private void ReceiveAsyncMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Handler method for the streaming data. This code copies the data values
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
// There can be some discontinuation with vision data coming in, and what we requested,
// so check if the data actually exists
SpheroAttitudeData attitudeData = sensorsData.AttitudeData;
if (attitudeData != null)
{
SpheroYaw = sensorsData.AttitudeData.Yaw;
}
SpheroQuaternionData quaternionData = sensorsData.QuaternionData;
if (quaternionData != null)
{
SpheroQuaternion = new Quaternion(sensorsData.QuaternionData.Q1,
sensorsData.QuaternionData.Q2,
sensorsData.QuaternionData.Q3,
sensorsData.QuaternionData.Q0);
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
// Connect to the robot and move to the next scene designated by the developer
if (!m_MultipleSpheros)
{
m_Title = "CONNECTION SUCCESS";
SpheroDeviceMessenger.SharedInstance.NotificationReceived -= ReceiveNotificationMessage;
{
if (m_threadSafeLoadLevel != null)
{
m_threadSafeLoadLevel.LoadLevel(m_NextLevel);
}
}
}
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
Sphero notifiedSphero = m_SpheroProvider.GetSphero(message.RobotID);
// Connection only has failed if we are trying to connect to that robot the notification belongs to
if (m_ConnectingRobotName.Equals(notifiedSphero.DeviceInfo.Name))
{
m_Title = "CONNECTION FAILED";
}
}
}
private void ReceiveAsyncMessage(object sender,
SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
if (Time.timeScale > 0)
{
// Event Handler function
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
// Get the yaw value which is used to rotate the on screen Sphero
yaw1 = sensorsData.AttitudeData.Yaw;
// Update the on screen Sphero position using the accelerometer values for x and y
float xAcceleration = sensorsData.AccelerometerData.Normalized.X;
float yAcceleration = sensorsData.AccelerometerData.Normalized.Y;
Vector3 currentPosition = transform.position;
// Create a new position by filtering the accelerometer data using the low pass
// filtering formula (alpha * filteredValue + (1 - alpha) * newValue)
position = new Vector3(0.9f * currentPosition.x + 0.35f * xAcceleration,
0.9f * currentPosition.y + 0.1f * yAcceleration, 0.0f);
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
// Go to the desired scene
Application.LoadLevel(m_NextLevel);
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = SpheroProvider.GetSharedProvider().GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
Application.LoadLevel("NoSpheroConnectedScene");
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
SpheroDeviceMessenger.SharedInstance.AsyncDataReceived -= ReceiveAsyncMessage;
SpheroDeviceMessenger.SharedInstance.NotificationReceived -=
ReceiveNotificationMessage;
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Event handler that listens for disconnects. An example of when one would be received is when Sphero
// goes to sleep.
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = SpheroProvider.GetSharedProvider().GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
streaming = false;
Application.LoadLevel("NoSpheroConnectedScene");
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
// Go to the desired scene
{
if (m_threadSafeLoadLevel != null)
{
m_threadSafeLoadLevel.LoadLevel("NoSpheroConnectedScene");
}
}
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = GetSphero(message.RobotID);
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Connected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Failed;
}
}
/*
* Callback to receive connection notifications
*/
private void ReceiveNotificationMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
SpheroDeviceNotification message = (SpheroDeviceNotification)eventArgs.Message;
Sphero notifiedSphero = m_PairedSpheros[0];
if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Connected;
// Consider setting bluetooth device info here
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.DISCONNECTED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Disconnected;
}
else if (message.NotificationType == SpheroDeviceNotification.SpheroNotificationType.CONNECTION_FAILED)
{
notifiedSphero.ConnectionState = Sphero.Connection_State.Failed;
}
}
private void ReceiveAsyncMessage(object sender,
SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Handler method for the streaming data. This code copies the data values
// to instance variables, which are updated on the screen in the OnGUI method.
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
acceleration = sensorsData.AccelerometerData.Normalized;
pitch = sensorsData.AttitudeData.Pitch;
roll = sensorsData.AttitudeData.Roll;
yaw = sensorsData.AttitudeData.Yaw;
q0 = sensorsData.QuaternionData.Q0;
q1 = sensorsData.QuaternionData.Q1;
q2 = sensorsData.QuaternionData.Q2;
q3 = sensorsData.QuaternionData.Q3;
}
