public async void StartMagnetometerCalibrationTask(MetroWindow window)
{
CancelUpdateTask();
_ctsMagnetometerCalibration = new CancellationTokenSource();
var controller = await window.ShowProgressAsync("Magnetometer Calibration", null, true);
CancellationToken token = _ctsMagnetometerCalibration.Token;
try
{
await Task.Run(() =>
{
PsMoveApi.psmove_reset_magnetometer_calibration(_motionController.Handle);
int oldRange = 0;
bool calibrationFinished = false;
Color color = _motionController.Color;
while (!token.IsCancellationRequested && !calibrationFinished)
{
while (PsMoveApi.psmove_poll(_motionController.Handle) > 0)
{
float ax, ay, az;
PsMoveApi.psmove_get_magnetometer_vector(_motionController.Handle, out ax, out ay, out az);
int range = PsMoveApi.psmove_get_magnetometer_calibration_range(_motionController.Handle);
MagnetometerCalibrationProgress = 100 * range / 320;
if (MagnetometerCalibrationProgress > 100)
{
MagnetometerCalibrationProgress = 100;
}
else if (MagnetometerCalibrationProgress < 0)
{
MagnetometerCalibrationProgress = 0;
}
controller.SetProgress(MagnetometerCalibrationProgress / 100.0);
float r = (color.r / 100) * MagnetometerCalibrationProgress;
float g = (color.g / 100) * MagnetometerCalibrationProgress;
float b = (color.b / 100) * MagnetometerCalibrationProgress;
SetLED(new Color(r, g, b));
PsMoveApi.psmove_update_leds(_motionController.Handle);
if (controller.IsCanceled)
{
CancelMagnetometerCalibrationTask();
}
if (range >= 320)
{
if (oldRange > 0)
{
PsMoveApi.psmove_save_magnetometer_calibration(_motionController.Handle);
calibrationFinished = true;
break;
}
}
else if (range > oldRange)
{
controller.SetMessage(string.Format("Rotate the controller in all directions: {0}%...",
MagnetometerCalibrationProgress));
oldRange = range;
}
}
}
});
}
catch (OperationCanceledException)
{
}
catch (Exception ex)
{
Console.WriteLine(ex.StackTrace);
}
await controller.CloseAsync();
if (controller.IsCanceled)
{
await window.ShowMessageAsync("Magnetometer Calibration", "Calibration has been cancelled.");
}
else
{
await window.ShowMessageAsync("Magnetometer Calibration", "Calibration finished successfully.");
}
}