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);
}
}
public SpheroDeviceSensorsData(SpheroDeviceMessageDecoder decoder)
{
accelerometerData =
(SpheroAccelerometerData)decoder.DecodeObject("accelerometerData");
attitudeData = (SpheroAttitudeData)decoder.DecodeObject("attitudeData");
quaternionData = (SpheroQuaternionData)decoder.DecodeObject("quaternionData");
backEMFData = (SpheroBackEMFData)decoder.DecodeObject("backEMFData");
locatorData = (SpheroLocatorData)decoder.DecodeObject("locatorData");
gyroData = (SpheroGyroData)decoder.DecodeObject("gyroData");
}
public SpheroDeviceSensorsData(SpheroDeviceMessageDecoder decoder)
{
accelerometerData =
(SpheroAccelerometerData)decoder.DecodeObject("accelerometerData");
attitudeData = (SpheroAttitudeData)decoder.DecodeObject("attitudeData");
quaternionData = (SpheroQuaternionData)decoder.DecodeObject("quaternionData");
backEMFData = (SpheroBackEMFData)decoder.DecodeObject("backEMFData");
locatorData = (SpheroLocatorData)decoder.DecodeObject("locatorData");
gyroData = (SpheroGyroData)decoder.DecodeObject("gyroData");
}