private void OnGetGyrometer(object sender, RoutedEventArgs e)
{
Gyrometer gyrometer = Gyrometer.GetDefault();
GyrometerReading reading = gyrometer.GetCurrentReading();
this.DefaultViewModel["GyrometerResult"] = GetGyrometerResult(reading);
}
async void gyrometer_ReadingChanged(Gyrometer sender, GyrometerReadingChangedEventArgs args)
{
await this.Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
gyrometerReading = args.Reading;
});
}
static Vector ConvertToVector(GyrometerReading reading)
{
return(new Vector
{
X = reading.AngularVelocityX,
Y = reading.AngularVelocityY,
Z = reading.AngularVelocityZ
});
}
private string GetGyrometerResult(GyrometerReading reading)
{
var sb = new StringBuilder();
sb.AppendFormat("x {0}\n", reading.AngularVelocityX);
sb.AppendFormat("y {0}\n", reading.AngularVelocityY);
sb.AppendFormat("z {0}\n", reading.AngularVelocityZ);
return(sb.ToString());
}
private void GyrometerReadingUpdated(GyrometerReading reading)
{
_gyroReading = reading;
if (_state == GenerationState.Gathering)
{
SpeedX.Value = reading.AngularVelocityX;
SpeedY.Value = reading.AngularVelocityY;
SpeedZ.Value = reading.AngularVelocityZ;
}
}
/// <summary>
/// This is the event handler for ReadingChanged events.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
async private void ReadingChanged(object sender, GyrometerReadingChangedEventArgs e)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
GyrometerReading reading = e.Reading;
ScenarioOutput_X.Text = String.Format("{0,5:0.00}", reading.AngularVelocityX);
ScenarioOutput_Y.Text = String.Format("{0,5:0.00}", reading.AngularVelocityY);
ScenarioOutput_Z.Text = String.Format("{0,5:0.00}", reading.AngularVelocityZ);
});
}
private async void gyrometer_ReadingChanged(Gyrometer sender, GyrometerReadingChangedEventArgs args)
{
GyrometerReading reading = args.Reading;
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
gyrometerX.Text = string.Format("{0,5:0.00}", reading.AngularVelocityX);
gyrometerY.Text = string.Format("{0,5:0.00}", reading.AngularVelocityX);
gyrometerZ.Text = string.Format("{0,5:0.00}", reading.AngularVelocityZ);
});
}
/// <summary>
/// This is the dispatcher callback.
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void DisplayCurrentReading(object sender, object args)
{
GyrometerReading reading = _gyrometer.GetCurrentReading();
if (reading != null)
{
ScenarioOutput_X.Text = String.Format("{0,5:0.00}", reading.AngularVelocityX);
ScenarioOutput_Y.Text = String.Format("{0,5:0.00}", reading.AngularVelocityY);
ScenarioOutput_Z.Text = String.Format("{0,5:0.00}", reading.AngularVelocityZ);
}
}
private async void gyrometerSensor_ReadingChanged(Gyrometer sender, GyrometerReadingChangedEventArgs args)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
GyrometerReading reading = args.Reading;
xAxisVel.Text = String.Format("{0,2:0.00}", reading.AngularVelocityX.ToString());
yAxisVel.Text = String.Format("{0,2:0.00}", reading.AngularVelocityY.ToString());
zAxisVel.Text = String.Format("{0,2:0.00}", reading.AngularVelocityZ.ToString());
});
}
void ReadGyrometerData()
{
if (gyroSensor != null)
{
GyrometerReading reading = gyroSensor.GetCurrentReading();
if (reading != null)
{
gyroX.Value = reading.AngularVelocityX;
gyroY.Value = reading.AngularVelocityY;
gyroZ.Value = reading.AngularVelocityZ;
}
}
}
private static void GyroReadingChanged(object sender, GyrometerReadingChangedEventArgs e)
{
readingGyro = e.Reading;
//GyrometerReading readingGyro = _gyrometer.GetCurrentReading();
string timeStamp = nanoTime().ToString();
writerCSV.WriteLine(timeStamp + ","
+ readingGyro.AngularVelocityX + "," + readingGyro.AngularVelocityY + "," + readingGyro.AngularVelocityZ
+ "," + readingAccl.AccelerationX + "," + readingAccl.AccelerationY + "," + readingAccl.AccelerationZ);
//writerCSV.WriteLine(timeStamp + ","
