//public void test()
//{
// USB glove = new USB();
// glove.Open(115200, 1000, 1000);
// glove.Read();
// string path = "C:\\Users\\sam_n\\Documents\\lmao.txt";
// using (StreamWriter w = File.AppendText(path))
// {
// while(GlobalQueue.GetSize() > 0)
// {
// w.Write(GlobalQueue.Get());
// }
// }
//}
public void doWhile()
{
USB glove = new USB();
glove.Open(115200, 1000, 1000);
string path = "C:\\Users\\sam_n\\Documents\\lmao.txt";
while (waiting)
{
using (StreamWriter w = File.AppendText(path))
{
//w.Write(GlobalQueue.Get());
}
}
}
static void Main(string[] args)
{
Console.WriteLine("in main");
USBThread usb = new USBThread();
Calibrator calibrate = new Calibrator();
glove = new USB();
glove.Open(1152000, 1000, 1000);
string path = "C:\\Users\\sam_n\\Documents\\offsets.txt";
Console.WriteLine("Everything is initialized!");
_Calibrate();
calibrate.CollectAccelGyroData();
_MagCalibrate();
calibrate.CollecMagData();
calibrate.CalibrateOffsets();
using (StreamWriter w = new StreamWriter(path))
{
Console.WriteLine("Entering writer.");
for (int i = 0; i < TOTAL_FINGER_REFS; i++)
{
if (i == (int)Finger.HAND)
{
w.Write("Finger_ID: " + i + " \n"
+ "Knuckle_ID: " + 1 + " \n"
+ "Accel_Offset_x_y_z: " + calibrate.accelOffset[i, 1].x + " " + calibrate.accelOffset[i, 1].y + " " + calibrate.accelOffset[i, 1].z + " \n"
+ "Gyro_Offset_x_y_z: " + calibrate.gyroOffset[i, 1].x + " " + calibrate.gyroOffset[i, 1].y + " " + calibrate.gyroOffset[i, 1].z + " \n"
+ "Mag_offset_x_y_z: " + calibrate.magOffset[i, 1].x + " " + calibrate.magOffset[i, 1].y + " " + calibrate.magOffset[i, 1].z + " \n");
}
else
{
for (int j = 0; j < TOTAL_KNUCKLE_REFS; j++)
{
w.Write("Finger_ID: " + i + " \n"
+ "Knuckle_ID: " + j + " \n"
+ "Accel_Offset_x_y_z: " + calibrate.accelOffset[i, j].x + " " + calibrate.accelOffset[i, j].y + " " + calibrate.accelOffset[i, j].z + " \n"
+ "Gyro_Offset_x_y_z: " + calibrate.gyroOffset[i, j].x + " " + calibrate.gyroOffset[i, j].y + " " + calibrate.gyroOffset[i, j].z + " \n"
+ "Mag_offset_x_y_z: " + calibrate.magOffset[i, j].x + " " + calibrate.magOffset[i, j].y + " " + calibrate.magOffset[i, j].z + " \n");
}
}
}
Console.WriteLine("Exiting writer.");
Console.WriteLine("Done getting calibration data!");
}
bool end = false;
string path2 = "C:\\Users\\sam_n\\Documents\\lmao.txt";
Task check = new Task(() =>
{
using (StreamWriter w = new StreamWriter(path2))
{
Console.WriteLine("entering loop");
while (GlobalQueue.GetSize(GlobalQueue.Queue) > 1000)
{
MotionData data = GlobalQueue.Get(GlobalQueue.Queue);
w.Write(data.finger_id + " " + data.knuckle_id + " "
+ data.xAcc + " " + data.yAcc + " " + data.zAcc + " "
+ data.xGyro + " " + data.yGyro + " " + data.zGyro + " "
+ data.xMag + " " + data.yMag + " " + data.zMag + " " + "\n");
}
Console.WriteLine("done getting dummy data.");
glove.Close();
Console.ReadKey();
}
});
Task endTask = new Task(() =>
{
Console.WriteLine("DO SOME ACTION");
var startTime = DateTime.UtcNow;
while (DateTime.UtcNow - startTime < TimeSpan.FromMilliseconds(2 * WAIT_TIMER))
{
glove.Read(GlobalQueue.Queue);
}
});
endTask.Start();
endTask.Wait();
check.Start();
check.Wait();
}
