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; } }