static void Main(string[] args)
{
try
{
using (var hub = new Hub())
{
Console.WriteLine("Attempting to find a Myo...");
IMyo myo = hub.WaitForMyo(TimeSpan.FromSeconds(10));
if (myo == null)
throw new TimeoutException("Unable to find a Myo!");
Console.WriteLine("Connected to a Myo armband!\n");
hub.MyoUnpaired += OnUnpair;
hub.RecognizedArm += OnRecognizedArm;
hub.LostArm += OnLostArm;
myo.PoseChanged += OnPoseChanged;
myo.OrientationDataAcquired += OnOrientationData;
while (true)
{
hub.Run(TimeSpan.FromMilliseconds(1000 / 20));
PrintDisplay();
}
}
}
catch (Exception e)
{
Console.WriteLine("Error: {0}", e.Message);
Console.WriteLine("Press any key to continue.");
Console.ReadKey();
}
}
void Create()
{
_myoState = new MyoState();
MyoFound = false;
for (int i = 0; i < 30 && _myo == null; i++)
{
Console.Write("\r");
Console.Write("Attempting to find a myo, attempt {0}", i);
_myo = Context.Instance.Hub.GetMyo();
}
if (_myo == null)
{
return;
}
MyoFound = true;
//we will vibrate whenever a new MyomiMyo is created
_myo.AccelerometerDataAcquired += OnAccelerometerData;
_myo.GyroscopeDataAquired += OnGyroscopeData;
_myo.OrientationDataAcquired += OnOrientationData;
_myo.PoseChanged += OnPoseChanged;
_myo.RecognizedArm += OnRecognizedArm;
_myo.LostArm += OnLostArm;
if (_isOnArm)
{
InstanceCollectionEnabled = true;
}
}
private void Myo_PoseChanged(object sender, PoseEventArgs e)
{
var samePose = _lastPose == e.Pose;
_lastPose = e.Pose;
_triggeringMyo = e.Myo;
lock (_timer)
{
if (_timerAlive)
{
return;
}
if (samePose && _targetPoses.Contains(e.Pose))
{
if (_timerPaused)
{
_timerPaused = false;
_timer.Start();
}
}
else
{
_timerPaused = true;
_timer.Stop();
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="RssiEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="rssi">The received signal strength indicator (RSSI).</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public RssiEventArgs(IMyo myo, DateTime timestamp, sbyte rssi)
: base(myo, timestamp)
{
Contract.Requires <ArgumentNullException>(myo != null, "myo");
this.Rssi = rssi;
}
/// <summary>
/// Initialize the Myo input module. Will throw an exception if no Myo is available
/// </summary>
public MyoInput()
{
Active = true;
hub = new Hub("de.dhbw.MyoPilot");
myo = hub.WaitForMyo(TimeSpan.FromSeconds(5));
if (myo == null)
{
throw new TimeoutException("Unable to find a Myo!");
}
hub.MyoUnpaired += OnUnpair;
myo.PoseChanged += OnPoseChanged;
myo.OrientationDataAcquired += OnOrientationData;
myo.RecognizedArm += OnRecognizedArm;
myo.LostArm += OnLostArm;
myo.Unlock(UnlockType.Hold);
// hub.Run() needs to run permanently in order to receive events from the Myo
Thread worker = new Thread(hub.Run)
{
IsBackground = true, Name = "MyoBackgroundWorker"
};
worker.Start();
}
/// <summary>
/// Initializes a new instance of the <see cref="MyoEventArgs" /> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is <c>null</c>.
/// </exception>
public MyoEventArgs(IMyo myo, DateTime timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
_myo = myo;
_timestamp = timestamp;
}
/// <summary>
/// Initializes a new instance of the <see cref="PoseEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="pose">The pose that the Myo detected.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public PoseEventArgs(IMyo myo, DateTime timestamp, Pose pose)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
this.Pose = pose;
}
/// <summary>
/// Initializes a new instance of the <see cref="PoseEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="pose">The pose that the Myo detected.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public PoseEventArgs(IMyo myo, DateTime timestamp, Pose pose)
: base(myo, timestamp)
{
// Contract.Requires<ArgumentNullException>(myo != null, "myo");
this.Pose = pose;
}
/// <summary>
/// Initializes a new instance of the <see cref="MyoEventArgs" /> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is <c>null</c>.
