static void Main(string[] args)
{
IntPtr handle = new IntPtr(0);
SenselFrame frame = new SenselFrame();
SenselDeviceList list = new SenselDeviceList();
SenselSensorInfo sensor_info = new SenselSensorInfo();
list.num_devices = 0;
Sensel.senselGetDeviceList(ref list);
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices != 0)
{
Sensel.senselOpenDeviceByID(ref handle, list.devices[0].idx);
}
if (handle.ToInt64() != 0)
{
Sensel.senselGetSensorInfo(handle, ref sensor_info);
Console.WriteLine("Sensel Device: " + System.Text.Encoding.Default.GetString(list.devices[0].serial_num));
Console.WriteLine("Width: " + sensor_info.width + "mm");
Console.WriteLine("Height: " + sensor_info.height + "mm");
Console.WriteLine("Cols: " + sensor_info.num_cols);
Console.WriteLine("Rows: " + sensor_info.num_rows);
}
Thread.Sleep(4000);
}
public SenselDevice()
{
handle = new IntPtr(0);
frame = new SenselFrame();
frame_data = new SenselFrameData();
sensor_info = new SenselSensorInfo();
fw_info = new SenselFirmwareInfo();
}
public static int senselAllocateFrameData(IntPtr handle, SenselFrame frame)
{
SenselSensorInfo info = new SenselSensorInfo();
Sensel.senselGetSensorInfo(handle, ref info);
frame.force_array = new float[info.num_rows * info.num_cols];
frame.labels_array = new byte[info.num_rows * info.num_cols];
frame.accel_data = new SenselAccelData();
frame.frame_data = new SenselFrameData();
Sensel.senselAllocateFrameData(handle, ref frame.frame_data);
return(0);
}
public static int senselGetFrame(IntPtr handle, SenselFrame frame)
{
Sensel.senselGetFrame(handle, frame.frame_data);
frame.n_contacts = frame.frame_data.n_contacts;
frame.contacts = new SenselContact[frame.n_contacts];
long ptrIndex = (frame.frame_data.contacts).ToInt64();
for (int i = 0; i < frame.n_contacts; i++)
{
IntPtr cPtr = new IntPtr(ptrIndex);
frame.contacts[i] = (SenselContact)Marshal.PtrToStructure(cPtr, typeof(SenselContact));
ptrIndex += Marshal.SizeOf(typeof(SenselContact));
}
Marshal.Copy(frame.frame_data.force_array, frame.force_array, 0, frame.force_array.Length);
Marshal.Copy(frame.frame_data.labels_array, frame.labels_array, 0, frame.labels_array.Length);
frame.accel_data = (SenselAccelData)Marshal.PtrToStructure(frame.frame_data.accel_data, typeof(SenselAccelData));
return(0);
}
static void Main(string[] args)
{
IntPtr handle = new IntPtr(0);
SenselFrame frame = new SenselFrame();
SenselDeviceList list = new SenselDeviceList();
SenselSensorInfo sensor_info = new SenselSensorInfo();
float total_force = 0;
list.num_devices = 0;
Sensel.senselGetDeviceList(ref list);
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices != 0)
{
Sensel.senselOpenDeviceByID(ref handle, list.devices[0].idx);
Sensel.senselSetFrameContent(handle, 1);
Sensel.senselAllocateFrameData(handle, frame);
Sensel.senselStartScanning(handle);
}
if (handle.ToInt64() != 0)
{
Sensel.senselGetSensorInfo(handle, ref sensor_info);
for (int c = 0; c < 500; c++)
{
Int32 num_frames = 0;
Sensel.senselReadSensor(handle);
Sensel.senselGetNumAvailableFrames(handle, ref num_frames);
for (int f = 0; f < num_frames; f++)
{
Sensel.senselGetFrame(handle, frame);
total_force = 0;
for (int i = 0; i < sensor_info.num_cols * sensor_info.num_rows; i++)
{
total_force = total_force + frame.force_array[i];
}
Console.WriteLine("Total Force: " + total_force);
}
}
Sensel.senselStopScanning(handle);
Sensel.senselClose(handle);
}
}
static void Main(string[] args)
{
IntPtr handle = new IntPtr(0);
SenselFrame frame = new SenselFrame();
SenselDeviceList list = new SenselDeviceList();
list.num_devices = 0;
Sensel.senselGetDeviceList(ref list);
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices != 0)
{
Sensel.senselOpenDeviceByID(ref handle, list.devices[0].idx);
Sensel.senselSetFrameContent(handle, 4);
Sensel.senselAllocateFrameData(handle, frame);
Sensel.senselStartScanning(handle);
}
if (handle.ToInt64() != 0)
{
for (int c = 0; c < 500; c++)
{
Int32 num_frames = 0;
Sensel.senselReadSensor(handle);
Sensel.senselGetNumAvailableFrames(handle, ref num_frames);
for (int f = 0; f < num_frames; f++)
{
Sensel.senselGetFrame(handle, frame);
Console.WriteLine("\nNum Contacts: " + frame.n_contacts);
for (int i = 0; i < frame.n_contacts; i++)
{
Console.WriteLine("Contact ID: " + frame.contacts[i].id);
}
}
}
Sensel.senselStopScanning(handle);
Sensel.senselClose(handle);
}
}
