public XsQuaternion(XsEuler euler) : this(xsensdeviceapiPINVOKE.new_XsQuaternion__SWIG_6(XsEuler.getCPtr(euler)), true)
{
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
private void XSensGyroDataAvailable(object sender, DataAvailableArgs e)
{
// Get Euler angles.
XsEuler oriEuler = e.Packet.orientationEuler();
_connectedData._orientation = oriEuler;
if (_connectedData._orientation != null)
{
if (this.performZeroOnNextDataUpdate)
{
this.zeroX = _connectedData._orientation.x();
this.zeroY = _connectedData._orientation.y();
this.zeroZ = _connectedData._orientation.z();
this.performZeroOnNextDataUpdate = false;
}
bikeController.bikeData.XsensGyro[0] = (float)-(_connectedData._orientation.z() - this.zeroZ);
bikeController.bikeData.XsensGyro[1] = (float)(_connectedData._orientation.y() - this.zeroY);
bikeController.bikeData.XsensGyro[2] = (float)(_connectedData._orientation.x() - this.zeroX);
//Debug.LogFormat("{0,-5:f2}, {1,-5:f2}, {2,-5:f2} [°]\n",
// _connectedData._orientation.x(),
// _connectedData._orientation.y(),
// _connectedData._orientation.z());
}
}
public XsEuler(XsEuler other) : this(xsensdeviceapiPINVOKE.new_XsEuler__SWIG_2(XsEuler.getCPtr(other)), true)
{
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
public void setOrientationEuler(XsEuler data, XsDataIdentifier coordinateSystem)
{
xsensdeviceapiPINVOKE.XsDataPacket_setOrientationEuler(swigCPtr, XsEuler.getCPtr(data), (int)coordinateSystem);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
public XsQuaternion fromEulerAngles(XsEuler src)
{
XsQuaternion ret = new XsQuaternion(xsensdeviceapiPINVOKE.XsQuaternion_fromEulerAngles(swigCPtr, XsEuler.getCPtr(src)), false);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public XsEuler fromQuaternion(XsQuaternion quat)
{
XsEuler ret = new XsEuler(xsensdeviceapiPINVOKE.XsEuler_fromQuaternion(swigCPtr, XsQuaternion.getCPtr(quat)), false);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool compare(XsEuler other, double tolerance)
{
bool ret = xsensdeviceapiPINVOKE.XsEuler_compare(swigCPtr, XsEuler.getCPtr(other), tolerance);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
void _callbackHandler_DataAvailable(object sender, DataAvailableArgs e)
{
if (InvokeRequired)
{
// Update UI, make sure this happens on the UI thread
BeginInvoke(new Action(delegate { _callbackHandler_DataAvailable(sender, e); }));
}
else
{
//Getting Euler angles.
XsEuler oriEuler = e.Packet.orientationEuler();
_connectedData._orientation = oriEuler;
XsCalibratedData calData = e.Packet.calibratedData();
_connectedData._calibratedData = calData;
}
}
static void _callbackHandler_DataAvailable(object sender, DataAvailableArgs e)
{
var battery = e.Device.batteryLevel();
//Getting Euler angles.
XsEuler oriEuler = e.Packet.orientationEuler();
var rawAcceleration = e.Packet.rawAcceleration();
var xsRawGpsTimeUtc = e.Packet.rawGpsTimeUtc();
var altitude = e.Packet.altitude();
var altitudeMsl = e.Packet.altitudeMsl();
_connectedMtwData[e.Device.deviceId().toInt()]._orientation = oriEuler;
_connectedMtwData[e.Device.deviceId().toInt()]._xsRawGpsTimeUtc = xsRawGpsTimeUtc;
_connectedMtwData[e.Device.deviceId().toInt()]._temperature = e.Packet.temperature();
_connectedMtwData[e.Device.deviceId().toInt()]._rawAcceleration = rawAcceleration;
_connectedMtwData[e.Device.deviceId().toInt()]._calibratedAcceleration = e.Packet.calibratedAcceleration();
_connectedMtwData[e.Device.deviceId().toInt()]._freeAcceleration = e.Packet.freeAcceleration();
_connectedMtwData[e.Device.deviceId().toInt()]._utcTime = e.Packet.utcTime();
_connectedMtwData[e.Device.deviceId().toInt()]._batteryLevel = battery;
_connectedMtwData[e.Device.deviceId().toInt()]._rssi = e.Device.lastKnownRssi();
_connectedMtwData[e.Device.deviceId().toInt()]._containsRawAcceleration = e.Packet.containsRawAcceleration();
_connectedMtwData[e.Device.deviceId().toInt()]._containsCalibratedAcceleration = e.Packet.containsCalibratedAcceleration();
_connectedMtwData[e.Device.deviceId().toInt()]._containsFreeAcceleration = e.Packet.containsFreeAcceleration();
_connectedMtwData[e.Device.deviceId().toInt()]._containsUtcTime = e.Packet.containsUtcTime();
_connectedMtwData[e.Device.deviceId().toInt()]._timeOfArrival_msTime = e.Packet.timeOfArrival().msTime();
_connectedMtwData[e.Device.deviceId().toInt()]._containsSampleTimeFine = e.Packet.containsSampleTimeFine();
_connectedMtwData[e.Device.deviceId().toInt()]._sampleTimeFine = e.Packet.sampleTimeFine();
trackingDetailSaver.SaveTrackingDetail(e.Device.deviceId().toInt(),
sessionId,
DateTime.UtcNow.ToString("yyyy-MM-dd HH:mm:ss.fff", CultureInfo.InvariantCulture),
//DateTime.Now,
e.Packet.timeOfArrival().msTime(),
e.Device.batteryLevel(),
e.Device.lastKnownRssi(),
e.Packet.freeAcceleration().cartesianLength(),
e.Packet.calibratedAcceleration().cartesianLength());
}
public XsEuler orientationEuler()
{
XsEuler ret = new XsEuler(xsensdeviceapiPINVOKE.XsDataPacket_orientationEuler__SWIG_1(swigCPtr), true);
return(ret);
}
public XsEuler orientationEuler(XsDataIdentifier coordinateSystem)
{
XsEuler ret = new XsEuler(xsensdeviceapiPINVOKE.XsDataPacket_orientationEuler__SWIG_0(swigCPtr, (int)coordinateSystem), true);
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(XsEuler obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
