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()));
}
