private static void measure()
{
_connectedMtwData.Clear();
foreach (var detectedDevices in _xda._DetectedDevices)
{
_measuringDevice = _xda.getDevice(detectedDevices.deviceId());
_measuringDevice.gotoMeasurement();
var deviceIds = _measuringDevice.children();
for (uint i = 0; i < deviceIds.size(); i++)
{
var trackingDevice = new XsDevice(deviceIds.at(i));
var callback = new MyMtCallback();
var mtwData = new ConnectedMtData();
_connectedMtwData.Add(trackingDevice.deviceId().toInt(), mtwData);
// connect signals
callback.DataAvailable += new EventHandler <DataAvailableArgs>(_callbackHandler_DataAvailable);
trackingDevice.addCallbackHandler(callback);
_measuringMts.Add(trackingDevice, callback);
logger.Log($"Completed setting up tracker {trackingDevice.deviceId().toInt().ToString()} for measuring.");
}
logger.Log($"Completed setting up device {detectedDevices.deviceId().toInt().ToString()} for measuring.");
}
}
public void Start()
{
if (state != XSensState.NotStarted)
{
Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
return;
}
this.UpdateState(XSensState.Starting);
_xda.scanPorts();
Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
if (_xda._DetectedDevices.Count > 0)
{
XsPortInfo portInfo = _xda._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4())
{
_xda.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = _xda.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
_measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler<DataAvailableArgs>(DataAvailable);
// Put the device in configuration mode
Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Configure the device. Note the differences between MTix and MTmk4
Debug.Log("[XSensGyroscope] Configuring the device...\n");
if (_measuringDevice.deviceId().isMt9c())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4())
{
XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
configArray.push_back(quat);
if (!_measuringDevice.setOutputConfiguration(configArray))
{
Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else
{
Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Put the device in measurement mode
Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
if (!_measuringDevice.gotoMeasurement())
{
Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
this.UpdateState(XSensState.Started);
}
}
}
public void Start()
{
if (state != XSensState.NotStarted)
{
Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
return;
}
this.UpdateState(XSensState.Starting);
_xda.scanPorts();
Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
if (_xda._DetectedDevices.Count > 0)
{
XsPortInfo portInfo = _xda._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4())
{
_xda.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = _xda.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
_measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(DataAvailable);
// Put the device in configuration mode
Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Configure the device. Note the differences between MTix and MTmk4
Debug.Log("[XSensGyroscope] Configuring the device...\n");
if (_measuringDevice.deviceId().isMt9c())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4())
{
XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
configArray.push_back(quat);
if (!_measuringDevice.setOutputConfiguration(configArray))
{
Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else
{
Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Put the device in measurement mode
Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
if (!_measuringDevice.gotoMeasurement())
{
Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
this.UpdateState(XSensState.Started);
}
}
}
