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Prio API Quick Start Guide

1. prio_type_string device_info device_type printf Serial 8X n device_info serial_number printf HardwareVersion s n device_info hardware_version printf FirmwareVersion s n device_info firmware_version printf Compatibility d n device_info fw_compatibility else printf ERROR s n prio_error_string error prio_destroyDevice device printen sse Finally before quitting from your code it is best to call the prio_resetPrioApi function to properly clean up the memory the API has allocated This also helps assure the API will work properly the next time it is used error prio_resetPrioApi if error PRIO_NO ERROR printf ERROR s n prio_error_string error printf nFinished press Enter to continue getchar return 2007 2014 YEI Corporation 4 13 Getting Information This example demonstrates getting basic data from the sensor As shown in the previous example a connection to the Prio device must be made include lt stdio h gt tinclude prio base apr hb int main prio ComPort comport prio device 1d prio device PRIO_ERROR error if prio getComEorts scomport 1 0 PRIO FIND BS prio device prio CreateDevicestr Comport com port PERTO TIMESTAMP SYSTEM a2 prio deyice ERIO NO DEVICE 1D printf GN CERROR Peuiled to Create a Sensor On 25 n Conport com port recura 17 eleg printf tNo se
2. ERROR printf ERROR s n prio_error_string error printf nFinished press Enter to continue getchar return 2007 2014 YEI Corporation 6 13 Streaming Data with the Prio API Other than using write read commands to get data from a Prio device the Prio API is able to make use of the Prio device s streaming option It does so by using C 11 s multithreading library Streaming data is the best option for real time applications Setting the Streaming Slots The Prio devices allows users to choose up to 8 different types of data they want to stream by setting the streaming slots of the device The API makes this easy by providing a PRIO_STREAM_COMMAND enum type that denotes what commands can be streamed and a prio_stream_commands type that the function prio_setStreamingSlots takes as a parameter By default the streaming slots are set to only stream the tared orientation as a quaternion from the sensor nodes on creation uint32_t timestamp prio_stream_commands prio_slots 8 PRIO_GET_TARED_ORIENTATION_AS QUATERNION PRIO_GET_CORRECTED_ACCELEROMETER_VECTOR PRIO_NULL PRIO_NULL PRIO_NULL PRIO_NULL PRIO_NULL PRIO_NULL 3 error prio_setStreamingSlots prio_device prio_slots amp timestamp if error PRIO_NO_ERROR printf ERROR s n prio_error_string error 2007 2014 YEI Corporation 7 13 Getting the Size of the Stream Data Once the streaming slots are set to return the
3. from the example creating_instances c and explain some key components in using the API For a more detailed description of the API and its components please refer to the YEI Prio API User s Manual or the documentation file for the Prio API 2007 2014 YEI Corporation 1 13 Creating a Basic C Code Example The following examples can be found on the Prio website www priovr com Creating Instances This example shows how to use the API to connect to and find a Prio device When a Prio device is connected a prio_device_id is returned which is needed to call many functions in the API include lt stdio h gt include lt stdint h gt include prio_api h int main prio_device_id device PRIO_ERROR error If the serial port is already known for the Prio device we can create an instance without doing a search const char com_port_str COM7 lt Edit this to your device s serial port printf Creating Prio Device on s n com_port_str device prio_createDeviceStr com_port_str PRIO_TIMESTAMP_SYSTEM It is always best to check if the prio_device_id is valid This is usually the case unless the Prio device s serial port is already in use if device PRIO NO DEVICE_ID printf Failed to communicate on s n com_port_str else printf Created a Prio device on s n com_port_str prio_destroyDevice device PPANS 2007 2014 YEI Corporation 2 13 If the serial port is not
4. length of the stream data and we can now be sure we have allocated enough memory for getting the stream data The API also provides another way of getting the full length of the stream data with the function prio_getFullLengthOfStreamData uint32_t full_stream_data_len error prio_getFullLengthOfStreamData prio_device amp full_stream_data_len if error PRIO_NO ERROR printf ERROR s n prio_error_string error 2007 2014 YEI Corporation 8 13 Now that we know how much memory needs to be allocated we can start streaming data by calling prio_startStreaming The API gives a few methods to retrieve the stream data non blocking blocking and recorded Each method is designed for an array of different applications in mind For convenience all methods of retrieving data also write the header data out to a prio_StreamHeaderData structure parameter prio_StreamHeaderData header_data float stream_data uint32_t stream_timestamp stream_data float malloc full_stream_data_len sizeof float error prio_startStreaming prio_device NULL if error PRIO_NO ERROR printf ERROR s n prio_error_string error Getting the Stream Data Non blocking Using the non blocking method prio_getLastStreamData is ideal for real time applications as it returns information the fastest In some kind of loop error prio_getLastStreamData prio_device amp header_data stream_data full_stream_data
