public static ForceProviderCalibration FromFile(string calibrationFilePath)
{
if (!File.Exists(calibrationFilePath))
{
throw new FileNotFoundException("File not found:" + calibrationFilePath);
}
ForceProviderCalibration calibration = new ForceProviderCalibration();
var xdocument = XDocument.Load(calibrationFilePath);
ParseSettings(calibration, xdocument);
return(calibration);
}
public static void ParseSettings(ForceProviderCalibration calibration, XDocument xdocument)
{
//--read individual configurations
var curveNode = xdocument.Descendants(CurveElement).First();
var tareNode = xdocument.Descendants(TareElement).First();
var originNode = xdocument.Descendants(OriginElement).First();
//--get sensor values
var topLeftNode = curveNode.Descendants(TLElement).First();
var topRightNode = curveNode.Descendants(TRElement).First();
var bottomLeftNode = curveNode.Descendants(BLElement).First();
var bottomRightNode = curveNode.Descendants(BRElement).First();
calibration.TL = ProcessSensorCalibration(topLeftNode);
calibration.TR = ProcessSensorCalibration(topRightNode);
calibration.BL = ProcessSensorCalibration(bottomLeftNode);
calibration.BR = ProcessSensorCalibration(bottomRightNode);
calibration.Origin = ProcessOrigin(originNode);
calibration.Tare = Double.Parse(tareNode.Attributes(WeightAttribute).First().Value.ToString());
}
public bool Calibrate(string calibrationFilePath)
{
this.Calibration = ForceProviderCalibration.FromFile(calibrationFilePath);
return(true);
}
public ForceProvider()
{
observers = new List <IObserver <IForceFrame> >();
this.Calibration = ForceProviderCalibration.Default();
}