DEV-144 updating unit test for shimmer3r (simulator)

ShimmerAPI/ShimmerAPI/Sensors/AbstractSensor.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace ShimmerAPI.Sensors
+{
+    public interface AbstractSensor
+    {
+        int SENSOR_ID { get; }
+        int ShimmerHardwareVersion { get; }
+        Dictionary<int, List<double[,]>> CalibDetails { get; }
+
+    }
+}

ShimmerAPI/ShimmerAPI/Sensors/GyroSensor.cs

@@ -2,29 +2,148 @@
 using System;
 using System.Collections.Generic;
 using System.Text;
+using static ShimmerAPI.ShimmerBluetooth;
 
 namespace ShimmerAPI.Sensors
 {
-    public class GyroSensor
+    public class GyroSensor : AbstractSensor
     {
         public readonly int CALIBRATION_ID = 2;
-        public double[,] AlignmentMatrixAccel = new double[3, 3];
-        public double[,] SensitivityMatrixAccel = new double[3, 3];
-        public double[,] OffsetVectorAccel = new double[3, 1];
-        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+        public readonly int SHIMMER_MPU9X50_GYRO = 30;
+        public readonly int SHIMMER_LSM6DSV_GYRO = 38;
+        public int SENSOR_ID { get; private set; }
+        public int ShimmerHardwareVersion { get; private set; }
+        public Dictionary<int, List<double[,]>> CalibDetails { get; private set; }
+
+        public double[,] AlignmentMatrixGyro = new double[3, 3];
+        public double[,] SensitivityMatrixGyro = new double[3, 3];
+        public double[,] OffsetVectorGyro = new double[3, 1];
+
+        public GyroSensor(int hardwareVersion)
         {
+            ShimmerHardwareVersion = hardwareVersion;
+            CreateDefaultCalibParams();
+        }
 
-            var packetType = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 2);
-            var sensorID = ((int)packetType[0]) + ((int)packetType[1] << 8);
-            if (sensorID == CALIBRATION_ID)
+        public void CreateDefaultCalibParams()
+        {
+            if (ShimmerHardwareVersion == (int)ShimmerBluetooth.ShimmerVersion.SHIMMER3R)
+            {
+                SENSOR_ID = SHIMMER_LSM6DSV_GYRO;
+                CalibDetails = new Dictionary<int, List<double[,]>>()
+                {
+                    {
+                        0,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_125DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        1,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_250DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        2,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_500DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        3,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_1000DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        4,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_2000DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        5,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3R_LSM6DSV,
+                            SENSITIVITIY_MATRIX_GYRO_4000DPS_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_GYRO_SHIMMER3R_LSM6DSV
+                        }
+                    }
+                };
+            }
+            else
             {
-                var rangebytes = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var lengthsensorcal = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var ts = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 8);
-                (AlignmentMatrixAccel, SensitivityMatrixAccel, OffsetVectorAccel) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
-                System.Console.WriteLine("Gyro calibration parameters");
+                SENSOR_ID = SHIMMER_MPU9X50_GYRO;
+                CalibDetails = new Dictionary<int, List<double[,]>>()
+                {
+                    {
+                        0,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3,
+                            SENSITIVITIY_MATRIX_GYRO_250DPS_SHIMMER3,
+                            OFFSET_VECTOR_GYRO_SHIMMER3
+                        }
+                    },
+                    {
+                        1,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3,
+                            SENSITIVITIY_MATRIX_GYRO_500DPS_SHIMMER3,
+                            OFFSET_VECTOR_GYRO_SHIMMER3
+                        }
+                    },
+                    {
+                        2,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3,
+                            SENSITIVITIY_MATRIX_GYRO_1000DPS_SHIMMER3,
+                            OFFSET_VECTOR_GYRO_SHIMMER3
+                        }
+                    },
+                    {
+                        3,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_GYRO_SHIMMER3,
+                            SENSITIVITIY_MATRIX_GYRO_2000DPS_SHIMMER3,
+                            OFFSET_VECTOR_GYRO_SHIMMER3
+                        }
+                    }
+                };
             }
 
