internal void DataUpdate(SensorDataEntry value)
{
lock (mCurrentDataLock)
{
this.mCurrentData = value;
}
}
/// <summary>
/// Prints a data entry to the log
/// </summary>
/// <param name="dataEntry">The entry to print</param>
private void printDataEntry(SensorDataEntry dataEntry)
{
try
{
string output = dataEntry.ToString();
Logger.Info("Sensor {0} data: {1}", mID, output);
}
catch (Exception e)
{
Logger.Error("Sensor {0} string printing exception: {1}", mID, e.Message);
}
}
/// <summary>
/// Packs a data entry struct along with sequence and timestamp
/// </summary>
/// <param name="orientation">orientation angle</param>
/// <param name="accel">accelerometer vector</param>
/// <param name="mag">magnetometer vector</param>
/// <param name="gyro">gyroscope vector</param>
/// <returns></returns>
private SensorDataEntry prepareEntry(Matrix4 orientation, Vector3 accel, Vector3 mag, Vector3 gyro, Vector3 ypr)
{
SensorDataEntry newEntry = new SensorDataEntry();
newEntry.orientation = orientation;
newEntry.yawpitchroll = ypr;
newEntry.accelerometer = accel;
newEntry.magnetometer = mag;
newEntry.gyroscope = gyro;
newEntry.sequenceNumber = mSequenceNum++;
newEntry.timeStamp = DateTime.Now;
newEntry.id = String.Copy(mID);
return(newEntry);
}
public void addDataEntry(SensorDataEntry newData)
{
/*
* mDataBuffer[ mBufferIndex++ ] = newData;
*
*
* if( mBufferIndex == MAX_BUFFER_INDEX )
* {
*
* Matrix4 sum = new Matrix4();
* for( int i = 0; i < MAX_BUFFER_INDEX; i++ )
* {
* sum.Row0 += mDataBuffer[ i ].orientation.Row0;
* sum.Row1 += mDataBuffer[ i ].orientation.Row1;
* sum.Row2 += mDataBuffer[ i ].orientation.Row2;
* sum.Row3 += mDataBuffer[ i ].orientation.Row3;
*
* }
*
*
* sum.Row0 /= (float)MAX_BUFFER_INDEX;
* sum.Row1 /= ( float ) MAX_BUFFER_INDEX;
* sum.Row2 /= ( float ) MAX_BUFFER_INDEX;
* sum.Row3 /= ( float ) MAX_BUFFER_INDEX;
*
*
* newData.orientation = sum;
*
* Vector3 vSum = new Vector3();
*
* for( int i = 0; i < MAX_BUFFER_INDEX; i++ )
* {
* vSum += mDataBuffer[ i ].accelerometer;
* }
*
* vSum /= ( float ) MAX_BUFFER_INDEX;
*
*
* newData.accelerometer = vSum;
*
* mBufferIndex = 0;
*/
/** Call the event to notify and listeners */
DataReceivedEventArgs dataEventArgs = new DataReceivedEventArgs(mID, newData);
OnDataReceived(dataEventArgs);
/*}*/
}
internal void DataUpdate(SensorDataEntry value)
{
lock (mCurrentDataLock)
{
this.mCurrentData = value;
}
}
public DataReceivedEventArgs(string id, SensorDataEntry data)
{
mID = id;
mData = data;
}
public DataReceivedEventArgs( string id, SensorDataEntry data)
{
mID = id;
mData = data;
}
/// <summary>
/// Prints a data entry to the log
/// </summary>
/// <param name="dataEntry">The entry to print</param>
private void printDataEntry( SensorDataEntry dataEntry )
{
try
{
string output = dataEntry.ToString();
Logger.Info( "Sensor {0} data: {1}", mID, output );
}
catch( Exception e)
{
Logger.Error( "Sensor {0} string printing exception: {1}", mID, e.Message );
}
}
/// <summary>
/// Packs a data entry struct along with sequence and timestamp
/// </summary>
/// <param name="orientation">orientation angle</param>
/// <param name="accel">accelerometer vector</param>
/// <param name="mag">magnetometer vector</param>
/// <param name="gyro">gyroscope vector</param>
/// <returns></returns>
private SensorDataEntry prepareEntry( Matrix4 orientation, Vector3 accel, Vector3 mag, Vector3 gyro, Vector3 ypr )
{
SensorDataEntry newEntry = new SensorDataEntry();
newEntry.orientation = orientation;
newEntry.yawpitchroll = ypr;
newEntry.accelerometer = accel;
newEntry.magnetometer = mag;
newEntry.gyroscope = gyro;
newEntry.sequenceNumber = mSequenceNum++;
newEntry.timeStamp = DateTime.Now;
newEntry.id = String.Copy( mID );
return newEntry;
}
public void addDataEntry( SensorDataEntry newData )
{
/*
mDataBuffer[ mBufferIndex++ ] = newData;
if( mBufferIndex == MAX_BUFFER_INDEX )
{
Matrix4 sum = new Matrix4();
for( int i = 0; i < MAX_BUFFER_INDEX; i++ )
{
sum.Row0 += mDataBuffer[ i ].orientation.Row0;
sum.Row1 += mDataBuffer[ i ].orientation.Row1;
sum.Row2 += mDataBuffer[ i ].orientation.Row2;
sum.Row3 += mDataBuffer[ i ].orientation.Row3;
}
sum.Row0 /= (float)MAX_BUFFER_INDEX;
sum.Row1 /= ( float ) MAX_BUFFER_INDEX;
sum.Row2 /= ( float ) MAX_BUFFER_INDEX;
sum.Row3 /= ( float ) MAX_BUFFER_INDEX;
newData.orientation = sum;
Vector3 vSum = new Vector3();
for( int i = 0; i < MAX_BUFFER_INDEX; i++ )
{
vSum += mDataBuffer[ i ].accelerometer;
}
vSum /= ( float ) MAX_BUFFER_INDEX;
newData.accelerometer = vSum;
mBufferIndex = 0;
*/
/** Call the event to notify and listeners */
DataReceivedEventArgs dataEventArgs = new DataReceivedEventArgs( mID, newData );
OnDataReceived( dataEventArgs );
/*}*/
}
