// link the instance to a real YoctoAPI object
internal override void linkToHardware(string hwdName)
{
YCompass hwd = YCompass.FindCompass(hwdName);
// first redo base_init to update all _func pointers
base_init(hwd, hwdName);
// then setup Yocto-API pointers and callbacks
init(hwd);
}
// Configure the value callbacks on the currently selected device
//
private void setupDevice()
{
YAccelerometer accelerometer;
YCompass compass;
YTilt tilt1, tilt2;
YGyro gyro;
YQt qt1, qt2, qt3, qt4;
if (currentSerialNumber != prevSerialNumber && prevSerialNumber != "")
{
// Unregister previous device
tilt1 = YTilt.FindTilt(prevSerialNumber + ".tilt1");
tilt2 = YTilt.FindTilt(prevSerialNumber + ".tilt2");
compass = YCompass.FindCompass(prevSerialNumber + ".compass");
gyro = YGyro.FindGyro(prevSerialNumber + ".gyro");
compass.registerValueCallback(null);
tilt1.registerValueCallback(null);
tilt2.registerValueCallback(null);
gyro.registerAnglesCallback(null);
}
if (currentSerialNumber == "")
{
return;
}
// Register the newly selected device
accelerometer = YAccelerometer.FindAccelerometer(currentSerialNumber + ".accelerometer");
tilt1 = YTilt.FindTilt(currentSerialNumber + ".tilt1");
tilt2 = YTilt.FindTilt(currentSerialNumber + ".tilt2");
compass = YCompass.FindCompass(currentSerialNumber + ".compass");
gyro = YGyro.FindGyro(currentSerialNumber + ".gyro");
qt1 = YQt.FindQt(currentSerialNumber + ".qt1");
qt2 = YQt.FindQt(currentSerialNumber + ".qt2");
qt3 = YQt.FindQt(currentSerialNumber + ".qt3");
qt4 = YQt.FindQt(currentSerialNumber + ".qt4");
compass.registerValueCallback(valueCallback);
tilt1.registerValueCallback(valueCallback);
tilt2.registerValueCallback(valueCallback);
if (modeChooser.SelectedIndex != 1)
{
accelerometer.set_bandwidth(7);
qt1.set_logicalName("w");
qt2.set_logicalName("x");
qt3.set_logicalName("y");
qt4.set_logicalName("z");
gyro.registerAnglesCallback(anglesCallback);
}
else
{
accelerometer.set_bandwidth(50);
qt2.set_logicalName("ax");
qt3.set_logicalName("ay");
qt4.set_logicalName("az");
gyro.registerQuaternionCallback(accelCallback);
}
}
public override async Task <int> Run()
{
try {
await YAPI.RegisterHub(HubURL);
YTilt anytilt, tilt1, tilt2;
YCompass compass;
YAccelerometer accel;
YGyro gyro;
if (Target.ToLower() == "any")
{
anytilt = YTilt.FirstTilt();
if (anytilt == null)
{
WriteLine("No module connected (check USB cable)");
return(-1);
}
}
else
{
anytilt = YTilt.FindTilt(Target + ".tilt1");
}
string serial = await(await anytilt.get_module()).get_serialNumber();
tilt1 = YTilt.FindTilt(serial + ".tilt1");
tilt2 = YTilt.FindTilt(serial + ".tilt2");
compass = YCompass.FindCompass(serial + ".compass");
accel = YAccelerometer.FindAccelerometer(serial + ".accelerometer");
gyro = YGyro.FindGyro(serial + ".gyro");
int count = 0;
while (await tilt1.isOnline())
{
if (count++ % 10 == 0)
{
WriteLine("tilt1 tilt2 compass acc gyro");
}
Write(await tilt1.get_currentValue() + "\t");
Write(await tilt2.get_currentValue() + "\t");
Write(await compass.get_currentValue() + "\t");
Write(await accel.get_currentValue() + "\t");
WriteLine("" + await gyro.get_currentValue());
await YAPI.Sleep(250);
}
WriteLine("Module not connected (check identification and USB cable)");
} catch (YAPI_Exception ex) {
WriteLine("error: " + ex.Message);
}
YAPI.FreeAPI();
return(0);
}
public static YCompassProxy FindCompass(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YCompass func = null;
YCompassProxy res = (YCompassProxy)YFunctionProxy.FindSimilarUnknownFunction("YCompassProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YCompassProxy)YFunctionProxy.FindSimilarKnownFunction("YCompassProxy");
if (res != null)
{
return(res);
}
func = YCompass.FirstCompass();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YCompassProxy)func.get_userData());
}
}
}
else
{
func = YCompass.FindCompass(name);
if (func.get_userData() != null)
{
return((YCompassProxy)func.get_userData());
}
}
if (res == null)
{
res = new YCompassProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
static void Main(string[] args)
{
string errmsg = "";
string target;
YTilt anytilt, tilt1, tilt2;
YCompass compass;
YAccelerometer accelerometer;
YGyro gyro;
if (args.Length < 1)
{
usage();
}
target = args[0].ToUpper();
// Setup the API to use local USB devices
if (YAPI.RegisterHub("usb", ref errmsg) != YAPI.SUCCESS)
{
Console.WriteLine("RegisterHub error: " + errmsg);
Environment.Exit(0);
}
if (target == "ANY")
{
anytilt = YTilt.FirstTilt();
if (anytilt == null)
{
Console.WriteLine("No module connected (check USB cable)");
Environment.Exit(0);
}
}
else
{
anytilt = YTilt.FindTilt(target + ".tilt1");
if (!anytilt.isOnline())
{
Console.WriteLine("Module not connected");
Console.WriteLine("check identification and USB cable");
Environment.Exit(0);
}
}
string serial = anytilt.get_module().get_serialNumber();
tilt1 = YTilt.FindTilt(serial + ".tilt1");
tilt2 = YTilt.FindTilt(serial + ".tilt2");
compass = YCompass.FindCompass(serial + ".compass");
accelerometer = YAccelerometer.FindAccelerometer(serial + ".accelerometer");
gyro = YGyro.FindGyro(serial + ".gyro");
int count = 0;
if (!tilt1.isOnline())
{
Console.WriteLine("device disconnected");
Environment.Exit(0);
}
while (tilt1.isOnline())
{
if (count % 10 == 0)
{
Console.WriteLine("tilt1 tilt2 compass acc gyro");
}
Console.Write(tilt1.get_currentValue().ToString() + "\t");
Console.Write(tilt2.get_currentValue().ToString() + "\t");
Console.Write(compass.get_currentValue().ToString() + "\t");
Console.Write(accelerometer.get_currentValue().ToString() + "\t");
Console.WriteLine(gyro.get_currentValue().ToString());
YAPI.Sleep(250, ref errmsg);
}
YAPI.FreeAPI();
}