protected static void ReceiveDeviceMessage(string encodedMessage)
{
// Decode the string into an object
SpheroDeviceMessage message = SpheroDeviceMessageDecoder.messageFromEncodedString(encodedMessage);
// Pass it on to event handlers
if (message is SpheroDeviceAsyncMessage)
{
sharedInstance.OnAsyncMessageReceived(new MessengerEventArgs(message));
}
else if (message is SpheroDeviceNotification)
{
sharedInstance.OnNotificationMessageReceived(new MessengerEventArgs(message));
}
}
public void TestDecode()
{
string encodedString = File.ReadAllText("/Users/brian/Documents/code/development/unity-plugin/ExampleProject/SensorStreaming/Assets/Plugins/SpheroTests/DataStreamingExample.json");
// Test that a message is created.
SpheroDeviceMessage message =
SpheroDeviceMessageDecoder.messageFromEncodedString(encodedString);
Assert.NotNull(message);
Assert.True(message is SpheroDeviceSensorsAsyncData);
Assert.Equal(123456, message.TimeStamp);
// Specific test for SpheroDeviceSensorsAsyncData
SpheroDeviceSensorsAsyncData sensorsAsyncData =
(SpheroDeviceSensorsAsyncData)message;
Assert.Equal(2, sensorsAsyncData.FrameCount);
Assert.Equal(0xF0000000E067E060, sensorsAsyncData.Mask);
Assert.NotNull(sensorsAsyncData.Frames);
Assert.True(sensorsAsyncData.Frames.Length > 1);
// Check values for a DeviceSensorsData object
SpheroDeviceSensorsData sensorsData = sensorsAsyncData.Frames[0];
// Accelerometer
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.X);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Y);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Z);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.x);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.y);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.z);
// Attitude
Assert.Equal(45.0f, sensorsData.AttitudeData.Pitch);
Assert.Equal(180.0f, sensorsData.AttitudeData.Roll);
Assert.Equal(270.0f, sensorsData.AttitudeData.Yaw);
// Quaternion
Assert.Equal(0.3f, sensorsData.QuaternionData.Q0);
Assert.Equal(0.7f, sensorsData.QuaternionData.Q1);
Assert.Equal(0.3f, sensorsData.QuaternionData.Q2);
Assert.Equal(1.0f, sensorsData.QuaternionData.Q3);
// back EMF
Assert.Equal(200, sensorsData.BackEMFData.Filtered.right);
Assert.Equal(200, sensorsData.BackEMFData.Filtered.left);
Assert.Equal(200, sensorsData.BackEMFData.Raw.right);
Assert.Equal(200, sensorsData.BackEMFData.Raw.left);
// locator
Assert.Equal(190.2f, sensorsData.LocatorData.Position.x);
Assert.Equal(85.6f, sensorsData.LocatorData.Position.y);
Assert.True(Math.Abs(208.5746868630036f - sensorsData.LocatorData.Position.Magnitude()) < 0.001);
Assert.Equal(9.99f, sensorsData.LocatorData.Velocity.x);
Assert.Equal(86.4f, sensorsData.LocatorData.Velocity.y);
// gyro
Assert.Equal(300, sensorsData.GyroData.RotationRate.x);
Assert.Equal(300, sensorsData.GyroData.RotationRate.y);
Assert.Equal(300, sensorsData.GyroData.RotationRate.z);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.x);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.y);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.z);
}
public MessengerEventArgs( SpheroDeviceMessage message )
{
this.message = message;
}
public MessengerEventArgs(SpheroDeviceMessage message)
{
this.message = message;
}
