C# API

Overview

The OpenZen language bindings allow you to access sensor data from any C# program. The function names are the same which are used by the OpenZen C API. In order to use the C# language bindings, you need to add the C# files in the folder bindings/OpenZenCSharp to your project as well as the dynamic link libraries from the binary OpenZen folder.

You can find a complete OpenZen C# example for Visual Studio in this folder.

Initialize OpenZen in C#

To create a new instance of OpenZen, you can use this code snippet:

ZenClientHandle_t zenHandle = new ZenClientHandle_t();
OpenZen.ZenInit(zenHandle);

Receive Sensor data in C#

OpenZen events containing sensor data need to be read from the pointers returned by the interface using the following method:

// read acceleration
OpenZenFloatArray fa = OpenZenFloatArray.frompointer(zenEvent.data.imuData.a);
// read euler angles
OpenZenFloatArray fr = OpenZenFloatArray.frompointer(zenEvent.data.imuData.r);
// read quaternion
OpenZenFloatArray fq = OpenZenFloatArray.frompointer(zenEvent.data.imuData.q);

Console.WriteLine("Sensor data\n -> Acceleration a = " + fa.getitem(0) + " " + fa.getitem(1) + " " + fa.getitem(2));
Console.WriteLine(" -> Euler angles r = " + fr.getitem(0) + " " + fr.getitem(1) + " " + fr.getitem(2));
Console.WriteLine(" -> Quaternion w = " + fq.getitem(0) + " x " + fq.getitem(1) + " y " + fq.getitem(2) + " z " + fq.getitem(3));