Exemplo n.º 1
0
 public SensorsData(IMUData imu0, IMUData imu1, IMUData imu2, IMUData imu3)
 {
     this.imu0 = new SampleIMUData(imu0);
     this.imu1 = new SampleIMUData(imu1);
     this.imu2 = new SampleIMUData(imu2);
     this.imu3 = new SampleIMUData(imu3);
 }
Exemplo n.º 2
0
 public void addAllData(IMUData imu0, IMUData imu1, IMUData imu2, IMUData imu3)
 {
     this.imu0 = new SampleIMUData(imu0);
     this.imu1 = new SampleIMUData(imu1);
     this.imu2 = new SampleIMUData(imu2);
     this.imu3 = new SampleIMUData(imu3);
 }
Exemplo n.º 3
0
        public SampleIMUData(IMUData imudata)
        {
            this.accx = imudata.accx;
            this.accy = imudata.accy;
            this.accz = imudata.accz;


            this.gysx = imudata.gysx;
            this.gysy = imudata.gysy;
            this.gysz = imudata.gysz;

            this.mgtx = imudata.mgtx;
            this.mgty = imudata.mgty;
            this.mgtz = imudata.mgtz;

            this.roll  = imudata.eulerx;
            this.pitch = imudata.eulery;
            this.yaw   = imudata.eulerz;
        }
Exemplo n.º 4
0
        public void Copy(IMUData c_imuData)
        {
            this.raw_accx = c_imuData.raw_accx;
            this.raw_accy = c_imuData.raw_accy;
            this.raw_accz = c_imuData.raw_accz;

            this.accx = c_imuData.accx;
            this.accy = c_imuData.accy;
            this.accz = c_imuData.accz;

            this.raw_gysx = c_imuData.raw_gysx;
            this.raw_gysy = c_imuData.raw_gysy;
            this.raw_gysz = c_imuData.raw_gysz;

            this.gysx = c_imuData.gysx;
            this.gysy = c_imuData.gysy;
            this.gysz = c_imuData.gysz;

            this.raw_mgtx = c_imuData.raw_mgtx;
            this.raw_mgty = c_imuData.raw_mgty;
            this.raw_mgtz = c_imuData.raw_mgtz;

            this.mgtx = c_imuData.mgtx;
            this.mgty = c_imuData.mgty;
            this.mgtz = c_imuData.mgtz;

            this.eulerx = c_imuData.eulerx;
            this.eulery = c_imuData.eulery;
            this.eulerz = c_imuData.eulerz;

            this.quatx = c_imuData.quatx;
            this.quaty = c_imuData.quaty;
            this.quatz = c_imuData.quatz;

            this.isNull = c_imuData.isNotSet();
        }
Exemplo n.º 5
0
 public static void transferDevice4_Data(IMUData imuData)
 {
     MainForm.imuData_Device4.Copy(imuData);
 }
Exemplo n.º 6
0
            // Non-static method
            public void sensorEventThread()
            {
                try
                {
                    OpenZen.ZenInit(device_Handle);
                    ZenEvent zenEvent  = new ZenEvent();
                    Boolean  connected = false;

                    ZenSensorInitError sensorInitError = ZenSensorInitError.ZenSensorInitError_Max;
                    // try three connection attempts
                    for (int i = 0; i < 1; i++)
                    {
                        sensorInitError = OpenZen.ZenObtainSensor(device_Handle, mSensor, device_Sensor);

                        if (sensorInitError == ZenSensorInitError.ZenSensorInitError_None)
                        {
                            connected = true;
                            // Enable Disconnect Button
                            MainForm mainForm = FormProvider.getMain();
                            switch (device_No)
                            {
                            case 1:
                                if (mainForm.InvokeRequired)
                                {
                                    mainForm.BeginInvoke((Action) delegate() {
                                        mainForm.device_List1.Enabled       = false;
                                        mainForm.disconnect_Device1.Visible = true;
                                        mainForm.connect_Device1.Enabled    = false;
                                    });
                                }
                                else
                                {
                                    mainForm.device_List1.Enabled       = false;
                                    mainForm.disconnect_Device1.Visible = true;
                                    mainForm.connect_Device1.Enabled    = false;
                                }
                                break;

