// Non-static method
public void sensorEventThread()
{
try
{
while (true)
{
ZenEvent zenEvent = new ZenEvent();
//Console.WriteLine(mZenHandle);
if (OpenZen.ZenWaitForNextEvent(mZenHandle, zenEvent))
{
if (zenEvent.component.handle == 0)
{
// if the handle is on, its not a sensor event but a system wide
// event
switch (zenEvent.eventType)
{
case (int)ZenSensorEvent.ZenSensorEvent_SensorFound:
Console.WriteLine("found sensor event event " + zenEvent.data.sensorFound.name);
mFoundSensors.Add(zenEvent.data.sensorFound);
break;
case (int)ZenSensorEvent.ZenSensorEvent_SensorListingProgress:
if (zenEvent.data.sensorListingProgress.progress == 1.0)
{
mSearchDone = true;
}
break;
}
}
else
{
switch (zenEvent.eventType)
{
case (int)ZenImuEvent.ZenImuEvent_Sample:
mImuEventCount++;
if (mImuEventCount % 100 == 0)
{
continue;
}
// read acceleration
OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
// read angular velocity
OpenZenFloatArray fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.g);
// read euler angles
OpenZenFloatArray fr = OpenZenFloatArray.frompointer(zenEvent.data.imuData.r);
// read quaternion
OpenZenFloatArray fq = OpenZenFloatArray.frompointer(zenEvent.data.imuData.q);
Console.WriteLine("Sensor data\n -> Acceleration a = " + fa.getitem(0) + " " + fa.getitem(1) + " " + fa.getitem(2));
Console.WriteLine(" -> Angular velocity g = " + fg.getitem(0) + " " + fg.getitem(1) + " " + fg.getitem(2));
Console.WriteLine(" -> Euler angles r = " + fr.getitem(0) + " " + +fr.getitem(1) + " " + fr.getitem(2));
Console.WriteLine(" -> Quaternion w = " + fq.getitem(0) + " x " + +fq.getitem(1) + " y " + +fq.getitem(2) + " z " + +fq.getitem(3));
break;
}
}
}
}
}
catch (ThreadAbortException)
{
}
}
// Non-static method
public void sensorEventThread()
{
try
{
OpenZen.ZenInit(device_Handle);
ZenEvent zenEvent = new ZenEvent();
Boolean connected = false;
ZenSensorInitError sensorInitError = ZenSensorInitError.ZenSensorInitError_Max;
// try three connection attempts
for (int i = 0; i < 1; i++)
{
sensorInitError = OpenZen.ZenObtainSensor(device_Handle, mSensor, device_Sensor);
if (sensorInitError == ZenSensorInitError.ZenSensorInitError_None)
{
connected = true;
// Enable Disconnect Button
MainForm mainForm = FormProvider.getMain();
switch (device_No)
{
case 1:
if (mainForm.InvokeRequired)
{
mainForm.BeginInvoke((Action) delegate() {
mainForm.device_List1.Enabled = false;
mainForm.disconnect_Device1.Visible = true;
mainForm.connect_Device1.Enabled = false;
});
}
else
{
mainForm.device_List1.Enabled = false;
mainForm.disconnect_Device1.Visible = true;
mainForm.connect_Device1.Enabled = false;
}
break;
case 2:
if (mainForm.InvokeRequired)
{
mainForm.BeginInvoke((Action) delegate() {
mainForm.device_List2.Enabled = false;
mainForm.disconnect_Device2.Visible = true;
mainForm.connect_Device2.Enabled = false;
});
}
else
{
mainForm.device_List2.Enabled = false;
mainForm.disconnect_Device2.Visible = true;
mainForm.connect_Device2.Enabled = false;
}
break;
case 3:
if (mainForm.InvokeRequired)
{
mainForm.BeginInvoke((Action) delegate() {
mainForm.device_List3.Enabled = false;
mainForm.disconnect_Device3.Visible = true;
mainForm.connect_Device3.Enabled = false;
});
}
else
{
mainForm.device_List3.Enabled = false;
mainForm.disconnect_Device3.Visible = true;
mainForm.connect_Device3.Enabled = false;
}
break;
case 4:
if (mainForm.InvokeRequired)
{
mainForm.BeginInvoke((Action) delegate() {
mainForm.device_List4.Enabled = false;
mainForm.disconnect_Device4.Visible = true;
mainForm.connect_Device4.Enabled = false;
});
}
else
{
mainForm.device_List4.Enabled = false;
mainForm.disconnect_Device4.Visible = true;
mainForm.connect_Device4.Enabled = false;
}
break;
}
MessageBox.Show("Succesfully connected to sensor for Device #" + device_No.ToString());
break;
}
else
{
MessageBox.Show("Failed");
}
}
while (connected)
{
//Console.WriteLine(mZenHandle);
if (OpenZen.ZenWaitForNextEvent(device_Handle, zenEvent))
{
if (zenEvent.component.handle != 0)
{
switch (zenEvent.eventType)
{
case (int)ZenImuEvent.ZenImuEvent_Sample:
count++;
// read raw accelerometer
OpenZenFloatArray raw_fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.aRaw);
// read calibrated accelerometer
OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
// read raw accelerometer
OpenZenFloatArray raw_fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.gRaw);
// read calibrated gyroscope
OpenZenFloatArray fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.g);
