public SensorsDialog(ConnectionContext connection)
{
InitializeComponent();
Accelerations.StartPolling(connection);
updateThread = new Thread(UpdateInstruments);
updateThread.IsBackground = true;
updateThread.Start();
}
public double ChangeAccelerationUnit(double AccelerationValue, Accelerations fromAccelerationUnit, Accelerations toAccelerationUnit)
{
object[] results = this.Invoke("ChangeAccelerationUnit", new object[] {
AccelerationValue,
fromAccelerationUnit,
toAccelerationUnit
});
return((double)(results[0]));
}
/// <remarks/>
public void ChangeAccelerationUnitAsync(double AccelerationValue, Accelerations fromAccelerationUnit, Accelerations toAccelerationUnit, object userState)
{
if ((this.ChangeAccelerationUnitOperationCompleted == null))
{
this.ChangeAccelerationUnitOperationCompleted = new System.Threading.SendOrPostCallback(this.OnChangeAccelerationUnitOperationCompleted);
}
this.InvokeAsync("ChangeAccelerationUnit", new object[] {
AccelerationValue,
fromAccelerationUnit,
toAccelerationUnit
}, this.ChangeAccelerationUnitOperationCompleted, userState);
}
private void ConnectButton_Click(object sender, EventArgs e)
{
Button button = (Button)sender;
if (button.Text.Equals("Connect"))
{
this.openConnection = connectionManager.GetConnectionContext(selectedConnection);
if (openConnection.OpenConnection())
{
//check authorization
string userPassword = null;
//TODO: Figure out if API will close socket or not.
while (!openConnection.Authorize())
{
//prompt user for correct password
userPassword = Dialog.ShowPrompt("Password Please:", selectedConnection.Password);
selectedConnection.Password = userPassword;
openConnection.connection = selectedConnection;
connectionManager.Save(selectedConnection);
if (userPassword.Equals(""))
{
return;
}
}
//TODO: Refactor maybe
button.Text = "Disconnect";
//Accelerations.StartPolling(openConnection);
setConnectionListItemDisplayConnected(true);
//start mesh if controller available
if (SelectedController != null && ControllerManager.IsControllerConnected(SelectedController))
{
InitiateMesh();
}
}
else
{
Dialog.ShowMessageDialog("Error Opening Connection to ROV. Most likely Connection Refused.");
}
}
else
{
StopMesh();
Accelerations.StopPolling();
openConnection.Close();
button.Text = "Connect";
//TODO: Refactor
setConnectionListItemDisplayConnected(false);
}
}
public override bool Run()
{
// There is no input assumed. This is a dedicated acceleration sensor.
vRadius = MassBalance.StructuralToBody(vLocation);
//aircraft forces
vAccel = (Accelerations.GetBodyAccel()
+ Accelerations.GetPQRidot() * vRadius
+ Propagate.GetPQRi() * (Propagate.GetPQRi() * vRadius));
// transform to the specified orientation
vAccel = sensorOrientation.mT * vAccel;
input = vAccel[sensorOrientation.axis - 1];
ProcessSensorSignal();
SetOutput();
return(true);
}
/// <remarks/>
public void ChangeAccelerationUnitAsync(double AccelerationValue, Accelerations fromAccelerationUnit, Accelerations toAccelerationUnit)
{
this.ChangeAccelerationUnitAsync(AccelerationValue, fromAccelerationUnit, toAccelerationUnit, null);
}
private void SensorsDialog_FormClosing(object sender, FormClosingEventArgs e)
{
Accelerations.StopPolling();
updateThread.Abort();
}
