public Wimu(string wimuSerialPortNumber)
{
WimuData = new WimuData();
serialPortConfigured = configSerialPort(wimuSerialPortNumber);
if(serialPortConfigured)
configBw();
}
private void bw_DoWork(object sender, DoWorkEventArgs e)
{
while (!trabajador.CancellationPending)
{
WimuData = readWimuData();
}
}
private void bw_DoWork(object sender, DoWorkEventArgs e)
{
while (!trabajador.CancellationPending)
{
WimuData = readWimuData();
}
}
PointD linearTransformation()
{
WimuData offsetHead = refPointHead - currentHeadLocation();
PointD deltaCursorLocation = offsetHead2CursorLocation(offsetHead);
return(deltaCursorLocation);
}
PointD offsetHead2CursorLocation(WimuData offsetHead)
{
PointD deltaCursorLocation = new PointD();
deltaCursorLocation.X = offsetHead.yaw * linearCoefYaw;
deltaCursorLocation.Y = offsetHead.pitch * linearCoefPitch;
return(deltaCursorLocation);
}
public Wimu(string wimuSerialPortNumber)
{
WimuData = new WimuData();
serialPortConfigured = configSerialPort(wimuSerialPortNumber);
if (serialPortConfigured)
{
configBw();
}
}
private WimuData readWimuData()
{
WimuData wimudata = new WimuData();
string message = string.Empty;
do
{
try
{
message = wimuSerialPort.ReadLine();
}
catch
{
//cancelar al trabajador
//retornar nada
trabajador.CancelAsync();
wimudata.SetNullValue();
return(wimudata);
}
}while (!message.StartsWith("#YPR") || !message.EndsWith("\r"));
string[] words = message.Split('=', ',', '\r');
//#YPR=Yaw, Pitch, Roll, Yaw+Pitch+Roll, alfa, beta, gama, alfa+beta+gama, timeStamp
//ver si el último carácter es una "r" para saber si esta completo
/*
* [0]: "#YPR"
* [1]: "-18.16" yaw
* [2]: "-10.29" pitch
* [3]: "21.03" roll
* [4]: "-7.42"
* [5]: "-3.60"
* [6]: "-30.02"
* [7]: "-4.13"
* [8]: "-37.75"
* [9]: "285980" timestamp
* [10]: ""
*/
try
{
wimudata.yaw = Convert.ToDouble(words[1], CultureInfo.InvariantCulture); // X YAW
wimudata.pitch = Convert.ToDouble(words[2], CultureInfo.InvariantCulture); // PITCH
wimudata.roll = Convert.ToDouble(words[3], CultureInfo.InvariantCulture); // Y ROLL
wimudata.timeStampMiliSec = Convert.ToDouble(words[9], CultureInfo.InvariantCulture);
wimudata.validValue = true;
}
catch
{
wimudata.SetNullValue();
}
return(wimudata);
}
public PointD GetDeltaLocationFromHEADTracking()
{
if (refPointHead == null)
{
refPointHead = currentHeadLocation();
deltaCursor = new PointD(0, 0);
return(deltaCursor);
}
else
{
PointD deltaCursorLocation = linearTransformation();
return(deltaCursorLocation);
}
}
private WimuData readWimuData()
{
WimuData wimudata = new WimuData();
string message = string.Empty;
do
{
try
{
message = wimuSerialPort.ReadLine();
}
catch
{
//cancelar al trabajador
//retornar nada
trabajador.CancelAsync();
wimudata.SetNullValue();
return wimudata;
}
}
while (!message.StartsWith("#YPR") || !message.EndsWith("\r"));
string[] words = message.Split('=',',','\r');
//#YPR=Yaw, Pitch, Roll, Yaw+Pitch+Roll, alfa, beta, gama, alfa+beta+gama, timeStamp
//ver si el último carácter es una "r" para saber si esta completo
/*
[0]: "#YPR"
[1]: "-18.16" yaw
[2]: "-10.29" pitch
[3]: "21.03" roll
[4]: "-7.42"
[5]: "-3.60"
[6]: "-30.02"
[7]: "-4.13"
[8]: "-37.75"
[9]: "285980" timestamp
[10]: ""
*/
try
{
wimudata.yaw = Convert.ToDouble(words[1], CultureInfo.InvariantCulture); // X YAW
wimudata.pitch = Convert.ToDouble(words[2], CultureInfo.InvariantCulture); // PITCH
wimudata.roll = Convert.ToDouble(words[3], CultureInfo.InvariantCulture); // Y ROLL
wimudata.timeStampMiliSec = Convert.ToDouble(words[9], CultureInfo.InvariantCulture);
wimudata.validValue = true;
}
catch
{
wimudata.SetNullValue();
}
return wimudata;
}
WimuData currentHeadLocation()
{
WimuData currentHeadLocation = wimuDevice.WimuData;
return(currentHeadLocation);
}
private void GazePoint(object sender, GazePointEventArgs gazePointEventArgs)
{
headData = wimuDevice.WimuData;
headData.timeStampMiliSec = (double)PseudoTimeStampMiliSecImu++;
BeginInvoke(new Action(() =>
{
var handle = Handle;
if (handle == null)
{
// window not created yet. never mind.
return;
}
_trackStatus.OnGazeData(gazePointEventArgs.GazeDataReceived);
progressBar4Distance.Value = eyetrackingFunctions.distanceBetweenDev2User(gazePointEventArgs.GazeDataReceived);
Invalidate();
headData2Chart(headData);
}));
if (AppControlCursor)
{
PointD deltaCursor = head2deltaCursor.GetDeltaLocationFromHEADTracking();
//PointD deltaCursor = new PointD(0, 0);
PointD gazeWeighted = eyetrackingFunctions.WeighGaze(gazePointEventArgs.GazeDataReceived);//valores normalizados
PointD gazeFilteredNormalized = gazeFilter.filterGazeData(gazeWeighted);//valores normalizados
PointD gazeFilteredPixels = eyetrackingFunctions.normalized2Pixels(gazeFilteredNormalized);
Point cursorLocation = (Point)fusionador.getCursorLocation(true, deltaCursor, gazeFilteredPixels);
CursorControl.locateCursor(cursorLocation);
}
}
private void headData2Chart(WimuData headData)
{
point2Chart(new PointD(headData.timeStampMiliSec, headData.yaw), chartYaw);
point2Chart(new PointD(headData.timeStampMiliSec, headData.pitch), chartPitch);
point2Chart(new PointD(headData.timeStampMiliSec, headData.roll), chartRoll);
}
