public void ChannelEventReceived_Orientation_TriggersOrientationDataAcquiredEvent()
{
// Setup
var routeEventArgs = new RouteMyoEventArgs(
new IntPtr(123),
new IntPtr(789),
MyoEventType.Orientation,
DateTime.UtcNow);
var orientation = new QuaternionF(10, 20, 30, 40);
var channelListener = new Mock <IChannelListener>(MockBehavior.Strict);
var myoDeviceDriver = new Mock <IMyoDeviceDriver>(MockBehavior.Strict);
myoDeviceDriver
.SetupGet(x => x.Handle)
.Returns(new IntPtr(123));
myoDeviceDriver
.Setup(x => x.GetEventOrientation(routeEventArgs.Event))
.Returns(orientation);
myoDeviceDriver
.Setup(x => x.GetEventAccelerometer(routeEventArgs.Event))
.Returns(new Vector3F());
myoDeviceDriver
.Setup(x => x.GetGyroscope(routeEventArgs.Event))
.Returns(new Vector3F());
var myo = Myo.Create(
channelListener.Object,
myoDeviceDriver.Object);
OrientationDataEventArgs actualEventArgs = null;
object actualSender = null;
myo.OrientationDataAcquired += (sender, args) =>
{
actualSender = sender;
actualEventArgs = args;
};
// Execute
channelListener.Raise(
x => x.EventReceived += null,
routeEventArgs);
// Assert
Assert.Equal(myo, actualSender);
Assert.Equal(myo, actualEventArgs.Myo);
Assert.Equal(routeEventArgs.Timestamp, actualEventArgs.Timestamp);
Assert.Equal(orientation, actualEventArgs.Orientation);
Assert.InRange(actualEventArgs.Roll, 2.03404385580104d, 2.03404385580106d);
Assert.Equal(double.NaN, actualEventArgs.Pitch);
Assert.InRange(actualEventArgs.Yaw, 2.31898255934001d, 2.31898255934003d);
myoDeviceDriver.VerifyGet(x => x.Handle, Times.Once);
myoDeviceDriver.Verify(x => x.GetEventOrientation(routeEventArgs.Event), Times.Once);
myoDeviceDriver.Verify(x => x.GetEventAccelerometer(routeEventArgs.Event), Times.Once);
myoDeviceDriver.Verify(x => x.GetGyroscope(routeEventArgs.Event), Times.Once);
}
private void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
const float PI = (float)System.Math.PI;
int nDev = 1; //10;
// convert the values to a 0-9 scale (for easier digestion/understanding)
float nRoll = (float)((e.Roll + PI) / (PI * 2.0f) * nDev);
float nPitch = (float)((e.Pitch + PI) / (PI * 2.0f) * nDev);
float nYaw = (float)((e.Yaw + PI) / (PI * 2.0f) * nDev);
if (m_CTId0.Get() >= 1000)
{
m_CTId0.Set();
//if (m_bFirst == true)
//{
// m_afInitAngle[0] = e.Orientation.X;
// m_afInitAngle[1] = e.Orientation.Y;
// m_afInitAngle[2] = e.Orientation.W;
//}
float fX = (float)Math.Round(Ojw.CMath.R2D(e.Orientation.X - m_afInitAngle[0]), 3);
float fY = (float)Math.Round(Ojw.CMath.R2D(e.Orientation.Y - m_afInitAngle[1]), 3);
float fW = (float)Math.Round(Ojw.CMath.R2D(e.Orientation.W - m_afInitAngle[2]), 3);
//float fSwing = (float)Math.Round(Ojw.CMath.R2D(e.Roll), 3);
//float fTilt = (float)Math.Round(Ojw.CMath.R2D(e.Pitch), 3);
//float fPan = (float)Math.Round(Ojw.CMath.R2D(e.Yaw), 3);
//m_C3d.SetRobot_Rot(fPan - 90.0f, -fTilt, -fSwing);
Ojw.CMessage.Write("[{6}]Roll[{0}], Pitch[{1}], Yaw[{2}] || X[{3}], Y[{4}], W[{5}]", nRoll, nPitch, nYaw, fX, fY, fW, e.Myo.Handle);
}
}
private void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
const float PI = (float)System.Math.PI;
// convert the values to a 0-9 scale (for easier digestion/understanding)
var roll = (int)((e.Roll + PI) / (PI * 2.0f) * 10);
var pitch = (int)((e.Pitch + PI) / (PI * 2.0f) * 10);
var yaw = (int)((e.Yaw + PI) / (PI * 2.0f) * 10);
//Check if the user has his arm down, as well as checking if the game has started and if its player move.
