public Result ResetZ1()
{
_log.Debug("Z1 go original position");
Device?.GoOrigin(DS102.AXIS_Z1);
Z1Position = 0;
Observer?.Invoke("Z1", Z1Position);
return(new Result("Ok"));
}
private void Config_LogKalmanDataReceived(object sender, LogDataReceivedEventArgs e)
{
_firstValueTracked = true;
_historyVarianceX.Add((float)e.GetVariable("kalman.varPX"));
_historyVarianceY.Add((float)e.GetVariable("kalman.varPY"));
_historyVarianceZ.Add((float)e.GetVariable("kalman.varPZ"));
_historyVarianceX.RemoveAt(0);
_historyVarianceY.RemoveAt(0);
_historyVarianceZ.RemoveAt(0);
VarianceX = CalculatueMax(_historyVarianceX) - CalculatueMin(_historyVarianceX);
VarianceY = CalculatueMax(_historyVarianceY) - CalculatueMin(_historyVarianceY);
VarianceZ = CalculatueMax(_historyVarianceZ) - CalculatueMin(_historyVarianceZ);
CurrentPosition = new Position((float)e.GetVariable("kalman.stateX"), (float)e.GetVariable("kalman.stateY"), (float)e.GetVariable("kalman.stateZ"));
PositionUpdate?.Invoke(this, new PositionUpdateEventArgs(CurrentPosition));
_waitForVarianceUpdate.Set();
}
void HandleInboundMessage(UdpMessage message)
{
switch (message.Event)
{
case "connected": Connected?.Invoke(); break;
case "position": PositionUpdate?.Invoke(Deserialize <PositionUpdate>(message.Data.ToString())); break;
case "newplayer": NewPlayer?.Invoke(new Guid(message.Data.ToString())); break;
case "playerdisconnected": PlayerDisconnected?.Invoke(new Guid(message.Data.ToString())); break;
case "newnetobj": NewNetObj?.Invoke(Deserialize <NetObj>(message.Data.ToString())); break;
case "destroynetobj": NetObjDestroyed?.Invoke(new Guid(message.Data.ToString())); break;
case "owner-changed": OwnerChanged?.Invoke(new Guid(message.Data.ToString())); break;
default: Debug.LogError("Received invalid inbound message event: " + message.Event); break;
}
}