/// <summary>
/// Called from the main control loop whenever the task should be stopped.
/// DO NOT call this method directly from BalanceTask or BalancePanel.
/// </summary>
public override void StopTask()
{
logger.Debug("Enter: StopTask()");
if (trial.TrialStatus == Trial.Status.Complete)
{
logger.Info("Completed set of balance trials.");
}
else
{
logger.Info("Aborting balance trial: " + trial.TrialNumber);
trial.TrialStatus = Trial.Status.Complete;
}
DataLogger.CloseDataLog();
Hulk.Halt();
((BalanceWithHmdPanel)panel).CleanUp();
logStopwatch = null;
trialStopwatch = null;
_sendCommandStopTrial();
_sendCommandFadeOut();
}
/// <summary>
/// Called from the main control loop whenever the task should be stopped.
/// DO NOT call this method directly from PassiveMovementTask or PassiveMovementPanel.
/// </summary>
public override void StopTask()
{
logger.Debug("Enter: StopTask()");
logger.Info("Stopping passive movement task.");
Hulk.Halt();
((PassiveMovementPanel)panel).CleanUp();
runningStopwatch.Stop();
DataLogger.CloseDataLog();
}
/// <summary>
/// Called by th control loop when the trial's time limit has been reached.
/// </summary>
private void HandleStateComplete()
{
logger.Info("Completed balance trial: " + trial.TrialNumber);
DataLogger.CloseDataLog();
bool advanceToNextTrial = true;
if ((trial.NumberIndications == 0) && trial.JoystickIndicationsMandatory)
{
logger.Warn("Participant did not indicate during this trial - restarting trial");
StartLogging();
StartTrial();
advanceToNextTrial = false;
}
if (advanceToNextTrial)
{
trial.PlayEndSound();
if (Trials.CurrentTrialIndex == (Trials.List.Count - 1))
{
// Entire protocol has been completed
Hulk.StopTask();
}
else
{
// Continue to following trial
Trials.CurrentTrialIndex++;
trial = Trials.CurrentTrial;
StartLogging();
trial.MovingDirectionOfBalance.roll = Trials.PreviousTrial.MovingDirectionOfBalance.roll;
trial.MovingDirectionOfBalance.pitch = Trials.PreviousTrial.MovingDirectionOfBalance.pitch;
trial.MovingDirectionOfBalance.yaw = Trials.PreviousTrial.MovingDirectionOfBalance.yaw;
StartTrial();
}
}
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from PassiveMovementTask or PassiveMovementPanel.
/// </summary>
public override void ContinueTask()
{
MotionCommand command;
RecordingTimepoint recording;
double elapsedTime;
double angleDiff;
elapsedTime = runningStopwatch.ElapsedMilliseconds * 1.0 / 1000;
// Check whether the entire block is complete
if (Recordings.IsEndOfRecordingSeries(currentTrialNumber, elapsedTime))
{
// Play the last recording timepoint
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
Hulk.SetCommand(command);
Hulk.ContinueTask();
// Stop the HULK and return to idling
Hulk.StopTask();
return;
}
// Check whether the current trial is complete
if (Recordings.IsEndOfRecordingTrial(currentTrialNumber, elapsedTime))
{
// Clean up from last trial
DataLogger.CloseDataLog();
runningStopwatch.Reset();
// Prepare for next trial
runningStopwatch.Start();
currentTrialNumber++;
numClicks = 0;
((PassiveMovementPanel)panel).UpdateListbox();
DataLogger.AcquireDataLog(String.Format("recording{0:000}.csv", currentTrialNumber), dataLogHeader);
return;
}
// Determine the control input for this simulation step
if (Recordings.HasRecording())
{
// Check whether the trigger has just been pressed
if (!previousTrigger && InputController.JoystickInput.trigger)
{
numClicks++;
}
previousTrigger = InputController.JoystickInput.trigger;
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
// Stop if a large angle change is commanded. A large angle change could be dangerous at these accelerations.
angleDiff = Math.Abs(lastPositionInner - command.innerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous INNER move >3 deg prevented. Current=" +
lastPositionInner.ToString("F2") + " New=" + command.innerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
angleDiff = Math.Abs(lastPositionOuter - command.outerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous OUTER move >3 deg prevented. Current=" +
lastPositionOuter.ToString("F2") + " New=" + command.outerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
lastPositionOuter = command.outerPosition;
lastPositionInner = command.innerPosition;
LogData(elapsedTime, Hulk.CurrentMotion, command, recording, InputController.JoystickInput);
Hulk.SetCommand(command);
Hulk.ContinueTask();
}
}