+            if (CalibDetails.TryGetValue(0, out var defaultCalib))
+            {
+                AlignmentMatrixGyro = defaultCalib[0];
+                SensitivityMatrixGyro = defaultCalib[1];
+                OffsetVectorGyro = defaultCalib[2];
+            }
+        }
+
+        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+        {
+            (AlignmentMatrixGyro, SensitivityMatrixGyro, OffsetVectorGyro) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
+            System.Console.WriteLine("Gyro calibration parameters");
         }
     }
 }

ShimmerAPI/ShimmerAPI/Sensors/HighGAccel.cs

@@ -2,29 +2,67 @@
 using System;
 using System.Collections.Generic;
 using System.Text;
+using static ShimmerAPI.ShimmerBluetooth;
 
 namespace ShimmerAPI.Sensors
 {
-    public class HighGAccel
+    public class HighGAccel : AbstractSensor
     {
         public readonly int CALIBRATION_ID = 2;
-        public double[,] AlignmentMatrixAccel = new double[3, 3];
-        public double[,] SensitivityMatrixAccel = new double[3, 3];
-        public double[,] OffsetVectorAccel = new double[3, 1];
-        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+        public readonly int ALT_ACCEL = 33;
+        public readonly int SHIMMER_ADXL371_ACCEL_HIGHG = 40;
+        public int SENSOR_ID { get; private set; }
+        public int ShimmerHardwareVersion { get; private set; }
+        public Dictionary<int, List<double[,]>> CalibDetails { get; private set; }
+        public double[,] AlignmentMatrixAltAccel = new double[3, 3];
+        public double[,] SensitivityMatrixAltAccel = new double[3, 3];
+        public double[,] OffsetVectorAltAccel = new double[3, 1];
+
+        public HighGAccel(int hardwareVersion)
         {
+            ShimmerHardwareVersion = hardwareVersion;
+            CreateDefaultCalibParams();
+        }
 
-            var packetType = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 2);
-            var sensorID = ((int)packetType[0]) + ((int)packetType[1] << 8);
-            if (sensorID == CALIBRATION_ID)
+        public void CreateDefaultCalibParams()
+        {
+            if (ShimmerHardwareVersion == (int)ShimmerBluetooth.ShimmerVersion.SHIMMER3R)
             {
-                var rangebytes = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var lengthsensorcal = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var ts = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 8);
-                (AlignmentMatrixAccel, SensitivityMatrixAccel, OffsetVectorAccel) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
-                System.Console.WriteLine("High-G Accel calibration parameters");
+                SENSOR_ID = SHIMMER_ADXL371_ACCEL_HIGHG;
+                CalibDetails = new Dictionary<int, List<double[,]>>()
+                {
+                    {
+                        0,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_HIGH_G_ACCEL_SHIMMER3R_ADXL371,
+                            SENSITIVITY_MATRIX_HIGH_G_ACCEL_200G_SHIMMER3R_ADXL371,
+                            OFFSET_VECTOR_ACCEL_HIGH_G_SHIMMER3R_ADXL371
+                        }
+                    }
+                };
+            }
+            else
+            {
+                SENSOR_ID = ALT_ACCEL;
             }
 
+            if(CalibDetails != null)
+            {
+                if (CalibDetails.TryGetValue(0, out var defaultCalib))
+                {
+                    AlignmentMatrixAltAccel = defaultCalib[0];
+                    SensitivityMatrixAltAccel = defaultCalib[1];
+                    OffsetVectorAltAccel = defaultCalib[2];
+                }
+            }
+
+        }
+
+        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+        {
+            (AlignmentMatrixAltAccel, SensitivityMatrixAltAccel, OffsetVectorAltAccel) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
+            System.Console.WriteLine("High-G Accel calibration parameters");
         }
     }
 }