if (roll <= 3 && pitch <= 3 && isPlayerMove == true && isGameStarted == true)
{
//Making sure player has enough rage to buff his ability
if (playerRage >= 1)
{
bufflbl.Invoke(new MethodInvoker(delegate { bufflbl.ForeColor = System.Drawing.Color.DeepSkyBlue; }));
playerBuffSound.Play();
updateBuffMove();
System.Threading.Thread.Sleep(500);
bufflbl.Invoke(new MethodInvoker(delegate { bufflbl.ForeColor = System.Drawing.Color.OrangeRed; }));
}
else
{
statusLbl.Invoke(new MethodInvoker(delegate { statusLbl.Text = "You do not have enough rage to Buff!"; }));
}
}
}
private void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
mainForm.myoOrientation[0].Add(e.Orientation.X);
mainForm.myoOrientation[1].Add(e.Orientation.Y);
mainForm.myoOrientation[2].Add(e.Orientation.Z);
mainForm.myoOrientation[3].Add(e.Orientation.W);
}
private static void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
// convert the values from (-PI, PI) to a 0-255 scale
double pitch = (e.Pitch + Math.PI) / (Math.PI * 2.0f) * 256.0f;
double roll = (e.Roll + Math.PI) / (Math.PI * 2.0f) * 256.0f;
double yaw = (e.Yaw + Math.PI) / (Math.PI * 2.0f) * 256.0f;
if (double.IsNaN(initPitch))
{
initPitch = e.Pitch;
initRoll = e.Roll;
initYaw = e.Yaw;
}
double deltaPitch = initPitch - e.Pitch;
double deltaRoll = initRoll - e.Roll;
double deltaYaw = initYaw - e.Yaw;
// convert the values from (-PI, PI) to a 0-255 scale
byte deltaPitchByte = (byte)((e.Pitch + Math.PI) / (Math.PI * 2.0f) * 256.0f);
byte deltaRollByte = (byte)((e.Roll + Math.PI) / (Math.PI * 2.0f) * 256.0f);
byte deltaYawByte = (byte)((e.Yaw + Math.PI) / (Math.PI * 2.0f) * 256.0f);
byte[] msgBytes = { deltaPitchByte, deltaRollByte, deltaYawByte };
SendUDP(msgBytes);
}
/// <summary>
/// Method called upon receiving the even myodata received. It passes on the orientation data to the UpdateOrientation class in Mainwindow
/// </summary>
/// <param name="e"></param>
public void CalculateOrientation(OrientationDataEventArgs e)
{
orientationW = e.Orientation.W;
orientationX = e.Orientation.X;
orientationY = e.Orientation.Y;
orientationZ = e.Orientation.Z;
mWindow.UpdateOrientation(orientationW, orientationX, orientationY, orientationZ);
}
public void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
var pose = HeldPose.Create(e.Myo, Pose.Fist, Pose.DoubleTap);
const float PI = (float)System.Math.PI;
var Roll = (e.Roll + PI) / (PI * 2.0f) * 100;
string data = "Roll: " + Roll.ToString() + Environment.NewLine;
InvokeData(data);
}
/// <summary>
/// Handles the orientation changed event of the left arm.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private static void LeftArmOrientationChanged(object sender, OrientationDataEventArgs e)
{
var rollDegree = e.Roll * 180f / Constants.Pi;
var rollPercentage = (float)(65f / 100f * rollDegree) / 100f;
_logger.Debug($"Roll percentage={rollDegree}");
_vehicle.SetSteeringAngle(rollPercentage * -1f);
}
public MyoData buildRecordUsing(DataCollector data, DateTime AGOStamp, DateTime EMGStamp)
{
AccelerometerDataEventArgs Acc = data.accelerometerData.First(X => X.Timestamp == AGOStamp);