// read raw magnetometer
OpenZenFloatArray raw_fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.bRaw);
// read calibrated magnetometer
OpenZenFloatArray fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.b);
// read euler angle
OpenZenFloatArray fr = OpenZenFloatArray.frompointer(zenEvent.data.imuData.r);
// read quaternion
OpenZenFloatArray fq = OpenZenFloatArray.frompointer(zenEvent.data.imuData.q);
// Create new imuData object
IMUData imuData = new IMUData(
raw_fa.getitem(0), raw_fa.getitem(1), raw_fa.getitem(2),
fa.getitem(0), fa.getitem(1), fa.getitem(2),
raw_fg.getitem(0), raw_fg.getitem(1), raw_fg.getitem(2),
fg.getitem(0), fg.getitem(1), fg.getitem(2),
raw_fb.getitem(0), raw_fb.getitem(1), raw_fb.getitem(2),
fb.getitem(0), fb.getitem(1), fb.getitem(2),
fr.getitem(0), fr.getitem(1), fr.getitem(2),
fq.getitem(0), fq.getitem(1), fq.getitem(2)
); // Push data in to the new imuData Object
switch (device_No)
{
case (1):
transferDevice1_Data(imuData);
//Debug.WriteLine(count);
break;
case (2):
transferDevice2_Data(imuData);
break;
case (3):
transferDevice3_Data(imuData);
break;
case (4):
transferDevice4_Data(imuData);
Debug.WriteLine(count);
break;
}
break;
}
}
}
}
}
catch (ThreadAbortException)
{
}
}
private void retrieve_Port_Click(object sender, EventArgs e)
{
foundSensors.Clear();
device_List1.Items.Clear();
device_List2.Items.Clear();
device_List3.Items.Clear();
device_List4.Items.Clear();
OpenZen.ZenInit(zenHandle);
ZenEvent zenEvent = new ZenEvent();
Boolean searchDone = false;
// start sensor listing, new sensors will be reported as Events in our event thread
OpenZen.ZenListSensorsAsync(zenHandle);
// Searching for device
while (searchDone == false)
{
if (OpenZen.ZenWaitForNextEvent(zenHandle, zenEvent) && zenEvent.component.handle == 0)
{
// Handle Event
switch (zenEvent.eventType)
{
case (int)ZenSensorEvent.ZenSensorEvent_SensorFound:
//MessageBox.Show("Device : " + zenEvent.data.sensorFound.name);
ZenSensorDesc sensor = new ZenSensorDesc();
sensor.identifier = zenEvent.data.sensorFound.identifier;
sensor.baudRate = zenEvent.data.sensorFound.baudRate;
sensor.ioType = zenEvent.data.sensorFound.ioType;
sensor.name = zenEvent.data.sensorFound.name;
sensor.serialNumber = zenEvent.data.sensorFound.serialNumber;
foundSensors.Add(sensor);
break;
case (int)ZenSensorEvent.ZenSensorEvent_SensorListingProgress:
if (zenEvent.data.sensorListingProgress.progress == 1.0)
{
searchDone = true;
}
break;
}
}
}
// Listing Connected Device
if (foundSensors.Count > 0)
{
for (int i = 0; i < foundSensors.Count; i++)
{
device_List1.Items.Add(foundSensors[i].name);
device_List2.Items.Add(foundSensors[i].name);
device_List3.Items.Add(foundSensors[i].name);
device_List4.Items.Add(foundSensors[i].name);
}
device_List1.SelectedIndex = 0;
device_List2.SelectedIndex = 0;
device_List3.SelectedIndex = 0;
device_List4.SelectedIndex = 0;
}
else
{
MessageBox.Show("No Sensor Device is found");
}
}
// Non-static method
public void sensorEventThread()
{
try
{
while (true)
{
ZenEvent zenEvent = new ZenEvent();
//Console.WriteLine(mZenHandle);
if (OpenZen.ZenWaitForNextEvent(mZenHandle, zenEvent))
{
if (zenEvent.component.handle == 0)
{
// if the handle is on, its not a sensor event but a system wide
// event
switch (zenEvent.eventType)
{
case (int)ZenSensorEvent.ZenSensorEvent_SensorFound:
Console.WriteLine("found sensor event event " + zenEvent.data.sensorFound.name);
mFoundSensors.Add(zenEvent.data.sensorFound);
break;
case (int)ZenSensorEvent.ZenSensorEvent_SensorListingProgress:
if (zenEvent.data.sensorListingProgress.progress == 1.0)
{
mSearchDone = true;
}
break;
}
}
else
{
switch (zenEvent.eventType)
{
case (int)ZenImuEvent.ZenImuEvent_Sample:
mImuEventCount++;
if (mImuEventCount % 100 == 0)
{
continue;
}
// read acceleration
OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
// read euler angles
OpenZenFloatArray fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.g);
// read quaternion
OpenZenFloatArray fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.b);
// Output Data
IMU_Display_Monitor imu = FormProvider.getIMU_Display_Monitor();
// Accelerometer
imu.acx = fa.getitem(0);
imu.acy = fa.getitem(1);
imu.acz = fa.getitem(2);
// Gyroscope
imu.gyx = fg.getitem(0);
imu.gyy = fg.getitem(1);
imu.gyz = fg.getitem(2);
// Magnetometer
imu.mgx = fb.getitem(0);
imu.mgy = fb.getitem(1);
imu.mgz = fb.getitem(2);
break;
}
}
}
}
}
catch (ThreadAbortException)
{
}
}
