private void OnMotionChanged(CMDeviceMotion motion)
{
var orientation = ToSimpleOrientation(motion.Gravity.X, motion.Gravity.Y, motion.Gravity.Z, _threshold, _previousOrientation);
_previousOrientation = orientation;
SetCurrentOrientation(orientation);
}
public void GyroChanged(CMDeviceMotion m, NSError e)
{
var now = DateTime.Now;
if (e != null || m == null || m.Attitude == null || now - lastGyroUpdateTime <= GyroUpdateInterval)
{
return;
}
lastGyroUpdateTime = now;
var speed = Math.Cos(Math.Max(0, Math.Min(Math.PI / 2, m.Attitude.Pitch)));
var turn = Math.Sin(Math.Max(-Math.PI / 2, Math.Min(Math.PI / 2, m.Attitude.Roll)));
InvokeOnMainThread(() =>
{
var speedVariable = client.Variables.FirstOrDefault(x => x.Name == "Speed");
if (speedVariable != null)
{
speedVariable.Value = speed;
}
var turnVariable = client.Variables.FirstOrDefault(x => x.Name == "Turn");
if (turnVariable != null)
{
turnVariable.Value = turn;
}
ViewLeft.Alpha = (nfloat)(1.0f * (turn > 0 ? 0 : turn * -1));
ViewRight.Alpha = (nfloat)(1.0f * (turn < 0 ? 0 : turn));
ViewForward.Alpha = (nfloat)(1.0f * (speed < 0 ? 0 : speed));
TextTilt.Text = string.Format("Speed: {0:N2}\nTurn: {1:N2}", Math.Round(speed, 2), Math.Round(turn, 2));
});
}
void OnGyroscopeDataUpdate(CMDeviceMotion gyroData, NSError error)
{
if (error == null)
{
_attitude = gyroData.Attitude;
data.Angle = _attitude.Yaw;
OnCompassDataChanged(this, data);
}
}
private void MotionHandler(CMDeviceMotion data, NSError error)
{
if (Interlocked.CompareExchange(ref Updating, 1, 0) == 1)
{
return;
}
InvokeOnMainThread(() =>
{
UpdateElementsOnScreen((float)data.Attitude.Roll, (float)data.Attitude.Pitch, (float)data.Attitude.Yaw);
Interlocked.Exchange(ref Updating, 0);
});
}
void UpdateDisplay()
{
CMDeviceMotion motion = motionManager.DeviceMotion;
if (motion != null)
{
cameraTransform = new float[16];
MathHelpers.TransformFromCMRotationMatrix(ref cameraTransform, motion.Attitude.RotationMatrix);
SetNeedsDisplay();
}
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
var rotationData = new OrientationSensorData(field.x, field.y, field.z, field.w);
OnChanged(rotationData);
}
void HandleCMDeviceMotionHandler(CMDeviceMotion data, NSError error)
{
//Linear acceleration (acceleration - gravity)
DateTimeOffset timestamp = DateTimeOffset.Now;
_accelerometerRepository.Add(new Accelerometer()
{
Timestamp = timestamp,
X = Convert.ToSingle(data.UserAcceleration.X),
Y = Convert.ToSingle(data.UserAcceleration.Y),
Z = Convert.ToSingle(data.UserAcceleration.Z)
});
//Console.WriteLine("inserted linear acceleratin data");
//calibrated magnetic field
_magnetometerRepository.Add(new Magnetometer()
{
Timestamp = timestamp,
X = Convert.ToSingle(data.MagneticField.Field.X),
Y = Convert.ToSingle(data.MagneticField.Field.Y),
Z = Convert.ToSingle(data.MagneticField.Field.Z)
});
//Console.WriteLine("inserted callibrated magnetometerdata");
_orientationRepository.Add(new Orientation()
{
Timestamp = timestamp,
X = Convert.ToSingle(data.Attitude.Roll),
Y = Convert.ToSingle(data.Attitude.Pitch),
Z = Convert.ToSingle(data.Attitude.Yaw)
});
//Console.WriteLine("inserted attitude");
_quaternionRepository.Add(new Quaternion()
{
Timestamp = timestamp,
X = Convert.ToSingle(data.Attitude.Quaternion.x),
Y = Convert.ToSingle(data.Attitude.Quaternion.y),
Z = Convert.ToSingle(data.Attitude.Quaternion.z),
W = Convert.ToSingle(data.Attitude.Quaternion.w)
});
_gravityRepository.Add(new Gravity()
{
Timestamp = timestamp,
X = Convert.ToSingle(data.Gravity.X),
Y = Convert.ToSingle(data.Gravity.Y),
Z = Convert.ToSingle(data.Gravity.Z)
});
}
private void ReadingChangedHandler(CMDeviceMotion data, NSError error)
{
CompassReading reading = new CompassReading();
this.IsDataValid = error == null;
if (this.IsDataValid)
{
reading.MagnetometerReading = new Vector3((float)data.MagneticField.Field.Y, (float)-data.MagneticField.Field.X, (float)data.MagneticField.Field.Z);
reading.TrueHeading = Math.Atan2(reading.MagnetometerReading.Y, reading.MagnetometerReading.X) / Math.PI * 180;
reading.MagneticHeading = reading.TrueHeading;
switch (data.MagneticField.Accuracy)
{
case CMMagneticFieldCalibrationAccuracy.High:
reading.HeadingAccuracy = 5d;
break;
case CMMagneticFieldCalibrationAccuracy.Medium:
reading.HeadingAccuracy = 30d;
break;
case CMMagneticFieldCalibrationAccuracy.Low:
reading.HeadingAccuracy = 45d;
break;
}
// Send calibrate event if needed
if (data.MagneticField.Accuracy == CMMagneticFieldCalibrationAccuracy.Uncalibrated)
{
if (this.calibrate == false)
{
this.Calibrate(this, new CalibrationEventArgs());
}
this.calibrate = true;
}
else if (this.calibrate == true)
{
this.calibrate = false;
}
reading.Timestamp = DateTime.Now;
this.CurrentValue = reading;
}
FireOnCurrentValueChanged(this, new SensorReadingEventArgs <CompassReading>(reading));
}
void Update()
{
if (motionManager.DeviceMotionActive)
