private static void checkHandWash(DistanceSensor distanceSensorEpic)
{
var handwashDistance = distanceSensorEpic.Distance;
if (handwashDistance < Setting.Default.HandwashDistance)
{
if (!isWashingHands && (lastHandWashEventSent == null || (DateTime.Now - (DateTime)lastHandWashEventSent).TotalSeconds > 10))
{
Console.WriteLine("Handwashing being performed");
lastHandWashEventSent = DateTime.Now;
isWashingHands = true;
SendHandwashingEvent();
Console.WriteLine("Hand wash event sent");
}
}
else if (isWashingHands)
{
var timePassed = (DateTime.Now - (DateTime)lastHandWashEventSent).TotalSeconds;
isWashingHands = false;
Console.WriteLine("Handwash stopped! Lasted " + (int)(timePassed) + " seconds");
if (timePassed > 5)
{
// SendHandwashingEvent();
// Console.WriteLine("Hand wash event sent");
}
}
}
public SmartSideSensor(IRobot robot, DistanceSensor distanceSensor, double relativeDirection, int minMapValueForObstacles, int maxDistance)
{
this.distanceSensor = distanceSensor;
this.relativeDirection = relativeDirection;
this.minMapValueForObstacles = minMapValueForObstacles;
this.maxDistance = maxDistance;
robot.OnTick += PollSensorAndFireEventIfNeeded;
}
public static bool InitDistanceSensor()
{
the_only_distance_sensor = new DistanceSensor();
if (!the_only_distance_sensor.InitSensor(ECHO_PIN, GpioController, MAX_DISTANCE_VALUE, AVG_ITTERATIONS))
{
return(false);
}
return(true);
}
private void Start()
{
servo = new RCServo();
servo.Open();
servo.Attach += OnAttachServo;
sensorDistance = new DistanceSensor();
sensorDistance.Open();
sensorDistance.Attach += OnAttachDistanceSensor;
}
void GetCarComponents()
{
_carComp = GetComponent <Car>();
_distanceSensorComp = GetComponent <DistanceSensor>();
_followPathComp = GetComponent <FollowPath>();
_brakesComp = GetComponent <Brakes>();
_gasComp = GetComponent <Gas>();
_patienceComp = GetComponent <Patience>();
carData = _carComp.carData;
}
public RobotTestBase()
{
map = new Map(100, 100);
env = new DefaultEnvironment(map);
var defaultRobot = new RobotBase(env);
lineSensor = new LineSensor(defaultRobot);
robot = defaultRobot as IRobot;
distanceSensor = new DistanceSensor(defaultRobot);
robot.Location = new Point(50.0, 50.0);
robot.Orientation = 0.0;
}
private void OnTriggerEnter(Collider other)
{
if (other.gameObject.tag == Strings.car)
{
CarController carController = other.
gameObject.GetComponent <CarController>();
carController.isParking = true;
DistanceSensor distanceSensor = other.
gameObject.GetComponentInChildren <DistanceSensor>();
distanceSensor.gameObject.SetActive(false);
}
}
public void Start()
{
float angle = 360 / (float)m_DistanceSensorCount;
for (int i = 0; i < m_DistanceSensorCount; i++)
{
DistanceSensor sensor = Instantiate(m_DistanceSensorPrefab);
sensor.transform.position = transform.position;
sensor.transform.rotation = Quaternion.Euler(0, 0, angle * i);
sensor.transform.parent = transform;
}
m_Sensors = GetComponentsInChildren <DistanceSensor>();
}
private void CloseConnection()
{
if (servo != null)
{
servo.Close();
servo = null;
}
if (sensorDistance != null)
{
sensorDistance.Close();
sensorDistance = null;
}
}
public Robot()
{
com = new MyCom(this);
omniDrive = new OmniDrive();
bumper = new Bumper();
camera = new MyCamera(this);
motor = new Motor();
Distance = new DistanceSensor();
omniDrive.setComId(com.id());
motor.setComId(com.id());
bumper.setComId(com.id());
camera.setComId(com.id());
Distance.setComId(com.id());
}
void FixedUpdate()
{
// Distance Sensors
for (int i = 0; i < distanceSensors.Length; ++i)
{
DistanceSensor sensor = distanceSensors[i];
Vector3 dir = transform.TransformDirection(new Vector3(sensor.direction.x, 0, sensor.direction.z)) * sensor.maxDistance;
RaycastHit hit;
Vector3 raySrc = transform.position + (transform.right * sensor.origin.x) + (transform.forward * sensor.origin.z) + (transform.up * sensor.origin.y);
if (Physics.BoxCast(raySrc, sensor.extents, dir, out hit, Quaternion.identity, sensor.maxDistance, sensor.layerMask))
{
data[i * 2] = 1 - (hit.distance / sensor.maxDistance);
data[(i * 2) + 1] = ThreatDictionary.ContainsKey(hit.transform.tag) ? ThreatDictionary[hit.transform.tag] : 0;
Stats hitStats = hit.transform.GetComponent <Stats>();
if (hitStats != null && Array.IndexOf(stats.Menu, hit.transform.tag) > -1)
{
data[(i * 2) + 2] = Mathf.Clamp(hitStats.Nutrition / stats.MaxHealth, 0, 1);
}
else
{
data[(i * 2) + 2] = 0;
}
Color col = Color.HSVToRGB((float)data[(i * 2) + 1] * 0.75f, 1f, 0.5f);
Debug.DrawRay(raySrc, hit.point - raySrc, col);