/// </exception>
public MyoEventArgs(IMyo myo, DateTime timestamp)
{
Contract.Requires <ArgumentNullException>(myo != null, "myo");
_myo = myo;
_timestamp = timestamp;
}
/// <summary>
/// Initializes a new instance of the <see cref="RssiEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="rssi">The received signal strength indicator (RSSI).</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public RssiEventArgs(IMyo myo, DateTime timestamp, sbyte rssi)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
this.Rssi = rssi;
}
/// <summary>
/// Initializes a new instance of the <see cref="AccelerometerDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="accelerometerData">The accelerometer data. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="accelerometerData"/> is null.
/// </exception>
public AccelerometerDataEventArgs(IMyo myo, DateTime timestamp, Vector3F accelerometerData)
: base(myo, timestamp)
{
Contract.Requires <ArgumentNullException>(myo != null, "myo");
Contract.Requires <ArgumentNullException>(accelerometerData != null, "accelerometerData");
this.Accelerometer = accelerometerData;
}
/// <summary>
/// Initializes a new instance of the <see cref="EmgDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised this event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="emgData">The EMG data that corresponds to this event. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="emgData"/> is null.
/// </exception>
public EmgDataEventArgs(IMyo myo, DateTime timestamp, IEmgData emgData)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(emgData != null, "emgData");
this.EmgData = emgData;
}
/// <summary>
/// Initializes a new instance of the <see cref="EmgDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised this event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="emgData">The EMG data that corresponds to this event. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="emgData"/> is null.
/// </exception>
public EmgDataEventArgs(IMyo myo, DateTime timestamp, IEmgData emgData)
: base(myo, timestamp)
{
//Contract.Requires<ArgumentNullException>(myo != null, "myo");
//Contract.Requires<ArgumentNullException>(emgData != null, "emgData");
this.EmgData = emgData;
}
/// <summary>
/// Initializes a new instance of the <see cref="AccelerometerDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="accelerometerData">The accelerometer data. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="accelerometerData"/> is null.
/// </exception>
public AccelerometerDataEventArgs(IMyo myo, DateTime timestamp, Vector3F accelerometerData)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(accelerometerData != null, "accelerometerData");
this.Accelerometer = accelerometerData;
}
/// <summary>
/// Initializes a new instance of the <see cref="ArmRecognizedEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="arm">The arm.</param>
/// <param name="directionX">The direction x.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public ArmRecognizedEventArgs(IMyo myo, DateTime timestamp, Arm arm, XDirection directionX)
: base(myo, timestamp)
{
// Contract.Requires<ArgumentNullException>(myo != null, "myo");
this.Arm = arm;
this.XDirection = directionX;
}
// OnUnpair() is called whenever the Myo is disconnected from Myo Connect by the user.
protected void OnUnpair(object sender, MyoEventArgs e)
{
lock (myLock)
{
myo = null;
onArm = false;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="ArmRecognizedEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="arm">The arm.</param>
/// <param name="directionX">The direction x.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is null.
/// </exception>
public ArmRecognizedEventArgs(IMyo myo, DateTime timestamp, Arm arm, XDirection directionX)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
this.Arm = arm;
this.XDirection = directionX;
}
/// <summary>
/// Initializes a new instance of the <see cref="GyroscopeDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="gyroscopeData">The gyroscope data. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="gyroscopeData"/> is null.
/// </exception>
public GyroscopeDataEventArgs(IMyo myo, DateTime timestamp, Vector3F gyroscopeData)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(gyroscopeData != null, "gyroscopeData");
this.Gyroscope = gyroscopeData;
}
/// <summary>
/// Initializes a new instance of the <see cref="OrientationDataEventArgs" /> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="orientationData">The orientation.</param>
/// <param name="roll">The roll.</param>
/// <param name="pitch">The pitch.</param>
/// <param name="yaw">The yaw.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is <c>null</c>.
/// </exception>
public OrientationDataEventArgs(IMyo myo, DateTime timestamp, QuaternionF orientationData, double roll, double pitch, double yaw)
: base(myo, timestamp)
{
this.Orientation = orientationData;
this.Roll = roll;
this.Pitch = pitch;
this.Yaw = yaw;
}
/// <summary>
/// Initializes a new instance of the <see cref="GyroscopeDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="gyroscopeData">The gyroscope data. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="gyroscopeData"/> is null.