5. 1 888 3595 9029 WEI Technology www Y ei lechnology com YEI Prio API Quick Start Guide Purpose The purpose of this document is to introduce users to the YEI Prio Application Programming Interface API After reading this document users will be able to instantiate the various classes of the API to interact with the Prio devices and interpret any read data in a meaningful way Overview The Prio API is a collection of convenience functions that wrap all normal functionality of YEI Technology s family of Prio devices for use in a program written in C C or any language that can import compiled libraries dll so etc Software Requirements Operating System Windows 7 32 Bit 64 Bit Windows XP 32 Bit 64 Bit Windows Vista 32 Bit 64 Bit Windows 8 and Unix are untested Getting Started with the Prio API When connecting to and communicating with a Prio device via the API there are a few common steps that must be taken before full communication may take place These steps are as follows l Link to the API library 2 Include the API header in your file 3 Know the serial port of the Prio device 4 Construct an interface instance of the Prio device If guidance is required for linking the library to the user s development environment please refer to one of the following Quick Starts YEI Prio API Quick Start Guide Setup Environment for Visual Studio The next section will go over the last 3 steps using code snippets
6. _ timestamps recorded_samples_len if error PRIO_NO ERROR Do something else printf ERROR s n prio_error_string error 2007 2014 YEI Corporation 11 13 Stopping Streaming and Clean Up Now that you are more familiar with the functionality of the Prio API and how to connect to and find a Prio device you can begin creating your own examples and applications using the API 2007 2014 YEI Corporation 12 13 al Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnology com www PrioVR com 2007 2014 YEI Corporation Printed in USA 2007 2014 YEI Corporation 13 13
7. _len amp stream_timestamp if error PRIO_NO_ERROR Do something else printf ERROR s n prio_error_string error Getting the Stream Data Blocking Using the blocking method prio_getLatestStreamData is ideal for applications wanting unique data such as when data logging The function accomplishes this by taking a timeout parameter in milliseconds to know how long to wait for new data to arrive In some kind of loop error prio_getLastStreamData prio_device amp header_data stream_data full_stream_data_len 16 amp stream_timestamp if error PRIO_NO_ERROR Do something else printf ERROR s n prio_error_string error 2007 2014 YEI Corporation 9 13 Getting the Stream Data Recorded Now with getting recorded stream data we should set a sample size for the recording By default it is set to the max size of an std deque container but there is no guarantee that it would not fail before reaching that size So it is best to set a max sample size of the recording using the prio_setMaxRecordedSamples function Note that this container is a First In First Out FIFO data structure and once the max size is reached the oldest data in the container will be removed uint32_t max_samples_len error prio_setMaxRecordedSamples prio_device max_samples_len if error PRIO_NO_ERROR printf ERROR s n prio_error_string error Once the max sample size is set w
8. desired data we need to know the full size of the stream data To start we can calculate or get the size of the data denoted by the streaming slots In the previous example the streaming slots are set up to stream the tared orientation as a quaternion and corrected accelerometer data from the sensor nodes Now note that each stream command is a different number of floats From there we can calculate the size as it would be 4 floats for the quaternion and 3 floats for the accelerometer data making it a total of 7 floats Now the API provides the function prio_getLengthOfStreamData that requires less knowledge of the streaming slots uint32_t stream_data_len error prio_getLengthOfStreamData prio_device amp stream_data_len if error PRIO_NO_ERROR printf ERROR s n prio_error_string error Next we need to get the number of active sensor nodes from the Prio device This can be done using the prio_getActiveSensors function uint8_t active_nodes uint8_t active_nodes_len error prio_getActiveSensors prio_device NULL amp active_nodes_len if error PRIO_NO_ERROR printf ERROR s n prio_error_string error active_nodes uint8_t malloc active_nodes_ len sizeof uint8_t error prio_getActiveSensors prio_device active_nodes active_nodes_len NULL if error PRIO_NO_ERROR printf ERROR s n prio_error_string error Finally we multiply the numbers together to get the full
9. e need to tell the API to start recording This can be done in 2 ways One way is setting the start_recording parameter for the prio_startStreaming function to some value greater than 0 The other is to call the prio_startRecordingData function after streaming has already started Now we must decide what method we wish to use to get the recorded samples The API provides 3 methods of getting recorded samples with one of them requiring an addition setup before calling One method is to use the prio_popFrontRecordedSample function This function removes and returns the recorded sample at the front of the recording container In some kind of loop error prio_popFrontRecordedSample prio_device amp header_data stream_data full_stream_data_len amp stream_timestamp if error PRIO_NO_ERROR Do something else printf ERROR s n prio_error_string error Another method is to use the prio_getRecordedSampleAtIndex function This function returns the recorded sample at the given index from the recording container WIRES2 t idx In some kind of loop error prio_getRecordedSampleAtIndex prio_device amp header_data stream_data full_stream_data_len idx amp stream_timestamp if error PRIO_NO_ERROR Do something else printf ERROR s n prio_error_string error 2007 2014 YEI Corporation 10 13 The last method available to use the prio_getRecordedSamples function This f
