C# IMU API

Collaboration diagram for C# IMU API:

Modules
	DTO
	Enumerations
	Events related with IMU Service

Classes
class	IMUManager
	Implementation of IIMUManager. Start point for interacting with Deepsy IMU service More...
interface	IIMUManager
	Interaface for managing IMU device More...

Detailed Description

To work with Deepsy IMU Manager service it is necessary to use IMUManager located in GMV.ITS.HAL.DEEPSY.IMU.Facade for getting the initial IMUManager object.

IIMUManager imuManager = new IMUManager("");

IMUManager has an optional parameter indicating the ip address of remote service. For instance:

IIMUManager imuManager = new IMUManager("192.168.0.145");

IMUManager implements IDisposable. It can hold resources (such as socket handles) until it is disposed. The Dispose method is automatically called when existing a using or try / catch block, for which the object has been declared. This construction ensures prompt release, avoiding resource exhaustion exceptions and errors that may otherwise occur.

• IIMUManager imuManager = null;
  try{
      imuManager = new IMUManager("192.168.0.145");
      IIMUBaseConfiguration imuConfig = imuManager.GetConfiguration(IMUProperties.Property.ENABLE_ACCELEROMETER);
  } catch (Exception e) {
          throw e;
  } 
  imuManager.Dispose();

Examples

• Get IMU Configuration Parameter
  

  using GMV.ITS.HAL.DEEPSY.Common.Exception;
  using GMV.ITS.HAL.DEEPSY.IMU.Facade;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Enum;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Facade;
  using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.IMU
  {
      public class IMUGetConfiguration
      {
          static void Main(string[] args)
          {
              try
              {
                  string deepsyServerIp = args.Length == 0 ? "192.168.0.145" : args[0];
                  using (IIMUManager imuManager = new IMUManager(deepsyServerIp))
                  {
                      IIMUBaseConfiguration imuConfig = imuManager.GetConfiguration(IMUProperties.Property.ENABLE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.POLLING_RATE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.RANGE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                  }
  
              }
              catch (HalException deepsyEx)
              {
                  Console.WriteLine($"Deepsy error : {deepsyEx.ErrorCode}");
              }
              catch (Exception ex)
              {
                  Console.WriteLine($"Error Not Handled exception {ex.Message}");
              }
  
          }
      }
  }

  
  
• Get Inertial Value
  

  using GMV.ITS.HAL.DEEPSY.Common.Exception;
  using GMV.ITS.HAL.DEEPSY.IMU.Facade;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Enum;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Facade;
  using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.IMU
  {
      public class IMUGetInertialValue
      {
          static void Main(string[] args)
          {
              try
              {
                  string deepsyServerIp = args.Length == 0 ? "192.168.0.145" : args[0];
                  using (IIMUManager imuManager = new IMUManager(deepsyServerIp))
                  {
                      //Accelerometer
                      IIMUInertialData imuInfo = imuManager.GetInertialValue(IMUDevices.Device.ACCELEROMETER);
                      Console.WriteLine("\n\nTimestamp:  " + imuInfo.timestamp + " (YYYYMMDD T HHMMSS.SSSSSS) "
                          + "\nDevice: " + imuInfo.device.ToString()
                          + "\nX: " + imuInfo.X.ToString()
                          + "\nY: " + imuInfo.Y.ToString()
                          + "\nZ: " + imuInfo.Z.ToString()
                          + "\nStatus: " + imuInfo.status.ToString());
  
                      //Gyroscope
                      imuInfo = imuManager.GetInertialValue(IMUDevices.Device.GYROSCOPE);
                      Console.WriteLine("\n\nTimestamp:  " + imuInfo.timestamp + " (YYYYMMDD T HHMMSS.SSSSSS) "
                          + "\nDevice: " + imuInfo.device.ToString()
                          + "\nX: " + imuInfo.X.ToString()
                          + "\nY: " + imuInfo.Y.ToString()
                          + "\nZ: " + imuInfo.Z.ToString()
                          + "\nStatus: " + imuInfo.status.ToString());
  
                      //Magnetometer
                      imuInfo = imuManager.GetInertialValue(IMUDevices.Device.MAGNETOMETER);
                      Console.WriteLine("\n\nTimestamp:  " + imuInfo.timestamp + " (YYYYMMDD T HHMMSS.SSSSSS) "
                          + "\nDevice: " + imuInfo.device.ToString()
                          + "\nX: " + imuInfo.X.ToString()
                          + "\nY: " + imuInfo.Y.ToString()
                          + "\nZ: " + imuInfo.Z.ToString()
                          + "\nStatus: " + imuInfo.status.ToString());
                  }
  
