Esempio n. 1
0
        public void Start()
        {
            if (state != XSensState.NotStarted)
            {
                Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
                return;
            }

            this.UpdateState(XSensState.Starting);

            _xda.scanPorts();
            Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
            if (_xda._DetectedDevices.Count > 0)
            {
                XsPortInfo portInfo = _xda._DetectedDevices[0];
                if (portInfo.deviceId().isMtMk4())
                {
                    _xda.openPort(portInfo);
                    MasterInfo ai = new MasterInfo(portInfo.deviceId());
                    ai.ComPort = portInfo.portName();
                    ai.BaudRate = portInfo.baudrate();

                    _measuringDevice = _xda.getDevice(ai.DeviceId);
                    ai.ProductCode = new XsString(_measuringDevice.productCode());

                    // Print information about detected MTi / MTx / MTmk4 device
                    Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
                        _measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);

                    // Create and attach callback handler to device
                    _myMtCallback = new MyMtCallback();
                    _measuringDevice.addCallbackHandler(_myMtCallback);

                    ConnectedMtData mtwData = new ConnectedMtData();

                    // connect signals
                    _myMtCallback.DataAvailable += new EventHandler<DataAvailableArgs>(DataAvailable);

                    // Put the device in configuration mode
                    Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
                    if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
                    {
                        Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    // Configure the device. Note the differences between MTix and MTmk4
                    Debug.Log("[XSensGyroscope] Configuring the device...\n");
                    if (_measuringDevice.deviceId().isMt9c())
                    {
                        XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
                        XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
                        XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
                        deviceMode.setModeFlag(outputMode);
                        deviceMode.setSettingsFlag(outputSettings);

                        // set the device configuration
                        if (!_measuringDevice.setDeviceMode(deviceMode))
                        {
                            Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
                            this.UpdateState(XSensState.Failed);
                            return;
                        }
                    }
                    else if (_measuringDevice.deviceId().isMtMk4())
                    {
                        XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
                        XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
                        configArray.push_back(quat);
                        if (!_measuringDevice.setOutputConfiguration(configArray))
                        {
                            Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
                            this.UpdateState(XSensState.Failed);
                            return;
                        }
                    }
                    else
                    {
                        Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    // Put the device in measurement mode
                    Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
                    if (!_measuringDevice.gotoMeasurement())
                    {
                        Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    this.UpdateState(XSensState.Started);
                }
            }
        }
Esempio n. 2
0
        private void btnScan_Click(object sender, EventArgs e)
        {
            rtbSteps.Text   = "Scanning for devices...";
            btnScan.Enabled = false;
            Update();

            GT_Senxda.m_object.reset();
            GT_Senxda.m_object.scanPorts();
            if (GT_Senxda.m_object._DetectedDevices.Count > 0)
            {
                rtbSteps.Text = string.Format("Found {0} device(s)\n", GT_Senxda.m_object._DetectedDevices.Count);
                XsPortInfo portInfo = GT_Senxda.m_object._DetectedDevices[0];
                if (portInfo.deviceId().isMtMk4() || portInfo.deviceId().isFmt_X000() || portInfo.deviceId().isMt9c() || portInfo.deviceId().isLegacyMtig())
                {
                    rtbSteps.Text += "Opening port...\n";
                    GT_Senxda.m_object.openPort(portInfo);
                    MasterInfo ai = new MasterInfo(portInfo.deviceId());
                    ai.ComPort  = portInfo.portName();
                    ai.BaudRate = portInfo.baudrate();

                    _measuringDevice = GT_Senxda.m_object.getDevice(ai.DeviceId);
                    ai.ProductCode   = new XsString(_measuringDevice.productCode());

                    // Print information about detected MTi / MTx / MTmk4 device
                    rtbSteps.Text += string.Format("Found a device with id: {0} @ port: {1}, baudrate: {2}\n", _measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);

                    // Create and attach callback handler to device
                    _myMtCallback = new MyMtCallback();
                    _measuringDevice.addCallbackHandler(_myMtCallback);

                    ConnectedMtData mtwData = new ConnectedMtData();

                    // connect signals
                    _myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(_callbackHandler_DataAvailable);

                    // Put the device in configuration mode
                    rtbSteps.Text += "Putting device into configuration mode...\n";
                    if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
                    {
                        rtbSteps.Text = "Could not put device into configuration mode. Aborting.";
                        return;
                    }

                    // Configure the device. Note the differences between MTix and MTmk4
                    rtbSteps.Text += "Configuring the device...\n";
                    if (_measuringDevice.deviceId().isMt9c() || _measuringDevice.deviceId().isLegacyMtig())
                    {
                        XsOutputMode     outputMode     = XsOutputMode.XOM_Orientation;                    // output orientation data
                        XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
                        XsDeviceMode     deviceMode     = new XsDeviceMode(100);                           // make a device mode with update rate: 100 Hz
                        deviceMode.setModeFlag(outputMode);
                        deviceMode.setSettingsFlag(outputSettings);