/// </exception>
public GyroscopeDataEventArgs(IMyo myo, DateTime timestamp, Vector3F gyroscopeData)
: base(myo, timestamp)
{
//Contract.Requires<ArgumentNullException>(myo != null, "myo");
//Contract.Requires<ArgumentNullException>(gyroscopeData != null, "gyroscopeData");
this.Gyroscope = gyroscopeData;
}
public void RemoveHeldPose(IMyo myo, params Pose[] poses)
{
if (!heldPoses.ContainsKey(myo))
{
return;
}
heldPoses[myo].Stop();
heldPoses[myo].RemovePoses(poses);
heldPoses[myo].Start();
}
public PoseSequenceEventArgs(IMyo myo, DateTime timestamp, IList<Pose> poses)
: base(myo, timestamp, poses[poses.Count - 1])
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(poses != null, "poses");
Contract.Requires<ArgumentException>(poses.Count > 0, "The sequence must contain at least one pose.");
// copy this list so we don't have any unexpected reference sharing
_poses = new List<Pose>(poses).AsReadOnly();
}
public PoseSequenceEventArgs(IMyo myo, DateTime timestamp, IList <Pose> poses)
: base(myo, timestamp, poses[poses.Count - 1])
{
// Contract.Requires<ArgumentNullException>(myo != null, "myo");
// Contract.Requires<ArgumentNullException>(poses != null, "poses");
// Contract.Requires<ArgumentException>(poses.Count > 0, "The sequence must contain at least one pose.");
// copy this list so we don't have any unexpected reference sharing
_poses = new List <Pose>(poses).AsReadOnly();
}
public void RemovePoseSequence(IMyo myo, params Pose[] poses)
{
var sequence = PoseSequence.Create(myo, poses);
if (!poseSequences.Contains(sequence))
{
return;
}
sequence.PoseSequenceCompleted -= Sequence_PoseSequenceCompleted;
poseSequences.Remove(sequence);
}
/// <summary>
/// Initializes a new instance of the <see cref="OrientationDataEventArgs" /> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="orientationData">The orientation.</param>
/// <param name="roll">The roll.</param>
/// <param name="pitch">The pitch.</param>
/// <param name="yaw">The yaw.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is <c>null</c>.
/// </exception>
public OrientationDataEventArgs(IMyo myo, DateTime timestamp, QuaternionF orientationData, double roll, double pitch, double yaw)
: base(myo, timestamp)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(orientationData != null, "orientationData");
this.Orientation = orientationData;
this.Roll = roll;
this.Pitch = pitch;
this.Yaw = yaw;
}
/// <summary>
/// Initializes a new instance of the <see cref="OrientationDataEventArgs" /> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="orientationData">The orientation.</param>
/// <param name="roll">The roll.</param>
/// <param name="pitch">The pitch.</param>
/// <param name="yaw">The yaw.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> is <c>null</c>.
/// </exception>
public OrientationDataEventArgs(IMyo myo, DateTime timestamp, QuaternionF orientationData, double roll, double pitch, double yaw)
: base(myo, timestamp)
{
//Contract.Requires<ArgumentNullException>(myo != null, "myo");
//Contract.Requires<ArgumentNullException>(orientationData != null, "orientationData");
this.Orientation = orientationData;
this.Roll = roll;
this.Pitch = pitch;
this.Yaw = yaw;
}
public void AddPoseSequence(IMyo myo, params Pose[] poses)
{
var sequence = PoseSequence.Create(myo, poses);
if (poseSequences.Contains(sequence))
{
return;
}
poseSequences.Add(sequence);
sequence.PoseSequenceCompleted += Sequence_PoseSequenceCompleted;
}
internal IMyo GetMyo()
{
if (_myo == null)
{
