void _spheroDevice_SensorDataNotification(Sphero.Locator.SensorData data)
{
// If IMU data are present
if (data.FilteredIMU != null)
{
// Update Sliders with data on UI Thread
Dispatcher.BeginInvoke(() =>
{
sldPitch.Value = data.FilteredIMU.Pitch;
sldRoll.Value = data.FilteredIMU.Roll;
sldYaw.Value = data.FilteredIMU.Yaw;
});
}
}
internal void RaiseSensorDataNotification(SensorData data)
{
if(SensorDataNotification != null)
{
SensorDataNotification(data);
}
}
internal void DispatchAsyncResponse(AsyncResponsePacket response)
{
switch(response.ResponseCode)
{
case AsynchronousId.POWER_NOTIFICATION:
if(_core != null)
{
_core.RaisePowerNotification(_core, (PowerState)response.Data[0]);
}
break;
case AsynchronousId.SENSOR_DATA_STREAMING:
if (_sphero != null)
{
SensorData sensorData = new SensorData(_sphero.Mask, _sphero.Mask2, response.Data);
_sphero.RaiseSensorDataNotification(sensorData);
}
break;
case AsynchronousId.SSB_DATA:
string data = Encoding.UTF8.GetString(response.Data, 0, response.Data.Length);
Debug.WriteLine("Async SSB message : {0}", BitConverter.ToString(response.ToArray()));
break;
case AsynchronousId.XP_UPDATE:
if (_sphero != null)
{
_sphero.RaiseXpNotification(response.Data[0]);
}
break;
case AsynchronousId.BOOST_UPDATE:
if (_sphero != null)
{
_sphero.RaiseBoostNotification(response.Data[0]);
}
break;
case AsynchronousId.COLLISION_DETECTED:
if (_sphero != null)
{
_sphero.RaiseCollisionDetected(new Collisions.CollisionData(response.Data));
}
break;
default:
if (Verbose)
Debug.WriteLine("Async message : {0}", BitConverter.ToString(response.ToArray()));
break;
}
}
