public AlarmSystem()
{
m_WatchDogTimeout = new TimeSpan(0, 0, 0, 0, 800);
DefaultTimeout = new TimeSpan(0, 0, 0, 2);
try
{
if (ProfileKeeper.IsExists())
{
TheProfile = ProfileKeeper.LoadProfile();
}
}
catch (Exception)
{
// ignore
}
if (TheProfile == null)
{
var ports = SerialPort.GetPortNames();
var name = ports.Length == 0 ? "COM1" : ports[0];
TheProfile =
new Profile
{
Name = name,
BaudRate = 115200,
DataBits = 8,
StopBits = StopBits.One,
Parity = Parity.None
};
ProfileKeeper.SaveProfile(TheProfile);
}
ShakingEnabled = true;
IlluminanceEnabled = true;
DistanceEnabled = true;
ConnectivityEnabled = true;
RealState = AlarmingState.None;
State = AlarmingState.Unarmed;
m_Watchdog = new Timer(WatchDogTimeout.TotalMilliseconds)
{
AutoReset = false
};
m_Watchdog.Elapsed += Watchdog_Triggered;
//m_IllumSmoother = new ExponentSmoother(0.2);
m_AccSmoother = new CuSumEventDetecter(0.5, 0.9, MaxAcc);
m_DistSmoother = new MinSmoother(5);
m_Port = new AsyncSerialPort(TheProfile, 12);
m_Port.OpenPort += Port_Open;
m_Port.ClosePort += Port_Close;
m_Port.PackageArrived += Port_Package;
m_Port.ReadWriteError += Port_Error;
IsOpen = false;
}
public PeaksAnalyzer(IDataCursor cursor, IPeaksFinder finder, ISmoother smoother,
IPeaksRepository peaksRepository, ILorentzian lorentzianModel)
{
lorentzian = lorentzianModel;
dataCursor = cursor;
peaksFinder = finder;
dataSmoother = smoother;
peaks = peaksRepository;
}
/// <summary>
/// Creates an instance of a <c>SmoothedBody</c> using the referenced smoothing
/// parameters object.
/// </summary>
public SmoothedBody(ISmootherParameters parameters)
: base()
{
ISmoother smoother = (ISmoother)Activator.CreateInstance(typeof(T));
_joints.Clear();
_jointOrientations.Clear();
foreach (var jointType in JointTypeEx.AllJoints)
{
_joints.Add(jointType, (IJoint)Activator.CreateInstance(smoother.CustomJointType, (JointType)jointType, parameters));
_jointOrientations.Add(jointType, (IJointOrientation)Activator.CreateInstance(smoother.CustomJointOrientationType, (JointType)jointType, parameters));
}
}
/// <summary>
/// Creates a tracker node with the given 6DOF device identifier (see InputMapper class
/// for the identifier strings).
/// </summary>
/// <param name="name">The name of this node</param>
/// <param name="deviceIdentifier">The 6DOF device identifier (see InputMapper class)</param>
/// <exception cref="GoblinException">If the given device identifier is not a 6DOF device</exception>
public TrackerNode(String name, String deviceIdentifier) :
base(name)
{
worldTransform = Matrix.Identity;
this.deviceIdentifier = deviceIdentifier;
if (!InputMapper.Instance.Contains6DOFInputDevice(deviceIdentifier))
throw new GoblinException(deviceIdentifier + " is not recognized. Only 6DOF devices " +
"are allowed to be used with TrackerNode.");
smoother = null;
predictor = null;
smooth = false;
predict = false;
}
/// <summary>
/// Creates a tracker node with the given 6DOF device identifier (see InputMapper class
/// for the identifier strings).
/// </summary>
/// <param name="name">The name of this node</param>
/// <param name="deviceIdentifier">The 6DOF device identifier (see InputMapper class)</param>
/// <exception cref="GoblinException">If the given device identifier is not a 6DOF device</exception>
public TrackerNode(String name, String deviceIdentifier) :
base(name)
{
worldTransform = Matrix.Identity;
this.deviceIdentifier = deviceIdentifier;
if (!InputMapper.Instance.Contains6DOFInputDevice(deviceIdentifier))
{
throw new GoblinException(deviceIdentifier + " is not recognized. Only 6DOF devices " +
"are allowed to be used with TrackerNode.");
}
smoother = null;
predictor = null;
smooth = false;
predict = false;
}
public TrigramWithLinearInterpolationLanguageModel(double l1, double l2, double l3, ISmoother smoother)
{
UnigramLM = new UnigramLanguageModel {
Smoother = smoother
};
BigramLM = new BigramLanguageModel {
Smoother = smoother
};
TrigramLM = new TrigramLanguageModel {
Smoother = smoother
};
Smoother = smoother;
L1 = l1;
L2 = l2;
L3 = l3;
}
/// <summary>
/// Initializes a new instance of the <see cref="AbstractParticleFilter"/> class.