EmgDataEventArgs Emg = data.emgData.First(X => X.Timestamp == EMGStamp);
OrientationDataEventArgs Ori = data.orientationData.First(X => X.Timestamp == AGOStamp);
GyroscopeDataEventArgs Gyro = data.gyroscopeData.First(X => X.Timestamp == AGOStamp);
return(buildRecordUsing(Emg, Acc, Gyro, Ori));
}
void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
//Invoke Roll, Pitch, Yaw
var roll = (e.Roll + 3.14) / (3.14 + 2.0f) * 100;
var pitch = (e.Pitch + 3.14) / (3.14 + 2.0f) * 100;
var yaw = (e.Yaw + 3.14) / (3.14 + 2.0f) * 100;
string data = "Roll: " + roll.ToString() + Environment.NewLine + "Pitch: " + pitch.ToString() + Environment.NewLine + "Yaw: " + yaw.ToString() + Environment.NewLine;
InvokeData(data);
}
private void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
OrientationChangedEventArgs args = new OrientationChangedEventArgs();
args.OrientationW = e.Orientation.W;
args.OrientationX = e.Orientation.X;
args.OrientationY = e.Orientation.Y;
args.OrientationZ = e.Orientation.Z;
OnOrientationChanged(args);
}
public void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
var multiplier = (float)(10);
var roll = (float)(e.Roll * multiplier);
var pitch = (float)(e.Pitch * multiplier);
var yaw = (float)(e.Yaw * multiplier);
abbSensor.axis1 = roll;
abbSensor.axis2 = pitch;
abbSensor.axis3 = yaw;
}
static void OnOrientationData(object sender, OrientationDataEventArgs e)
{
// Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
double roll = Quaternion.Roll(e.Orientation);
double pitch = Quaternion.Pitch(e.Orientation);
double yaw = Quaternion.Yaw(e.Orientation);
// Convert the floating point angles in radians to a scale from 0 to 18.
roll_w = (int)((roll + (double)Math.PI) / (Math.PI * 2.0) * 18);
pitch_w = (int)((pitch + (double)Math.PI / 2.0) / Math.PI * 18);
yaw_w = (int)((yaw + (double)Math.PI) / (Math.PI * 2.0) * 18);
}
static void OnOrientationData(object sender, OrientationDataEventArgs e)
{
// Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
double roll = Quaternion.Roll(e.Orientation);
double pitch = Quaternion.Pitch(e.Orientation);
double yaw = Quaternion.Yaw(e.Orientation);
// Convert the floating point angles in radians to a scale from 0 to 18.
roll_w = (int)((roll + (double)Math.PI) / (Math.PI * 2.0) * 18);
pitch_w = (int)((pitch + (float)Math.PI / 2.0) / Math.PI * 18);
yaw_w = (int)((yaw + (float)Math.PI) / (Math.PI * 2.0) * 18);
}
private void OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
if (streamData == true)
{
const float PI = (float)System.Math.PI;
var roll = (int)((e.Roll + PI) / (PI * 2.0f) * 10);
var pitch = (int)((e.Pitch + PI) / (PI * 2.0f) * 10);
var yaw = (int)((e.Yaw + PI) / (PI * 2.0f) * 10);
Publish("/i5/myo/orientation", roll.ToString() + "," + pitch.ToString() + "," + yaw.ToString());
}
}
private void Myo2_OrientationDataAcquired(object sender, OrientationDataEventArgs f)
{
// list of poses available to be given actions to
var pose = HeldPose.Create(f.Myo, Pose.Fist, Pose.DoubleTap);
// gives a variable the value of pi(3.14...)
