private async void _OnBLEDeviceFound(BluetoothLEAdvertisementReceivedEventArgs pBLEAdvertisement)
{
// Treats BLE devices one after the other to avoid issues with async tasks.
_bleScanner.StopScanning();
if (!_connectedMWBoards.Keys.Contains(pBLEAdvertisement.BluetoothAddress))
{
BluetoothLEDevice bleDevice = await BluetoothLEDevice.FromBluetoothAddressAsync(pBLEAdvertisement.BluetoothAddress);
if (bleDevice != null)
{
IMetaWearBoard mwBoard = MbientLab.MetaWear.Win10.Application.GetMetaWearBoard(bleDevice);
//mwBoard.TimeForResponse = 2000;
await mwBoard.InitializeAsync();
if (mwBoard.IsConnected)
{
// board is connected.
Console.WriteLine(string.Format("[MetaWearBoardsManager] MetaWear board {0} {1}.",
Global.MacToString(bleDevice.BluetoothAddress), bleDevice.ConnectionStatus));
// Add board.
_connectedMWBoards.Add(bleDevice.BluetoothAddress, new Tuple <IMetaWearBoard, BluetoothLEDevice>(mwBoard, bleDevice));
bleDevice.ConnectionStatusChanged += _OnConnectionStatusChanged;
}
}
}
// Check for restarting Scan.
_CheckForScanning();
}
static async Task Main(string[] args)
{
IMetaWearBoard board = null;
bool succeed = false;
int retries = 5;
//while (!succeed && retries > 0)
{
//try
{
board = MbientLab.MetaWear.NetStandard.Application.GetMetaWearBoard(args[0]);
//var board = BLEMetawear.Application.GetMetaWearBoard(args[0]);
board.TimeForResponse = 100000;
board.OnUnexpectedDisconnect += OnDisconneted;
await board.InitializeAsync();
succeed = true;
}
//catch
{
retries--;
}
}
ILed led = null;
ISensorFusionBosch sensor = null;
if (board.IsConnected)
{
led = board.GetModule <ILed>();
led.EditPattern(MbientLab.MetaWear.Peripheral.Led.Color.Green, MbientLab.MetaWear.Peripheral.Led.Pattern.Solid);
led.Play();
sensor = board.GetModule <ISensorFusionBosch>();
sensor.Configure();
var rout = await sensor.EulerAngles.AddRouteAsync(source =>
{
try
{
source.Stream(data =>
{
var value = data.Value <EulerAngles>();
var AngularRead = (int)value.Roll;
var OrbitalRead = (int)value.Pitch;
//Console.Clear();
Console.Write($"\rroll: {value.Roll} pitch:{value.Pitch} Yaw:{value.Yaw} ");
//Rotate(-value.Pitch, 0 , -value.Yaw);
});
}
catch (Exception ex)
{
Console.Write(ex.Message);
//LogException(LoggerCategory, ex, "Could not initialize IMU stream callback");
throw;
}
});
sensor.EulerAngles.Start();
sensor.Start();
}
ConsoleKeyInfo key = new ConsoleKeyInfo();
while (key.Key != ConsoleKey.Q)
{
key = Console.ReadKey();
}
if (board.IsConnected)
{
if (led != null)
{
led.Stop(true);
}
if (sensor != null)
{
sensor.EulerAngles.Stop();
sensor.Stop();
}
await board.DisconnectAsync();
//board.TearDown();
}
}
private async void OnConnect(object sender, RoutedEventArgs e)
{
var item = lst.SelectedItem as BLEDevice;
if (item != null)
{
if (m_Metaware == null)
{
await MbientLab.MetaWear.NetStandard.Application.ClearDeviceCacheAsync(item.Mac);
m_Metaware = MbientLab.MetaWear.NetStandard.Application.GetMetaWearBoard(item.Mac);
m_Metaware.TimeForResponse = 100000;
}
if (m_Metaware.IsConnected)
{
await Disconnect();
}
else
{
try
{
int retries = 5;
do
{
try
{
btnConnect.Content = "Connecting...";
btnConnect.IsEnabled = false;
m_Metaware.OnUnexpectedDisconnect += OnDisconneted;
await m_Metaware.InitializeAsync();
retries = -1;
}
catch
{
retries--;
}
} while (retries > 0);
btnConnect.IsEnabled = true;
if (m_Metaware.IsConnected)
{
var batteryLevel = await m_Metaware.ReadBatteryLevelAsync();
var led = m_Metaware.GetModule <ILed>();
led.EditPattern(MbientLab.MetaWear.Peripheral.Led.Color.Green, MbientLab.MetaWear.Peripheral.Led.Pattern.Solid);
led.Play();
item.BatteryLevel = batteryLevel;
BatteryText.Text = $" Battery:{batteryLevel}";
btnConnect.Content = "Disconnect";
m_Connected = true;
//m_Metaware.GetModule<IMagnetometerBmm150>();
//m_Gyro = m_Metaware.GetModule<IGyroBmi160>();
//m_Gyro.Configure(OutputDataRate._100Hz);
//m_Accelerometer = m_Metaware.GetModule<IAccelerometer>();
//m_Accelerometer.Configure(odr: 100f, range: 8f);
m_SensorFusion = m_Metaware.GetModule <ISensorFusionBosch>();
m_SensorFusion.Configure();
var rout = await m_SensorFusion.EulerAngles.AddRouteAsync(source =>
{
try
{
source.Stream(async data =>
{
await Dispatcher.InvokeAsync(() =>
{
var value = data.Value <EulerAngles>();
AngleText.Text = value.ToString();
Rotate(-value.Roll, -value.Pitch, -value.Yaw);
//Rotate(-value.Pitch, 0 , -value.Yaw);
});
});
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
});
if (!rout.Valid)
{
MessageBox.Show("rout invalid");
}
await m_SensorFusion.Gravity.AddRouteAsync(source =>
{
source.Stream(async data =>
{
await Dispatcher.InvokeAsync(() =>
{
var value = data.Value <Acceleration>();
GravityText.Text = value.ToString();
//Rotate(-value.Roll, -value.Pitch, -value.Yaw);
//Rotate(-value.Pitch, 0 , -value.Yaw);
});
});
});
//var calib = await m_SensorFusion.ReadCalibrationStateAsync();
m_SensorFusion.Gravity.Start();
m_SensorFusion.EulerAngles.Start();
m_SensorFusion.Start();
//Scanner.Stop();
}
else
{
throw new InvalidOperationException("Could not connect");
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
btnConnect.Content = "Connect";
m_Connected = false;
}
}
}
}