public void TestSequence_Thread(SrbThread.dIsThreadStoping IsStoping)
{
pd = new PerformanceDetector(10);
bgd.setPd(pd);
int lose_times = 0;
if (pg_last != null)
{
chart.remove(pg_last.Plots[0]);
chart.remove(pg_last.Plots[1]);
}
if (pg != null)
{
pg_last = pg;
pg_last.Plots[0].Color = System.Drawing.Color.FromArgb(64, pg_last.Plots[0].Color);
pg_last.Plots[1].Color = System.Drawing.Color.FromArgb(64, pg_last.Plots[1].Color);
}
pg = new PlotGroup(3);
pg.Plots[0].Color = System.Drawing.Color.ForestGreen;
pg.Plots[1].Color = System.Drawing.Color.Violet;
chart.Forcu_on_plot = pg.Plots[0];
chart.add(pg.Plots[0]);
chart.add(pg.Plots[1]);
if (target_speed_table == null)
{
target_speed_table = initSpeedArray();
}
Stopwatch sw = new Stopwatch();
float time = 0f;
sw.Restart();
object motion = null;
double[] temp = new double[3];
while (time < target_speed_table.Max_time)
{
pd.beginCheck();
bgd.target_speed = target_speed_table.speed(time, ref motion);
pd.checkPoint(1);
bgd.addDataAccess_pd(1, true);
pd.checkPoint(5);
temp[0] = bgd.target_speed;
temp[1] = bgd.sensor_speed;
temp[2] = bgd.odometer;
pg.append(time, temp);
pd.checkPoint(6);
bool check(long[] ticks)
{
return(((ticks[6] - ticks[0]).tickToMs()) > 2);
}
pd.endCheckPoint(check);
if (IsStoping())
{
break;
}
while (sw.getElapsedMs() - time < period_in_ms)
{
;
}
time = sw.getElapsedMs();
}
string lose_sync_report = "";
pd.initPage();
do
{
lose_sync_report += $"T={(pd[6] - pd[0]).tickToMs():f2}, Send = {pd[3] - pd[2]}, recv = {pd[4] - pd[3]},";
lose_sync_report += $"a1={pd[2] - pd[1]}, a2 = {pd[5] - pd[4]} ";
lose_sync_report += $"access-(send+recv)={pd[5] - pd[1]-(pd[4] - pd[2])}\n\n";
}while (pd.nextPage());
this.lose_sync_report = lose_sync_report;
if (eGetMotorStatus != null)
{
eGetMotorStatus.Invoke(pg);
}
}
public TimeMappingSpeed initSpeedArray()
{
int max_speed = (bgd.pid_clu.k0 * 1024 / (bgd.pid_clu.k1 + 1024)) - 10;
return(TimeMappingSpeed.createTest_1(max_speed));
}