_myo = _hub.WaitForMyo(TimeSpan.FromMilliseconds(1500));
return(_myo);
}
else
{
return(_myo);
}
}
protected virtual void OnTriggered(IMyo myo, DateTime timestamp, Pose pose)
{
var handler = Triggered;
if (handler != null)
{
var args = new PoseEventArgs(
myo,
timestamp,
pose);
handler.Invoke(this, args);
}
}
protected virtual void OnPoseSequenceCompleted(IMyo myo, DateTime timestamp, IList <Pose> poses)
{
var handler = PoseSequenceCompleted;
if (handler != null)
{
var args = new PoseSequenceEventArgs(
myo,
timestamp,
poses);
handler.Invoke(this, args);
}
}
protected virtual void OnTriggered(IMyo myo, DateTime timestamp, Pose pose)
{
//Contract.Requires<ArgumentNullException>(myo != null, "myo");
var handler = Triggered;
if (handler != null)
{
var args = new PoseEventArgs(
myo,
timestamp,
pose);
handler.Invoke(this, args);
}
}
public void AddHeldPose(IMyo myo, TimeSpan interval, params Pose[] poses)
{
if (!heldPoses.ContainsKey(myo))
{
var pose = HeldPose.Create(myo, interval, poses);
pose.Triggered += Pose_Triggered;
heldPoses.Add(myo, pose);
pose.Start();
return;
}
heldPoses[myo].Stop();
heldPoses[myo].AddPoses(poses);
heldPoses[myo].Start();
}
private void _myoHub_MyoConnected(object sender, MyoEventArgs e)
{
_MyMyo = e.Myo;
e.Myo.Vibrate(VibrationType.Long);
// Add the pose changed event here
e.Myo.PoseChanged += Myo_PoseChanged;
// Unlock the Myo so that it doesn't keep locking between our poses
e.Myo.Unlock(UnlockType.Hold);
UpdateUi("Myo Connected: " + e.Myo.Handle);
//Find The Bricks Ip Address
FindHostIP();
}
protected virtual void OnPoseSequenceCompleted(IMyo myo, DateTime timestamp, IList <Pose> poses)
{
// Contract.Requires<ArgumentNullException>(myo != null, "myo");
// Contract.Requires<ArgumentNullException>(poses != null, "poses");
// Contract.Requires<ArgumentException>(poses.Count > 0, "The sequence must contain at least one pose.");
var handler = PoseSequenceCompleted;
if (handler != null)
{
var args = new PoseSequenceEventArgs(
myo,
timestamp,
poses);
handler.Invoke(this, args);
}
}
public MyoSoundControl(MainWindow Gui)
{
this.Window = Gui;
//Channel und Hub (Schnittstelle) erzeugen
this.Channel = MyoSharp.Communication.Channel.Create(
ChannelDriver.Create(ChannelBridge.Create(),
MyoErrorHandlerDriver.Create(MyoErrorHandlerBridge.Create())));
this.Hub = MyoSharp.Device.Hub.Create(Channel);
Hub.MyoConnected += (sender, e) =>
{
this.myo = e.Myo;
e.Myo.Vibrate(VibrationType.Long);
e.Myo.PoseChanged += Myo_PoseChanged;
e.Myo.Locked += Myo_Locked;
e.Myo.Unlocked += Myo_Unlocked;
this.myo.Unlock(UnlockType.Hold);
//Pose in Dictionary mit Sound verbinden (Soundplayerklasse extra)
this.PoseToSound[Pose.Fist] = new SoundPlayer("./Sound/Mario.wav");
this.PoseToSound[Pose.WaveIn] = new SoundPlayer("./Sound/Glass.wav");
this.PoseToSound[Pose.WaveOut] = new SoundPlayer("./Sound/Slap.wav");
//Sequence
//IPoseSequence sequence0 = PoseSequence.Create(e.Myo, Pose.Fist, Pose.FingersSpread);
//sequence0.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence0] = new SoundPlayer("./Sound/Mario.wav");
//IPoseSequence sequence1 = PoseSequence.Create(e.Myo, Pose.WaveIn, Pose.WaveOut);
//sequence1.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence1] = new SoundPlayer("./Sound/Slap.wav");
//IPoseSequence sequence2 = PoseSequence.Create(e.Myo, Pose.WaveOut, Pose.WaveIn);
//sequence2.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence2] = new SoundPlayer("./Sound/Glass.wav");
};
Hub.MyoDisconnected += (sender, e) =>
{
