void ReadMotion()
{
if (Motion.IsSupported)
{
MotionReading reading = sensor.CurrentValue;
Vector3 gravity = reading.Gravity;
gravityX.Text = "" + gravity.X;
gravityY.Text = "" + gravity.Y;
gravityZ.Text = "" + gravity.Z;
AttitudeReading attitude = reading.Attitude;
attitudeX.Text = "" + attitude.Pitch;
attitudeY.Text = "" + attitude.Roll;
attitudeZ.Text = "" + attitude.Yaw;
}
}
async void _motion_CurrentValueChanged(object sender, SensorReadingEventArgs <MotionReading> e)
{
AttitudeReading attitude = e.SensorReading.Attitude;
Vector3 deviceAcceleration = e.SensorReading.DeviceAcceleration;
Vector3 deviceRotationRate = e.SensorReading.DeviceRotationRate;
Vector3 gravity = e.SensorReading.Gravity;
String showstr = "";
// 在 UI 上显示相关参数
showstr = "yaw: " + MathHelper.ToDegrees(attitude.Yaw).ToString("0.0");
showstr += Environment.NewLine;
showstr += "pitch: " + MathHelper.ToDegrees(attitude.Pitch).ToString("0.0");
showstr += Environment.NewLine;
showstr += "roll: " + MathHelper.ToDegrees(attitude.Roll).ToString("0.0");
showstr += Environment.NewLine;
showstr += "deviceAcceleration: \n" + deviceAcceleration.ToString();
showstr += Environment.NewLine;
showstr += "deviceRotationRate: \n" + deviceRotationRate.ToString();
showstr += Environment.NewLine;
showstr += "Gravity: \n" + gravity.ToString();
showstr += Environment.NewLine;
showstr += e.SensorReading.Timestamp;
lblMsg.Dispatcher.BeginInvoke(() =>
{
lblMsg.Text = "MotionReading:\n" + showstr;
});
if (post)
{
String poststr = "{'yaw':" + MathHelper.ToDegrees(attitude.Yaw).ToString("0.0") + ",'pitch':" + MathHelper.ToDegrees(attitude.Pitch).ToString("0.0") + ",'roll':" + MathHelper.ToDegrees(attitude.Roll).ToString("0.0") +
",'dacx':" + deviceAcceleration.X + ",'dacy':" + deviceAcceleration.Y + ",'dacz':" + deviceAcceleration.Z +
",'drx':" + deviceRotationRate.X + ",'dry':" + deviceRotationRate.Y + ",'drz':" + deviceRotationRate.Z +
",'gx':" + gravity.X + ",'gy':" + gravity.Y + ",'gz':" + gravity.Z + "}";
string s = await pb1.sender(poststr);
//string s = await pb1.sender("{ 'DeviceId':'dev-01', 'Temperature':" + (++index).ToString() + " }");
PostMotionStatus.Dispatcher.BeginInvoke(() =>
{
PostMotionStatus.Text = "Motion： " + s + " No." + (++index).ToString() + " message";
});
}
}
void sensor_CurrentValueChanged(object sender, SensorReadingEventArgs <MotionReading> e)
{
MotionReading reading = e.SensorReading;
Dispatcher.BeginInvoke(() =>
{
Vector3 acceleration = reading.DeviceAcceleration;
// height of control = 400; height of postive bar = 200; max value = 3;
// set scale at 200/3 = 67
accelX.Value = acceleration.X;
accelY.Value = acceleration.Y;
accelZ.Value = acceleration.Z;
Vector3 gravity = reading.Gravity;
// height of control = 400; height of postive bar = 200; max value = 1;
// set scale at 200/1 = 200
gravityX.Value = gravity.X;
gravityY.Value = gravity.Y;
gravityZ.Value = gravity.Z;
Vector3 rotation = reading.DeviceRotationRate;
// height of control = 400; height of postive bar = 200; reasonable max value = 2pi = 6.25 (1.5 rotation per second)
// set scale at 200/6.25 = 32
gyroX.Value = rotation.X;
gyroY.Value = rotation.Y;
gyroZ.Value = rotation.Z;
AttitudeReading attitude = reading.Attitude;
attitudeX.Value = attitude.Pitch; // 0->pi 200/3.14 = 64
attitudeY.Value = attitude.Roll; // 0->pi/2 200/1.57 = 128
attitudeZ.Value = attitude.Yaw; // 0->2pi 200/6.28 = 32
Vector3 worldSpacePoint = new Vector3(0.0f, 10.0f, 0.0f);
Vector3 bodySpacePoint = Vector3.Transform(worldSpacePoint, attitude.RotationMatrix);
point.Text = string.Format("Attitude: Transform of (0.0, 10.0, 0.0) = ({0:F1}, {1:F1}, {2:F1})",
bodySpacePoint.X, bodySpacePoint.Y, bodySpacePoint.Z);
});
}
private static float GetCameraDirection(AttitudeReading e)
{
return GetCameraDirection(e.Roll, e.Yaw, e.Pitch);
}