}
else
{
data[i * 2] = 0;
data[(i * 2) + 1] = 0;
data[(i * 2) + 2] = 0;
}
}
OnChangeWeights.Invoke(data);
}
void Awake()
{
if (OnChangeWeights == null)
{
OnChangeWeights = new ChangeWeightsEvent();
}
stats = GetComponent <Stats>();
sensorDataLength = (distanceSensors.Length * 3); // (Distance, tag, nutrition)
data = new double[sensorDataLength];
threats.ForEach(threat =>
{
ThreatDictionary.Add(threat.tag, threat.level);
});
for (int i = 0; i < distanceSensors.Length; ++i)
{
DistanceSensor sensor = distanceSensors[i];
sensor.layerMask = LayerMask.GetMask(sensor.layers);
Quaternion rot = Quaternion.AngleAxis(sensor.angle, Vector3.up);
sensor.direction = (rot * Vector3.forward).normalized;
}
}
private IEnumerator doPark()
{
//Enable automatic control
control.autoParking = true;
//Setup sensors
sensors = control.sensors;
DistanceSensor backPointingRight = sensors[0];
DistanceSensor backMiddlePointingBack1 = sensors[2];
DistanceSensor backMiddlePointingBack2 = sensors[3];
DistanceSensor frontRightAngular = sensors[1];
//Setup other variables
float lastDistance1 = 0;
float lastDistance2 = 0;
float backSensorOffset = 0.1f;
float angle = 0;
//Drive back without turning
control.command = new ControlCar.CommandSet(-1, 0, false);
while (backPointingRight.getDistance() != -1)
{
yield return(null); // until back end of car is aligned with obstacle 1
}
StartCoroutine(breaK());
while (doingSubRoutine)
{
yield return(null);
}
StartCoroutine(turnRight());
while (doingSubRoutine)
{
yield return(null);
}
//Drive back while turning right
control.command = new ControlCar.CommandSet(-1, 1, false);
while (backMiddlePointingBack1.getDistance() == -1)
{
yield return(null); //until obstacle two is visible;
}
while (backMiddlePointingBack1.getDistance() != -1) //and then until it isn't visible again, while keeping track of the last measured value
{
lastDistance1 = backMiddlePointingBack1.getDistance();
lastDistance2 = backMiddlePointingBack2.getDistance();
yield return(null);
}
// Calculate angle between alignent of obstacle2(and supposedly object1) and the alignment of the car
angle = Mathf.Atan((lastDistance1 - lastDistance2) / backSensorOffset) * Mathf.Rad2Deg;
//Set the rotation of the angluar distance sensor to the difference in alignment
frontRightAngular.transform.localEulerAngles = new Vector3(0, 180 + angle, 0);
StartCoroutine(breaK());
while (doingSubRoutine)
{
yield return(null);
}
StartCoroutine(turnMiddle());
while (doingSubRoutine)
{
yield return(null);
}
//Drive back without turning
control.command = new ControlCar.CommandSet(-1, 0, false);
while (frontRightAngular.getDistance() == -1)
{
yield return(null); //Until front right corner of car clears obstacle 1
}
StartCoroutine(breaK());
while (doingSubRoutine)
{
yield return(null);
}
StartCoroutine(turnLeft());
while (doingSubRoutine)
{
yield return(null);
}
//Drive back while turning left
control.command = new ControlCar.CommandSet(-1, -1, false); // until car is aligned with object 2
while (Mathf.Atan((backMiddlePointingBack1.getDistance() - backMiddlePointingBack2.getDistance()) / backSensorOffset) * Mathf.Rad2Deg > 0 || backMiddlePointingBack1.getDistance() == -1)
{
yield return(null);
}
;
StartCoroutine(breaK());
while (doingSubRoutine)
{
yield return(null);
}
StartCoroutine(turnMiddle());
while (doingSubRoutine)
{
yield return(null);
}
//Done - Give back control
control.autoParking = false;
}
//
// Sensor event handlers
//
private void EnsureSensorsCreated()
{
IBandSensorManager sensorMgr = Model.Instance.Client.SensorManager;
if (accelerometerSensor == null)
{
accelerometerSensor = sensorMgr.CreateAccelerometerSensor();
accelerometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var accelerometerEvent = e.SensorReading;
mTextAccX.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationX);
mTextAccY.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationY);
mTextAccZ.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationZ);
});
};
}
if (contactSensor == null)
{
contactSensor = sensorMgr.CreateContactSensor();
contactSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var contactEvent = e.SensorReading;
mTextContact.Text = contactEvent.ContactState.ToString();
});
};
}
if (distanceSensor == null)
{
distanceSensor = sensorMgr.CreateDistanceSensor();
distanceSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var distanceEvent = e.SensorReading;
mTextTotalDistance.Text = string.Format("{0:D} cm", distanceEvent.TotalDistance);