ShimmerAPI/ShimmerAPI/Sensors/LNAccel.cs

@@ -1,31 +1,105 @@
 using ShimmerAPI.Utilities;
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Text;
+using static ShimmerAPI.ShimmerBluetooth;
 
 namespace ShimmerAPI.Sensors
 {
-    public class LNAccel
+    public class LNAccel : AbstractSensor
     {
         public readonly int CALIBRATION_ID = 2;
+        public readonly int SHIMMER_ANALOG_ACCEL = 2;
+        public readonly int SHIMMER_LSM6DSV_ACCEL_LN = 37;
+        public int SENSOR_ID { get; private set; }
+        public int ShimmerHardwareVersion { get; private set; }
+        public Dictionary<int, List<double[,]>> CalibDetails { get; private set; }
+
         public double[,] AlignmentMatrixAccel = new double[3, 3];
         public double[,] SensitivityMatrixAccel = new double[3, 3];
         public double[,] OffsetVectorAccel = new double[3, 1];
-        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+
+        public LNAccel(int hardwareVersion)
         {
+            ShimmerHardwareVersion = hardwareVersion;
+            CreateDefaultCalibParams();
+        }
 
-            var packetType = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 2);
-            var sensorID = ((int)packetType[0]) + ((int)packetType[1] << 8);
-            if (sensorID == CALIBRATION_ID)
+        private void CreateDefaultCalibParams()
+        {
+            if(ShimmerHardwareVersion == (int)ShimmerBluetooth.ShimmerVersion.SHIMMER3R)
+            {
+                SENSOR_ID = SHIMMER_LSM6DSV_ACCEL_LN;
+                CalibDetails = new Dictionary<int, List<double[,]>>()
+                {
+                    {
+                        0,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_LOW_NOISE_ACCEL_SHIMMER3R_LSM6DSV,
+                            SENSITIVITY_MATRIX_LOW_NOISE_ACCEL_2G_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_ACCEL_LOW_NOISE_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        1,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_LOW_NOISE_ACCEL_SHIMMER3R_LSM6DSV,
+                            SENSITIVITY_MATRIX_LOW_NOISE_ACCEL_4G_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_ACCEL_LOW_NOISE_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        2,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_LOW_NOISE_ACCEL_SHIMMER3R_LSM6DSV,
+                            SENSITIVITY_MATRIX_LOW_NOISE_ACCEL_8G_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_ACCEL_LOW_NOISE_SHIMMER3R_LSM6DSV
+                        }
+                    },
+                    {
+                        3,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_LOW_NOISE_ACCEL_SHIMMER3R_LSM6DSV,
+                            SENSITIVITY_MATRIX_LOW_NOISE_ACCEL_16G_SHIMMER3R_LSM6DSV,
+                            OFFSET_VECTOR_ACCEL_LOW_NOISE_SHIMMER3R_LSM6DSV
+                        }
+                    }
+                };
+            }
+            else
             {
-                var rangebytes = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var lengthsensorcal = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 1);
-                var ts = ProgrammerUtilities.CopyAndRemoveBytes(ref sensorcalibrationdump, 8);
-                (AlignmentMatrixAccel, SensitivityMatrixAccel, OffsetVectorAccel) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
-                System.Console.WriteLine("LN Accel calibration parameters");
+                SENSOR_ID = SHIMMER_ANALOG_ACCEL;
+                CalibDetails = new Dictionary<int, List<double[,]>>()
+                {
+                    {
+                        0,
+                        new List<double[,]>
+                        {
+                            ALIGNMENT_MATRIX_LOW_NOISE_ACCEL_SHIMMER3_KXTC9_2050,
+                            SENSITIVITY_MATRIX_LOW_NOISE_ACCEL_SHIMMER3_KXTC9_2050,
+                            OFFSET_VECTOR_ACCEL_LOW_NOISE_SHIMMER3_KXTC9_2050
+                        }
+                    }
+                };
             }
 
+            if (CalibDetails.TryGetValue(0, out var defaultCalib))
+            {
+                AlignmentMatrixAccel = defaultCalib[0];
+                SensitivityMatrixAccel = defaultCalib[1];
+                OffsetVectorAccel = defaultCalib[2];
+            }
         }
 
+        public void RetrieveKinematicCalibrationParametersFromCalibrationDump(byte[] sensorcalibrationdump)
+        {
+            (AlignmentMatrixAccel, SensitivityMatrixAccel, OffsetVectorAccel) = UtilCalibration.RetrieveKinematicCalibrationParametersFromCalibrationDump(sensorcalibrationdump);
+            Console.WriteLine("LN Accel calibration parameters retrieved successfully.");
+        }
     }
 }