public IObservable <TResult> Generate()
{
var source = Observable.Create <ONIManagedFrame <TData> >(async observer =>
{
var cd = await ONIContextManager.ReserveOpenContextAsync(DeviceAddress.HardwareSlot);
var in_table = cd.Context.DeviceTable.TryGetValue((uint)DeviceAddress.Address, out var device);
if (!in_table || device.ID != (int)ID)
{
throw new WorkflowException("Selected device address is invalid.");
}
EventHandler <FrameReceivedEventArgs> frame_received = (sender, e) =>
{
if (e.Frame.DeviceAddress == DeviceAddress.Address)
{
ONIManagedFrame <TData> frame = new ONIManagedFrame <TData>(e.Frame);
observer.OnNext(frame);
}
};
cd.Context.FrameReceived += frame_received;
return(Disposable.Create(() =>
{
cd.Context.FrameReceived -= frame_received;
cd.Dispose();
}));
});
ulong frameOffset = FrameClockOffset;
return(Process(source, frameOffset));
}
public RawDataFrame(ONIManagedFrame <ushort> frame, ulong frameOffset)
: base(frame, frameOffset)
{
var data = new ArraySegment <ushort>(frame.Sample, 4, frame.Sample.Length - 4);
Data = Mat.FromArray(data.ToArray(), frame.Sample.Length - 4, 1, Depth.U16, 1);
}
public HeadstagePortControlFrame(ONIManagedFrame <ushort> frame, ulong frameOffset)
: base(frame, frameOffset)
{
Lock = (frame.Sample[4] & 0x0001) == 1;
Pass = (frame.Sample[4] & 0x0002) == 2;
Code = (frame.Sample[4] & 0x0004) == 4 ? (frame.Sample[4] & 0xFF00) >> 8 : 0;
Message = CodeToString(Code);
}
public LoadTestingDataFrame(ONIManagedFrame<ushort> frame, ulong frameOffset)
: base(frame, frameOffset)
{
Delta = ((ulong)frame.Sample[4] << 48) |
((ulong)frame.Sample[5] << 32) |
((ulong)frame.Sample[6] << 16) |
((ulong)frame.Sample[7] << 0);
var data = new ushort[frame.Sample.Length - 8];
Array.Copy(frame.Sample, 8, data, 0, data.Length);
Payload = Mat.FromArray(data, data.Length, 1, Depth.U16, 1);
}
public BNO055DataFrame(ONIManagedFrame <ushort> frame, ulong frameOffset)
: base(frame, frameOffset)
{
ushort[] sample = frame.Sample;
// Convert data packet (output format is hard coded right now)
Euler = GetEuler(sample, 4);
Quaternion = GetQuat(sample, 7);
LinearAcceleration = GetAcceleration(sample, 11);
GravityVector = GetAcceleration(sample, 14);
Temperature = (byte)(sample[17] & 0x00FF); // 1°C = 1 LSB
Calibration = (byte)((sample[17] & 0xFF00) >> 8); // Full calibration byte
SystemCalibrated = (sample[17] & 0x0300) > 0; // 3 = calibrated, 0 = not calibrated
AccelerometerCalibrated = (sample[17] & 0x0C00) > 0;
GyroscopeCalibrated = (sample[17] & 0x3000) > 0;
MagnitometerCalibrated = (sample[17] & 0xC000) > 0;
}
