/// <summary>
/// Initializes a new instance of the RegisterTreeNodeComboBox class.
/// </summary>
/// <param name="registerAddress">
/// Fixed register address of tree node. See x_IMU_API.RegisterAddresses.
/// </param>
/// <param name="text">
/// The text of the new tree node.
/// </param>
public RegisterTreeNodeComboBox(x_IMU_API.RegisterAddresses registerAddress, string text)
: base(registerAddress, text)
{
ComboBox = new ComboBox();
ComboBox.Leave += new EventHandler(delegate { ComboBox.Parent.Controls.Remove(ComboBox); });
ComboBox.DropDownClosed += new EventHandler(delegate { ComboBox.Parent.Controls.Remove(ComboBox); });
}
/// <summary>
/// DigitalIODataReceived to set mouse button states.
/// </summary>
/// <remarks>
/// Sets sampledCount to briefly disable cursor position updates after button down.
/// </remarks>
static void xIMUserial_DigitalIODataReceived(object sender, x_IMU_API.DigitalIOdata e)
{
if (prevState.AX1 ^ e.State.AX1) // if left button state changed
{
if (e.State.AX1)
{
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.LEFTDOWN, 0, 0, 0);
sampledCount = ((x_IMU_API.xIMUserial)sender).PacketsReadCounter.QuaternionDataPackets;
}
else
{
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.LEFTUP, 0, 0, 0);
}
}
if (prevState.AX0 ^ e.State.AX0) // if right button state changed
{
if (e.State.AX0)
{
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.RIGHTDOWN, 0, 0, 0);
sampledCount = ((x_IMU_API.xIMUserial)sender).PacketsReadCounter.QuaternionDataPackets;
}
else
{
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.RIGHTUP, 0, 0, 0);
}
}
prevState = e.State;
}
/// <summary>
/// Applys register to data to associated RegisterTreeNode.
/// </summary>
/// <param name="registerAddress">
/// Register address of tree node. See x_IMU_API.RegisterAddresses.
/// </param>
/// <param name="isConfirmed">
/// A value indicating if the register data being applied should be displayed as confirmed.
/// </param>
public void ApplyRegisterData(x_IMU_API.RegisterData registerData, bool isConfirmed)
{
RegisterTreeNode registerTreeNode = FindRegisterTreeNode(registerData.Address);
if (registerTreeNode == null)
{
throw new Exception("Register address does have an associated RegisterTreeNode.");
}
registerTreeNode.SetFromRegisterData(registerData, isConfirmed);
RefreshPending = true;
}
/// <summary>
/// Shows <see cref="CSVfileWriter"/> packet counts and file names in <see cref="PassiveMessageBox"/>.
/// </summary>
/// <param name="CSVfileWriter">
/// <see cref="CSVfileWriter"/> object.
/// </param>
/// <param name="caption">
/// Caption of <see cref="PassiveMessageBox"/>.
/// </param>
public static void Show(x_IMU_API.CSVfileWriter CSVfileWriter, string caption)
{
string dialogText = "No files were created.";
if (CSVfileWriter.FilesCreated.Length != 0)
{
int maxWidth = 0;
// Measure x_IMU_API.PacketCount property names with a non-zero value for tab spacing
foreach (PropertyInfo propertyInfo in CSVfileWriter.PacketsWrittenCounter.GetType().GetProperties())
{
if ((int)propertyInfo.GetValue(CSVfileWriter.PacketsWrittenCounter, null) > 0)
{
int width = TextRenderer.MeasureText(propertyInfo.Name + ":", Control.DefaultFont).Width;
maxWidth = width > maxWidth ? width : maxWidth;
}
}
// Add all property names with a non-zero to dialog text with tab spacing.
dialogText = "";
foreach (PropertyInfo propertyInfo in CSVfileWriter.PacketsWrittenCounter.GetType().GetProperties())
{
if ((int)propertyInfo.GetValue(CSVfileWriter.PacketsWrittenCounter, null) > 0)
{
string lineText = propertyInfo.Name + ":";
while (TextRenderer.MeasureText(lineText, Control.DefaultFont).Width < maxWidth)
{
lineText += " ";
}
dialogText += lineText + "\t" + propertyInfo.GetValue(CSVfileWriter.PacketsWrittenCounter, null).ToString() + Environment.NewLine;
}
}
// Add list of file names to dialog text
dialogText += Environment.NewLine + "Files created:" + Environment.NewLine;
foreach (string fileName in CSVfileWriter.FilesCreated)
{
dialogText += fileName + Environment.NewLine;
}
if (CSVfileWriter.FilesCreated.Length == 0)
{
dialogText += "None.";
}
}
// Display dialog text in PassiveMessageBox
PassiveMessageBox.Show(dialogText, caption, MessageBoxIcon.Information);
}
/// <summary>
/// Calibrated inertial/magnetic data received event to update objects.