/// </summary>
/// <param name="resampler"><see cref="resampler"/></param>
/// <param name="noiseGenerator"><see cref="noiseGenerator"/></param>
/// <param name="particleControllerX"><see cref="ParticleControllerX"/></param>
/// <param name="particleControllerY">The particles for the y dimension</param>
/// <param name="particleControllerZ">The particles for the z dimension</param>
/// <param name="resampleNoiseSize"><see cref="resampleNoiseSize"/></param>
/// <param name="smoother"><see cref="smoother"/></param>
/// <param name="averageCalculator"><see cref="averageCalculator"/></param>
protected AbstractParticleFilter(
IResampler resampler,
INoiseGenerator noiseGenerator,
AbstractParticleController particleControllerX,
AbstractParticleController particleControllerY,
AbstractParticleController particleControllerZ,
float resampleNoiseSize,
ISmoother smoother,
Func <float[], float> averageCalculator)
{
this.resampler = resampler;
this.noiseGenerator = noiseGenerator;
this.ParticleControllerX = particleControllerX;
this.ParticleControllerY = particleControllerY;
this.ParticleControllerZ = particleControllerZ;
this.resampleNoiseSize = resampleNoiseSize;
this.smoother = smoother;
this.averageCalculator = averageCalculator;
this.CurrentTimeStamp = -1;
this.Measurements = new List <Measurement <Vector3> >();
}
/// <summary>
/// Repopulates the properties of a smoother from Xml
/// </summary>
/// <param name="smoother">The smoother to repopulate</param>
/// <param name="properties">The values of the properties within
/// the Xml</param>
private void _populateSmoother(ISmoother smoother, IEnumerable <XElement> properties)
{
Type smootherType = smoother.GetType();
var propertyInfos = smootherType.GetProperties();
foreach (XElement element in properties)
{
XAttribute nameAttr = element.Attribute("name");
if (nameAttr == null)
{
continue;
}
PropertyInfo prop = propertyInfos.FirstOrDefault(x => x.Name == nameAttr.Value);
if (prop == null)
{
continue;
}
prop.SetValue(smoother, _stringToObj(element.Value));
}
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or
/// a single marker) and updated automatically.
/// </summary>
/// <param name="name">Name of this marker node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(String name, IMarkerTracker tracker, params Object[] markerConfigs)
: base(name)
{
this.tracker = tracker;
if (tracker != null)
{
markerID = tracker.AssociateMarker(markerConfigs);
this.markerConfigs = markerConfigs;
}
found = false;
maxDropouts = 5;
prevMatrix = Matrix.Identity;
dropout = 0;
optimize = false;
smoother = null;
predictor = null;
smooth = false;
predict = false;
predictionTime = 0;
inverseCameraView = Matrix.Identity;
}
/// <summary>
/// Initializes a new instance of the <see cref="PositionParticleFilter"/> class.
/// </summary>
/// <param name="noiseGenerator">See noiseGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampleNoiseSize">See resampleNoiseSize argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampler">See resampler argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleGenerator">See particleGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleAmount">See particleAmount argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="fieldSize">The dimensions of the area where the user can be.</param>
/// <param name="smoother">See smoother argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
public PositionParticleFilter(
INoiseGenerator noiseGenerator,
float resampleNoiseSize,
IResampler resampler,
IParticleGenerator particleGenerator,
int particleAmount,
FieldSize fieldSize,
ISmoother smoother)
: base(
resampler,
noiseGenerator,
new LinearParticleController(particleGenerator, particleAmount, fieldSize.Xmin, fieldSize.Xmax),
new LinearParticleController(particleGenerator, particleAmount, fieldSize.Ymin, fieldSize.Ymax),
new LinearParticleController(particleGenerator, particleAmount, fieldSize.Zmin, fieldSize.Zmax),
resampleNoiseSize,
smoother,
Enumerable.Average)
{
this.displacementSources = new List <IDisplacementSource>();
this.positionSources = new List <IPositionSource>();
this.iex = new LinearRegression();
this.iey = new LinearRegression();
this.iez = new LinearRegression();
}
/// <summary>
/// Initializes a new instance of the <see cref="ParticleFilter"/> class.