mTextSpeed.Text = string.Format("{0:F2} cm/s", distanceEvent.Speed);
mTextPace.Text = string.Format("{0:F2} ms/m", distanceEvent.Pace);
mTextPedometerMode.Text = distanceEvent.MotionType.ToString();
});
};
}
if (gyroscopeSensor == null)
{
gyroscopeSensor = sensorMgr.CreateGyroscopeSensor();
gyroscopeSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gyroscopeEvent = e.SensorReading;
mTextGyroAccX.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationX);
mTextGyroAccY.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationY);
mTextGyroAccZ.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationZ);
mTextGyroAngX.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityX);
mTextGyroAngY.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityY);
mTextGyroAngZ.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityZ);
});
};
}
if (heartRateSensor == null)
{
heartRateSensor = sensorMgr.CreateHeartRateSensor();
heartRateSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var heartRateEvent = e.SensorReading;
mTextHeartRate.Text = Convert.ToString(heartRateEvent.HeartRate);
mTextHeartRateQuality.Text = heartRateEvent.Quality.ToString();
});
};
}
if (pedometerSensor == null)
{
pedometerSensor = sensorMgr.CreatePedometerSensor();
pedometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var pedometerEvent = e.SensorReading;
mTextTotalSteps.Text = string.Format("{0:D}", pedometerEvent.TotalSteps);
});
};
}
if (skinTemperatureSensor == null)
{
skinTemperatureSensor = sensorMgr.CreateSkinTemperatureSensor();
skinTemperatureSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var skinTemperatureEvent = e.SensorReading;
mTextSkinTemperature.Text = string.Format("{0:F1}", skinTemperatureEvent.Temperature);
});
};
}
if (uvSensor == null)
{
uvSensor = sensorMgr.CreateUVSensor();
uvSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var uvEvent = e.SensorReading;
mTextUltraviolet.Text = uvEvent.UVIndexLevel.ToString();
});
};
}
}
//
// Sensor event handlers
//
private void EnsureSensorsCreated()
{
IBandSensorManager sensorMgr = Model.Instance.Client.SensorManager;
if (accelerometerSensor == null)
{
accelerometerSensor = sensorMgr.CreateAccelerometerSensor();
accelerometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var accelerometerEvent = e.SensorReading;
mTextAccX.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationX);
mTextAccY.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationY);
mTextAccZ.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationZ);
});
};
}
if (contactSensor == null)
{
contactSensor = sensorMgr.CreateContactSensor();
contactSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var contactEvent = e.SensorReading;
mTextContact.Text = contactEvent.ContactState.ToString();
});
};
}
if (distanceSensor == null)
{
distanceSensor = sensorMgr.CreateDistanceSensor();
distanceSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var distanceEvent = e.SensorReading;
mTextTotalDistance.Text = string.Format("{0:D} cm", distanceEvent.TotalDistance);
mTextSpeed.Text = string.Format("{0:F2} cm/s", distanceEvent.Speed);
mTextPace.Text = string.Format("{0:F2} ms/m", distanceEvent.Pace);
mTextPedometerMode.Text = distanceEvent.MotionType.ToString();
});
};
}
if (gyroscopeSensor == null)
{
gyroscopeSensor = sensorMgr.CreateGyroscopeSensor();
gyroscopeSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gyroscopeEvent = e.SensorReading;
mTextGyroAccX.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationX);
mTextGyroAccY.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationY);
mTextGyroAccZ.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationZ);
mTextGyroAngX.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityX);
mTextGyroAngY.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityY);
mTextGyroAngZ.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityZ);
});
};
}
if (heartRateSensor == null)
{
heartRateSensor = sensorMgr.CreateHeartRateSensor();
heartRateSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var heartRateEvent = e.SensorReading;
mTextHeartRate.Text = string.Format("{0:D} beats/min", heartRateEvent.HeartRate);
mTextHeartRateQuality.Text = heartRateEvent.Quality.ToString();
});
};
}
if (pedometerSensor == null)
{
pedometerSensor = sensorMgr.CreatePedometerSensor();
pedometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var pedometerEvent = e.SensorReading;
mTextTotalSteps.Text = string.Format("{0:D} steps", pedometerEvent.TotalSteps);
});
};
}