/// </summary>
static void xIMUserial_CalInertialMagneticDataReceived(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
ballTracking.Gyroscope = new float[] { (e.Gyroscope[0] / 360) * (float)(2 * Math.PI), (e.Gyroscope[1] / 360) * (float)(2 * Math.PI), (e.Gyroscope[2] / 360) * (float)(2 * Math.PI) };
ballTracking.Update();
if (form_3Dcuboid != null)
{
form_3Dcuboid.TranslationVector = new float[] { ballTracking.Position[0], ballTracking.Position[1], 0.0f };
form_3Dcuboid.RotationMatrix = ballTracking.RotationMatrix;
}
else
{
SendInputClass.MouseEvent((int)(SendInputClass.MOUSEEVENTF.MOVE), (int)(ballTracking.Velocity[0] * 25.0), (int)(ballTracking.Velocity[1] * -25.0f), 0);
if (Math.Sqrt(e.Accelerometer[0] * e.Accelerometer[0] + e.Accelerometer[1] * e.Accelerometer[1] + e.Accelerometer[2] * e.Accelerometer[2]) > 5.0) // if accelerometer magnitude > 5 g
{
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.LEFTDOWN, 0, 0, 0);
SendInputClass.MouseEvent((int)SendInputClass.MOUSEEVENTF.LEFTUP, 0, 0, 0);
}
}
}
/// <summary>
/// Writes register data to xIMUfile object for each child nodes recursively from a root tree node.
/// </summary>
/// <param name="xIMUfile">
/// xIMUfile object to write to.
/// </param>
/// <param name="rootNode">
/// Root node of all child nodes for which a write register packet will be written.
/// </param>
private void WriteAllChildRegisterTreeNode(x_IMU_API.xIMUfile xIMUfile, TreeNode rootNode)
{
foreach (TreeNode childNode in rootNode.Nodes)
{
if (childNode is RegisterTreeNode)
{
try
{
xIMUfile.WriteWriteRegisterPacket((childNode as RegisterTreeNode).ConvertToRegisterData());
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else if (childNode.Nodes.Count > 0)
{
WriteAllChildRegisterTreeNode(xIMUfile, childNode); // for all child nodes recursively
}
}
}
/// <summary>
/// PortScanner AsyncScanProgressChanged event updates progress dialog and checks for user cancellation.
/// </summary>
private void portScanner_AsyncScanProgressChanged(object sender, x_IMU_API.AsyncScanProgressChangedEventArgs e)
{
this.EndInvoke(this.BeginInvoke(new MethodInvoker(delegate
{
if (autoConnectProgressDialog.HasUserCancelled)
{
((x_IMU_API.PortScanner)sender).CancelAnsycScan();
}
else
{
autoConnectProgressDialog.Line3 = e.ProgressMessage;
}
})));
}
/// <summary>
/// DigitalIOpanel OutputChanged event sends digital I/O packet.
/// </summary>
private void digitalIOpanel_OutputChanged(object sender, x_IMU_API.DigitalPortBits e)
{
try
{
xIMUserial.SendDigitalIOpacket(new x_IMU_API.DigitalIOdata(e));
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// Register data received event parses data to registerDataBuffer and displays warning if incompatible firmware version detected.