const float PI = (float)System.Math.PI;
// calculation for getting the value of the MYO's roll
var Roll = (f.Roll + PI) / (PI * 2.0f) * 100;
// gives the string the value of what the roll is and converts it to a string
string data2 = "Roll: " + Roll.ToString() + Environment.NewLine;
// calls the method while passing the data2 value to it
InvokeData2(data2);
}
private static void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
var pi = (float)System.Math.PI;
// convert the values to a 0-9 scale (for easier digestion/understanding)
var roll = (int)((e.Roll + pi) / (pi * 2.0f) * 10);
var pitch = (int)((e.Pitch + pi) / (pi * 2.0f) * 10);
var yaw = (int)((e.Yaw + pi) / (pi * 2.0f) * 10);
Console.Clear();
Console.WriteLine(@"Roll: {0}", roll);
Console.WriteLine(@"Pitch: {0}", pitch);
Console.WriteLine(@"Yaw: {0}", yaw);
}
private void Myo_OrientationAcquired(object sender, OrientationDataEventArgs e)
{
if (_isRecording == true)
{
if ((DateTime.Now - lastExecutionOrientation).TotalSeconds >= 0.5)
{
CalculateOrientation(e);
if (MainWindow.isRecordingData == true)
{
SendData();
}
lastExecutionOrientation = DateTime.Now;
}
}
}
/// <summary>
/// Method called upon receiving the even myodata received. It passes on the orientation data to the UpdateOrientation class in Mainwindow
/// </summary>
/// <param name="e"></param>
public void CalculateOrientation(OrientationDataEventArgs e)
{
orientationW = e.Orientation.W;
orientationX = e.Orientation.X;
orientationY = e.Orientation.Y;
orientationZ = e.Orientation.Z;
mWindow.UpdateOrientation(orientationW, orientationX, orientationY, orientationZ);
myoRoll = e.Roll;
mWindow.UpdateRoll(myoRoll);
myoPitch = e.Pitch;
mWindow.UpdatePitch(myoPitch);
myoYaw = e.Yaw;
mWindow.UpdateYaw(myoYaw);
}
//Contains all of the orientation data which is received
private static void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
cachedEvent = e;
//const float PI = (float)System.Math.PI; // Only needed if using conversion
//Commented math will convert the values to a 0-9 scale (for easier digestion/understanding)
var roll = e.Roll; //(int)((e.Roll + PI) / (PI * 2.0f) * 10);
var pitch = e.Pitch; //(int)((e.Pitch + PI) / (PI * 2.0f) * 10);
var yaw = e.Yaw; //(int)((e.Yaw + PI) / (PI * 2.0f) * 10);
currentPitch = pitch;
currentYaw = yaw;
currentRoll = roll;
//Console.WriteLine(@"Roll: {0}", roll);
//Console.WriteLine(@"Pitch: {0}", pitch);
//Console.WriteLine(@"Yaw: {0}", yaw);
}
/// <summary>
/// Handles the orientation changed event of the right arm.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private static void RightArmOrientationChanged(object sender, OrientationDataEventArgs e)
{
var pitchDegree = e.Pitch * 180 / Constants.Pi;
_logger.Debug($"Pitch percentage={pitchDegree}");
var absAcceleartion = (float)(70f / 100f * Math.Abs(pitchDegree)) / 100f;
if (pitchDegree > 0)
{
Accelerate(absAcceleartion);
}
else if (pitchDegree < 0)
{
Brake(absAcceleartion);
}
}
private void OnOrientationData(object sender, OrientationDataEventArgs e)
{
if (_onReceive)
{
_orientation.PushQuat(e.Roll, e.Pitch, e.Yaw);
