gForce SDK Manual

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Functions to Get Data

SDK Type	Orientation Data	Gesture Data	Device Status	Other Data*	Data Config Function
gForceCXX	onOrientationData(...)**	onGestureData(...)**	onDeviceStatusChanged(...)**	onExtendedDeviceData(...)**	DeviceSetting::setDataNotifSwitch(...)
gForceCSharp	onOrientationData(...)**	onGestureData(...)**	onDeviceStatusChanged(...)**	onExtendedDeviceData(...)**	setNotification(...)
gForceUnity	onOrientationData(...)**	onGestureData(...)**	onDeviceStatusChanged(...)**	onExtendedDeviceData(...)**	setNotification(...)
gForcePython	Callback of GF.startDataNotification(...)	Callback of GF.startDataNotification(...)	Callback of GF.startDataNotification(...)	Callback of GF.startDataNotification(...)	GF.setDataNotifSwitch(...)
gForceArduino	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)***	NA
gForceEmbedded	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)	GForceAdapter::GetGForceData(...)***	NA

Note:

* : Includes 10 data types

** : In subclass of HubListener

*** : Only EMG data supported.

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Data Format in Callback

Callback will be invoked (e.g., onExtendedDeviceData(...) in subclass of HubListener or user callback of GF.startDataNotification(...)) when desired data notification comes.

Data format:

Notification Data Type	Data Packet Length	First Byte Value	Data Content*	Comment
Acceletor	13	0x01 (NTF_ACC_DATA)	Acceletor_X(4 Byte long), Acceletor_Y, Acceletor_Z	Accelerate speed of axis x,y and z in q15 format. Devide it by 65536.0f to get real float value.
Gyroscope	13	0x02 (NTF_GYRO_DATA)	Gyroscope_X(4 Byte long), Gyroscope_Y, Gyroscope_Z	Gyro of axis x,y and z in q15 format. Devide it by 65536.0f to get real float value.
Magnetometer	13	0x03 (NTF_MAG_DATA)	Gyroscope_X(4 Byte long), Compass_Y, Compass_Z	Magneto data of axis x,y and z in q15 format. Devide it by 65536.0f to get real float value.
Euler Angle	13	0x04 (NTF_EULER_DATA)	Pitch(4 Byte float), Roll, Yaw	Euler angle data is in degree. Pitch and Yaw is in the range of [-180, 180], Roll is in the range of [-90, 90]
Quaternion	17	0x05 (NTF_QUAT_FLOAT_DATA)	Quaternion_W(4 Byte float), Quaternion_X, Quaternion_Y, Quaternion_Z
Rotation Matrix	37	0x06 (NTF_ROTA_DATA)	Rot[0][0], Rot[0][1], Rot[0][2], Rot[1][0],...	3*3 Rotation matrix of data type long, leading 3 4-bytes integer represent the first row of matrix and so on
Gesture	3	0x07 (NTF_EMG_GEST_DATA)	Gesture identify(1 Byte uint), Probability(1 Byte uint)	Possibility is in the range of [0, 100]
Raw EMG	129	0x08 (NTF_EMG_ADC_DATA)	CH0,CH1...CH7, CH0,CH1...CH7, ...	Packet length depends on config of EMG, defalut 129. If resolution set to 8, 1 byte represents data of 1 channel. 2 bytes for 1 channel incase of resolution=12.
Mouse	NA	0x09 (NTF_HID_MOUSE)	NA	Not currently supported
Joystick	NA	0x0A (NTF_HID_JOYSTICK)	NA	Not currently supported
Device Status	2	0x0B (NTF_DEV_STATUS)	bit0 is for Recenter status, bit1 is for USB insert, bit2 is for USB unplug, bit3 is for motionless status; bit4 - bit7 is reserved	1 Byte for new device status
Log Message	>= 1	0x0C (NTF_LOG_DATA)	log message string

* : Starts from second byte of data packet.

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Examples For Getting Data from gForce

Get EMG raw data examples

C++

1. Implement HubListener interface

  class HubListenerImpl : public HubListener{...}

2. Config EMG data

Call DeviceSetting::setEMGRawDataConfig(...); to configure Emg. First parameter is sample Rate in Hz, second parameter is channel Mask, third parameter is package data length, fourth parameter is Adc resolution, Fifth parameter is callback function.

3. Open ACC Data Notification

Call DeviceSetting::setDataNotifySwitch(...) to open EMG raw. Set first parameter as DeviceSetting::DNF_EMG_RAW

4. Extract the data of EMG, etc.

void onExtendedDeviceData(SPDEVICE device, DeviceDataType dataType, gfsPtr<const vector<GF_UINT8>> data) override
{
  auto ptr = data->data();

  switch (dataType) {
  case DeviceDataType::DDT_EMGRAW:
      for (size_t i = 0; i < data->size(); i++)
      {
        //for 8bpp mode
        printf("Emg data [%d] = %u\n", i, *(reinterpret_cast<const uint8_t*>(ptr++)));

        //for 12bpp mode
        //   printf("Emg data [%d] = %u\n", i, *(reinterpret_cast<const uint16_t*>(ptr)));
        //   ptr += 2;
      }

    break;

  case DeviceDataType::DDT_GYROSCOPE:
      //... extract gyroscope data form 'data'
    break;

  default:
    break;
  }
}

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Python

DATA_LEN = 128

def ondata(data):
    if data[0] == NotifDataType['NTF_EMG_ADC_DATA'] and len(data) == DATA_LEN + 1:
            # Data for EMG CH0~CHn repeatly.
            # Resolution set in setEmgRawDataConfig:
            #   8: one byte for one channel
            #   12: two bytes in LSB for one channel.
            # eg. 8bpp mode, data[1] = channel[0], data[2] = channel[1], ... data[8] = channel[7]
            #                data[9] = channel[0] and so on
            # eg. 12bpp mode, {data[2], data[1]} = channel[0], {data[4], data[3]} = channel[1] and so on
            for i in range(1, DATA_LEN):
                print(data[i])

def set_cmd_cb(resp):
    print('Command result: {}'.format(resp))

GF = GForceProfile()
GF.setEmgRawDataConfig(sampRate = 650, channelMask = 0xFF, dataLen = DATA_LEN, resolution = 8, cb = set_cmd_cb, timeout = 1000)
GF.setDataNotifSwitch(DataNotifFlags['DNF_EMG_RAW'], set_cmd_cb, timeout = 1000)
GF.startDataNotification(ondata)

button = input()

if len(button) != 0:
    GF.stopDataNotification()
    GF.setDataNotifSwitch(DataNotifFlags['DNF_OFF'], set_cmd_cb, timeout = 1000)

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CSharp

1. Call setEmgConfig(...) configure EMG data

setEmgConfig(650/*sampleRateHz*/, 0x00FF/*interestedChannels*/, 128/*packageDataLength*/, 8/*adcResolution*/);

2. Call setNotification(...) open EMG raw

setNotification((uint)DataNotifFlags.DNF_EMG_RAW);

3. print the data of EMG raw

public override void onExtendedDeviceData(Device device, Device.DataType type, byte[] data)
{
   if (device == gForceHub_.connectedDevice_ && type == Emgraw)
   {
       System.Console.Write("Emg data len: {0}, data:" , data.Length);

       var sb = new StringBuilder("{");

       foreach (var b in data)
       {
           sb.Append(b + ",");
       }

       sb.Remove(sb.Length - 1, 1);
       sb.Append("}");

       System.Console.WriteLine(sb.ToString());
   }
}

Note: Data transfers should be off when configuring data types and starting/stoping data notification.