static void Main(string[] args)
{
Console.WriteLine("Testing Sense Glove C# Core Library");
Console.WriteLine("=======================================");
if (DeviceList.SenseCommRunning()) //check if the Sense Comm is running. If not, warn the end user.
{
SenseGlove testGlove;
if (SenseGlove.GetSenseGlove(out testGlove)) //retrieves the first Sense Glove it can find. Returns true if one can be found
{
Console.WriteLine("Activating " + testGlove.ToString() + " on key press.");
Console.ReadKey();
//std::this_thread::sleep_for(std::chrono::milliseconds(1000)); //vibrating for for 200ms.
testGlove.SendHaptics(new SG_BuzzCmd(0, 80, 0, 0, 0)); //vibrate the index fingerat 80% intensity.
System.Threading.Thread.Sleep(1000);
testGlove.SendHaptics(SG_BuzzCmd.Off); //turn off all Buzz Motors.
System.Threading.Thread.Sleep(10);
SG_Model model = testGlove.GetGloveModel(); //Retrieve device information
Console.WriteLine("");
Console.WriteLine(model.ToString(true)); //Log some basic information to the user. (true indicates a short notation is desired)
//Retrieving Sensor Data (raw). The lowest level data available
SG_SensorData sensorData;
if (testGlove.GetSensorData(out sensorData)) //if GetSensorData is true, we have sucesfully recieved data
{
Console.WriteLine("");
Console.WriteLine(sensorData.ToString());
}
//Retrieving Glove Pose: The position / rotation of the glove, as well as its sensor angles placed in the right direction.
SG_GlovePose glovePose;
if (testGlove.GetGlovePose(out glovePose))
{
//As an example, lets calculate fingertip positions.
//If we wish to calculate hand variables, we need a "hand profile" to tell the Sense Glove our hand lengths.
SG_HandProfile handProfile = SG_HandProfile.Default(testGlove.IsRight()); //create a default profile, either left or right.
Vect3D[] tipPositions = glovePose.CalculateFingerTips(handProfile); //calculates fingertip position
Console.WriteLine("");
Console.WriteLine("Fingertip positions relative to Wrist:");
for (int f = 0; f < tipPositions.Length; f++)
{
Console.WriteLine(((SGCore.Finger)f).ToString() + ": " + tipPositions[f].ToString()); //writes "thumb: ", "index: " etc.
}
float dThumbIndex = tipPositions[0].DistTo(tipPositions[1]); //calculates the distance between thumb (0) and index finger (1), in mm.
Console.WriteLine("The distance between thumb and index finger is " + dThumbIndex + "mm.");
}
}
else
{
Console.WriteLine("No sense gloves connected to the system. Ensure the USB connection is secure, then try again.");
}
}
else
{
Console.WriteLine("SenseComm is not running. Please start it and try again.");
}
Console.WriteLine("=======================================");
Console.WriteLine("Press any key to exit.");
Console.ReadKey();
}