if (skinTemperatureSensor == null)
{
skinTemperatureSensor = sensorMgr.CreateSkinTemperatureSensor();
skinTemperatureSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var skinTemperatureEvent = e.SensorReading;
mTextSkinTemperature.Text = string.Format("{0:F1} (C)", skinTemperatureEvent.Temperature);
});
};
}
if (uvSensor == null)
{
uvSensor = sensorMgr.CreateUVSensor();
uvSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var uvEvent = e.SensorReading;
mTextUltraviolet.Text = uvEvent.UVIndexLevel.ToString();
});
};
}
if (altimeterSensor == null)
{
altimeterSensor = sensorMgr.CreateAltimeterSensor();
altimeterSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var altimeterEvent = e.SensorReading;
mTextFlightsAscended.Text = string.Format("{0:D} floors", altimeterEvent.FlightsAscended);
mTextFlightsDescended.Text = string.Format("{0:D} floors", altimeterEvent.FlightsDescended);
mTextRate.Text = string.Format("{0:F2} cm/s", altimeterEvent.Rate);
mTextSteppingGain.Text = string.Format("{0:D} cm", altimeterEvent.SteppingGain);
mTextSteppingLoss.Text = string.Format("{0:D} cm", altimeterEvent.SteppingLoss);
mTextStepsAscended.Text = string.Format("{0:D} steps", altimeterEvent.StepsAscended);
mTextStepsDescended.Text = string.Format("{0:D} steps", altimeterEvent.StepsDescended);
mTextTotalGain.Text = string.Format("{0:D} cm", altimeterEvent.TotalGain);
mTextTotalLoss.Text = string.Format("{0:D} cm", altimeterEvent.TotalLoss);
});
};
}
if (ambientLightSensor == null)
{
ambientLightSensor = sensorMgr.CreateAmbientLightSensor();
ambientLightSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var ambientLightEvent = e.SensorReading;
mTextBrightness.Text = string.Format("{0:D} lux", ambientLightEvent.Brightness);
});
};
}
if (barometerSensor == null)
{
barometerSensor = sensorMgr.CreateBarometerSensor();
barometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var barometerEvent = e.SensorReading;
mTextAirPressure.Text = string.Format("{0:D} hPa", barometerEvent.AirPressure);
mTextTemperature.Text = string.Format("{0:D} (C)", barometerEvent.Temperature);
});
};
}
if (caloriesSensor == null)
{
caloriesSensor = sensorMgr.CreateCaloriesSensor();
caloriesSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var caloriesEvent = e.SensorReading;
mTextCalories.Text = string.Format("{0:D} kcals", caloriesEvent.Calories);
});
};
}
if (gsrSensor == null)
{
gsrSensor = sensorMgr.CreateGsrSensor();
gsrSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gsrEvent = e.SensorReading;
mTextResistance.Text = string.Format("{0:D} kohms", gsrEvent.Resistance);
});
};
}
if (rrIntervalSensor == null)
{
rrIntervalSensor = sensorMgr.CreateRRIntervalSensor();
rrIntervalSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var rrIntervalEvent = e.SensorReading;
mTextInterval.Text = string.Format("{0:2F} s", rrIntervalEvent.Interval);
});
};
}
}
static void Main(string[] args)
{
var greenButton = new DigitalInput();
greenButton.IsHubPortDevice = true;
greenButton.HubPort = 1;
var greenLed = new DigitalOutput();
greenLed.IsHubPortDevice = true;
greenLed.HubPort = 3;
var redButton = new DigitalInput();
redButton.IsHubPortDevice = true;
redButton.HubPort = 0;
var redLed = new DigitalOutput();
redLed.IsHubPortDevice = true;
redLed.HubPort = 2;
var sonar = new DistanceSensor();
sonar.HubPort = 4;
sonar.Open(1000);
redButton.Open(1000);
redLed.Open(1000);
greenButton.Open(1000);
greenLed.Open(1000);
greenButton.StateChange += (o, e) =>
{
greenLed.State = e.State;
};
redButton.StateChange += (o, e) =>
{
redLed.State = e.State;
if (e.State)
{
var sound = new SoundPlayer(@"C:\windows\media\tada.wav");
sound.Play();
var random = new Random();
Console.WriteLine("The next random number is {0}!", random.Next(0, 10));
}
};
sonar.DistanceChange += (o, e) =>
{
if (e.Distance > 100)
{
greenLed.State = true;
redLed.State = false;
}
else
{
greenLed.State = false;
redLed.State = true;
}
};
Console.WriteLine("Press enter to exit.");
Console.ReadLine();
redButton.Close();
redLed.Close();
greenButton.Close();
greenLed.Close();
}
static void Main()
{
var distance = new DistanceSensor(Netduino3.GpioPin.D8);
//SoundSensor sound = new SoundSensor(Netduino3.AdcChannel.A0);
LightSensor light = new LightSensor(Netduino3.AdcChannel.A1);
RotaryAngleSensor rotary = new RotaryAngleSensor(Netduino3.AdcChannel.A2);
TemperatureSensor temp = new TemperatureSensor(Netduino3.AdcChannel.A3);
TouchSensor touch = new TouchSensor(Netduino3.GpioPin.D2);
LedSocket led = new LedSocket(Netduino3.GpioPin.D3);