if (_orientation.BufferFull)
{
string dir = _orientation.GetArmDirection();
if (dir != "")
{
_currentPose = dir;
}
_orientation.ClearBuffer();
}
}
}
private void Myo2_OrientationDataAcquired(object sender, OrientationDataEventArgs f)
{
var pose = HeldPose.Create(f.Myo, Pose.Fist, Pose.DoubleTap);
const float PI = (float)System.Math.PI;
var Roll = (f.Roll + PI) / (PI * 2.0f) * 100;
string data2 = "Roll: " + Roll.ToString() + Environment.NewLine;
InvokeData2(data2);
var InitRoll = 50;
if (f.Myo.Pose == Pose.DoubleTap)
{
this.Close();
}
if (f.Myo.Pose == Pose.Fist)
{
PlayerTwoMovement = 0;
}
else if (Roll <= InitRoll)
{
if (Player2.Location.X + Player2.Width > this.Width)
{
PlayerTwoMovement = 0;
}
else
{
SpeedOfPlayer = 7;
PlayerTwoMovement = SpeedOfPlayer;
}
//PlayerOneMovement = SpeedOfPlayer;
}
else if (Roll >= InitRoll)
{
if (Player2.Location.X < 0)
{
PlayerTwoMovement = 0;
}
else if (Player2.Location.X > 0)
{
SpeedOfPlayer = 7;
PlayerTwoMovement = -SpeedOfPlayer;
}
}
}
public void GetTimestamp_ValidState_EqualsConstructorParameter()
{
// Setup
var timestamp = DateTime.UtcNow;
var args = new OrientationDataEventArgs(
new Mock <IMyo>().Object,
timestamp,
new QuaternionF(),
0,
0,
0);
// Execute
var result = args.Timestamp;
// Assert
Assert.Equal(timestamp, result);
}
public void GetMyo_ValidState_EqualsConstructorParameter()
{
// Setup
var myo = new Mock <IMyo>();
var args = new OrientationDataEventArgs(
myo.Object,
DateTime.UtcNow,
new QuaternionF(),
0,
0,
0);
// Execute
var result = args.Myo;
// Assert
Assert.Equal(myo.Object, result);
}
public void GetYaw_ValidState_EqualsConstructorParameter()
{
// Setup
var yaw = 1;
var args = new OrientationDataEventArgs(
new Mock <IMyo>().Object,
DateTime.UtcNow,
new QuaternionF(),
0,
0,
yaw);
// Execute
var result = args.Yaw;
// Assert
Assert.Equal(yaw, result);
}
public void GetPitch_ValidState_EqualsConstructorParameter()
{
// Setup
var pitch = 1;
var args = new OrientationDataEventArgs(
new Mock <IMyo>().Object,
DateTime.UtcNow,
new QuaternionF(),
0,
pitch,
0);
// Execute
var result = args.Pitch;
// Assert
Assert.Equal(pitch, result);
}
public void GetRoll_ValidState_EqualsConstructorParameter()
{
// Setup
var roll = 1;
var args = new OrientationDataEventArgs(
new Mock <IMyo>().Object,
DateTime.UtcNow,
new QuaternionF(),
roll,
0,
0);
// Execute
var result = args.Roll;
// Assert
Assert.Equal(roll, result);
}
public void GetOrientation_ValidState_EqualsConstructorParameter()
{
// Setup
var orientationData = new QuaternionF(1, 2, 3, 4);
var args = new OrientationDataEventArgs(
new Mock <IMyo>().Object,
DateTime.UtcNow,
orientationData,
0,
0,
0);
// Execute
var result = args.Orientation;
// Assert
Assert.Equal(orientationData, result);
}
private static void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
const float PI = (float)System.Math.PI;
var roll = (int)((e.Roll + PI) / (PI * 2.0f) * 10);
var pitch = (int)((e.Pitch + PI) / (PI * 2.0f) * 10);
var yaw = (int)((e.Yaw + PI) / (PI * 2.0f) * 10);
Player.Volume(pitch);
Player.Skip(roll);
Console.SetCursorPosition(0, 4);
