void Dispose(bool disposing)
{
if (disposing)
{
if (_thread != null)
{
// Stop and join the receiver thread.
_stop = true;
_sync.Set();
_thread.Join();
_thread = null;
}
if (_contacts.IsCreated)
{
_contacts.Dispose();
}
if (_forceArray.IsCreated)
{
_forceArray.Dispose();
}
}
if (_device != null)
{
_device.Close();
_device = null;
}
}
static void Main(string[] args)
{
SenselDeviceList list = SenselDevice.GetDeviceList();
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices == 0)
{
Console.WriteLine("No devices found.");
Console.WriteLine("Press any key to exit.");
while (!Console.KeyAvailable)
{
}
return;
}
SenselDevice sensel_device = new SenselDevice();
sensel_device.OpenDeviceByID(list.devices[0].idx);
sensel_device.SetFrameContent(SenselDevice.FRAME_CONTENT_CONTACTS_MASK);
sensel_device.StartScanning();
Console.WriteLine("Press any key to exit");
while (!Console.KeyAvailable)
{
sensel_device.ReadSensor();
int num_frames = sensel_device.GetNumAvailableFrames();
for (int f = 0; f < num_frames; f++)
{
SenselFrame frame = sensel_device.GetFrame();
if (frame.n_contacts > 0)
{
Console.WriteLine("\nNum Contacts: " + frame.n_contacts);
for (int i = 0; i < frame.n_contacts; i++)
{
Console.WriteLine("Contact ID: " + frame.contacts[i].id);
if (frame.contacts[i].state == (int)SenselContactState.CONTACT_START)
{
sensel_device.SetLEDBrightness(frame.contacts[i].id, 100);
}
if (frame.contacts[i].state == (int)SenselContactState.CONTACT_END)
{
sensel_device.SetLEDBrightness(frame.contacts[i].id, 0);
}
}
}
}
}
byte num_leds = sensel_device.GetNumAvailableLEDs();
for (int i = 0; i < num_leds; i++)
{
sensel_device.SetLEDBrightness((byte)i, 0);
}
sensel_device.StopScanning();
sensel_device.Close();
}
static SenselMaster()
{
if (SenselDevice.GetDeviceList().num_devices > 0)
{
_thread = new SenselThread();
}
#if UNITY_EDITOR
// To release the internal objects on script recompilation.
UnityEditor.AssemblyReloadEvents.beforeAssemblyReload += ReleaseResources;
#endif
}
static void Main(string[] args)
{
SenselDeviceList list = SenselDevice.GetDeviceList();
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices == 0)
{
Console.WriteLine("No devices found.");
Console.WriteLine("Press any key to exit.");
while (!Console.KeyAvailable)
{
}
return;
}
SenselDevice sensel_device = new SenselDevice();
sensel_device.OpenDeviceByID(list.devices[0].idx);
sensel_device.SetFrameContent(SenselDevice.FRAME_CONTENT_PRESSURE_MASK);
sensel_device.StartScanning();
SenselSensorInfo sensor_info = sensel_device.GetSensorInfo();
Console.WriteLine("Press any key to exit");
while (!Console.KeyAvailable)
{
sensel_device.ReadSensor();
int numFrames = sensel_device.GetNumAvailableFrames();
for (int f = 0; f < numFrames; f++)
{
SenselFrame frame = sensel_device.GetFrame();
float 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_device.StopScanning();
sensel_device.Close();
}
void Dispose(bool disposing)
{
if (disposing)
{
if (_rawInput != null)
{
UnityEngine.Object.Destroy(_rawInput);
}
if (_filteredInput != null)
{
UnityEngine.Object.Destroy(_filteredInput);
}
if (_filter != null)
{
UnityEngine.Object.Destroy(_filter);
}
if (_totalInput != null)
{
UnityEngine.Object.Destroy(_totalInput);
}
for (var i = 0; i < kLevelCount; i++)
{
if (_pyramid[i] != null)
{
UnityEngine.Object.Destroy(_pyramid[i]);
}
}
}
if (_device != null)
{
_device.Close();
_device = null;
}
}
public SenselThread()
{
// Check if a device is available.
var deviceList = SenselDevice.GetDeviceList();
if (deviceList.num_devices == 0)
{
throw new System.IO.IOException("Sensel device not found.");
}
// Open the found device.
_device = new SenselDevice();
_device.OpenDeviceByID(deviceList.devices[0].idx);
_device.SetFrameContent(
SenselDevice.FRAME_CONTENT_CONTACTS_MASK |
SenselDevice.FRAME_CONTENT_PRESSURE_MASK |
SenselDevice.FRAME_CONTENT_ACCEL_MASK
);
_sensorInfo = _device.GetSensorInfo();
// Allocate the force array.
_forceArray = new NativeArray <float>(
_sensorInfo.num_cols * _sensorInfo.num_rows,
Allocator.Persistent
);
// Allocate the contact array.
_contacts = new NativeArray <SenselContact>(
_sensorInfo.max_contacts, Allocator.Persistent
);
// Start the receiver thread.
_thread = new Thread(ReceiverThread);
_sync = new AutoResetEvent(false);
_thread.Start();
}
public ForceMap()
{
var deviceList = SenselDevice.GetDeviceList();
if (deviceList.num_devices == 0)
{
throw new System.IO.IOException("Sensel device not found.");
}
_device = new SenselDevice();
_device.OpenDeviceByID(deviceList.devices[0].idx);
_device.SetFrameContent(SenselDevice.FRAME_CONTENT_PRESSURE_MASK);
_filter = new Material(Shader.Find("Hidden/Sensel/Filters"));
var info = _device.GetSensorInfo();
_rawInput = new Texture2D(info.num_cols, info.num_rows, TextureFormat.RFloat, false);
_rawInput.wrapMode = TextureWrapMode.Clamp;
_filteredInput = new RenderTexture(kMapWidth, kMapHeight, 0, RenderTextureFormat.RHalf);
_filteredInput.wrapMode = TextureWrapMode.Clamp;
var tw = kMapWidth;
var th = kMapHeight;
for (var i = 0; i < kLevelCount; i++)
{
tw /= 2;
th /= 2;
_pyramid[i] = new RenderTexture(tw, th, 0, RenderTextureFormat.RHalf);
_pyramid[i].wrapMode = TextureWrapMode.Clamp;
}
_totalInput = new RenderTexture(1, 1, 0, RenderTextureFormat.RHalf);
}
static void Main(string[] args)
{
SenselDeviceList list = SenselDevice.GetDeviceList();
Console.WriteLine("Num Devices: " + list.num_devices);
if (list.num_devices != 0)
{
SenselDevice sensel_device = new SenselDevice();
sensel_device.OpenDeviceByID(list.devices[0].idx);
SenselSensorInfo sensor_info = sensel_device.GetSensorInfo();
SenselFirmwareInfo fw_info = sensel_device.GetFirmwareInfo();
Console.WriteLine("Sensel Device: " + System.Text.Encoding.Default.GetString(list.devices[0].serial_num));
Console.WriteLine("Firmware Version: " + fw_info.fw_version_major + "." + fw_info.fw_version_minor + "." + fw_info.fw_version_build);
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);
sensel_device.Close();
}
Console.WriteLine("Press any key to exit.");
while (!Console.KeyAvailable)
{
}
}
