public async void ScannerTask()
{
/* Initialize UltraSonic Distance Sensor */
Library.Sensor.UltrasonicDistanceSensor DistanceSensor = new Library.Sensor.UltrasonicDistanceSensor(Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_22, Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_27);
/*
* 'CurrentRotation' Holds the current rotation
* ============|===========================|===========
* Description | Actual Data Feed To Servo | Assumption
* ============|===========================|===========
* Left Most | 0 | -70
* Center | 70 | 0
* Right Most | 140 | +70
*/
byte CurrentRotation = 70; // << HOLDS ACTUAL DATA TO BE FEED TO SERVO
/*
* Holds direction to move
+1 means scanner should move right
* -1 means scanner should move left
*/
int Direction = 1;
double Distance;
byte Temp;
/* Scan infinitely */
while (true)
{
/*
* Take multiple sample of the distance in current sight
* Higher the sampling, accurate the result but will cause slower scanning.
*/
Distance = 0; // Reset Distance
for (int i = 0; i < NumberOfSample; i++)
{
Distance += DistanceSensor.GetDistance(); // Add distance
await Task.Delay(1); // Wait for a ms
}
Distance /= NumberOfSample; // Calculate average
/*
* Send current angle to Gateway to set servo
* This project was developed to map object distances between -70 to +70 degree
* Thus servo will move between: 00 - 70 - 140 (Actual Angle)
* -70 - 0 - +70 (Assumed Angle)
*/
Temp = (byte)((140 - CurrentRotation > 0) ? 140 - CurrentRotation : 0);
/* Send angle to the gateway in a byte */
/* A dummy byte will be returned from the function */
Temp = Library.Communication.ArduinoGateway.MoveServo(Temp).Result[0];
/*
* If right direction is fully mapped, change scanning direction to left.
* Or else if left is fully scanned, change direction to right.
*/
if (CurrentRotation > 140)
{
Direction = -1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
else if (CurrentRotation == 0)
{
Direction = 1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
/* Update current rotation with direction */
CurrentRotation = (byte)(CurrentRotation + Direction);
/*
* Update UI
* Dispatcher will helps to update UI components acquired by Main thread. (Because we're on another thread)
*/
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal,
() =>
{
/* Convert current rotation from 0 to 140 into -70 to +70 */
ScannerLine.Angle = CurrentRotation - 70;
/* If all available angles has been scanned for a direction, clean LiDAR map */
if (ScannerLine.Angle == -70 || ScannerLine.Angle == 70)
{
Grid_Mapper.Children.Clear();
}
/* Do not plot object > 500 cm */
if (Distance > 500)
{
Distance = 0;
}
/* LiDAR map developed for this project is only for up-to 300 cm. Thus eliminate higher distances. */
if (Distance > 299)
{
Distance = 299;
}
/* Plot distance into LiDAR map */
Grid_Mapper.Children.Add(DistanceMapper.GetMapper(ScannerLine.Angle, (int)Distance));
});
/* Hold for 5ms to take breath entire system */
await Task.Delay(5);
}
}
public static void CreateRenderables()
{
RedSea.Singleton.SetMapper(RedSea.Display.CP_TRACKING, mapperCP);
RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_CORES, mapperPathCore);
RedSea.Singleton.SetMapper(RedSea.Display.MEMBER_COMPARISON, mapperComparison);
RedSea.Singleton.SetMapper(RedSea.Display.OKUBO_WEISS, mapperOW);
//mapperFlowMap = new FlowMapMapper(new LoaderNCF.SliceRange[] { ensembleU, ensembleV }, redSea, velocity);
//RedSea.Singleton.SetMapper(RedSea.Display.FLOW_MAP_UNCERTAIN, mapperFlowMap);
//mapperPathLength = new PathlineLengthMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_LENGTH, mapperPathLength);
//mapperCutDiffusion = new DiffusionMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.CUT_DIFFUSION_MAP, mapperCutDiffusion);
//mapperLocalDiffusion = new LocalDiffusionMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.LOCAL_DIFFUSION_MAP, mapperLocalDiffusion);
//DataMapper pathlines = new PathlineRadius(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_RADIUS, pathlines);
//SubstepViewer substep = new SubstepViewer(redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.SUBSTEP_VIEWER, substep);
//DataMapper lineStatistics = new LineStatisticsMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.LINE_STATISTICS, lineStatistics);
DataMapper coreDistance = new CoreDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CORE_DISTANCE, coreDistance);