e.Myo.PoseChanged -= Myo_PoseChanged;
e.Myo.Locked -= Myo_Locked;
e.Myo.Unlocked -= Myo_Unlocked;
};
}
MainWindow Window; //Forms
#endregion Fields
#region Constructors
public MyoSoundControl(MainWindow Gui)
{
this.Window = Gui;
//Channel und Hub (Schnittstelle) erzeugen
this.Channel = MyoSharp.Communication.Channel.Create(
ChannelDriver.Create(ChannelBridge.Create(),
MyoErrorHandlerDriver.Create(MyoErrorHandlerBridge.Create())));
this.Hub = MyoSharp.Device.Hub.Create(Channel);
Hub.MyoConnected += (sender, e) =>
{
this.myo = e.Myo;
e.Myo.Vibrate(VibrationType.Long);
e.Myo.PoseChanged += Myo_PoseChanged;
e.Myo.Locked += Myo_Locked;
e.Myo.Unlocked += Myo_Unlocked;
this.myo.Unlock(UnlockType.Hold);
//Pose in Dictionary mit Sound verbinden (Soundplayerklasse extra)
this.PoseToSound[Pose.Fist] = new SoundPlayer("./Sound/Mario.wav");
this.PoseToSound[Pose.WaveIn] = new SoundPlayer("./Sound/Glass.wav");
this.PoseToSound[Pose.WaveOut] = new SoundPlayer("./Sound/Slap.wav");
//Sequence
//IPoseSequence sequence0 = PoseSequence.Create(e.Myo, Pose.Fist, Pose.FingersSpread);
//sequence0.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence0] = new SoundPlayer("./Sound/Mario.wav");
//IPoseSequence sequence1 = PoseSequence.Create(e.Myo, Pose.WaveIn, Pose.WaveOut);
//sequence1.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence1] = new SoundPlayer("./Sound/Slap.wav");
//IPoseSequence sequence2 = PoseSequence.Create(e.Myo, Pose.WaveOut, Pose.WaveIn);
//sequence2.PoseSequenceCompleted += PoseSequenceCompleted;
//this.PoseSequenceToSound[sequence2] = new SoundPlayer("./Sound/Glass.wav");
};
Hub.MyoDisconnected += (sender, e) =>
{
e.Myo.PoseChanged -= Myo_PoseChanged;
e.Myo.Locked -= Myo_Locked;
e.Myo.Unlocked -= Myo_Unlocked;
};
}
/// <summary>
/// Initialize the Myo input module. Will throw an exception if no Myo is available
/// </summary>
public MyoInput()
{
hub = new Hub("de.dhbw.MyoPilot");
myo = hub.WaitForMyo(TimeSpan.FromSeconds(5));
if (myo == null)
throw new TimeoutException("Unable to find a Myo!");
hub.MyoUnpaired += OnUnpair;
myo.PoseChanged += OnPoseChanged;
myo.OrientationDataAcquired += OnOrientationData;
myo.RecognizedArm += OnRecognizedArm;
myo.LostArm += OnLostArm;
myo.Unlock(UnlockType.Hold);
// hub.Run() needs to run permanently in order to receive events from the Myo
Thread worker = new Thread(hub.Run) { IsBackground = true, Name = "MyoBackgroundWorker" };
worker.Start();
}
static void Main(string[] args)
{
using (var hub = new Hub())
{
Console.WriteLine("Attempting to find a Myo...");
IMyo myo = hub.WaitForMyo(TimeSpan.FromSeconds(10));
if (myo == null)
{
throw new TimeoutException("Unable to find a Myo!");
}
Console.WriteLine("Connected to a Myo armband!\n");
hub.MyoUnpaired += OnUnpair;
hub.RecognizedArm += OnRecognizedArm;
hub.LostArm += OnLostArm;
myo.PoseChanged += OnPoseChanged;
myo.OrientationDataAcquired += OnOrientationData;
}
}
protected virtual void OnTriggered(IMyo myo, DateTime timestamp, Pose pose)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
var handler = Triggered;
if (handler != null)
{
var args = new PoseEventArgs(
myo,
timestamp,
pose);
handler.Invoke(this, args);
}
}
public RssiEventArgs(IMyo myo, DateTime timestamp, sbyte rssi)
: base(myo, timestamp)
{
this.Rssi = rssi;
}
public void AddBlob(IMyo myo, Point pos)
{
blobs.Add(myo, pos);
Invalidate();
}
public AccelerationChangedEventArgs(RoutedEvent routedEvent, object source, IMyo myo, DateTimeOffset timeStamp, Vector3 acceleration)