/// </summary>
private void xIMUserial_RegisterDataReceived(object sender, x_IMU_API.RegisterData e)
{
if (!Enum.IsDefined(typeof(x_IMU_API.RegisterAddresses), (int)e.Address))
{
PassiveMessageBox.Show("Register data received with unknown address 0x" + string.Format("{0:X4}", (ushort)e.Address) + ".", "Error", MessageBoxIcon.Error);
}
else
{
registerDataBuffer[(int)e.Address] = e;
if ((e.Address == x_IMU_API.RegisterAddresses.FirmwareVersionMajorNum) && (!Enum.IsDefined(typeof(x_IMU_API.CompatibleFirmwareVersions), (int)e.Value)))
{
PassiveMessageBox.Show("The detected x-IMU firmware version is not fully compatible with this version of the x-IMU GUI and API." + Environment.NewLine + Environment.NewLine +
"Please download and install the latest x-IMU software and firmware available from www.x-io.co.uk.", "Warning", MessageBoxIcon.Warning);
}
}
}
/// <summary>
/// xIMUserial RawBatteryAndThermometerDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_RawBatteryAndThermometerDataReceived(object sender, x_IMU_API.RawBatteryAndThermometerData e)
{
//batteryOscilloscope.Caption = "Raw Battery Data (lsb)";
//thermometerOscilloscope.Caption = "Raw Thermometer Data (lsb)";
batteryOscilloscope.AddScopeData(e.BatteryVoltage, 0.0f, 0.0f);
thermometerOscilloscope.AddScopeData(e.Thermometer, 0.0f, 0.0f);
}
/// <summary>
/// xIMUserial CalInertialAndMagneticDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_CalInertialAndMagneticDataReceived(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
gyroscopeOscilloscope.Caption = "Calibrated Gyroscope Data (˚/s)";
accelerometerOscilloscope.Caption = "Calibrated Accelerometer Data (g)";
magnetometerOscilloscope.Caption = "Calibrated Magnetometer Data (G)";
gyroscopeOscilloscope.AddScopeData(e.Gyroscope[0], e.Gyroscope[1], e.Gyroscope[2]);
accelerometerOscilloscope.AddScopeData(e.Accelerometer[0], e.Accelerometer[1], e.Accelerometer[2]);
magnetometerOscilloscope.AddScopeData(e.Magnetometer[0], e.Magnetometer[1], e.Magnetometer[2]);
}
/// <summary>
/// xIMUserial CalBatteryAndThermometerDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_CalBatteryAndThermometerDataReceived(object sender, x_IMU_API.CalBatteryAndThermometerData e)
{
batteryOscilloscope.Caption = "Calibrated Battery Data (V)";
thermometerOscilloscope.Caption = "Calibrated Thermometer Data (˚C)";
batteryOscilloscope.AddScopeData(e.BatteryVoltage, 0.0f, 0.0f);
thermometerOscilloscope.AddScopeData(e.Thermometer, 0.0f, 0.0f);
}
/// <summary>
/// xIMUfile xIMUdataRead event writes xIMUdata to file using binaryFileConverterCSVfileWriter.
/// </summary>
void xIMUfile_xIMUdataRead(object sender, x_IMU_API.xIMUdata e)
{
try
{
binaryFileConverterCSVfileWriter.WriteData(e);
}
catch { }
}
/// <summary>
/// xIMUfile AsyncReadProgressChanged event updates binaryFileConverterProgressDialog and checks for user cancellation.
/// </summary>
void xIMUfile_AsyncReadProgressChanged(object sender, x_IMU_API.AsyncReadProgressChangedEventArgs e)
{
this.EndInvoke(this.BeginInvoke(new MethodInvoker(delegate
{
if (binaryFileConverterProgressDialog.HasUserCancelled)
{
((x_IMU_API.xIMUfile)sender).CancelAnsycRead();
}
else
{
binaryFileConverterProgressDialog.Value = (uint)e.ProgressPercentage;
binaryFileConverterProgressDialog.Line3 = e.ProgressMessage;
}
})));
}
/// <summary>
/// xIMUfile AsyncReadCompleted event closes files, displays CSVfileWriterResults dialog and re-enables form controls.
/// </summary>
void xIMUfile_AsyncReadCompleted(object sender, x_IMU_API.AsyncReadCompletedEventArgs e)
{
binaryFileConverterCSVfileWriter.CloseFiles();
((x_IMU_API.xIMUfile)sender).Close();
if (!e.Cancelled)
{
CSVfileWriterResults.Show(binaryFileConverterCSVfileWriter, "Binary File Conversion Results");
}
this.EndInvoke(this.BeginInvoke(new MethodInvoker(delegate
{
button_convertBinaryFileConvert.Text = "Convert";
textBox_convertBinaryFileFilePath.Enabled = true;
button_convertBinaryFileConvert.Enabled = true;
button_convertBinaryFileBrowse.Enabled = true;
binaryFileConverterProgressDialog.CloseDialog();
})));
}
/// <summary>
/// xIMUserial RawADXL345busDataReceived event updates oscilloscope.