// + readingAccl.AccelerationX + "," + readingAccl.AccelerationY + "," + readingAccl.AccelerationZ);
}
public void OnGetGyrometer()
{
Gyrometer sensor = Gyrometer.GetDefault();
if (sensor != null)
{
GyrometerReading reading = sensor.GetCurrentReading();
GyrometerInfo = $"X: {reading.AngularVelocityX} Y: {reading.AngularVelocityY} Z: {reading.AngularVelocityZ}";
}
else
{
GyrometerInfo = "Gyrometer not found";
}
}
private void OnGyrometerUpdated(object sender, GyrometerReading reading)
{
//expects GyrometerX, Y, Z to be defined as fields
GyrometerFiltered.add(reading.X, reading.Y, reading.Z);
float[] filteredAvg = GyrometerFiltered.getFilteredRounded();
GyrometerX.Text = "" + filteredAvg[0];
GyrometerY.Text = "" + filteredAvg[1];
GyrometerZ.Text = "" + filteredAvg[2];
//var properties = new Dictionary<string, string>
// {{"name", m_robot.Name}};
//var results = new Dictionary<string, double>
// { { "X", filteredAvg[0]}, { "Y", filteredAvg[1]}, {"Z", filteredAvg[2] }};
//insights.TrackEvent("Gyrometer Update", properties, results);
Debug.WriteLine(string.Format("Accelerometer" + Environment.NewLine + "X: " +
filteredAvg[0] + ", Y: " + filteredAvg[1] + ", Z: " + filteredAvg[2] + Environment.NewLine));
}
private void IMUTimer_Tick(object StateObject)
{
string timeStamp = nanoTime().ToString();
if (DEBUG)
{
writerCSV.WriteLine(timeStamp + "," + "omega_x" + "," + "omega_y" + "," + "omega_z" + "," + "alpha_x" + "," + "alpha_y" + "," + "alpha_z");
}
else
{
AccelerometerReading readingAccl = _accelerometer.GetCurrentReading();
GyrometerReading readingGyro = _gyrometer.GetCurrentReading();
writerCSV.WriteLine(timeStamp + ","
+ readingGyro.AngularVelocityX + "," + readingGyro.AngularVelocityY + "," + readingGyro.AngularVelocityZ
+ "," + readingAccl.AccelerationX + "," + readingAccl.AccelerationY + "," + readingAccl.AccelerationZ);
}
}
public void OnGetGyrometerReport()
{
Gyrometer sensor = Gyrometer.GetDefault();
if (sensor != null)
{
sensor.ReportInterval = Math.Max(sensor.MinimumReportInterval, 1000);
sensor.ReadingChanged += async(s, e) =>
{
GyrometerReading reading = e.Reading;
await CoreApplication.MainView.Dispatcher.RunAsync(CoreDispatcherPriority.Low, () =>
{
GyrometerInfoReport = $"X: {reading.AngularVelocityX} Y: {reading.AngularVelocityY} Z: {reading.AngularVelocityZ} { reading.Timestamp:T}";
});
};
}
}
private void ReadingChanged(object sender, GyrometerReadingChangedEventArgs e)
{
double x_Axis = 0;
double y_Axis = 0;
double z_Axis = 0;
GyrometerReading reading = e.Reading;
// Calculate the gyrometer axes based on
// the current display orientation.
DisplayInformation displayInfo = DisplayInformation.GetForCurrentView();
switch (displayInfo.CurrentOrientation)
{
case DisplayOrientations.Landscape:
x_Axis = reading.AngularVelocityX;
y_Axis = reading.AngularVelocityY;
z_Axis = reading.AngularVelocityZ;
break;
case DisplayOrientations.Portrait:
x_Axis = reading.AngularVelocityY;
y_Axis = -1 * reading.AngularVelocityX;
z_Axis = reading.AngularVelocityZ;
break;
case DisplayOrientations.LandscapeFlipped:
x_Axis = -1 * reading.AngularVelocityX;
y_Axis = -1 * reading.AngularVelocityY;
z_Axis = reading.AngularVelocityZ;
break;
case DisplayOrientations.PortraitFlipped:
x_Axis = -1 * reading.AngularVelocityY;
y_Axis = reading.AngularVelocityX;
z_Axis = reading.AngularVelocityZ;
break;
}
sb.AppendLine(x_Axis + " ; " + y_Axis + " ; " + z_Axis);
messageb.Text = sb.ToString();
}
private void ReadingChanged(object sender, GyrometerReadingChangedEventArgs e)
{
TestCount++;
GyrometerReading reading = e.Reading;
string sMessage = "";
if (reading.AngularVelocityX > -311 && reading.AngularVelocityX < 575 && reading.AngularVelocityY > -621 && reading.AngularVelocityY < 615 && reading.AngularVelocityZ > -513 && reading.AngularVelocityZ < 494)
{
sMessage = "";
sMessage += "Round" + TestRound + "->" + TestCount + ":";
