public void insert(XsOutputConfiguration item, uint index)
{
xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_insert__SWIG_0(swigCPtr, XsOutputConfiguration.getCPtr(item), index);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
public void push_front(XsOutputConfiguration item)
{
xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_push_front(swigCPtr, XsOutputConfiguration.getCPtr(item));
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
public int find(XsOutputConfiguration needle)
{
int ret = xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_find(swigCPtr, XsOutputConfiguration.getCPtr(needle));
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public XsOutputConfigurationArray(XsOutputConfiguration arg0, uint sz) : this(xsensdeviceapiPINVOKE.new_XsOutputConfigurationArray__SWIG_5(XsOutputConfiguration.getCPtr(arg0), sz), true)
{
}
public XsOutputConfigurationArray(XsOutputConfiguration arg0, uint sz, XsDataFlags flags) : this(xsensdeviceapiPINVOKE.new_XsOutputConfigurationArray__SWIG_4(XsOutputConfiguration.getCPtr(arg0), sz, (int)flags), true)
{
}
public XsOutputConfigurationArray(uint sz, XsOutputConfiguration src) : this(xsensdeviceapiPINVOKE.new_XsOutputConfigurationArray__SWIG_0(sz, XsOutputConfiguration.getCPtr(src)), true)
{
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(XsOutputConfiguration obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public XsOutputConfiguration value(uint index)
{
XsOutputConfiguration ret = new XsOutputConfiguration(xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_value(swigCPtr, index), true);
return(ret);
}
public XsOutputConfigurationArrayImpl(uint count, XsOutputConfiguration src) : this(xsensdeviceapiPINVOKE.new_XsOutputConfigurationArrayImpl__SWIG_0(count, XsOutputConfiguration.getCPtr(src)), true)
{
}
public void assign(uint count, XsOutputConfiguration src)
{
xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_assign(swigCPtr, count, XsOutputConfiguration.getCPtr(src));
}
public void insert(XsOutputConfiguration items, uint index, uint count)
{
xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_insert__SWIG_1(swigCPtr, XsOutputConfiguration.getCPtr(items), index, count);
}
public XsOutputConfiguration at(uint index)
{
XsOutputConfiguration ret = new XsOutputConfiguration(xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_at__SWIG_0(swigCPtr, index), false);
return(ret);
}
public void Start()
{
if (state != XSensState.NotStarted)
{
Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
return;
}
this.UpdateState(XSensState.Starting);
_xda.scanPorts();
Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
if (_xda._DetectedDevices.Count > 0)
{
XsPortInfo portInfo = _xda._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4())
{
_xda.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = _xda.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
_measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler<DataAvailableArgs>(DataAvailable);
// Put the device in configuration mode
Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Configure the device. Note the differences between MTix and MTmk4
Debug.Log("[XSensGyroscope] Configuring the device...\n");
if (_measuringDevice.deviceId().isMt9c())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4())
{
XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
configArray.push_back(quat);
if (!_measuringDevice.setOutputConfiguration(configArray))
{
Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else
{
Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Put the device in measurement mode
Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
if (!_measuringDevice.gotoMeasurement())
{
Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
this.UpdateState(XSensState.Started);
}
}
}
public XsOutputConfiguration last()
{
XsOutputConfiguration ret = new XsOutputConfiguration(xsensdeviceapiPINVOKE.XsOutputConfigurationArrayImpl_last(swigCPtr), true);
return(ret);
}
public void Start()
{
if (state != XSensState.NotStarted)
{
Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
return;
}
this.UpdateState(XSensState.Starting);
_xda.scanPorts();
Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
if (_xda._DetectedDevices.Count > 0)
{
XsPortInfo portInfo = _xda._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4())
{
_xda.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = _xda.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
_measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(DataAvailable);
// Put the device in configuration mode
Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Configure the device. Note the differences between MTix and MTmk4
Debug.Log("[XSensGyroscope] Configuring the device...\n");
if (_measuringDevice.deviceId().isMt9c())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4())
{
XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
configArray.push_back(quat);
if (!_measuringDevice.setOutputConfiguration(configArray))
{
Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else
{
Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Put the device in measurement mode
Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
if (!_measuringDevice.gotoMeasurement())
{
Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
this.UpdateState(XSensState.Started);
}
}
}
