inline
void Hub::onDeviceEvent(libmyo_event_t event)
{
libmyo_myo_t opaqueMyo = libmyo_event_get_myo(event);
Myo* myo = lookupMyo(opaqueMyo);
if (!myo && libmyo_event_get_type(event) == libmyo_event_paired) {
myo = addMyo(opaqueMyo);
}
if (!myo) {
// Ignore events for Myos we don't know about.
return;
}
for (std::vector<DeviceListener*>::iterator I = _listeners.begin(), IE = _listeners.end(); I != IE; ++I) {
DeviceListener* listener = *I;
listener->onOpaqueEvent(event);
uint64_t time = libmyo_event_get_timestamp(event);
switch (libmyo_event_get_type(event)) {
case libmyo_event_paired: {
FirmwareVersion version = {libmyo_event_get_firmware_version(event, libmyo_version_major),
libmyo_event_get_firmware_version(event, libmyo_version_minor),
libmyo_event_get_firmware_version(event, libmyo_version_patch),
libmyo_event_get_firmware_version(event, libmyo_version_hardware_rev)};
listener->onPair(myo, time, version);
break;
}
case libmyo_event_unpaired:
listener->onUnpair(myo, time);
break;
case libmyo_event_connected: {
FirmwareVersion version = {libmyo_event_get_firmware_version(event, libmyo_version_major),
libmyo_event_get_firmware_version(event, libmyo_version_minor),
libmyo_event_get_firmware_version(event, libmyo_version_patch),
libmyo_event_get_firmware_version(event, libmyo_version_hardware_rev)};
listener->onConnect(myo, time, version);
break;
}
case libmyo_event_disconnected:
listener->onDisconnect(myo, time);
break;
case libmyo_event_arm_synced:
listener->onArmSync(myo, time,
static_cast<Arm>(libmyo_event_get_arm(event)),
static_cast<XDirection>(libmyo_event_get_x_direction(event)),
libmyo_event_get_rotation_on_arm(event),
static_cast<WarmupState>(libmyo_event_get_warmup_state(event)));
break;
case libmyo_event_arm_unsynced:
listener->onArmUnsync(myo, time);
break;
case libmyo_event_unlocked:
listener->onUnlock(myo, time);
break;
case libmyo_event_locked:
listener->onLock(myo, time);
break;
case libmyo_event_orientation:
listener->onOrientationData(myo, time,
Quaternion<float>(libmyo_event_get_orientation(event, libmyo_orientation_x),
libmyo_event_get_orientation(event, libmyo_orientation_y),
libmyo_event_get_orientation(event, libmyo_orientation_z),
libmyo_event_get_orientation(event, libmyo_orientation_w)));
listener->onAccelerometerData(myo, time,
Vector3<float>(libmyo_event_get_accelerometer(event, 0),
libmyo_event_get_accelerometer(event, 1),
libmyo_event_get_accelerometer(event, 2)));
listener->onGyroscopeData(myo, time,
Vector3<float>(libmyo_event_get_gyroscope(event, 0),
libmyo_event_get_gyroscope(event, 1),
libmyo_event_get_gyroscope(event, 2)));
break;
case libmyo_event_pose:
listener->onPose(myo, time, Pose(static_cast<Pose::Type>(libmyo_event_get_pose(event))));
break;
case libmyo_event_rssi:
listener->onRssi(myo, time, libmyo_event_get_rssi(event));
break;
case libmyo_event_battery_level:
listener->onBatteryLevelReceived(myo, time, libmyo_event_get_battery_level(event));
break;
case libmyo_event_emg: {
int8_t emg[] = { libmyo_event_get_emg(event, 0),
libmyo_event_get_emg(event, 1),
libmyo_event_get_emg(event, 2),
libmyo_event_get_emg(event, 3),
libmyo_event_get_emg(event, 4),
libmyo_event_get_emg(event, 5),
libmyo_event_get_emg(event, 6),
libmyo_event_get_emg(event, 7) };
listener->onEmgData(myo, time, emg);
break;
}
case libmyo_event_warmup_completed: {
listener->onWarmupCompleted(myo, time, static_cast<WarmupResult>(libmyo_event_get_warmup_result(event)));
break;
}
}
}
}
void Hub::onDeviceEvent(SimEvent simEvent)
{
std::vector<DeviceListener*>::iterator it;
uint64_t timestamp = simEvent.getEventTimestamp();
Myo* myo = lookupMyo(simEvent.getMyoIdentifier());
if (!myo)
{
return;
}
FirmwareVersion version;
version.firmwareVersionHardwareRev = 1;
version.firmwareVersionMajor = 1;
version.firmwareVersionMinor = 0;
version.firmwareVersionPatch = 1;
for (it = listeners.begin(); it != listeners.end(); it++)
{
DeviceListener* listener = *it;
switch (simEvent.getEventType())
