public static IMU_Display_Monitor getIMU_Display_Monitor()
{
if (imu_Display_Monitor == null || imu_Display_Monitor.IsDisposed)
{
imu_Display_Monitor = new IMU_Display_Monitor();
return(imu_Display_Monitor);
}
return(imu_Display_Monitor);
}
// Non-static method
public void sensorEventThread()
{
try
{
while (true)
{
ZenEvent zenEvent = new ZenEvent();
//Console.WriteLine(mZenHandle);
if (OpenZen.ZenWaitForNextEvent(mZenHandle, zenEvent))
{
if (zenEvent.component.handle == 0)
{
// if the handle is on, its not a sensor event but a system wide
// event
switch (zenEvent.eventType)
{
case (int)ZenSensorEvent.ZenSensorEvent_SensorFound:
Console.WriteLine("found sensor event event " + zenEvent.data.sensorFound.name);
mFoundSensors.Add(zenEvent.data.sensorFound);
break;
case (int)ZenSensorEvent.ZenSensorEvent_SensorListingProgress:
if (zenEvent.data.sensorListingProgress.progress == 1.0)
{
mSearchDone = true;
}
break;
}
}
else
{
switch (zenEvent.eventType)
{
case (int)ZenImuEvent.ZenImuEvent_Sample:
mImuEventCount++;
if (mImuEventCount % 100 == 0)
{
continue;
}
// read acceleration
OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
// read euler angles
OpenZenFloatArray fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.g);
// read quaternion
OpenZenFloatArray fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.b);
// Output Data
IMU_Display_Monitor imu = FormProvider.getIMU_Display_Monitor();
// Accelerometer
imu.acx = fa.getitem(0);
imu.acy = fa.getitem(1);
imu.acz = fa.getitem(2);
// Gyroscope
imu.gyx = fg.getitem(0);
imu.gyy = fg.getitem(1);
imu.gyz = fg.getitem(2);
// Magnetometer
imu.mgx = fb.getitem(0);
imu.mgy = fb.getitem(1);
imu.mgz = fb.getitem(2);
break;
}
}
}
}
}
catch (ThreadAbortException)
{
}
}