Button btn = new Button(Netduino3.GpioPin.D5);
Relay rly = new Relay(Netduino3.GpioPin.D6);
Buzzer buzz = new Buzzer(Netduino3.GpioPin.D7);
//var rgb = new LcdRgbBacklight();
//rgb.EnableDisplay(true);
Random rnd = new Random();
int counter = 0;
bool Touched = false;
while (true)
{
counter++;
Thread.Sleep(100);
//rgb.GoHome();
//rgb.SetCursor(0, 0);
//rgb.Clear();
//Debug.WriteLine("sound:"+sound.ReadLevel());
Debug.WriteLine("light:" + light.ReadLightLevel());
Debug.WriteLine("rotary:" + rotary.GetAngle());
Debug.WriteLine("temp:" + temp.ReadTemperature());
Debug.WriteLine("distance:" + distance.MeasureInCentimeters() + "cm");
if (touch.IsTouched() && !Touched)
{
Touched = true;
//rgb.Write("turn on light");
led.TurnOn();
}
else if (!touch.IsTouched() && Touched)
{
Touched = false;
//rgb.Write("turn off light");
led.TurnOff();
}
if (btn.IsPressed())
{
rly.TurnOn();
buzz.TurnOn();
}
else
{
buzz.TurnOff();
rly.TurnOff();
}
/*
* if (counter > 50)
* {
* rgb.SetBacklightRGB((byte)rnd.Next(255), (byte)rnd.Next(255), (byte)rnd.Next(255));
* counter = 0;
* }*/
}
}
/// <summary>
/// 初始化單一應用程式物件。這是第一行執行之撰寫程式碼，
/// 而且其邏輯相當於 main() 或 WinMain()。
/// </summary>
public App()
{
this.InitializeComponent();
DistanceSensor.Init();
this.Suspending += OnSuspending;
}
public void InitSensors(TestMeViewModel b)
{
if (!_client.IsConnected)
{
return;
}
_hrSensor = _hrSensor ?? _client.SensorManager.CreateHeartRateSensor();
_gsrSensor = _gsrSensor ?? _client.SensorManager.CreateGsrSensor();
_rrSensor = _rrSensor ?? _client.SensorManager.CreateRRIntervalSensor();
_contactSensor = _contactSensor ?? _client.SensorManager.CreateContactSensor();
_distancerSensor = _distancerSensor ?? _client.SensorManager.CreateDistanceSensor();
if (_contactSensor == null || _hrSensor == null || _gsrSensor == null || _rrSensor == null || _distancerSensor == null)
{
return;
}
Activity activity = Droid.MainActivity.instance;
//register contact listener
_contactSensor.ReadingChanged += (sender, e) =>
{
var contactEvent = e.SensorReading;
_bandState = contactEvent.ContactState;
};
//register heart rate listener
_hrSensor.ReadingChanged += (sender, e) =>
{
activity.RunOnUiThread(() =>
{
var heartRateEvent = e.SensorReading;
//_hrReadings.Add(heartRateEvent.HeartRate);
if (heartRateEvent.Quality == HeartRateQuality.Locked)
{
_hrSensor.StopReadings();
_contactSensor.StopReadings();
// if (b != null) { b.HR = _hrReadings[_hrReadings.Count - 1]; } //update ViewModel
}
if (_bandState != BandContactState.Worn) //user took off the band while reading
{
_hrSensor.StopReadings();
_contactSensor.StopReadings();
_bandState = null;
return;
}
});
};
//register gsr listener
_gsrSensor.ReadingChanged += (sender, e) =>
{
activity.RunOnUiThread(() =>
{
var gsrEvent = e.SensorReading;
_gsrReadings.Add(gsrEvent.Resistance);
if (b != null)
{
b.GsrList = gsrEvent.Resistance.ToString();
}
if (_gsrDone)
{
_gsrSensor.StopReadings();
_contactSensor.StopReadings();
return;
}
});
};
//register RR Intervals listener
_rrSensor.ReadingChanged += (sender, e) =>
{
if (_bandState != BandContactState.Worn) //user took off the band while reading
{
_rrSensor.StopReadings();
_contactSensor.StopReadings();
_bandState = null;
b.StressResult = "Error: band is not worn.";
return;
}
var rrEvent = e.SensorReading;
_rrIntervalsReadings.Add(rrEvent.Interval);
};
_distancerSensor.ReadingChanged += (sender, e) =>
{
currentMotionTyp = e.SensorReading.MotionType;
_distancerSensor.StopReadings();
};
}
private static void checkToiletVisit(DistanceSensor distanceSensor0)
{
if (lastToiletOccupancyReportedTime != null)
{
var result = (DateTime.Now - lastToiletOccupancyReportedTime).Value.TotalSeconds;
//We will not accept more than one toilet visit pr five minutes - should be half an hour - - if this is the case - we should log the incident and continue
if (result < 60)
{
return;
}
}
var distance = distanceSensor0.Distance;
//Console.WriteLine("Distance: "+distance);
double?duration = null;
if (distance < Setting.Default.ToiletDistance)
{
if (toiletActionStarted == null)
{
toiletNotOccupiedCounter = 0;
//If a new occupancy has started - and this is the first time - sound the alarm
Console.WriteLine("Toilet visit started");
toiletActionStarted = DateTime.Now.AddSeconds(-2);
System.Media.SystemSounds.Hand.Play();
}
// we are on the toilet (maybe just sat down)
duration = (int)(DateTime.Now - toiletActionStarted).Value.TotalSeconds - 2;
if (duration > 10)
{
Console.WriteLine("Toilet visit more than {0} seconds in total", duration);
