            // set the sampling rate to 100 Hz
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
                                                       (int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);

            // filter mode using accelerometer & gyroscope & magnetometer
            OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
                                                       (int)EZenImuProperty.ZenImuProperty_FilterMode, 1);

            // Ensure the Orientation data is streamed out
            OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle3, mComponent3,
                                                      (int)EZenImuProperty.ZenImuProperty_OutputQuat, true);

            print("Sensor USB configuration complete");
        }

        // Gripper calibration here:
        Debug.Log("Begin Gripper Calibration");
    }