private void TimerCallback(object state)
{
RTIMUData data = thread.GetIMUData;
var task = this.Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
TextGyro.Text = string.Format("Gyro (radians/sec):: x: {0:F4}, y: {1:F4}, z: {2:F4}",
data.gyro.X, data.gyro.Y, data.gyro.Z);
TextAccel.Text = string.Format("Accel (g):: x: {0:F4}, y: {1:F4}, z: {2:F4}",
data.accel.X, data.accel.Y, data.accel.Z);
TextMag.Text = string.Format("Mag (uT):: x: {0:F4}, y: {1:F4}, z: {2:F4}",
data.mag.X, data.mag.Y, data.mag.Z);
TextPose.Text = RTMath.DisplayDegrees("Pose:", data.fusionPose);
TextQPose.Text = RTMath.Display("QPose:", data.fusionQPose);
BiasTextStatus.Text = string.Format("Gyro bias:: {0}, Mag cal: {1}",
thread.GyroBiasValid ? "valid" : "invalid", thread.MagCalValid ? "valid" : "invalid");
TextPressure.Text = string.Format("Pressure (hPa):: {0:F4}", data.pressure);
TextHumidity.Text = string.Format("Humidity (%RH):: {0:F4}", data.humidity);
TextTemperature.Text = string.Format("Temperature (degC):: {0:F4}", data.temperature);
if (thread.IMUInitComplete)
{
TextRate.Text = string.Format("Rate: {0} samples per second", thread.SampleRate);
}
IMUTextStatus.Text = "IMU status:: " + thread.IMUErrorMessage;
PressureTextStatus.Text = "Pressure status:: " + thread.PressureErrorMessage;
HumidityTextStatus.Text = "Humidity status:: " + thread.HumidityErrorMessage;
});
}
public RTIMUThread()
{
mImu.IMUInit();
mPressure.PressureInit();
mHumidity.HumidityInit();
mStartTime = System.DateTime.Now.Ticks;
Task.Run(() =>
{
while (true)
{
Task.Delay(2);
if (mImu.InitComplete)
{
RTIMUData data;
while (mImu.IMURead(out data))
{
mSampleCount++;
// collect all of the data
mFusion.NewIMUData(ref data);
mHumidity.HumidityRead(ref data);
mPressure.PressureRead(ref data);
// data is now ready for procesing - just pass to display in this case
lock (this) {
mImuData = data;
}
}
}
if ((System.DateTime.Now.Ticks - mStartTime) >= 10000000)
{
mStartTime = System.DateTime.Now.Ticks;
mSampleRate = mSampleCount;
mSampleCount = 0;
}
}
});
}
public static extern void RTIMU_getData(IntPtr imuHandle, out RTIMUData data);