/// </summary>
void xIMUserial_RawADXL345busDataReceived(object sender, x_IMU_API.RawADXL345busData e)
{
ADXL345_Aoscilloscope.Caption = "Raw ADXL234 A Data (lsb)";
ADXL345_Boscilloscope.Caption = "Raw ADXL234 B Data (lsb)";
ADXL345_Coscilloscope.Caption = "Raw ADXL234 C Data (lsb)";
ADXL345_Doscilloscope.Caption = "Raw ADXL234 D Data (lsb)";
ADXL345_Aoscilloscope.AddScopeData(e.ADXL345_A[0], e.ADXL345_A[1], e.ADXL345_A[2]);
ADXL345_Boscilloscope.AddScopeData(e.ADXL345_B[0], e.ADXL345_B[1], e.ADXL345_B[2]);
ADXL345_Coscilloscope.AddScopeData(e.ADXL345_C[0], e.ADXL345_C[1], e.ADXL345_C[2]);
ADXL345_Doscilloscope.AddScopeData(e.ADXL345_D[0], e.ADXL345_D[1], e.ADXL345_D[2]);
}
/// <summary>
/// xIMUserial RawAnalogueInputDataReceived event updates oscilloscope.
/// </summary>
void xIMUserial_RawAnalogueInputDataReceived(object sender, x_IMU_API.RawAnalogueInputData e)
{
analogueInputAX0AX1oscilloscope.Caption = "Raw Analogue Input AX0 AX1 Data (lsb)";
analogueInputAX2AX3oscilloscope.Caption = "Raw Analogue Input AX2 AX3 Data (lsb)";
analogueInputAX4AX5oscilloscope.Caption = "Raw Analogue Input AX4 AX5 Data (lsb)";
analogueInputAX6AX7oscilloscope.Caption = "Raw Analogue Input AX6 AX7 Data (lsb)";
analogueInputAX0AX1oscilloscope.AddScopeData(e.AX0, e.AX1, 0.0f);
analogueInputAX2AX3oscilloscope.AddScopeData(e.AX2, e.AX3, 0.0f);
analogueInputAX4AX5oscilloscope.AddScopeData(e.AX4, e.AX5, 0.0f);
analogueInputAX6AX7oscilloscope.AddScopeData(e.AX6, e.AX7, 0.0f);
}
/// <summary>
/// xIMUserial xIMUdataReceived event writes xIMUdata to file using hardIronCalCSVfileWriter.
/// </summary>
void xIMUserial_CalInertialAndMagneticDataReceivedHardIronCal(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
if (hardIronCalCSVfileWriter != null)
{
try
{
hardIronCalCSVfileWriter.WriteCalInertialAndMagneticData(e);
}
catch { }
}
}
/// <summary>
/// xIMUserial RawInertialAndMagneticDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_RawInertialAndMagneticDataReceived(object sender, x_IMU_API.RawInertialAndMagneticData e)
{
gyroscopeOscilloscope.Caption = "Raw Gyroscope Data (lsb)";
accelerometerOscilloscope.Caption = "Raw Accelerometer Data (lsb)";
magnetometerOscilloscope.Caption = "Raw Magnetometer Data (lsb)";
gyroscopeOscilloscope.AddScopeData(e.Gyroscope[0], e.Gyroscope[1], e.Gyroscope[2]);
accelerometerOscilloscope.AddScopeData(e.Accelerometer[0], e.Accelerometer[1], e.Accelerometer[2]);
magnetometerOscilloscope.AddScopeData(e.Magnetometer[0], e.Magnetometer[1], e.Magnetometer[2]);
}
/// <summary>
/// xIMUserial CommandDataReceived event displays message in PassiveMessageBox if enabled by CheckBox.