{
CMDeviceMotion deviceMotion = motionManager.DeviceMotion;
if (deviceMotion != null)
{
CMAcceleration acceleration = deviceMotion.Gravity;
xValue = acceleration.X;
yValue = acceleration.Y;
zValue = acceleration.Z;
isData = true;
}
}
if (isRunning)
{
PerformSelector(new ObjCRuntime.Selector("Update"), null, UpdateInterval);
}
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
// the quaternion returned by the MotionManager refers to a frame where the X axis points north
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// we rotate it by 90 degrees around the Z axis, so that the Y axis points north and the X axis points east
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
q = Quaternion.Multiply(q, qz90);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
OnChanged(rotationData);
}
void CalculateRotationBasedOn(CMDeviceMotion motion)
{
if (!MotionBasedPanEnabled)
{
return;
}
var rrate = motion.RotationRate;
if (Math.Abs(rrate.y) <= Math.Abs(rrate.x) + Math.Abs(rrate.z))
{
return;
}
var invertedYRotationRate = rrate.y * -1;
float zoomScale = MaximumZoomScaleForImage(panningImageView.Image);
var interpretedXOffset = panningScrollView.ContentOffset.X + invertedYRotationRate * zoomScale * RotationMultiplier;
var contentOffset = ClampedContentOffsetForHorizontalOffset((float)interpretedXOffset);
UIView.Animate(MovementSmoothing,
delay: 0,
options: UIViewAnimationOptions.BeginFromCurrentState | UIViewAnimationOptions.AllowUserInteraction | UIViewAnimationOptions.CurveEaseOut,
animation: () => panningScrollView.SetContentOffset(contentOffset, animated: false), completion: null);
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
// the quaternion returned by the MotionManager refers to a frame where the X axis points north ("iOS frame")
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// in Xamarin, the reference frame is defined such that Y points north and Z is vertical,
// so we first rotate by 90 degrees around the Z axis, in order to get from the Xamarin frame to the iOS frame
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
// on top of this rotation, we apply the actual quaternion obtained from the MotionManager,
// so that the final quaternion will take us from the earth frame in Xamarin convention to the phone frame
q = Quaternion.Multiply(qz90, q);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
OnChanged(rotationData);
}
void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
#pragma warning disable CA1416 // https://github.com/xamarin/xamarin-macios/issues/14619
var field = data.Attitude.Quaternion;
#pragma warning restore CA1416
// the quaternion returned by the MotionManager refers to a frame where the X axis points north ("iOS frame")
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// In .NET MAUI, the reference frame is defined such that Y points north and Z is vertical,
// so we first rotate by 90 degrees around the Z axis, in order to get from the .NET MAUI frame to the iOS frame
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
// on top of this rotation, we apply the actual quaternion obtained from the MotionManager,
// so that the final quaternion will take us from the earth frame in .NET MAUI convention to the phone frame
q = Quaternion.Multiply(qz90, q);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
RaiseReadingChanged(rotationData);
}
private void MagnetometerHandler(CMDeviceMotion magnetometerData, NSError error)
{
readingChanged(magnetometerData, error);
}
void CalculateRotationBasedOn(CMDeviceMotion motion)
{
if (!MotionBasedPanEnabled)
return;
var rrate = motion.RotationRate;
if (Math.Abs (rrate.y) <= Math.Abs (rrate.x) + Math.Abs (rrate.z))
return;
var invertedYRotationRate = rrate.y * -1;
float zoomScale = MaximumZoomScaleForImage (panningImageView.Image);
var interpretedXOffset = panningScrollView.ContentOffset.X + invertedYRotationRate * zoomScale * RotationMultiplier;
var contentOffset = ClampedContentOffsetForHorizontalOffset ((float)interpretedXOffset);
UIView.Animate (MovementSmoothing,
delay: 0,
options: UIViewAnimationOptions.BeginFromCurrentState|UIViewAnimationOptions.AllowUserInteraction|UIViewAnimationOptions.CurveEaseOut,
animation: () => panningScrollView.SetContentOffset (contentOffset, animated: false), completion: null);
}
/// <summary>
/// Raises the accelerometer changed event.
/// </summary>
/// <param name="data">Data.</param>
/// <param name="error">Error.</param>
private void OnDeviceMotionChanged(CMDeviceMotion data, NSError error)
{
if (SensorValueChanged == null)
return;
SensorValueChanged(this, new SensorValueChangedEventArgs { ValueType = MotionSensorValueType.Attitude, SensorType = MotionSensorType.DeviceMotion, Value = new MotionAttitude() { Pitch = data.Attitude.Pitch, Yaw = data.Attitude.Yaw, Roll = data.Attitude.Roll } });
}