                            case 2:
                                if (mainForm.InvokeRequired)
                                {
                                    mainForm.BeginInvoke((Action) delegate() {
                                        mainForm.device_List2.Enabled       = false;
                                        mainForm.disconnect_Device2.Visible = true;
                                        mainForm.connect_Device2.Enabled    = false;
                                    });
                                }
                                else
                                {
                                    mainForm.device_List2.Enabled       = false;
                                    mainForm.disconnect_Device2.Visible = true;
                                    mainForm.connect_Device2.Enabled    = false;
                                }
                                break;

                            case 3:
                                if (mainForm.InvokeRequired)
                                {
                                    mainForm.BeginInvoke((Action) delegate() {
                                        mainForm.device_List3.Enabled       = false;
                                        mainForm.disconnect_Device3.Visible = true;
                                        mainForm.connect_Device3.Enabled    = false;
                                    });
                                }
                                else
                                {
                                    mainForm.device_List3.Enabled       = false;
                                    mainForm.disconnect_Device3.Visible = true;
                                    mainForm.connect_Device3.Enabled    = false;
                                }
                                break;

                            case 4:
                                if (mainForm.InvokeRequired)
                                {
                                    mainForm.BeginInvoke((Action) delegate() {
                                        mainForm.device_List4.Enabled       = false;
                                        mainForm.disconnect_Device4.Visible = true;
                                        mainForm.connect_Device4.Enabled    = false;
                                    });
                                }
                                else
                                {
                                    mainForm.device_List4.Enabled       = false;
                                    mainForm.disconnect_Device4.Visible = true;
                                    mainForm.connect_Device4.Enabled    = false;
                                }
                                break;
                            }
                            MessageBox.Show("Succesfully connected to sensor for Device #" + device_No.ToString());
                            break;
                        }
                        else
                        {
                            MessageBox.Show("Failed");
                        }
                    }

                    while (connected)
                    {
                        //Console.WriteLine(mZenHandle);
                        if (OpenZen.ZenWaitForNextEvent(device_Handle, zenEvent))
                        {
                            if (zenEvent.component.handle != 0)
                            {
                                switch (zenEvent.eventType)
                                {
                                case (int)ZenImuEvent.ZenImuEvent_Sample:
                                    count++;

                                    // read raw accelerometer
                                    OpenZenFloatArray raw_fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.aRaw);
                                    // read calibrated accelerometer
                                    OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
                                    // read raw accelerometer
                                    OpenZenFloatArray raw_fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.gRaw);
                                    // read calibrated gyroscope
                                    OpenZenFloatArray fg = OpenZenFloatArray.frompointer(zenEvent.data.imuData.g);
                                    // read raw magnetometer
                                    OpenZenFloatArray raw_fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.bRaw);
                                    // read calibrated magnetometer
                                    OpenZenFloatArray fb = OpenZenFloatArray.frompointer(zenEvent.data.imuData.b);
                                    // read euler angle
                                    OpenZenFloatArray fr = OpenZenFloatArray.frompointer(zenEvent.data.imuData.r);
                                    // read quaternion
                                    OpenZenFloatArray fq = OpenZenFloatArray.frompointer(zenEvent.data.imuData.q);


                                    // Create new imuData object
                                    IMUData imuData = new IMUData(
                                        raw_fa.getitem(0), raw_fa.getitem(1), raw_fa.getitem(2),
                                        fa.getitem(0), fa.getitem(1), fa.getitem(2),
                                        raw_fg.getitem(0), raw_fg.getitem(1), raw_fg.getitem(2),
                                        fg.getitem(0), fg.getitem(1), fg.getitem(2),
                                        raw_fb.getitem(0), raw_fb.getitem(1), raw_fb.getitem(2),
                                        fb.getitem(0), fb.getitem(1), fb.getitem(2),
                                        fr.getitem(0), fr.getitem(1), fr.getitem(2),
                                        fq.getitem(0), fq.getitem(1), fq.getitem(2)
                                        );     // Push data in to the new imuData Object

                                    switch (device_No)
                                    {
                                    case (1):
                                        transferDevice1_Data(imuData);
                                        //Debug.WriteLine(count);
                                        break;

                                    case (2):
                                        transferDevice2_Data(imuData);
                                        break;

                                    case (3):
                                        transferDevice3_Data(imuData);
                                        break;

                                    case (4):
                                        transferDevice4_Data(imuData);
                                        Debug.WriteLine(count);
                                        break;
                                    }

                                    break;
                                }
                            }
                        }
                    }
                }
                catch (ThreadAbortException)
                {
                }
            }