                        // set the device configuration
                        if (!_measuringDevice.setDeviceMode(deviceMode))
                        {
                            rtbSteps.Text = "Could not configure MTix device. Aborting.";
                            return;
                        }
                    }
                    else if (_measuringDevice.deviceId().isMtMk4() || _measuringDevice.deviceId().isFmt_X000())
                    {
                        XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
                        if (_measuringDevice.deviceId().isMtMk4_1() || _measuringDevice.deviceId().isMtMk4_10() || _measuringDevice.deviceId().isMtMk4_100() || _measuringDevice.deviceId().isFmt1010())
                        {
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_PacketCounter, 0));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_SampleTimeFine, 0));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaV, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaQ, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_MagneticField, 100));
                        }
                        else
                        {
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_PacketCounter, 0));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_SampleTimeFine, 0));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaV, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaQ, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_MagneticField, 100));
                            configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_StatusWord, 0));
                        }
                        if (!_measuringDevice.setOutputConfiguration(configArray))
                        {
                            rtbSteps.Text = "Could not configure MTmk4 device. Aborting.";
                            return;
                        }
                    }
                    else
                    {
                        rtbSteps.Text = "Unknown device while configuring. Aborting.";
                        return;
                    }

                    // Put the device in measurement mode
                    rtbSteps.Text += "Putting device into measurement mode...\n";
                    if (!_measuringDevice.gotoMeasurement())
                    {
                        rtbSteps.Text = "Could not put device into measurement mode. Aborting.";
                        return;
                    }
                    btnRecord.Enabled = true;
                }
                timer1.Interval = 20;
                timer1.Enabled  = true;
            }
            else
            {
                rtbSteps.Text   = "No devices detected. Press 'Scan' to retry.";
                btnScan.Enabled = true;
            }
        }
Esempio n. 3
0
        public void Start()
        {
            if (state != XSensState.NotStarted)
            {
                Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
                return;
            }

            this.UpdateState(XSensState.Starting);

            _xda.scanPorts();
            Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
            if (_xda._DetectedDevices.Count > 0)
            {
                XsPortInfo portInfo = _xda._DetectedDevices[0];
                if (portInfo.deviceId().isMtMk4())
                {
                    _xda.openPort(portInfo);
                    MasterInfo ai = new MasterInfo(portInfo.deviceId());
                    ai.ComPort  = portInfo.portName();
                    ai.BaudRate = portInfo.baudrate();

                    _measuringDevice = _xda.getDevice(ai.DeviceId);
                    ai.ProductCode   = new XsString(_measuringDevice.productCode());

                    // Print information about detected MTi / MTx / MTmk4 device
                    Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
                                    _measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);

                    // Create and attach callback handler to device
                    _myMtCallback = new MyMtCallback();
                    _measuringDevice.addCallbackHandler(_myMtCallback);

                    ConnectedMtData mtwData = new ConnectedMtData();

                    // connect signals
                    _myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(DataAvailable);

                    // Put the device in configuration mode
                    Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
                    if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
                    {
                        Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    // Configure the device. Note the differences between MTix and MTmk4
                    Debug.Log("[XSensGyroscope] Configuring the device...\n");
                    if (_measuringDevice.deviceId().isMt9c())
                    {
                        XsOutputMode     outputMode     = XsOutputMode.XOM_Orientation;                    // output orientation data
                        XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
                        XsDeviceMode     deviceMode     = new XsDeviceMode(100);                           // make a device mode with update rate: 100 Hz
                        deviceMode.setModeFlag(outputMode);
                        deviceMode.setSettingsFlag(outputSettings);

                        // set the device configuration
                        if (!_measuringDevice.setDeviceMode(deviceMode))
                        {
                            Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
                            this.UpdateState(XSensState.Failed);
                            return;
                        }
                    }
                    else if (_measuringDevice.deviceId().isMtMk4())
                    {
                        XsOutputConfiguration      quat        = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
                        XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
                        configArray.push_back(quat);
                        if (!_measuringDevice.setOutputConfiguration(configArray))
                        {
                            Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
                            this.UpdateState(XSensState.Failed);
                            return;
                        }
                    }
                    else
                    {
                        Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    // Put the device in measurement mode
                    Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
                    if (!_measuringDevice.gotoMeasurement())
                    {
                        Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
                        this.UpdateState(XSensState.Failed);
                        return;
                    }

                    this.UpdateState(XSensState.Started);
                }
            }
        }