public static void ParseWhole(byte[] data, RawSensorSensitivity sensitivity, Action <RawSensorData> onCompleted)
{
int metaLength = 4;
int metaOffset = 0;
UInt32 timestamp = 1;
while ((metaOffset + metaLength < data.Length) && (timestamp > 0))
{
UInt32 meta = 0;
int add = 0;
meta = BitConverter.ToUInt32(data, metaOffset);
int messageOffset = 0;
int messageLength = 0;
if (meta > 0)
{
UInt32 packetType = (meta & (UInt32)(0x80000000)) >> 31;
timestamp = (UInt32)(meta & (UInt32)(0x7fffffff));
RawSensorDataType type = RawSensorDataType.None;
if (timestamp == 0)
{
return;
}
if (packetType == 0)
{
messageOffset = metaOffset + metaLength;
messageLength = 12;
type = RawSensorDataType.IMU;
add = 12;
}
else if (packetType == 1)
{
messageOffset = metaOffset + metaLength;
messageLength = 30;
add = 30;
type = RawSensorDataType.Device;
}
else
{
return;
}
if (type != RawSensorDataType.None)
{
if (messageOffset + messageLength < data.Length)
{
RawSensorDataParser.ParseSingle(type, timestamp, data.Skip(messageOffset).Take(messageLength).ToArray(), sensitivity, onCompleted);
}
}
if (add == 0)
{
return;
}
}
else
{
return;
}
metaOffset = metaOffset + metaLength + add;
}
}
public static RawSensorData Create(RawSensorDataType _type, UInt32 _timestamp, byte[] dataArray, RawSensorSensitivity sensitivitiy)
{
if (_type == RawSensorDataType.None)
{
return(null);
}
List <Point3> pointsInProcess = new List <Point3>();
string pointSensitivity = _type == RawSensorDataType.Device ? RawSensorSensitivity.kDeviceAccelerometer : RawSensorSensitivity.kIMUGyro;
int pointsDataOffset = 0;
int pointsDataLength = 6;
while (pointsDataOffset < dataArray.Length)
{
if (pointsDataOffset + pointsDataLength - 1 < dataArray.Length)
{
double sens = sensitivitiy.getSensitivity(pointSensitivity);
Point3 point = Point3.Create(dataArray.Skip(pointsDataOffset).Take(pointsDataLength).ToArray(), sens);
if (point != null)
{
pointsInProcess.Add(point);
}
else
{
return(null);
}
pointsDataOffset += pointsDataLength;
if (_type == RawSensorDataType.IMU)
{
pointSensitivity = RawSensorSensitivity.kIMUAccelerometer;
}
}
else
{
return(null);
}
}
if (_type == RawSensorDataType.IMU)
{
if (pointsInProcess.Count != 2)
{
return(null);
}
}
else if (_type == RawSensorDataType.Device)
{
if (pointsInProcess.Count != 5)
{
return(null);
}
}
return(new RawSensorData(_type, _timestamp, pointsInProcess.ToArray()));
}
private static void ParseSingle(RawSensorDataType type, UInt32 timestamp, byte[] data, RawSensorSensitivity sensitivity, Action <RawSensorData> onCompleted)
{
RawSensorData rsData = RawSensorData.Create(type, timestamp, data, sensitivity);
if (rsData != null)
{
onCompleted(rsData);
}
}
private TAPInputMode(string _mode, RawSensorSensitivity _sensitivity = null)
{
this.mode = validateModeString(_mode);
this.sensitivity = _sensitivity;
}
public static TAPInputMode RawSensor(RawSensorSensitivity sensitivity)
{
return(new TAPInputMode(TAPInputMode.kRawSensor, sensitivity));
}