}
}
else
{
if (toiletActionStarted == null)
{
return;
}
toiletNotOccupiedCounter = toiletNotOccupiedCounter + 1;
Console.WriteLine("Left toilet for the {0}. time", toiletNotOccupiedCounter);
if (toiletNotOccupiedCounter == 2)
{
var toiletActionEnded = DateTime.Now.AddSeconds(-6);
Console.WriteLine("");
Console.WriteLine("Toilet visit lasted from {0} to {1} ", ((DateTime)toiletActionStarted).ToLongTimeString(), ((DateTime)toiletActionEnded).ToLongTimeString());
//now send the toilet occupancy event
if ((toiletActionEnded - toiletActionStarted).Value.TotalSeconds > 10)
{
Console.WriteLine("Toilet event sent!");
SendToiletOccupancyEvent((DateTime)toiletActionStarted, (DateTime)toiletActionEnded, (int)((DateTime)toiletActionEnded - (DateTime)toiletActionStarted).TotalSeconds);
}
toiletNotOccupiedCounter = 0;
toiletActionStarted = null;
lastToiletOccupancyReportedTime = DateTime.Now;
}
}
}
static void Main(string[] args)
{
Log.Enable(LogLevel.Info, "phidgetlog.log");
DistanceSensor distanceSensor0 = new DistanceSensor();
distanceSensor0.HubPort = 3;
//distanceSensor0.DistanceChange += DistanceSensor0_DistanceChange;
distanceSensor0.Attach += DistanceSensor0_Attach;
distanceSensor0.Detach += DistanceSensor0_Detach;
distanceSensor0.Error += DistanceSensor0_Error;
DistanceSensor distanceSensor1 = new DistanceSensor();
distanceSensor1.HubPort = 4;
//distanceSensor0.DistanceChange += DistanceSensor0_DistanceChange;
distanceSensor1.Attach += DistanceSensor0_Attach;
distanceSensor1.Detach += DistanceSensor0_Detach;
distanceSensor1.Error += DistanceSensor0_Error;
//VoltageRatioSensorType voltageRatioSensor = new VoltageRatioSensorType();
VoltageRatioInput voltageRatioInput = new VoltageRatioInput();
voltageRatioInput.HubPort = 0;
voltageRatioInput.IsHubPortDevice = true;
voltageRatioInput.Channel = 0;
voltageRatioInput.VoltageRatioChange += VoltageRatioInput_VoltageRatioChange;
try
{
InitizlizeMqttClient();
distanceSensor0.Open(5000);
distanceSensor0.DataInterval = 2000;
distanceSensor0.SonarQuietMode = false;
distanceSensor1.Open(5000);
distanceSensor1.DataInterval = 2000;
distanceSensor1.SonarQuietMode = false;
voltageRatioInput.Open(5000);
//voltageRatioInput.SensorType = VoltageRatioSensorType.PN_1129;
voltageRatioInput.DataInterval = 100;
//Console.ReadLine();
Task.Run(() =>
{
while (true)
{
Thread.Sleep(2000);
checkHandWash(distanceSensor1);
checkToiletVisit(distanceSensor0);
}
});
//Wait until Enter has been pressed before exiting
Console.ReadLine();
distanceSensor0.Close();
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.ToString());
Console.WriteLine("");
Console.WriteLine("PhidgetException " + ex.ErrorCode + " (" + ex.Description + "): " + ex.Detail);
Console.ReadLine();
}
}
//
// Sensor event handlers
//
private void EnsureSensorsCreated()
{
IBandSensorManager sensorMgr = Model.Instance.Client.SensorManager;
if (accelerometerSensor == null)
{
accelerometerSensor = sensorMgr.CreateAccelerometerSensor();
accelerometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var accelerometerEvent = e.SensorReading;
mTextAccX.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationX);
mTextAccY.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationY);
mTextAccZ.Text = string.Format("{0:F3}", accelerometerEvent.AccelerationZ);
});
};
}
if (contactSensor == null)
{
contactSensor = sensorMgr.CreateContactSensor();
contactSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var contactEvent = e.SensorReading;
mTextContact.Text = contactEvent.ContactStatus.ToString();
});
};
}
if (distanceSensor == null)
{
distanceSensor = sensorMgr.CreateDistanceSensor();
distanceSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var distanceEvent = e.SensorReading;
mTextTotalDistance.Text = string.Format("{0:D} cm", distanceEvent.TotalDistance);
mTextSpeed.Text = string.Format("{0:F2} cm/s", distanceEvent.Speed);
mTextPace.Text = string.Format("{0:F2} ms/m", distanceEvent.Pace);
mTextPedometerMode.Text = distanceEvent.PedometerMode.ToString();
});
};
}
if (gyroscopeSensor == null)
{
gyroscopeSensor = sensorMgr.CreateGyroscopeSensor();
gyroscopeSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gyroscopeEvent = e.SensorReading;
mTextGyroAccX.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationX);
mTextGyroAccY.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationY);
mTextGyroAccZ.Text = string.Format("{0:F3}", gyroscopeEvent.AccelerationZ);
mTextGyroAngX.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityX);