/// </summary>
/// <param name="noiseGenerator">See noiseGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampleNoiseSize">See resampleNoiseSize argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampler">See resampler argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleGenerator">See particleGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleAmount">See particleAmount argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="fieldSize">The dimensions of the area where the user can be.</param>
/// <param name="smoother">See smoother argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
public ParticleFilter(int particleAmount, float resampleNoiseSize, FieldSize fieldSize, IParticleGenerator particleGenerator, IResampler resampler, INoiseGenerator noiseGenerator, ISmoother smoother)
{
this.posReceivers = new List <IPositionFeedbackReceiver>();
this.oriReceivers = new List <IOrientationFeedbackReceiver>();
this.positionFilter = new PositionParticleFilter(noiseGenerator, resampleNoiseSize, resampler, particleGenerator, particleAmount, fieldSize, smoother);
this.orientationFilter = new OrientationParticleFilter(noiseGenerator, resampleNoiseSize, resampler, particleGenerator, particleAmount, smoother.Clone());
}
public static LanguageModelHyperparameters GenerateFromArguments(string args)
{
args = args.ToLower();
var splittedArgs = args.Split(' ', StringSplitOptions.RemoveEmptyEntries);
// Smoothers
// Create the collection-level unigram model with no smoothing (max-likelihood) used in some smoothing techniques
INGramLanguageModel collectionLevelLanguageModel = new UnigramLanguageModel {
Smoother = new MaxLikelihoodSmoother()
};
ISmoother smoother = null;
switch (splittedArgs[Array.IndexOf(splittedArgs, "-smoothingtechnique") + 1])
{
case "ml":
smoother = new MaxLikelihoodSmoother();
break;
case "addk":
smoother = new AddKSmoother {
K = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1])
};
break;
case "jm":
smoother = new JelinekMercerSmoother {
CollectionLevelLanguageModel = collectionLevelLanguageModel, L = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1])
};
break;
case "dirichlet":
smoother = new DirichletSmoother {
CollectionLevelLanguageModel = collectionLevelLanguageModel, M = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1])
};
break;
case "ad":
smoother = new AbsoluteDiscountSmoother {
CollectionLevelLanguageModel = collectionLevelLanguageModel, D = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1])
};
break;
case "ts":
smoother = new TwoStageSmoother {
CollectionLevelLanguageModel = collectionLevelLanguageModel, L = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1]), M = Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l2") + 1])
};
break;
}
// LM
var nGramLanguageModels = Corpus.CategoriesMap.ToDictionary(cdp => cdp.Key, cdp =>
{
INGramLanguageModel modelToUse = null;
switch (splittedArgs[Array.IndexOf(splittedArgs, "-lm") + 1])
{
case "unigram":
modelToUse = new UnigramLanguageModel {
Smoother = smoother
};
break;
case "bigram":
modelToUse = new BigramLanguageModel {
Smoother = smoother
};
break;
case "trigram":
modelToUse = new TrigramLanguageModel {
Smoother = smoother
};
break;
case "trigramwithlinearinterpolation":
modelToUse = new TrigramWithLinearInterpolationLanguageModel(
Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1]),
Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l2") + 1]),
Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l3") + 1]),
smoother);
break;
}
return(modelToUse);
});
return(new LanguageModelHyperparameters
{
CategoryNGramLanguageModelsMap = nGramLanguageModels,
UnkRatio = Array.IndexOf(splittedArgs, "-unkratio") >= 0 ? Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-unkratio") + 1]) : 0.1,
IgnoreCase = Array.IndexOf(splittedArgs, "-ignorecase") >= 0,
L1 = Array.IndexOf(splittedArgs, "-l1") >= 0 ? Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l1") + 1]) : 0.0,
L2 = Array.IndexOf(splittedArgs, "-l2") >= 0 ? Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l2") + 1]) : 0.0,
L3 = Array.IndexOf(splittedArgs, "-l3") >= 0 ? Double.Parse(splittedArgs[Array.IndexOf(splittedArgs, "-l3") + 1]) : 0.0,
CollectionLevelLanguageModel = collectionLevelLanguageModel,
});
}
/// <summary>
/// Initializes a new instance of the <see cref="OrientationParticleFilter"/> class.
/// </summary>
/// <param name="noiseGenerator">See noiseGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampleNoiseSize">See resampleNoiseSize argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="resampler">See resampler argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleGenerator">See particleGenerator argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="particleAmount">See particleAmount argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
/// <param name="smoother">See smoother argument of the constructor of <seealso cref="AbstractParticleFilter"/></param>
public OrientationParticleFilter(INoiseGenerator noiseGenerator, float resampleNoiseSize, IResampler resampler, IParticleGenerator particleGenerator, int particleAmount, ISmoother smoother)
: base(
resampler,
noiseGenerator,
new CircularParticleController(particleGenerator, particleAmount),
new CircularParticleController(particleGenerator, particleAmount),
new CircularParticleController(particleGenerator, particleAmount),
resampleNoiseSize,
smoother,
AngleMath.Average)
{
this.orientationSources = new List <IOrientationSource>();
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or
/// a single marker) and updated automatically.
/// </summary>
/// <param name="name">Name of this marker node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(String name, IMarkerTracker tracker, params Object[] markerConfigs)
: base(name)
{
this.tracker = tracker;
if (tracker != null)
{
markerID = tracker.AssociateMarker(markerConfigs);
this.markerConfigs = markerConfigs;
}
found = false;
maxDropouts = 5;
prevMatrix = Matrix.Identity;
dropout = 0;
optimize = false;
smoother = null;
predictor = null;
smooth = false;
predict = false;
predictionTime = 0;
inverseCameraView = Matrix.Identity;
}
