private Tuple <double, double> JoystickToDiff(double x, double y, double minJoystick, double maxJoystick, double minSpeed, double maxSpeed)
{
// If x and y are 0, then there is not much to calculate...
if (x == 0 && y == 0)
{
return(new Tuple <double, double>(0, 0));
}
// First Compute the angle in deg
// First hypotenuse
var z = Math.Sqrt(x * x + y * y);
// angle in radians
var rad = Math.Acos(Math.Abs(x) / z);
// and in degrees
var angle = rad * 180 / Math.PI;
// Now angle indicates the measure of turn
// Along a straight line, with an angle o, the turn co-efficient is same
// this applies for angles between 0-90, with angle 0 the coeff is -1
// with angle 45, the co-efficient is 0 and with angle 90, it is 1
var tcoeff = -1 + (angle / 90) * 2;
var turn = tcoeff * Math.Abs(Math.Abs(y) - Math.Abs(x));
turn = Math.Round(turn * 100, 0) / 100;
// And max of y or x is the movement
var mov = Math.Max(Math.Abs(y), Math.Abs(x));
double rawLeft, rawRight;
// First and third quadrant
if ((x >= 0 && y >= 0) || (x < 0 && y < 0))
{
rawLeft = mov;
rawRight = turn;
}
else
{
rawRight = mov;
rawLeft = turn;
}
// Reverse polarity
if (y < 0)
{
rawLeft = -rawLeft;
rawRight = -rawRight;
}
// minJoystick, maxJoystick, minSpeed, maxSpeed
// Map the values onto the defined rang
var leftOut = ValueMapper.Map(rawLeft, minJoystick, maxJoystick, minSpeed, maxSpeed);
var rightOut = ValueMapper.Map(rawRight, minJoystick, maxJoystick, minSpeed, maxSpeed);
return(new Tuple <double, double>(leftOut, rightOut));
}
private void OnRemoteControlMessageReceived(IMessage message)
{
var rcMessage = (RemoteControlMessage)message;
if (rcMessage.Key == (int)RemoteControlKey.Throttle)
{
_messageBroker.Publish(new ServoMessage
{
Id = 0,
PulseWidth = (int)ValueMapper.Map(rcMessage.Value, -1, 1, 500, 2500)
});
}
}
private void Gamepad_AxisChanged(object sender, AxisEventArgs e)
{
var rcKey = MapToRemoteControlKey(e.Axis, true);
if (rcKey != RemoteControlKey.Invalid)
{
var value = ValueMapper.Map(e.Value, -32767, 32767, -1, 1) * ((rcKey == RemoteControlKey.Throttle || rcKey == RemoteControlKey.Yaw) ? -1 : 1);
KeyChanged?.Invoke(this, new RemoteControlEventArgs
{
Key = rcKey,
// Gamepad's Throttle and Yaw values are inverted.. fix that before sending
Value = value
});
}
}
public void GivenNotRequiredEmptyValue_WhenMapping_ItIsSetToDefaultValue()
{
var parsingStrategyProvider = new Mock <IProvideParsingStrategy>();
var mapper = new ValueMapper(parsingStrategyProvider.Object);
var columnMapping = new NameColumnMapping(string.Empty, string.Empty, string.Empty, null, null, null, false, null);
var result = mapper.Map(
value: string.Empty,
propertyType: typeof(int),
rowIndex: 0,
columnMapping: columnMapping);
result.IsSuccess.Should().BeTrue();
result.Value.Should().Be(string.Empty);
}
public void GivenInvalidValue_WhenParsingFails_FailureIsReturned()
{
var value = "foo";
var parsingStrategyProvider = new Mock <IProvideParsingStrategy>();
parsingStrategyProvider.Setup(v => v.Parse(typeof(int), value.ToString(), string.Empty)).Returns(Result.Fail <object, string>("Parsing failed"));
var mapper = new ValueMapper(parsingStrategyProvider.Object);
var columnMapping = new NameColumnMapping(string.Empty, string.Empty, string.Empty, null, null, null, false, null);
var result = mapper.Map(
value: value,
propertyType: typeof(int),
rowIndex: 0,
columnMapping: columnMapping);
result.IsFailure.Should().BeTrue();