DataMapper predCoreDistance = new PredictedCoreDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.PREDICTOR_CORE_ANGLE, predCoreDistance);
DataMapper circleCoreDistance = new ConcentricDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CONCENTRIC_DISTANCE, circleCoreDistance);
DataMapper circleCoreTube = new ConcentricTubeMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CONCENTRIC_TUBE, circleCoreTube);
DataMapper ftle = new MapperFTLE(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.FTLE_CONCENTRIC, ftle);
DataMapper pathDist = new DistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_DISTANCE, pathDist);
DataMapper donut = new DonutAnalyzer(redSea);
RedSea.Singleton.SetMapper(RedSea.Display.DONUT_ANALYSIS, donut);
if (mapperOW != null)
RedSea.Singleton.SetMapper(RedSea.Display.OKUBO_WEISS, mapperOW);
RedSea.Singleton.SetMapper(RedSea.Display.PLAYGROUND, new PlaygroundMapper(redSea));
//FieldAnalysis.AlphaStableFFF = 0;
//var f = new VectorField(velocity, FieldAnalysis.StableFFF, 3, true);
//Renderer.Singleton.AddRenderable(new FieldPlane(redSea, f.GetSlice(0), FieldPlane.RenderEffect.LIC));
//Random rnd = new Random();
//SquareMatrix x = new SquareMatrix(2);
//x.m00 = /*(float)rnd.NextDouble();//*/0.8f;
//x.m10 = /*(float)rnd.NextDouble();//*/-0.8f;
//x.m01 = /*(float)rnd.NextDouble();//*/-0.3f;
//x.m11 = /*(float)rnd.NextDouble();//*/1.6f;
//SquareMatrix xT = x.Transposed();
//SquareMatrix cauchy = xT* x;
//SquareMatrix e, lambda;
//cauchy.Eigenanalysis(out lambda, out e);
//Vector lambda2 = cauchy.EigenvaluesReal();
}
public static void CreateRenderables()
{
RedSea.Singleton.SetMapper(RedSea.Display.CP_TRACKING, mapperCP);
RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_CORES, mapperPathCore);
RedSea.Singleton.SetMapper(RedSea.Display.MEMBER_COMPARISON, mapperComparison);
RedSea.Singleton.SetMapper(RedSea.Display.OKUBO_WEISS, mapperOW);
//mapperFlowMap = new FlowMapMapper(new LoaderNCF.SliceRange[] { ensembleU, ensembleV }, redSea, velocity);
//RedSea.Singleton.SetMapper(RedSea.Display.FLOW_MAP_UNCERTAIN, mapperFlowMap);
//mapperPathLength = new PathlineLengthMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_LENGTH, mapperPathLength);
//mapperCutDiffusion = new DiffusionMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.CUT_DIFFUSION_MAP, mapperCutDiffusion);
//mapperLocalDiffusion = new LocalDiffusionMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.LOCAL_DIFFUSION_MAP, mapperLocalDiffusion);
//DataMapper pathlines = new PathlineRadius(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_RADIUS, pathlines);
//SubstepViewer substep = new SubstepViewer(redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.SUBSTEP_VIEWER, substep);
//DataMapper lineStatistics = new LineStatisticsMapper(velocity, redSea);
//RedSea.Singleton.SetMapper(RedSea.Display.LINE_STATISTICS, lineStatistics);
DataMapper coreDistance = new CoreDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CORE_DISTANCE, coreDistance);
DataMapper predCoreDistance = new PredictedCoreDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.PREDICTOR_CORE_ANGLE, predCoreDistance);
DataMapper circleCoreDistance = new ConcentricDistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CONCENTRIC_DISTANCE, circleCoreDistance);
DataMapper circleCoreTube = new ConcentricTubeMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.CONCENTRIC_TUBE, circleCoreTube);
DataMapper ftle = new MapperFTLE(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.FTLE_CONCENTRIC, ftle);
DataMapper coreOkubo = new CoreOkuboMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.OKUBO_CONCENTRIC, coreOkubo);
DataMapper pathDist = new DistanceMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.PATHLINE_DISTANCE, pathDist);
DataMapper donut = new DonutAnalyzer(redSea);
RedSea.Singleton.SetMapper(RedSea.Display.DONUT_ANALYSIS, donut);
if (mapperOW != null)
{
RedSea.Singleton.SetMapper(RedSea.Display.OKUBO_WEISS, mapperOW);
}
RedSea.Singleton.SetMapper(RedSea.Display.PLAYGROUND, new PlaygroundMapper(redSea));
DataMapper editor = new ConcentricEditorMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.AREA_EDITOR, editor);
DataMapper coherency = new CoherencyMapper(12, redSea);
RedSea.Singleton.SetMapper(RedSea.Display.COHERENCY, coherency);
}