Console.WriteLine("Volumen: " + pitch);
Console.SetCursorPosition(0, 5);
Console.WriteLine("Avanzar: " + roll);
Console.SetCursorPosition(0, 7);
Console.WriteLine(@"Roll: {0}", roll);
Console.SetCursorPosition(0, 8);
Console.WriteLine(@"Pitch: {0}", pitch);
Console.SetCursorPosition(0, 9);
Console.WriteLine(@"Yaw: {0}", yaw);
}
static void OnOrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
var args = new OrientationChangedEventArgs(MyoDevice.OrientationChangedEvent, sender, e.Myo, e.TimeStamp, e.Orientation);
RaiseEvent(MyoDevice.OrientationChangedEvent, args);
}
private void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
if (e.Myo.Arm == Arm.Left)
{
m_bLeft = true;
const float PI = (float)System.Math.PI;
int nDev = 1; //10;
// convert the values to a 0-9 scale (for easier digestion/understanding)
float fRoll = (float)((e.Roll + PI) / (PI * 2.0f) * nDev);
float fPitch = (float)((e.Pitch + PI) / (PI * 2.0f) * nDev);
float fYaw = (float)((e.Yaw + PI) / (PI * 2.0f) * nDev);
if (m_CTId0.Get() >= 1000)
{
m_CTId0.Set();
Ojw.CMessage.Write("Pitch={0}", fPitch);
if (m_ER_Pose == Pose.FingersSpread)
{
if ((fPitch < 0.6f) && (fPitch >= 0.4f))
{
// 전진
Ojw.CMessage.Write("Forward");
m_nCommand = 1;
MoveForward();
//QWalk(_CNT_WALK, 0, ((chkQwm_SpeedUp.Checked == true) ? 1 : 0));
}
else if (fPitch >= 0.6f)
{
// 후진
Ojw.CMessage.Write("Backward");
m_nCommand = 2;
MoveBackward();
//QWalk(_CNT_WALK, 3, ((chkQwm_SpeedUp.Checked == true) ? 1 : 0));
}
}
else if (m_ER_Pose == Pose.Fist)
{
if (fPitch >= 0.6f)
{
//if (m_nCommand != 3)
{
Ojw.CMessage.Write("Stand up");
m_nCommand = 3;
//Ojw.CTimer.Wait(1000);
//ActionPlay("80");
//Stop();
MoveTurnLeft();
}
}
else if (fPitch < 0.4f)
{
if (m_nCommand != 4)
{
Ojw.CMessage.Write("have a seat");
m_nCommand = 4;
//Ojw.CTimer.Wait(1000);
//ActionPlay("40");
MoveTurnRight();// Stop();
}
}
else
{
Stop(); // QWalk_Stop(0); // Stop
}
}
else if (m_ER_Pose == Pose.WaveOut)
{
if (m_nCommand != 5)
{
Ojw.CMessage.Write("Right");
m_nCommand = 5;
MoveLeft();
//QWalk(_CNT_WALK, 1, ((chkQwm_SpeedUp.Checked == true) ? 1 : 0)); // Right
}
}
else if (m_ER_Pose == Pose.WaveIn)
{
if (m_nCommand != 6)
{
Ojw.CMessage.Write("Left");
m_nCommand = 6;
MoveRight();// MoveLeft();
//QWalk(_CNT_WALK, 2, ((chkQwm_SpeedUp.Checked == true) ? 1 : 0));
}
}
}
m_fR_Roll = fRoll;
m_fR_Pitch = fPitch;
m_fR_Yaw = fYaw;
}
else if (e.Myo.Arm == Arm.Right)
{
m_bRight = true;
const float PI = (float)System.Math.PI;
int nDev = 1; //10;
// convert the values to a 0-9 scale (for easier digestion/understanding)
float fRoll = (float)((e.Roll + PI) / (PI * 2.0f) * nDev);
float fPitch = (float)((e.Pitch + PI) / (PI * 2.0f) * nDev);
float fYaw = (float)((e.Yaw + PI) / (PI * 2.0f) * nDev);
m_fL_Roll = fRoll;
m_fL_Pitch = fPitch;
m_fL_Yaw = fYaw;
}
}
protected void OnOrientationData(object sender, OrientationDataEventArgs e)
{
lock (myLock)
currentOrientation = e.Orientation;
}
protected virtual void OnOrientationData(OrientationDataEventArgs e)
{
var handler = OrientationData;
if (handler != null) handler(this, e);
}
