private List <YMeasure> LoadQT(string hwid)
{
YQt qt = YQt.FindQt(hwid);
YDataSet dataset = qt.get_recordedData(0, 0);
int progress = 0;
do
{
progress = dataset.loadMore();
} while(progress < 100);
Console.WriteLine("Using DataLogger of " + qt.get_friendlyName());
YMeasure summary = dataset.get_summary();
List <YMeasure> res_bad = dataset.get_measures();
List <YMeasure> res = new List <YMeasure>();
foreach (YMeasure m in res_bad)
{
if (m.get_startTimeUTC() > 100)
{
res.Add(m);
}
}
String line = String.Format("from {0} to {1} : min={2:0.00} avg={3:0.00} max={4:0.00}",
summary.get_startTimeUTC_asDateTime().ToString(fmt), summary.get_endTimeUTC_asDateTime().ToString(fmt), summary.get_minValue(), summary.get_averageValue(), summary.get_maxValue()
);
Console.WriteLine(line);
return(res);
}
// link the instance to a real YoctoAPI object
internal override void linkToHardware(string hwdName)
{
YQt hwd = YQt.FindQt(hwdName);
// first redo base_init to update all _func pointers
base_init(hwd, hwdName);
// then setup Yocto-API pointers and callbacks
init(hwd);
}
// Configure the value callbacks on the currently selected device
//
private void setupDevice()
{
YAccelerometer accelerometer;
YCompass compass;
YTilt tilt1, tilt2;
YGyro gyro;
YQt qt1, qt2, qt3, qt4;
if (currentSerialNumber != prevSerialNumber && prevSerialNumber != "")
{
// Unregister previous device
tilt1 = YTilt.FindTilt(prevSerialNumber + ".tilt1");
tilt2 = YTilt.FindTilt(prevSerialNumber + ".tilt2");
compass = YCompass.FindCompass(prevSerialNumber + ".compass");
gyro = YGyro.FindGyro(prevSerialNumber + ".gyro");
compass.registerValueCallback(null);
tilt1.registerValueCallback(null);
tilt2.registerValueCallback(null);
gyro.registerAnglesCallback(null);
}
if (currentSerialNumber == "")
{
return;
}
// Register the newly selected device
accelerometer = YAccelerometer.FindAccelerometer(currentSerialNumber + ".accelerometer");
tilt1 = YTilt.FindTilt(currentSerialNumber + ".tilt1");
tilt2 = YTilt.FindTilt(currentSerialNumber + ".tilt2");
compass = YCompass.FindCompass(currentSerialNumber + ".compass");
gyro = YGyro.FindGyro(currentSerialNumber + ".gyro");
qt1 = YQt.FindQt(currentSerialNumber + ".qt1");
qt2 = YQt.FindQt(currentSerialNumber + ".qt2");
qt3 = YQt.FindQt(currentSerialNumber + ".qt3");
qt4 = YQt.FindQt(currentSerialNumber + ".qt4");
compass.registerValueCallback(valueCallback);
tilt1.registerValueCallback(valueCallback);
tilt2.registerValueCallback(valueCallback);
if (modeChooser.SelectedIndex != 1)
{
accelerometer.set_bandwidth(7);
qt1.set_logicalName("w");
qt2.set_logicalName("x");
qt3.set_logicalName("y");
qt4.set_logicalName("z");
gyro.registerAnglesCallback(anglesCallback);
}
else
{
accelerometer.set_bandwidth(50);
qt2.set_logicalName("ax");
qt3.set_logicalName("ay");
qt4.set_logicalName("az");
gyro.registerQuaternionCallback(accelCallback);
}
}
public static YQtProxy FindQt(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YQt func = null;
YQtProxy res = (YQtProxy)YFunctionProxy.FindSimilarUnknownFunction("YQtProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YQtProxy)YFunctionProxy.FindSimilarKnownFunction("YQtProxy");
if (res != null)
{
return(res);
}
func = YQt.FirstQt();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YQtProxy)func.get_userData());
}
}
}
else
{
func = YQt.FindQt(name);
if (func.get_userData() != null)
{
return((YQtProxy)func.get_userData());
}
}
if (res == null)
{
res = new YQtProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
public virtual int _loadQuaternion()
{
int now_stamp;
int age_ms;
now_stamp = (int)((YAPI.GetTickCount()) & (0x7FFFFFFF));
age_ms = (((now_stamp - this._qt_stamp)) & (0x7FFFFFFF));
if ((age_ms >= 10) || (this._qt_stamp == 0))
{
if (this.load(10) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (this._qt_stamp == 0)
{
this._qt_w = YQt.FindQt("" + this._serial + ".qt1");
this._qt_x = YQt.FindQt("" + this._serial + ".qt2");
this._qt_y = YQt.FindQt("" + this._serial + ".qt3");
this._qt_z = YQt.FindQt("" + this._serial + ".qt4");
}
if (this._qt_w.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (this._qt_x.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (this._qt_y.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (this._qt_z.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
this._w = this._qt_w.get_currentValue();
this._x = this._qt_x.get_currentValue();
this._y = this._qt_y.get_currentValue();
this._z = this._qt_z.get_currentValue();
this._qt_stamp = now_stamp;
}
return(YAPI.SUCCESS);
}
private void ConfigureYocto3d(string serial)
{
YQt q1 = YQt.FindQt(serial + ".qt1");
q1.set_logFrequency("25/s");
YQt q2 = YQt.FindQt(serial + ".qt2");
q2.set_logFrequency("25/s");
YQt q3 = YQt.FindQt(serial + ".qt3");
q3.set_logFrequency("25/s");
YQt q4 = YQt.FindQt(serial + ".qt4");
q4.set_logFrequency("25/s");
YDataLogger logger = YDataLogger.FindDataLogger(serial + ".dataLogger");
logger.set_recording(YDataLogger.RECORDING_OFF);
logger.set_autoStart(YDataLogger.AUTOSTART_OFF);
logger.set_beaconDriven(YDataLogger.BEACONDRIVEN_ON);
logger.get_module().saveToFlash();
logger.forgetAllDataStreams();
System.Threading.Thread.Sleep(5000);
MessageBox.Show("the Yocto-3D " + serial + " is now ready to record data");
}