}
/// <summary>
/// Generate the actual drainage values by combining noise and standard derivation
/// </summary>
private void GenerateDrainage()
{
for (var ix = 0; ix < this.Dimensions.Width; ++ix)
{
for (var iy = 0; iy < this.Dimensions.Height; ++iy)
{
// Drainage under water is just 0.0
if (this.Elevation[ix, iy] <= this.Elevation.SeaThreshold ||
this.Elevation[ix, iy] >= this.Elevation.LandThreshold)
{
this.Values[ix, iy] = 0.0f;
}
else
{
var drainage = this.StandardDerivationWeight * this.StandardDerivation[ix, iy]
+ this.NoiseWeight * this.NoiseValues[ix, iy];
this.Values[ix, iy] = drainage;
}
}
}
this.Normalize(this.Values);
this.DesertThreshold = this.CalculateThreshold(this.Parameters.DesertPercentage, true);
this.RockyThreshold = this.CalculateThreshold(this.Parameters.RockyPercentage, true);
this.HillsThreshold = this.CalculateThreshold(this.Parameters.HillsPercentage, true);
var mapper = new ValueMapper
{
{ this.DesertThreshold, 0.32f },
{ this.RockyThreshold, 0.49f },
{ this.HillsThreshold, 0.65f }
};
for (var ix = 0; ix < this.Dimensions.Width; ++ix)
{
for (var iy = 0; iy < this.Dimensions.Height; ++iy)
{
this.Values[ix, iy] = mapper.Map(this.Values[ix, iy]);
}
}
}
public void GivenValidValue_WhenParsingIsSuccesful_ItSucceeds()
{
var value = 50;
var parsingStrategyProvider = new Mock <IProvideParsingStrategy>();
parsingStrategyProvider.Setup(v => v.Parse(typeof(int), value.ToString(), string.Empty)).Returns(Result.Ok <object, string>(value));
var mapper = new ValueMapper(parsingStrategyProvider.Object);
var columnMapping = new NameColumnMapping(string.Empty, string.Empty, string.Empty, null, null, null, false, null);
var result = mapper.Map(
value: value.ToString(),
propertyType: typeof(int),
rowIndex: 0,
columnMapping: columnMapping);
result.IsSuccess.Should().BeTrue();
result.Value.Should().Be(value);
}
/// <summary>
/// Combine rain shadow and noise
/// </summary>
protected void GenerateRainfall()
{
for (var ix = 0; ix < this.Dimensions.Width; ++ix)
{
for (var iy = 0; iy < this.Dimensions.Height; ++iy)
{
if (this.Elevation[ix, iy] < this.Elevation.SeaThreshold)
{
this.Values[ix, iy] = 0.0f;
}
else
{
var rainfall = this.RainShadowWeight * this.RainShadow[ix, iy]
+ this.NoiseWeight * this.NoiseValues[ix, iy];
this.Values[ix, iy] = rainfall;
}
}
}
this.Normalize(this.Values);
this.BarrenThreshold = this.CalculateThreshold(this.Parameters.BarrenPercentage, true);
this.GrassThreshold = this.CalculateThreshold(this.Parameters.GrassPercentage, true);
this.ConiferThreshold = this.CalculateThreshold(this.Parameters.ConiferPercentage, true);
var mapper = new ValueMapper
{
{ this.BarrenThreshold, 0.09f },
{ this.GrassThreshold, 0.65f },
{ this.ConiferThreshold, 0.88f }
};
for (var ix = 0; ix < this.Dimensions.Width; ++ix)
{
for (var iy = 0; iy < this.Dimensions.Height; ++iy)
{
this.Values[ix, iy] = mapper.Map(this.Values[ix, iy]);
}
}
}
public void GivenRequiredEmptyValue_WhenMapping_ValidationFails()
{
var parsingStrategyProvider = new Mock <IProvideParsingStrategy>();
var mapper = new ValueMapper(parsingStrategyProvider.Object);
var columnMapping = new NameColumnMapping(
string.Empty,
string.Empty,
string.Empty,
new List <IParsingRule> {
new RequiredRule()
},
null, null, false, null);
var result = mapper.Map(
value: string.Empty,
propertyType: typeof(int),
rowIndex: 0,
columnMapping: columnMapping);
result.IsFailure.Should().BeTrue();
}