/// </summary>
private void xIMUserial_CommandDataReceived(object sender, x_IMU_API.CommandData e)
{
if (checkBox_displayCommandConfirmations.Checked)
{
PassiveMessageBox.Show("Command confirmed: " + e.GetMessage(), "Message From x-IMU", MessageBoxIcon.Information);
}
}
/// <summary>
/// xIMUserial xIMUdataReceived event writes xIMUdata to file using dataLoggerCSVfileWriter.
/// </summary>
void xIMUserial_xIMUdataReceived(object sender, x_IMU_API.xIMUdata e)
{
if (dataLoggerCSVfileWriter != null)
{
try
{
dataLoggerCSVfileWriter.WriteData(e);
}
catch { }
}
}
/// <summary>
/// xIMUserial DateTimeDataReceived event parses data to dateTimeDataBuffer.
/// </summary>
private void xIMUserial_DateTimeDataReceived(object sender, x_IMU_API.DateTimeData e)
{
dateTimeDataBuffer = e;
}
/// <summary>
/// PortScanner AsyncScanCompleted event opens x-IMU serial port if successful.
/// </summary>
private void portScanner_AsyncScanCompleted(object sender, x_IMU_API.AsyncScanCompletedEventArgs e)
{
try
{
if (e.Cancelled)
{
throw new Exception();
}
this.EndInvoke(this.BeginInvoke(new MethodInvoker(delegate
{
comboBox_portName.Text = e.PortAssignments[0].PortName;
OpenPort();
autoConnectProgressDialog.CloseDialog();
})));
PassiveMessageBox.Show("Connected to x-IMU " + e.PortAssignments[0].DeviceID + " on " + e.PortAssignments[0].PortName + ".", "Information", MessageBoxIcon.Information);
}
catch
{
this.EndInvoke(this.BeginInvoke(new MethodInvoker(delegate
{
ClosePort();
autoConnectProgressDialog.CloseDialog();
})));
}
}
/// <summary>
/// xIMUserial DigitalIODataReceived event parses DigitalIOdata to DigitalIOpanel.
/// </summary>
private void xIMUserial_DigitalIODataReceived(object sender, x_IMU_API.DigitalIOdata e)
{
form_digitalIOpanel.Direction = e.Direction;
form_digitalIOpanel.State = e.State;
}
/// <summary>
/// PWMoutputPanel ValuesChanged event to send PWMoutputData packet.
/// </summary>
void PWMoutputPanel_ValuesChanged(object sender, x_IMU_API.PWMoutputData e)
{
try
{
xIMUserial.SendPWMoutputPacket(e);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// xIMUserial ErrorDataReceived received event displays error in PassiveMessageBox.
/// </summary>
private void xIMUserial_ErrorDataReceived(object sender, x_IMU_API.ErrorData e)
{
PassiveMessageBox.Show("Error: " + e.GetMessage(), "Message From x-IMU", MessageBoxIcon.Error);
}
/// <summary>
/// Shows <see cref="CSVfileWriter"/> packet counts and file names in <see cref="PassiveMessageBox"/>.
/// </summary>
/// <param name="CSVfileWriter">
/// <see cref="CSVfileWriter"/> object.
/// </param>
public static void Show(x_IMU_API.CSVfileWriter CSVfileWriter)
{
Show(CSVfileWriter, "CSVfileWriterResults");
}
/// <summary>
/// xIMUserial PWMoutputDataReceived event parses PWMoutputData to PWMoutputPanel.
/// </summary>
void xIMUserial_PWMoutputDataReceived(object sender, x_IMU_API.PWMoutputData e)
{
form_PWMoutputPanel.PWMoutputData = e;
}
static void xIMUserial_CalInertialAndMagneticDataReceived_updateIMU(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
AHRS.Update(deg2rad(e.Gyroscope[0]), deg2rad(e.Gyroscope[1]), deg2rad(e.Gyroscope[2]), e.Accelerometer[0], e.Accelerometer[1], e.Accelerometer[2]);
}
/// <summary>
/// xIMUserial QuaternionDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_QuaternionDataReceived(object sender, x_IMU_API.QuaternionData e)
{
float[] euler = e.ConvertToEulerAngles();
eulerAnglesOscilloscope.Caption = "Euler Angles Data (˚)";
eulerAnglesOscilloscope.AddScopeData(euler[0], euler[1], euler[2]);
form_3Dcuboid.RotationMatrix = e.ConvertToRotationMatrix();
}