sMessage += string.Format(" Gyrometer X({0,5:0.00})", reading.AngularVelocityX);
sMessage += string.Format(" Y({0,5:0.00})", reading.AngularVelocityY);
sMessage += string.Format(" Z({0,5:0.00})", reading.AngularVelocityZ);
sMessage += "\r\n";
Glog.WriteText(sMessage);
}
else
{
sMessage = "";
sMessage += "Round" + TestRound + "->" + TestCount + ":";
sMessage += "Gyrometer Failed.";
sMessage += "\r\n";
Glog.WriteText(sMessage);
}
_gyrometer.ReportInterval = 0;
_gyrometer.ReadingChanged -= ReadingChanged;
if (TestCount >= TestMaxCount)
{
Gtimer.Cancel();
TestCount = 0;
Atimer = ThreadPoolTimer.CreatePeriodicTimer(Accelerometer_Timer_Tick, TimeSpan.FromMilliseconds(2000));
}
}
async void initialize()
{
//-----------------------------------------------------------------------------陀螺仪部分
string errMessage = "";
try
{
//获取默认的陀螺仪对象
gyrometer = Gyrometer.GetDefault();
if (gyrometer == null)
{
await new MessageDialog("不支持陀螺仪").ShowAsync();
return;
}
//设置读取数据的时间间隔
gyrometer.ReportInterval = 1000;
gyrometer.ReadingChanged += gyrometer_ReadingChanged;
gyrometerReading = gyrometer.GetCurrentReading();
}
catch (Exception err)
{
errMessage = err.Message;
}
if (errMessage != "")
{
await new MessageDialog(errMessage).ShowAsync();
}
//-------------------------------------------------------------
GetLocation();
ShowData();
starclient = new StarClient(GetTime()[0], GetTime()[1], GetTime()[2], GetTime()[3], weidu, jingdu,
Double.Parse(currentX), Double.Parse(currentY), Double.Parse(currentZ));
number = starclient.planetnumber();
//MySqlite = new mysqlite();
//MySqlite.creatTable();
}
private static void GyroReadingChanged(object sender, GyrometerReadingChangedEventArgs e)
{
readingGyro = e.Reading;
//GyrometerReading readingGyro = _gyrometer.GetCurrentReading();
/*
* string timeStamp = nanoTime().ToString();
* writerCSV.WriteLine(timeStamp + ","
+ readingGyro.AngularVelocityX + "," + readingGyro.AngularVelocityY + "," + readingGyro.AngularVelocityZ
+ "," + readingAccl.AccelerationX + "," + readingAccl.AccelerationY + "," + readingAccl.AccelerationZ);
*/
dataPoint = new DataPointViewModel()
{
aX = readingAccl.AccelerationX,
aY = readingAccl.AccelerationY,
aZ = readingAccl.AccelerationZ,
gX = readingGyro.AngularVelocityX,
gY = readingGyro.AngularVelocityY,
gZ = readingGyro.AngularVelocityZ
};
}
public String GetGyrometerReadingDisplayText(GyrometerReading reading)
{
if (reading == null)
{
return("No Reading Available.");
}
var axisAdjustment = SensorExtensions.AxisOffset.Default;
if (CompensateForDisplayOrientation)
{
axisAdjustment = DisplayOrientation.AxisAdjustmentFactor();
}
var adjustedAngularVelocityX = reading.AngularVelocityX * axisAdjustment.X;
var adjustedAngularVelocityY = reading.AngularVelocityY * axisAdjustment.Y;
var adjustedAngularVelocityZ = reading.AngularVelocityZ * axisAdjustment.Z;
return(String.Format("X= {0} Y={1} Z={2}",
adjustedAngularVelocityX,
adjustedAngularVelocityY,
adjustedAngularVelocityZ));
}
/// <summary>
/// Ases the vector3.
/// </summary>
/// <param name="reading">The reading.</param>
/// <returns>Vector3.</returns>
public static Vector3 AsVector3(this GyrometerReading reading)
{
return(new Vector3(reading.AngularVelocityX, reading.AngularVelocityY, reading.AngularVelocityZ));
}
private void OnGyrometerUpdated(object sender, GyrometerReading reading)
{
GyroscopeX.Text = "" + reading.X;
GyroscopeY.Text = "" + reading.Y;
GyroscopeZ.Text = "" + reading.Z;
}
private void updateUIGyro(GyrometerReading reading)
{
statusTextBlock.Text = "AngVel Y: " + reading.AngularVelocityY.ToString();
}
internal GyrometerReadingChangedEventArgs(GyrometerReading reading) =>
private void OnGyrometerUpdated(object sender, GyrometerReading e)
{
GyroReading = string.Format("X:{0}" + Environment.NewLine + "Y:{1}" + Environment.NewLine + "Z:{2}", e.X, e.Y, e.Z);
}
