public void scanPorts()
{
List <XsPortInfo> scannedDevicesSet = new List <XsPortInfo>();
XsPortInfoArray scannedDevices = XsScanner.scanPorts();
// Check if we found new devices.
for (uint i = 0; i < scannedDevices.size(); i++)
{
XsPortInfo port = scannedDevices.at(i);
scannedDevicesSet.Add(port);
if (!findPortInfo(port))
{
if (port.deviceId().isWirelessMaster())
{
if (WirelessMasterDetected != null)
{
WirelessMasterDetected(this, new PortInfoArg(port));
}
}
else if (port.deviceId().isMtw())
{
if (DockedMtwDetected != null)
{
DockedMtwDetected(this, new PortInfoArg(port));
}
}
}
}
// Check if we have lost devices (that are not opened already).
foreach (XsPortInfo portD in _DetectedDevices)
{
bool found = false;
String did = portD.deviceId().toXsString().toString();
foreach (XsPortInfo portS in scannedDevicesSet)
{
if (portS.deviceId().toXsString().toString() == portD.deviceId().toXsString().toString())
{
found = true;
}
}
if (!found)
{
if (portD.deviceId().isMtw() && MtwUndocked != null)
{
MtwUndocked(this, new PortInfoArg(portD));
}
}
}
_DetectedDevices = scannedDevicesSet;
}
private bool findPortInfo(XsPortInfo portInfo)
{
bool retval = false;
foreach (XsPortInfo port in _DetectedDevices)
{
String did1 = port.deviceId().toXsString().toString();
String did2 = portInfo.deviceId().toXsString().toString();
if (port.deviceId().toXsString().toString() == portInfo.deviceId().toXsString().toString())
{
retval = true;
break;
}
}
return(retval);
}
private void btnScan_Click(object sender, EventArgs e)
{
rtbSteps.Text = "Scanning for devices...";
btnScan.Enabled = false;
Update();
GT_Senxda.m_object.reset();
GT_Senxda.m_object.scanPorts();
if (GT_Senxda.m_object._DetectedDevices.Count > 0)
{
rtbSteps.Text = string.Format("Found {0} device(s)\n", GT_Senxda.m_object._DetectedDevices.Count);
XsPortInfo portInfo = GT_Senxda.m_object._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4() || portInfo.deviceId().isFmt_X000() || portInfo.deviceId().isMt9c() || portInfo.deviceId().isLegacyMtig())
{
rtbSteps.Text += "Opening port...\n";
GT_Senxda.m_object.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = GT_Senxda.m_object.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
rtbSteps.Text += string.Format("Found a device with id: {0} @ port: {1}, baudrate: {2}\n", _measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(_callbackHandler_DataAvailable);
// Put the device in configuration mode
rtbSteps.Text += "Putting device into configuration mode...\n";
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
rtbSteps.Text = "Could not put device into configuration mode. Aborting.";
return;
}
// Configure the device. Note the differences between MTix and MTmk4
rtbSteps.Text += "Configuring the device...\n";
if (_measuringDevice.deviceId().isMt9c() || _measuringDevice.deviceId().isLegacyMtig())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
rtbSteps.Text = "Could not configure MTix device. Aborting.";
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4() || _measuringDevice.deviceId().isFmt_X000())
{
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
if (_measuringDevice.deviceId().isMtMk4_1() || _measuringDevice.deviceId().isMtMk4_10() || _measuringDevice.deviceId().isMtMk4_100() || _measuringDevice.deviceId().isFmt1010())
{
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_PacketCounter, 0));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_SampleTimeFine, 0));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaV, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaQ, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_MagneticField, 100));
}
else
{
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_PacketCounter, 0));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_SampleTimeFine, 0));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaV, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_DeltaQ, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_MagneticField, 100));
configArray.push_back(new XsOutputConfiguration(XsDataIdentifier.XDI_StatusWord, 0));
}
if (!_measuringDevice.setOutputConfiguration(configArray))
{
rtbSteps.Text = "Could not configure MTmk4 device. Aborting.";
return;
}
}
else
{
rtbSteps.Text = "Unknown device while configuring. Aborting.";
return;
}
// Put the device in measurement mode
rtbSteps.Text += "Putting device into measurement mode...\n";
if (!_measuringDevice.gotoMeasurement())
{
rtbSteps.Text = "Could not put device into measurement mode. Aborting.";
return;
}
btnRecord.Enabled = true;
}
timer1.Interval = 20;
timer1.Enabled = true;
}
else
{
rtbSteps.Text = "No devices detected. Press 'Scan' to retry.";
btnScan.Enabled = true;
}
}
public void Start()
{
if (state != XSensState.NotStarted)
{
Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n");
return;
}
this.UpdateState(XSensState.Starting);
_xda.scanPorts();
Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count);
if (_xda._DetectedDevices.Count > 0)
{
XsPortInfo portInfo = _xda._DetectedDevices[0];
if (portInfo.deviceId().isMtMk4())
{
_xda.openPort(portInfo);
MasterInfo ai = new MasterInfo(portInfo.deviceId());
ai.ComPort = portInfo.portName();
ai.BaudRate = portInfo.baudrate();
_measuringDevice = _xda.getDevice(ai.DeviceId);
ai.ProductCode = new XsString(_measuringDevice.productCode());
// Print information about detected MTi / MTx / MTmk4 device
Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n",
_measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate);
// Create and attach callback handler to device
_myMtCallback = new MyMtCallback();
_measuringDevice.addCallbackHandler(_myMtCallback);
ConnectedMtData mtwData = new ConnectedMtData();
// connect signals
_myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(DataAvailable);
// Put the device in configuration mode
Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n");
if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device
{
Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Configure the device. Note the differences between MTix and MTmk4
Debug.Log("[XSensGyroscope] Configuring the device...\n");
if (_measuringDevice.deviceId().isMt9c())
{
XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data
XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz
deviceMode.setModeFlag(outputMode);
deviceMode.setSettingsFlag(outputSettings);
// set the device configuration
if (!_measuringDevice.setDeviceMode(deviceMode))
{
Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else if (_measuringDevice.deviceId().isMtMk4())
{
XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0);
XsOutputConfigurationArray configArray = new XsOutputConfigurationArray();
configArray.push_back(quat);
if (!_measuringDevice.setOutputConfiguration(configArray))
{
Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
}
else
{
Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
// Put the device in measurement mode
Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n");
if (!_measuringDevice.gotoMeasurement())
{
Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting.");
this.UpdateState(XSensState.Failed);
return;
}
this.UpdateState(XSensState.Started);
}
}
}