10. known for the Prio device we can do a search for the device We can do this by calling the prio_getComPorts function Many functions of the API take a structure or an array to get the data This particular function can take an array of the prio_ComPort structure the size of the array an offset in the array and a filter parameter of PRIO_FIND Then it fills the array with prio_ComPort structures based on the filter The filter can be used to find unknown specific or all connected Prio devices Each prio_ComPort structure contains a char array for the serial port name and a PRIO_TYPE that denotes the type of the device for the serial port printf Creating Prio Devices from Search n prio_ComPort com_ports 20 int device_count prio_getComPorts com_ports 20 PRIO_FIND_ALL_KNOWN printf Found d Devices n device_count for int i i lt device_count i device prio_createDeviceStr com_ports i com_port PRIO_TIMESTAMP_SYSTEM if device PRIO_NO_DEVICE_ID printf Failed to create a device on s n com_ports i com_port else printf Created a Prio device on s n com_ports i com_port prio_destroyDevice device printf E EN 3 If the filter parameter for prio_getComPorts is set to also find unknown types we must be careful in trying to create a prio_device_id as commands are sent over the serial port which could make devices other than Prio devices act in an undesirable
11. nsors found n feta A y printf Enumerating the Prio HUB n reor prio enumeratekub priol device NmULIDPEE printf Finding all present nodes after enumeration n uinte E active nodes len 10 7 fer 0 i lt Sizes present nodes sizeoi uinte t 1FF uine o E present error prio_isSensorPresent prio_device i amp present present_nodes i present if present printf tSensor Node sd is present n i active_nodes_ len 2007 2014 YEI Corporation 5 13 Once the enumeration process is complete data can be retrieved Many functions provide a structure or an array to get the data prio_getTaredOrientationAsQuaternion writes out a quaternion as an array of four floats along with an optional time stamp as an unsigned integer printf Get the Tared Orientation of each present node n float quat 4 uint32_t timestamp for i i lt sizeof present_nodes sizeof uint8 _t i if present_nodes i error prio_getTaredOrientationAsQuaternion prio_device i quat amp timestamp if error printf t d Quat F F F F Timestamp u n i quat quat 1 quat 2 quat 3 timestamp else printf ERROR s n prio_error_string error After getting the data needed the example destroys the connection with the Prio device then resets the API prio desi roybevace device error prio_resetPrioApi if error PRIO_NO
12. unction returns all of the recorded samples in the recording container With this method a setup of getting the size of the recorded container using prio_getLengthOfRecordedSamples and prio_getFullLengthOfRecordedSamples and stopping the recording using prio_stopRecordingData is necessary Note that allocating memory for the header data and timestamps is only necessary if that information is wanted error prio_stopRecordingData prio_device if error PRIO_NO ERROR printf ERROR s n prio_error_string error uint32_t recorded_samples_len error prio_getLengthOfRecordedSamples prio_device amp recorded_samples_len if error PRIO_NO ERROR printf ERROR s n prio_error_string error uint32_t full_recorded_samples_len error prio_getFullLengthOfRecordedSamples prio_device amp full_recorded_samples_len if error PRIO_NO ERROR printf ERROR s n prio_error_string error prio_StreamHeaderData recorded_header_data float recorded_data uint32_t recorded_timestamps recorded_header_data prio_StreamHeaderData malloc recorded_samples_len sizeof prio_StreamHeaderData recorded_data float malloc full_recorded_samples_len sizeof float recorded_timestamps uint32_t malloc recorded_samples_len sizeof uint32_t error prio_getRecordedSamples prio_device amp recorded_header_data recorded_samples_len recorded_data full_recorded_samples_len amp recorded
13. way So be sure to know what port your Prio device s are on when creating instances We can get more information about a Prio device using the prio_Devicelnfo structure and the prio_getDevicelnfo function The prio_Devicelnfo structure contains a PRIO_TYPE that denotes the type of the device a uint32_t that denotes the serial number for the device a char array that denotes the firmware version of the device a char array that denotes the hardware version of the device and a PRIO_FIRMWARE_COMPATIBILITY that denotes the compatibility level of the firmware printf Checking Unknown Ports for Prio Devices n device_count prio_getComPorts com_ports 20 PRIO FIND UNKNOWN printf Found d Devices n device_count prio _DeviceInfo device_info for int i i lt device _count i device prio_createDeviceStr com_ports i comport PRIO_TIMESTAMP_SYSTEM if device PRIO_NO_DEVICE_ID printf Failed to create a device on s n com_ports i com_port else printf Created a Prio device on s n com_ports i com_port 2007 2014 YEI Corporation 3 13 It is also always best to check if the command succeeded This is very helpful to debug what went wrong especially when communicating wirelessly error prio_getDeviceInfo device amp device_info if error PRIO_NO_ ERROR peintt s ne CoM ports i com port printf DeviceType s n

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