static void Main(string[] args)
{
try
{
//create a Serial Connection with the specified COM Port, default baud rate of 921600
mscl.Connection connection = mscl.Connection.Serial(COM_PORT);
//create an InertialNode with the connection
mscl.InertialNode node = new mscl.InertialNode(connection);
//endless loop of reading in data
while (true)
{
try
{
//This example uses the "getNextDataPacket()" command. This command gets the next InertialDataPacket in the buffer and throws an exception if no data exists.
//Alternatively, you may use the "getDataPackets()" command to get ALL the InertialDataPackets available in the buffer. If the returned container is empty, no data exists.
//get the next data packet from the node, with a timeout of 500 milliseconds
mscl.InertialDataPacket packet = node.getNextDataPacket(500);
//print out the data
Console.Write("Packet Received: ");
//iterate over all the data points in the packet
foreach (mscl.InertialDataPoint dataPoint in packet.data())
{
//print out the channel data
Console.Write(dataPoint.ToString() + ": ");
Console.Write(dataPoint.as_string() + " "); //Just printing this out as a string. Other methods (ie. as_float, as_uint16, as_Vector) are also available.
//if the dataPoint is invalid
if (!dataPoint.valid())
{
//print out that it is invalid
Console.Write("[Invalid] ");
}
}
Console.WriteLine();
}
catch (mscl.Error_NoData noData)
{
Console.WriteLine(noData.Message);
}
}
}
catch (mscl.Error e)
{
Console.WriteLine("Error: " + e.Message);
}
Console.WriteLine("Press Enter to quit...");
Console.Read();
}
static void Main(string[] args)
{
try
{
//create a Serial Connection with the specified COM Port, default baud rate of 921600
mscl.Connection connection = mscl.Connection.Serial(COM_PORT);
//create an InertialNode with the connection
mscl.InertialNode node = new mscl.InertialNode(connection);
//endless loop of reading in data
while (true)
{
//get all of the next data packet from the node, with a timeout of 500 milliseconds
mscl.InertialDataPackets packets = node.getDataPackets(500);
foreach (mscl.InertialDataPacket in packets)
{
//print out the data
Console.Write("Packet Received: ");
//iterate over all the data points in the packet
foreach (mscl.InertialDataPoint dataPoint in packet.data())
{
//print out the channel data
Console.Write(dataPoint.ToString() + ": ");
Console.Write(dataPoint.as_string() + " "); //Just printing this out as a string. Other methods (ie. as_float, as_uint16, as_Vector) are also available.
//if the dataPoint is invalid
if (!dataPoint.valid())
{
//print out that it is invalid
Console.Write("[Invalid] ");
}
}
Console.WriteLine();
}
}
}
catch (mscl.Error e)
{
Console.WriteLine("Error: " + e.Message);
}
Console.WriteLine("Press Enter to quit...");
Console.Read();
}
static void Main(string[] args)
{
try
{
//create a Serial Connection with the specified COM Port, default baud rate of 921600
mscl.Connection connection = mscl.Connection.Serial(COM_PORT);
//create an InertialNode with the connection
mscl.InertialNode node = new mscl.InertialNode(connection);
//endless loop of reading in data
while (true)
{
//get all of the next data packet from the node, with a timeout of 500 milliseconds
mscl.InertialDataPackets packets = node.getDataPackets(500);
foreach (mscl.InertialDataPacket in packets)
{
//print out the data
Console.Write("Packet Received: ");
//iterate over all the data points in the packet
foreach (mscl.InertialDataPoint dataPoint in packet.data())
{
//print out the channel data
Console.Write(dataPoint.ToString() + ": ");
Console.Write(dataPoint.as_string() + " "); //Just printing this out as a string. Other methods (ie. as_float, as_uint16, as_Vector) are also available.
//if the dataPoint is invalid
if (!dataPoint.valid())
{
//print out that it is invalid
Console.Write("[Invalid] ");
}
}
Console.WriteLine();
}
}
}
catch (mscl.Error e)
{
Console.WriteLine("Error: " + e.Message);
}
Console.WriteLine("Press Enter to quit...");
Console.Read();
}
public static void setCurrentConfig(mscl.InertialNode node)
{
//many other settings are available than shown below
//reference the documentation for the full list of commands
//if the node supports AHRS/IMU
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_AHRS_IMU))
{
mscl.MipChannels ahrsImuChs = new mscl.MipChannels();
ahrsImuChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_SENSOR_SCALED_ACCEL_VEC, mscl.SampleRate.Hertz(500)));
ahrsImuChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_SENSOR_SCALED_GYRO_VEC, mscl.SampleRate.Hertz(100)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_AHRS_IMU, ahrsImuChs);
}
//if the node supports Estimation Filter
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_ESTFILTER))
{
mscl.MipChannels estFilterChs = new mscl.MipChannels();
estFilterChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_ESTFILTER_ESTIMATED_GYRO_BIAS, mscl.SampleRate.Hertz(100)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_ESTFILTER, estFilterChs);
}
//if the node supports GNSS
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_GNSS))
{
mscl.MipChannels gnssChs = new mscl.MipChannels();
gnssChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_GNSS_LLH_POSITION, mscl.SampleRate.Hertz(1)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_GNSS, gnssChs);
}
node.setPitchRollAid(true);
node.setAltitudeAid(false);
mscl.PositionOffset offset = new mscl.PositionOffset(0.0f, 0.0f, 0.0f);
node.setAntennaOffset(offset);
}
static void Main(string[] args)
{
try
{
//create a Serial Connection with the specified COM Port, default baud rate of 921600
mscl.Connection connection = mscl.Connection.Serial(COM_PORT);
//create an InertialNode with the connection
mscl.InertialNode node = new mscl.InertialNode(connection);
Console.WriteLine("Node Information: ");
Console.WriteLine("Model Name: " + node.modelName());
Console.WriteLine("Model Number: " + node.modelNumber());
Console.WriteLine("Serial: " + node.serialNumber());
Console.WriteLine("Firmware: " + node.firmwareVersion().ToString());
Console.WriteLine();
//TODO: Uncomment the lines below to run the examples
//Example: Get Configuration
//Example1.getCurrentConfig(node);
//Example: Set Configuration
//Example2.setCurrentConfig(node); //Warning: this example changes settings on your Node!
//Example: Start Sampling
//Example3.startSampling(node);
//Example: Set to Idle
//Example4.setToIdle(node);
//Example: Parse Data
//Example5.parseData(node);
}
catch (mscl.Error e)
{
Console.WriteLine("Error: " + e.Message);
}
Console.WriteLine("Press Enter to quit...");
Console.Read();
}
public static void startSampling(mscl.InertialNode node)
{
//each class/category is separated into its own command.
//you can enable them individually if, say, you only wanted the Estimation Filter channels to be streamed
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_AHRS_IMU))
{
node.enableDataStream(mscl.MipTypes.DataClass.CLASS_AHRS_IMU);
}
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_ESTFILTER))
{
node.enableDataStream(mscl.MipTypes.DataClass.CLASS_ESTFILTER);
}
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_GNSS))
{
node.enableDataStream(mscl.MipTypes.DataClass.CLASS_GNSS);
}
}