mTextGyroAngY.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityY);
mTextGyroAngZ.Text = string.Format("{0:F2}", gyroscopeEvent.AngularVelocityZ);
});
};
}
if (heartRateSensor == null)
{
heartRateSensor = sensorMgr.CreateHeartRateSensor();
heartRateSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var heartRateEvent = e.SensorReading;
mTextHeartRate.Text = Convert.ToString(heartRateEvent.HeartRate);
mTextHeartRateQuality.Text = heartRateEvent.Quality.ToString();
});
};
}
if (pedometerSensor == null)
{
pedometerSensor = sensorMgr.CreatePedometerSensor();
pedometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var pedometerEvent = e.SensorReading;
mTextTotalSteps.Text = string.Format("{0:D}", pedometerEvent.TotalSteps);
});
};
}
if (skinTemperatureSensor == null)
{
skinTemperatureSensor = sensorMgr.CreateSkinTemperatureSensor();
skinTemperatureSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var skinTemperatureEvent = e.SensorReading;
mTextSkinTemperature.Text = string.Format("{0:F1}", skinTemperatureEvent.Temperature);
});
};
}
if (uvSensor == null)
{
uvSensor = sensorMgr.CreateUVSensor();
uvSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var uvEvent = e.SensorReading;
mTextUltraviolet.Text = uvEvent.UVIndexLevel.ToString();
});
};
}
}
void Start()
{
// Distance Sensors
for (int i = 0; i < DistanceSensors.Length; ++i)
{
DistanceSensor sensor = DistanceSensors[i];
DistanceSensors[i].LayerMask = LayerMask.GetMask(DistanceSensors[i].Layers);
Quaternion rot = Quaternion.AngleAxis(DistanceSensors[i].Angle, Vector3.up);
DistanceSensors[i].Direction = (rot * Vector3.forward).normalized;
}
// Telemetry Sensors
TelemetrySensor teleSense = new TelemetrySensor()
{
GetTelemetry = this.getTelemetry,
GetTelemetryCount = this.getTelemetryCount
};
// Sensor Component
Sensors sensors = GetComponent <Sensors>();
sensors.DistanceSensors = DistanceSensors;
sensors.TelemetrySensor = teleSense;
// Sensor Data Component
SensorData sensorData = GetComponent <SensorData>();
sensorData.Data = new double[
sensors.TelemetrySensor.GetTelemetryCount() +
(sensors.DistanceSensors.Length * SensorSystem.DATA_POINTS_PER_DISTANCE_SENSOR)
];
for (int i = 0; i < sensorData.Data.Length; ++i)
{
sensorData.Data[i] = 0;
}
// Initialize the layers
Net net = GetComponent <Net>();
if (InitalNet.LayerSizes != null)
{
// Debug.Log("INITIALIZING WITH NET");
net.Data = InitalNet;
}
else
{
net.Data = new NetData();
net.Data.LayerSizes = new int[HiddenLayerSizes.Length + 2];
net.Data.LayerSizes[0] = sensorData.Data.Length;
HiddenLayerSizes.CopyTo(net.Data.LayerSizes, 1);
net.Data.LayerSizes[HiddenLayerSizes.Length + 1] = 2; // MotionInputs
net.Data.Weights = new double[netSize(net.Data)];
Neural.Mutators.SelfMutate(new NetData[] { net.Data }, new Neural.Options()
{
{ "clone", false },
{ "mutationProbability", 1 },
{ "mutationFactor", 1 },
{ "mutationRange", 10000 },
});
}
// Mettabolism
Metabolism metabolism = new Metabolism
{
HealthDecayRate = 1,
MealtimeInterval = InitialMealtimeInterval
};
gameObjectEntity.EntityManager.AddComponentData <Metabolism>(gameObjectEntity.Entity, metabolism);
// Stats
Stats stats = new Stats
{
Tag = gameObject.tag.GetHashCode(),
Health = InitialHealth,
Age = 0,
Generation = 0,
Aggression = InitialAggression,
Nutrition = InitialNutrition,
LastMealTime = DateTime.Now.Ticks,
MatingAge = MatingAge,
MatingCost = MatingCost,
MatingCoolDown = MatingCoolDown
};
gameObjectEntity.EntityManager.AddComponentData <Stats>(gameObjectEntity.Entity, stats);
}
//
// Sensor event handlers
//
private void EnsureSensorsCreated()
{
IBandSensorManager sensorMgr = Model.Instance.Client.SensorManager;
if (accelerometerSensor == null)
{
accelerometerSensor = sensorMgr.CreateAccelerometerSensor();
accelerometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var accelerometerEvent = e.SensorReading;
mTextAccX.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationX);
mTextAccY.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationY);
mTextAccZ.Text = string.Format("{0:F3} m/s/s", accelerometerEvent.AccelerationZ);
});
};
}
if (contactSensor == null)
{
contactSensor = sensorMgr.CreateContactSensor();
contactSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var contactEvent = e.SensorReading;
mTextContact.Text = contactEvent.ContactState.ToString();
});
};
}
if (distanceSensor == null)
{
distanceSensor = sensorMgr.CreateDistanceSensor();
distanceSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var distanceEvent = e.SensorReading;
