public object Perform()
{
var logConfig = Logger.FSettings;
//Get database collection
var collection = Database.Connection.X.GetCollection <Database.Registers>();
var servos = PortPool.X.Servos;
if (this.servoIDs == null)
{
throw (new Exception("No list of servos provided. Please set servoIDs"));
}
//Check we have these servos
foreach (var servoID in this.servoIDs)
{
if (!servos.ContainsKey(servoID))
{
throw (new Exception(String.Format("Cannot find servo {0}", servoID)));
}
}
foreach (var servo in servos)
{
var servoID = servo.Key;
var valuesForServo = new Dictionary <string, int>();
foreach (var registerType in Logger.FSettings.Registers)
{
valuesForServo.Add(registerType.ToString()
, servo.Value.ReadValue(registerType));
}
var row = new Database.Registers
{
ServoID = servoID,
TimeStamp = DateTime.Now,
RegisterValues = valuesForServo
};
collection.InsertOne(row);
}
return(new { });
}
public object Perform()
{
var servos = PortPool.X.Servos;
foreach (var servo in servos.Values)
{
//Ideally we want to change this later
servo.ReadAll();
var dataRow = new Database.Registers();
dataRow.ServoID = servo.ID;
var registers = servo.Registers;
foreach (var register in registers)
{
dataRow.RegisterValues.Add(register.Key.ToString(), register.Value.Value);
}
Database.Connection.X.Log(dataRow);
}
return(new { });
}
public object Perform()
{
//Get ports
var ports = PortPool.X.Ports;
//Get database collection
var collection = Database.Connection.X.GetCollection <Database.Registers>();
//We get the register objects from the first servo we find in order to know addresses and sizes
DynamixelSDKSharp.Servo firstServo = null;
var report = new Dictionary <string, List <byte> >();
Parallel.ForEach(ports, (portIterator) =>
{
var listOfServosToLog = new List <byte>();
var port = portIterator.Value;
// check which servos need to be logged for either high frequency or because they've never been logged
foreach (var servoIterator in port.Servos)
{
var servoID = servoIterator.Key;
var servo = servoIterator.Value;
// store the first servo
if (firstServo == null)
{
firstServo = servoIterator.Value;
}
else
{
//check all servos are the same model number
if (servoIterator.Value.ProductSpecification.ModelNumber != firstServo.ProductSpecification.ModelNumber)
{
throw (new Exception("Mixed model numbers are not supported"));
}
}
// get data log entries for this servo
var documents = from document in collection.AsQueryable <Database.Registers>()
where document.ServoID == servoID
orderby document.TimeStamp descending
select document;
if (Database.HighFrequencyRequests.X.IsHighFrequencyNow(servoID))
{
// It's on high frequency list
listOfServosToLog.Add(servoID);
}
else if (documents.Count() == 0)
{
// It has never been logged
listOfServosToLog.Add(servoID);
}
}
if (port.Servos.Count == 0)
{
//quit early if this port has no servos
return;
}
//check regular logging (choose oldest)
{
var staleTimeForRegularUpdates = DateTime.Now - TimeSpan.FromSeconds(Logger.FSettings.Period);
var documents = collection.AsQueryable()
.OrderByDescending(row => row.TimeStamp)
.GroupBy(row => row.ServoID)
.Where(group => group.First().TimeStamp < staleTimeForRegularUpdates.ToUniversalTime())
.Select(group => group.Key);
//Ideally we don't want to call ToList first as this means we perform the following operation locally
var servosWithOldData = documents.Take(Logger.FSettings.MaxServoCount).ToList();
foreach (var servoWithOldData in servosWithOldData)
{
listOfServosToLog.Add((byte)servoWithOldData);
}
}
// trim any servos which aren't available on this port
listOfServosToLog.RemoveAll(servoID =>
{
return(!port.Servos.ContainsKey(servoID));
});
// accumulate data logs
var recordedValues = new Dictionary <RegisterType, Dictionary <byte, int> >();
if (listOfServosToLog.Count > 0)
{
foreach (var registerType in Logger.FSettings.Registers)
{
var registerInfo = firstServo.Registers[registerType];
if (this.UseGroupSyncRead)
{
recordedValues.Add(registerType
, portIterator.Value.GroupSyncRead(listOfServosToLog
, registerInfo.Address
, registerInfo.Size));
}
else
{
var values = new Dictionary <byte, int>();
foreach (var servoID in listOfServosToLog)
{
values.Add(servoID, port.Read(servoID
, registerInfo.Address
, registerInfo.Size));
}
recordedValues.Add(registerType, values);
}
}
}
//save data into database per servo
foreach (var servoID in listOfServosToLog)
{
var valuesForServo = new Dictionary <string, int>();
foreach (var registerValuesIterator in recordedValues)
{
valuesForServo.Add(registerValuesIterator.Key.ToString()
, registerValuesIterator.Value[servoID]);
}
var row = new Database.Registers
{
ServoID = servoID,
TimeStamp = DateTime.Now,
RegisterValues = valuesForServo
};
collection.InsertOne(row);
}
//accumulate report log
lock (report)
{
report.Add(String.Format("{0} ({1})", port.Name, port.Address), listOfServosToLog);
}
});
return(report);
}