/// <summary>
/// Compares two joints based on a comparision function
/// </summary>
/// <param name="a">lhs</param>
/// <param name="b">rhs</param>
/// <param name="c">Comparision Constrains</param>
/// <returns></returns>
public bool JointCompare(UJoint[] joints, JointId a, JointId b, PositionCompare c)
{
if (joints == null)
{
Debug.LogError("joints was null");
return(false);
}
Vector3 posA = joints[(int)a].Position;
Vector3 posB = joints[(int)b].Position;
Vector3 posDiff = c.posDiff;
bool3 xyz = new bool3(true);
for (int i = 0; i < c.comp.Length; i++)
{
switch (c.comp[i])
{
case Compare.NONE:
break;
case Compare.POS:
xyz[i] = posB[i] - posDiff[i] > posA[i];
break;
case Compare.NEG:
xyz[i] = posB[i] - posDiff[i] < posA[i];
break;
}
}
return(xyz.x && xyz.y && xyz.z);
}
private async void buttonCheck_Click(object sender, EventArgs e)
{
double.TryParse(this.textBoxDegreePerSecond.Text, out var degreePerSecond);
int.TryParse(this.textBoxDriveMilliseconds.Text, out var driveMilliseconds);
int.TryParse(this.textBoxStartPosition.Text, out var startPosition);
var items = new List <PositionCompare>();
var bindingSource = new BindingSource();
bindingSource.DataSource = items;
this.dataGridView2.DataSource = bindingSource;
var axisType = (AxisType)this.comboBoxAxisType.SelectedItem;
await Task.Run(() =>
{
using (var logic = new SpeedTestLogic(this._communication, axisType))
{
logic.LoadSpeedTableEneo();
var breakpoints = new List <double>();
for (var j = 0; j < 10; j++)
{
var destinationPosition = startPosition + (degreePerSecond *driveMilliseconds / 1000);
for (var i = 0; i < 3; i++)
{
logic.GoToStartPosition(startPosition);
logic.Move(degreePerSecond, driveMilliseconds);
Thread.Sleep(300);
var lastPosition = logic.LastPosition;
breakpoints.Add(lastPosition);
}
var item = new PositionCompare();
item.DegreePerSecond = degreePerSecond;
item.MoveTime = driveMilliseconds;
item.ActualPosition = breakpoints.Average();
item.TargetPosition = destinationPosition;
items.Add(item);
this.dataGridView2.Invoke(o => ((BindingSource)o.DataSource).ResetBindings(true));
degreePerSecond += 0.5;
breakpoints.Clear();
}
}
});
}
private async void buttonCheck_Click(object sender, EventArgs e)
{
this.buttonCheck.Enabled = false;
this.buttonAbortQuickCheck.Enabled = true;
this._cancellationTokenSource?.Dispose();
this._cancellationTokenSource = new CancellationTokenSource();
double.TryParse(this.textBoxDegreePerSecond.Text, out var degreePerSecond);
int.TryParse(this.textBoxDriveMilliseconds.Text, out var driveMilliseconds);
int.TryParse(this.textBoxStartPosition.Text, out var startPosition);
var items = new List <PositionCompare>();
var bindingSource = new BindingSource
{
DataSource = items
};
this.dataGridViewQuickCheck.DataSource = bindingSource;
var axisType = (AxisType)this.comboBoxAxisType.SelectedItem;
await Task.Run(async() =>
{
using (var logic = new SpeedTestLogic(this._communication, this._panTiltControlType, axisType))
{
logic.GoToStartPosition(startPosition);
var breakpoints = new List <double>();
for (var j = 0; j < 80; j++)
{
if (this._cancellationTokenSource.IsCancellationRequested)
{
return;
}
var destinationPosition = startPosition + (degreePerSecond *driveMilliseconds / 1000);
for (var i = 0; i < 3; i++)
{
logic.GoToStartPosition(startPosition);
logic.Move(degreePerSecond, driveMilliseconds);
await Task.Delay(300, this._cancellationTokenSource.Token);
var lastPosition = logic.LastPosition;
breakpoints.Add(lastPosition);
if (this._cancellationTokenSource.IsCancellationRequested)
{
return;
}
}
var item = new PositionCompare
{
DegreePerSecond = degreePerSecond,
MoveTime = driveMilliseconds,
ActualPosition = Math.Round(breakpoints.Average(), 2),
TargetPosition = destinationPosition
};
items.Add(item);
this.dataGridViewQuickCheck.Invoke(o => ((BindingSource)o.DataSource).ResetBindings(true));
degreePerSecond += 0.5;
breakpoints.Clear();
}
}
}, this._cancellationTokenSource.Token).ContinueWith(t => { });
this.buttonCheck.Enabled = true;
this.buttonAbortQuickCheck.Enabled = false;
}
public bool JointCompare(JointId a, JointId b, PositionCompare c) => JointCompare(trackedJoints, a, b, c);