              }
              catch (HalException deepsyEx)
              {
                  Console.WriteLine($"Deepsy error : {deepsyEx.ErrorCode}");
              }
              catch (Exception ex)
              {
                  Console.WriteLine($"Error Not Handled exception {ex.Message}");
              }
  
          }
      }
  }

  
  
• Set IMU Configuration Parameter
  

  using GMV.ITS.HAL.DEEPSY.Common.Exception;
  using GMV.ITS.HAL.DEEPSY.IMU.Dto;
  using GMV.ITS.HAL.DEEPSY.IMU.Facade;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Enum;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Facade;
  using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.IMU
  {
      public class IMUSetConfiguration
      {
          static void Main(string[] args)
          {
              try
              {
                  string deepsyServerIp = args.Length == 0 ? "192.168.0.145" : args[0];
                  using (IIMUManager imuManager = new IMUManager(deepsyServerIp))
                  {
                      //Get/Set Enable Accelerometer property
                      Console.WriteLine("\nENABLE ACCELEROMETER");
                      IIMUBaseConfiguration imuConfig = imuManager.GetConfiguration(IMUProperties.Property.ENABLE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMUEnableAccelerometer(IMUEnableAccelerometer.DeviceStatus.OFF));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.ENABLE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMUEnableAccelerometer(IMUEnableAccelerometer.DeviceStatus.ON));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.ENABLE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
  
  
                      //Get/Set Accelerometer Polling Rate property
                      Console.WriteLine("\nACCELEROMETER POLLING RATE");
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.POLLING_RATE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMUPollingRateAccelerometer(1));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.POLLING_RATE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMUPollingRateAccelerometer(200));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.POLLING_RATE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
  
  
                      //Get/Set Accelerometer Range property
                      Console.WriteLine("\nACCELEROMETER RANGE");
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.RANGE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMURangeDevice(IMURangeDevice.RangeAccelerometer.RANGE_4));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.RANGE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                      imuManager.SetConfiguration(new IMURangeDevice(IMURangeDevice.RangeAccelerometer.RANGE_2));
  
                      imuConfig = imuManager.GetConfiguration(IMUProperties.Property.RANGE_ACCELEROMETER);
                      Console.WriteLine("Parameter:  " + imuConfig.propertyID.ToString() + "\tValue: " + imuConfig.value.ToString());
  
                  }
  
              }
              catch (HalException deepsyEx)
              {
                  Console.WriteLine($"Deepsy error : {deepsyEx.ErrorCode}");
              }
              catch (Exception ex)
              {
                  Console.WriteLine($"Error Not Handled exception {ex.Message}");
              }
  
          }
      }
  }

  
  

• Subscribe Inertial Data Events
  

  using GMV.ITS.HAL.DEEPSY.Common.Exception;
  using GMV.ITS.HAL.DEEPSY.IMU.Facade;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Enum;
  using GMV.ITS.HAL.DEEPSY.IMU.Interface.Facade;
  using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.IMU
  {
      public class IMUSubscribeInertialDataEvents
      {
          static void Main(string[] args)
          {
              try
              {
                  string deepsyServerIp = args.Length == 0 ? "192.168.0.145" : args[0];
                  using (IIMUManager imuManager = new IMUManager(deepsyServerIp))
                  {
                      imuManager.InfoEvent += InertialDataEvent;
  
                      Console.WriteLine("Press any key for exit");
                      Console.ReadKey();
                  }
  
              }
              catch (HalException deepsyEx)
              {
                  Console.WriteLine($"Deepsy error : {deepsyEx.ErrorCode}");
              }
              catch (Exception ex)
              {
                  Console.WriteLine($"Error Not Handled exception {ex.Message}");
              }
  
          }
  
          private static void InertialDataEvent(object sender, IIMUInertialDataEvent e)
          {
              Console.WriteLine("\n\nTimestamp:  " + e.InertialData.timestamp + " (YYYYMMDD T HHMMSS.SSSSSS) "
                  + "\nDevice: " + e.InertialData.device.ToString()
                  + "\nX: " + e.InertialData.X.ToString()
                  + "\nY: " + e.InertialData.Y.ToString()
                  + "\nZ: " + e.InertialData.Z.ToString()
                  + "\nStatus: " + e.InertialData.status.ToString());
          }
      }
  }