/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
internal void Go()
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
logger.Info("Starting passive movement task.");
previousTrigger = false;
numClicks = 0;
lastPositionOuter = Hulk.CurrentMotion.outerPosition;
lastPositionInner = Hulk.CurrentMotion.innerPosition;
currentTrialNumber = Recordings.GetFirstTrialNumber();
DataLogger.AcquireDataLog(String.Format("recording{0:000}.csv", currentTrialNumber), dataLogHeader);
runningStopwatch.Reset();
runningStopwatch.Start();
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand {
outerVelocity = POSITIONING_VELOCITY,
innerVelocity = POSITIONING_VELOCITY,
outerAcceleration = POSITIONING_ACCELERATION,
innerAcceleration = POSITIONING_ACCELERATION
};
Hulk.SetCommand(newMotionCommand);
Hulk.StartTask();
}
/// <summary>
/// Opens the file load dialog.
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
private void fileLoadButton_Click(object sender, EventArgs e)
{
DialogResult result;
OpenFileDialog dialog;
Stream stream;
String[] filenames;
logger.Debug("Enter: fileLoadButton_Click(object, EventArgs)");
dialog = new OpenFileDialog();
dialog.DefaultExt = "csv";
dialog.Filter = "Recording files (*.csv)|*.csv";
dialog.Multiselect = true;
dialog.InitialDirectory = ConfigurationManager.AppSettings["TrialRecordingsDirectory"];
result = dialog.ShowDialog();
if (result == DialogResult.OK)
{
// Operator selected one or more files. Loop through them and add to the list of timepoints.
Recordings.Clear();
recordingFilenamesListBox.Items.Clear();
try {
filenames = dialog.FileNames;
Array.Sort(filenames);
foreach (String s in filenames)
{
stream = File.OpenRead(s);
if (stream != null)
{
recordingFilenamesListBox.Items.Add(s);
Recordings.Read(Path.GetFileName(s));
}
}
goButton.Enabled = true;
} catch (Exception) {
MessageBox.Show("Error: Could not open file(s).");
}
}
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from PassiveMovementTask or PassiveMovementPanel.
/// </summary>
public override void ContinueTask()
{
MotionCommand command;
RecordingTimepoint recording;
double elapsedTime;
double angleDiff;
elapsedTime = runningStopwatch.ElapsedMilliseconds * 1.0 / 1000;
// Check whether the entire block is complete
if (Recordings.IsEndOfRecordingSeries(currentTrialNumber, elapsedTime))
{
// Play the last recording timepoint
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
Hulk.SetCommand(command);
Hulk.ContinueTask();
// Stop the HULK and return to idling
Hulk.StopTask();
return;
}
// Check whether the current trial is complete
if (Recordings.IsEndOfRecordingTrial(currentTrialNumber, elapsedTime))
{
// Clean up from last trial
DataLogger.CloseDataLog();
runningStopwatch.Reset();
// Prepare for next trial
runningStopwatch.Start();
currentTrialNumber++;
numClicks = 0;
((PassiveMovementPanel)panel).UpdateListbox();
DataLogger.AcquireDataLog(String.Format("recording{0:000}.csv", currentTrialNumber), dataLogHeader);
return;
}
// Determine the control input for this simulation step
if (Recordings.HasRecording())
{
// Check whether the trigger has just been pressed
if (!previousTrigger && InputController.JoystickInput.trigger)
{
numClicks++;
}
previousTrigger = InputController.JoystickInput.trigger;
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
// Stop if a large angle change is commanded. A large angle change could be dangerous at these accelerations.
angleDiff = Math.Abs(lastPositionInner - command.innerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous INNER move >3 deg prevented. Current=" +
lastPositionInner.ToString("F2") + " New=" + command.innerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
angleDiff = Math.Abs(lastPositionOuter - command.outerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous OUTER move >3 deg prevented. Current=" +
lastPositionOuter.ToString("F2") + " New=" + command.outerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
lastPositionOuter = command.outerPosition;
lastPositionInner = command.innerPosition;
LogData(elapsedTime, Hulk.CurrentMotion, command, recording, InputController.JoystickInput);
Hulk.SetCommand(command);
Hulk.ContinueTask();
}
}