: base(routedEvent, source, myo, timeStamp)
{
Acceleration = acceleration;
}
public MyoRoutedEventArgs(RoutedEvent routedEvent, object source, IMyo myo, DateTimeOffset timeStamp) : base(routedEvent, source)
{
Myo = myo;
TimeStamp = timeStamp;
}
public AccelerometerDataEventArgs(IMyo myo, DateTime timestamp, Vector3 accelerometer)
: base(myo, timestamp)
{
this.Accelerometer = accelerometer;
}
public OrientationChangedEventArgs(RoutedEvent routedEvent, object source, IMyo myo, DateTimeOffset timeStamp, Quaternion orientation)
: base(routedEvent, source, myo, timeStamp)
{
Orientation = orientation;
}
public void DeleteRect(IMyo myo)
{
rectangles.Remove(myo);
Invalidate();
}
public EmgDataEventArgs(IMyo myo, DateTime timestamp, Int32[] emg)
: base(myo, timestamp)
{
this.EMG = emg;
}
public void AddRect(IMyo myo, Rectangle rect)
{
rectangles.Add(myo, rect);
Invalidate();
}
public ArmSyncedEventArgs(IMyo myo, DateTime timestamp, Arm arm, XDirection xDirection)
: base(myo, timestamp)
{
this.Arm = arm;
this.XDirection = xDirection;
}
public RssiEventArgs(IMyo myo, DateTime timestamp, sbyte rssi)
: base(myo, timestamp)
{
this.Rssi = rssi;
}
public PoseEventArgs(IMyo myo, DateTime timestamp, Pose pose)
: base(myo, timestamp)
{
this.Pose = pose;
}
public OrientationDataEventArgs(IMyo myo, DateTime timestamp, Quaternion orientation)
: base(myo, timestamp)
{
this.Orientation = orientation;
}
public void DeleteBlob(IMyo myo)
{
blobs.Remove(myo);
Invalidate();
}
protected virtual void OnPoseSequenceCompleted(IMyo myo, DateTime timestamp, IList<Pose> poses)
{
Contract.Requires<ArgumentNullException>(myo != null, "myo");
Contract.Requires<ArgumentNullException>(poses != null, "poses");
Contract.Requires<ArgumentException>(poses.Count > 0, "The sequence must contain at least one pose.");
var handler = PoseSequenceCompleted;
if (handler != null)
{
var args = new PoseSequenceEventArgs(
myo,
timestamp,
poses);
handler.Invoke(this, args);
}
}
public GyroscopeDataEventArgs(IMyo myo, DateTime timestamp, Vector3 gyroscope)
: base(myo, timestamp)
{
this.Gyroscope = gyroscope;
}
// OnUnpair() is called whenever the Myo is disconnected from Myo Connect by the user.
protected void OnUnpair(object sender, MyoEventArgs e)
{
lock (myLock)
{
myo = null;
onArm = false;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="AccelerometerDataEventArgs"/> class.
/// </summary>
/// <param name="myo">The Myo that raised the event. Cannot be <c>null</c>.</param>
/// <param name="timestamp">The timestamp of the event.</param>
/// <param name="accelerometerData">The accelerometer data. Cannot be <c>null</c>.</param>
/// <exception cref="System.ArgumentNullException">
/// The exception that is thrown when <paramref name="myo"/> or <paramref name="accelerometerData"/> is null.
/// </exception>
public AccelerometerDataEventArgs(IMyo myo, DateTime timestamp, Vector3F accelerometerData)
: base(myo, timestamp)
{
this.Accelerometer = accelerometerData;
}
public MyoEventArgs(IMyo myo, DateTime timestamp)
{
this.Myo = myo;
this.Timestamp = timestamp;
}
private void Myo_PoseChanged(object sender, PoseEventArgs e)
{
var samePose = _lastPose == e.Pose;
_lastPose = e.Pose;
_triggeringMyo = e.Myo;
lock (_timer)
{
if (_timerAlive)
{
return;
}
if (samePose && _targetPoses.Contains(e.Pose))
{
if (_timerPaused)
{
_timerPaused = false;
_timer.Start();
}
}
else
{
_timerPaused = true;
_timer.Stop();
}
}
}
public void UpdateRect(IMyo myo, Rectangle rect)
{
rectangles[myo] = rect;
Invalidate();
}