{
case myoSimEvent::paired:
listener->onPair(myo, timestamp, version);
break;
case myoSimEvent::unpaired:
listener->onUnpair(myo, timestamp);
break;
case myoSimEvent::connected:
listener->onConnect(myo, timestamp, version);
break;
case myoSimEvent::disconnected:
listener->onDisconnect(myo, timestamp);
break;
case myoSimEvent::armRecognized:
listener->onArmRecognized(myo, timestamp, simEvent.getArm(), simEvent.getXDirection());
break;
case myoSimEvent::armLost:
listener->onArmLost(myo, timestamp);
break;
case myoSimEvent::orientation:
{
myo::Quaternion<float> orientation = myo::Quaternion<float>(simEvent.getXOrientation(),
simEvent.getYOrientation(), simEvent.getZOrientation(), simEvent.getWOrientation());
listener->onOrientationData(myo, timestamp, orientation);
myo::Vector3<float> accelerometerData = myo::Vector3<float>(simEvent.getAccelerometerX(),
simEvent.getAccelerometerY(), simEvent.getAccelerometerZ());
listener->onAccelerometerData(myo, timestamp, accelerometerData);
myo::Vector3<float> gyroData = myo::Vector3<float>(simEvent.getGyroscopeYawPerSecond(),
simEvent.getGyroscopePitchPerSecond(), simEvent.getGyroscopeRollPerSecond());
listener->onGyroscopeData(myo, timestamp, gyroData);
break;
}
case myoSimEvent::pose:
listener->onPose(myo, timestamp, simEvent.getPose());
break;
case myoSimEvent::rssi:
listener->onRssi(myo, timestamp, simEvent.getRssi());
break;
default:
break;
}
}
}
inline
void Hub::onDeviceEvent(libmyo_event_t event)
{
libmyo_myo_t opaqueMyo = libmyo_event_get_myo(event);
Myo* myo = lookupMyo(opaqueMyo);
if (!myo && libmyo_event_get_type(event) == libmyo_event_paired) {
myo = addMyo(opaqueMyo);
}
if (!myo) {
// Ignore events for Myos we don't know about.
return;
}
for (std::vector<DeviceListener*>::iterator I = _listeners.begin(), IE = _listeners.end(); I != IE; ++I) {
DeviceListener* listener = *I;
listener->onOpaqueEvent(event);
uint64_t time = libmyo_event_get_timestamp(event);
switch (libmyo_event_get_type(event)) {
case libmyo_event_paired: {
FirmwareVersion version = {libmyo_event_get_firmware_version(event, libmyo_version_major),
libmyo_event_get_firmware_version(event, libmyo_version_minor),
libmyo_event_get_firmware_version(event, libmyo_version_patch),
libmyo_event_get_firmware_version(event, libmyo_version_hardware_rev)};
listener->onPair(myo, time, version);
break;
}
case libmyo_event_connected: {
FirmwareVersion version = {libmyo_event_get_firmware_version(event, libmyo_version_major),
libmyo_event_get_firmware_version(event, libmyo_version_minor),
libmyo_event_get_firmware_version(event, libmyo_version_patch),
libmyo_event_get_firmware_version(event, libmyo_version_hardware_rev)};
listener->onConnect(myo, time, version);
break;
}
case libmyo_event_disconnected:
listener->onDisconnect(myo, time);
break;
case libmyo_event_arm_recognized:
listener->onArmRecognized(myo, time,
static_cast<Arm>(libmyo_event_get_arm(event)),
static_cast<XDirection>(libmyo_event_get_x_direction(event)));
break;
case libmyo_event_arm_lost:
listener->onArmLost(myo, time);
break;
case libmyo_event_orientation:
listener->onOrientationData(myo, time,
Quaternion<float>(libmyo_event_get_orientation(event, libmyo_orientation_x),
libmyo_event_get_orientation(event, libmyo_orientation_y),
libmyo_event_get_orientation(event, libmyo_orientation_z),
libmyo_event_get_orientation(event, libmyo_orientation_w)));
listener->onAccelerometerData(myo, time,
Vector3<float>(libmyo_event_get_accelerometer(event, 0),
libmyo_event_get_accelerometer(event, 1),
libmyo_event_get_accelerometer(event, 2)));
listener->onGyroscopeData(myo, time,
Vector3<float>(libmyo_event_get_gyroscope(event, 0),
libmyo_event_get_gyroscope(event, 1),
libmyo_event_get_gyroscope(event, 2)));
break;
case libmyo_event_pose:
listener->onPose(myo, time, Pose(static_cast<Pose::Type>(libmyo_event_get_pose(event))));
break;
case libmyo_event_rssi:
listener->onRssi(myo, time, libmyo_event_get_rssi(event));
break;
}
}
}