mTextTotalDistance.Text = string.Format("{0:D} cm", distanceEvent.TotalDistance);
mTextSpeed.Text = string.Format("{0:F2} cm/s", distanceEvent.Speed);
mTextPace.Text = string.Format("{0:F2} ms/m", distanceEvent.Pace);
mTextPedometerMode.Text = distanceEvent.MotionType.ToString();
});
};
}
if (gyroscopeSensor == null)
{
gyroscopeSensor = sensorMgr.CreateGyroscopeSensor();
gyroscopeSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gyroscopeEvent = e.SensorReading;
mTextGyroAccX.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationX);
mTextGyroAccY.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationY);
mTextGyroAccZ.Text = string.Format("{0:F3} m/s/s", gyroscopeEvent.AccelerationZ);
mTextGyroAngX.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityX);
mTextGyroAngY.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityY);
mTextGyroAngZ.Text = string.Format("{0:F2} deg/s", gyroscopeEvent.AngularVelocityZ);
});
};
}
if (heartRateSensor == null)
{
heartRateSensor = sensorMgr.CreateHeartRateSensor();
heartRateSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var heartRateEvent = e.SensorReading;
mTextHeartRate.Text = string.Format("{0:D} beats/min", heartRateEvent.HeartRate);
mTextHeartRateQuality.Text = heartRateEvent.Quality.ToString();
});
};
}
if (pedometerSensor == null)
{
pedometerSensor = sensorMgr.CreatePedometerSensor();
pedometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var pedometerEvent = e.SensorReading;
mTextTotalSteps.Text = string.Format("{0:D} steps", pedometerEvent.TotalSteps);
});
};
}
if (skinTemperatureSensor == null)
{
skinTemperatureSensor = sensorMgr.CreateSkinTemperatureSensor();
skinTemperatureSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var skinTemperatureEvent = e.SensorReading;
mTextSkinTemperature.Text = string.Format("{0:F1} (C)", skinTemperatureEvent.Temperature);
});
};
}
if (uvSensor == null)
{
uvSensor = sensorMgr.CreateUVSensor();
uvSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var uvEvent = e.SensorReading;
mTextUltraviolet.Text = uvEvent.UVIndexLevel.ToString();
});
};
}
if (altimeterSensor == null)
{
altimeterSensor = sensorMgr.CreateAltimeterSensor();
altimeterSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var altimeterEvent = e.SensorReading;
mTextFlightsAscended.Text = string.Format("{0:D} floors", altimeterEvent.FlightsAscended);
mTextFlightsDescended.Text = string.Format("{0:D} floors", altimeterEvent.FlightsDescended);
mTextRate.Text = string.Format("{0:F2} cm/s", altimeterEvent.Rate);
mTextSteppingGain.Text = string.Format("{0:D} cm", altimeterEvent.SteppingGain);
mTextSteppingLoss.Text = string.Format("{0:D} cm", altimeterEvent.SteppingLoss);
mTextStepsAscended.Text = string.Format("{0:D} steps", altimeterEvent.StepsAscended);
mTextStepsDescended.Text = string.Format("{0:D} steps", altimeterEvent.StepsDescended);
mTextTotalGain.Text = string.Format("{0:D} cm", altimeterEvent.TotalGain);
mTextTotalLoss.Text = string.Format("{0:D} cm", altimeterEvent.TotalLoss);
});
};
}
if (ambientLightSensor == null)
{
ambientLightSensor = sensorMgr.CreateAmbientLightSensor();
ambientLightSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var ambientLightEvent = e.SensorReading;
mTextBrightness.Text = string.Format("{0:D} lux", ambientLightEvent.Brightness);
});
};
}
if (barometerSensor == null)
{
barometerSensor = sensorMgr.CreateBarometerSensor();
barometerSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var barometerEvent = e.SensorReading;
mTextAirPressure.Text = string.Format("{0:D} hPa", barometerEvent.AirPressure);
mTextTemperature.Text = string.Format("{0:D} (C)", barometerEvent.Temperature);
});
};
}
if (caloriesSensor == null)
{
caloriesSensor = sensorMgr.CreateCaloriesSensor();
caloriesSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var caloriesEvent = e.SensorReading;
mTextCalories.Text = string.Format("{0:D} kcals", caloriesEvent.Calories);
});
};
}
if (gsrSensor == null)
{
gsrSensor = sensorMgr.CreateGsrSensor();
gsrSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var gsrEvent = e.SensorReading;
mTextResistance.Text = string.Format("{0:D} kohms", gsrEvent.Resistance);
});
};
}
if (rrIntervalSensor == null)
{
rrIntervalSensor = sensorMgr.CreateRRIntervalSensor();
rrIntervalSensor.ReadingChanged += (sender, e) =>
{
Activity.RunOnUiThread(() =>
{
var rrIntervalEvent = e.SensorReading;
mTextInterval.Text = string.Format("{0:2F} s", rrIntervalEvent.Interval);
});
};
}
}
