private void ReceiveAsyncMessage(object sender, SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Handler method for the streaming data. This code copies the data values
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
// There can be some discontinuation with vision data coming in, and what we requested,
// so check if the data actually exists
SpheroAttitudeData attitudeData = sensorsData.AttitudeData;
if (attitudeData != null)
{
SpheroYaw = sensorsData.AttitudeData.Yaw;
}
SpheroQuaternionData quaternionData = sensorsData.QuaternionData;
if (quaternionData != null)
{
SpheroQuaternion = new Quaternion(sensorsData.QuaternionData.Q1,
sensorsData.QuaternionData.Q2,
sensorsData.QuaternionData.Q3,
sensorsData.QuaternionData.Q0);
}
}
private void ReceiveAsyncMessage(object sender,
SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
if (Time.timeScale > 0)
{
// Event Handler function
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
// Get the yaw value which is used to rotate the on screen Sphero
yaw1 = sensorsData.AttitudeData.Yaw;
// Update the on screen Sphero position using the accelerometer values for x and y
float xAcceleration = sensorsData.AccelerometerData.Normalized.X;
float yAcceleration = sensorsData.AccelerometerData.Normalized.Y;
Vector3 currentPosition = transform.position;
// Create a new position by filtering the accelerometer data using the low pass
// filtering formula (alpha * filteredValue + (1 - alpha) * newValue)
position = new Vector3(0.9f * currentPosition.x + 0.35f * xAcceleration,
0.9f * currentPosition.y + 0.1f * yAcceleration, 0.0f);
}
}
private void ReceiveAsyncMessage(object sender,
SpheroDeviceMessenger.MessengerEventArgs eventArgs)
{
// Handler method for the streaming data. This code copies the data values
// to instance variables, which are updated on the screen in the OnGUI method.
SpheroDeviceSensorsAsyncData message =
(SpheroDeviceSensorsAsyncData)eventArgs.Message;
SpheroDeviceSensorsData sensorsData = message.Frames[0];
acceleration = sensorsData.AccelerometerData.Normalized;
pitch = sensorsData.AttitudeData.Pitch;
roll = sensorsData.AttitudeData.Roll;
yaw = sensorsData.AttitudeData.Yaw;
q0 = sensorsData.QuaternionData.Q0;
q1 = sensorsData.QuaternionData.Q1;
q2 = sensorsData.QuaternionData.Q2;
q3 = sensorsData.QuaternionData.Q3;
}
public void TestDecode()
{
string encodedString = File.ReadAllText("/Users/brian/Documents/code/development/unity-plugin/ExampleProject/SensorStreaming/Assets/Plugins/SpheroTests/DataStreamingExample.json");
// Test that a message is created.
SpheroDeviceMessage message =
SpheroDeviceMessageDecoder.messageFromEncodedString(encodedString);
Assert.NotNull(message);
Assert.True(message is SpheroDeviceSensorsAsyncData);
Assert.Equal(123456, message.TimeStamp);
// Specific test for SpheroDeviceSensorsAsyncData
SpheroDeviceSensorsAsyncData sensorsAsyncData =
(SpheroDeviceSensorsAsyncData)message;
Assert.Equal(2, sensorsAsyncData.FrameCount);
Assert.Equal(0xF0000000E067E060, sensorsAsyncData.Mask);
Assert.NotNull(sensorsAsyncData.Frames);
Assert.True(sensorsAsyncData.Frames.Length > 1);
// Check values for a DeviceSensorsData object
SpheroDeviceSensorsData sensorsData = sensorsAsyncData.Frames[0];
// Accelerometer
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.X);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Y);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Z);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.x);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.y);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.z);
// Attitude
Assert.Equal(45.0f, sensorsData.AttitudeData.Pitch);
Assert.Equal(180.0f, sensorsData.AttitudeData.Roll);
Assert.Equal(270.0f, sensorsData.AttitudeData.Yaw);
// Quaternion
Assert.Equal(0.3f, sensorsData.QuaternionData.Q0);
Assert.Equal(0.7f, sensorsData.QuaternionData.Q1);
Assert.Equal(0.3f, sensorsData.QuaternionData.Q2);
Assert.Equal(1.0f, sensorsData.QuaternionData.Q3);
// back EMF
Assert.Equal(200, sensorsData.BackEMFData.Filtered.right);
Assert.Equal(200, sensorsData.BackEMFData.Filtered.left);
Assert.Equal(200, sensorsData.BackEMFData.Raw.right);
Assert.Equal(200, sensorsData.BackEMFData.Raw.left);
// locator
Assert.Equal(190.2f, sensorsData.LocatorData.Position.x);
Assert.Equal(85.6f, sensorsData.LocatorData.Position.y);
Assert.True(Math.Abs(208.5746868630036f - sensorsData.LocatorData.Position.Magnitude()) < 0.001);
Assert.Equal(9.99f, sensorsData.LocatorData.Velocity.x);
Assert.Equal(86.4f, sensorsData.LocatorData.Velocity.y);
// gyro
Assert.Equal(300, sensorsData.GyroData.RotationRate.x);
Assert.Equal(300, sensorsData.GyroData.RotationRate.y);
Assert.Equal(300, sensorsData.GyroData.RotationRate.z);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.x);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.y);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.z);
}
