public static void FixTime(int TimeInterval = 1)
{
string[] entries = Directory.GetFileSystemEntries(".", "*_INS*.csv", SearchOption.AllDirectories);
foreach (var FilePath in entries)
{
double TimerIntervalMS = TimeInterval * 100;
Load load = new Load(FilePath);
if (load.GetCSVType() == CSVTypes.INS)
{
load.HandleCSV();
DataMapper.DataMapper SingleDataMapper = load.data;
int iteration = 1;
List <DataEntry> datas = new List <DataEntry>(SingleDataMapper.AllDataEntries);
double test = datas.Max(X => X.INS_Accelerometer.TimeOfData);
double CurrentTimerVal = TimerIntervalMS * iteration;
while (test > CurrentTimerVal)
{
double min = TimerIntervalMS * (iteration - 1);
double max = TimerIntervalMS * iteration;
var dataEntries = datas.Where(X =>
X.INS_Accelerometer.TimeOfData <max &&
X.INS_Accelerometer.TimeOfData> min).ToList();
int got = dataEntries.Count();
if (got > 0)
{
double SectionTimer = ((dataEntries.Max(X => X.INS_Accelerometer.TimeOfData) - min) / got);
double entryTimer = SectionTimer + min;
foreach (var entry in dataEntries)
{
entry.INS_Accelerometer.TimeOfData = Math.Round(entryTimer, 5);
entry.INS_Gyroscope.TimeOfData = Math.Round(entryTimer, 5);
entryTimer += SectionTimer;
if (entryTimer > max)
{
}
}
}
CurrentTimerVal = TimerIntervalMS * ++iteration;
}
CSVWriterController INSWriter = new CSVWriterController(FilePath, SingleDataMapper, load.GetCSVType());
string POZYX_FilePath = FilePath.Replace("_INS.csv", "_POZYX.csv");
if (File.Exists(POZYX_FilePath) && POZYX_FilePath.Contains("_POZYX.csv"))
{
Console.WriteLine($"FOUND POZYX FILE, {POZYX_FilePath}");
load = new Load(POZYX_FilePath);
load.HandleCSV();
var PozyxDatamapper = load.data;
var PozyxData = PozyxDatamapper.AllDataEntries.ToList();
int count = PozyxDatamapper.AllDataEntries.Count();
for (int i = 0; i < count; i++)
{
PozyxData[i].PoZYX.TimeOfData = datas[i].INS_Gyroscope.TimeOfData;
}
CSVWriterController PozyxWriter = new CSVWriterController(POZYX_FilePath, PozyxDatamapper, load.GetCSVType());
}
}
}
}
private static void RunDynamicCalibration()
{
string filePath = Directory.GetCurrentDirectory() + "/Test/";
string[] fileNamesArray = Directory.GetFileSystemEntries(filePath, "*_INS.csv", SearchOption.AllDirectories);
for (int i = 0; i < fileNamesArray.Count(); i++)
{
Console.WriteLine($"{fileNamesArray[i]} : Number {i}");
}
int number = 0;
while (!(int.TryParse(Console.ReadLine(), out number) && number < fileNamesArray.Count() && number >= 0))
{
Console.WriteLine("Wrong input!");
}
string fileName = fileNamesArray[number];
Load csvController = new Load("Combined_ins.csv");
csvController.HandleCSV();
dataMapper = csvController.data;
dataMapper.CalculateRollingAverage(200);
dataMapper.dataEntries = dataMapper.RollingAverageDataEntry;
CalculateLasseStuff(false, true);
csvController = new Load(fileName);
csvController.HandleCSV();
dataMapper = csvController.data;
dataMapper.CalculateRollingAverage(200);
var backup = dataMapper.dataEntries;
dataMapper.dataEntries = dataMapper.RollingAverageDataEntry;
CalculateLasseStuff();
//var test = csvController.AccDataList[20];
dataMapper.dataEntries = backup;
var tesadsasdas = csvController.data.GetAccelerationXYZFromCSV();
//TODO: HERE!
ClusteringDynamicCalibration Clustering = new ClusteringDynamicCalibration("SlopeDivVariance_Slope_COMBINED.csv", "SlopeDivVariance_Slope.csv");
DynamicCalibration dyn = new DynamicCalibration(tesadsasdas, Clustering);
//dyn.CalibrateResidualSumOfSquares(2.0);
//dyn.CalibrateAccelerationPointCoefficient();
List <TimePoint> accelerationList = dyn.AccelerationList;
List <TimePoint> velocityList = dyn.CalculateDynamicVelocityList(dyn.NaiveVelocityList);
List <TimePoint> distanceList = dyn.CalculatePosition(velocityList);
while (Console.ReadLine() != "q")
{
Console.WriteLine("What do you want to print? (acc, vel, dis or toCSV)");
string input = Console.ReadLine();
switch (input)
{
case "acc":
accelerationList.ForEach(x => Console.WriteLine($"\"{x.Time.ToString().Replace(',', '.')}\",\"{x.Value.ToString().Replace(',', '.')}\""));
break;
case "vel":
velocityList.ForEach(x => Console.WriteLine($"\"{x.Time.ToString().Replace(',', '.')}\",\"{x.Value.ToString().Replace(',', '.')}\""));
break;
case "dis":
distanceList.ForEach(x => Console.WriteLine($"\"{x.Time.ToString().Replace(',', '.')}\",\"{x.Value.ToString().Replace(',', '.')}\""));
break;
case "toCSV":
string FileName = fileName.Replace(".csv", string.Empty).Split('/').Last();
CSVWriterController csvWriter = new CSVWriterController(FileName + "_acc");
csvWriter.DynamicToCSV(accelerationList);
csvWriter.FileName = FileName + "_vel";
csvWriter.DynamicToCSV(velocityList);
csvWriter.FileName = FileName + "_dic";
csvWriter.DynamicToCSV(distanceList);
Console.WriteLine("Done writing to files!");
break;
default:
Console.WriteLine("acc, vel, dis or toCSV?");
break;
}
}
}
public static void LogData(string[] Input)
{
List <string> InputList = new List <string>(Input);
if (!(Input.Length > 1))
{
Console.WriteLine("Invalid input, use help to get data");
return;
}
switch (Input[1])
{
case "fixtimer":
if (MenuController.Confirm("Are you sure you want to replace everything?", false))
{
if (Input.Length == 3)
{
int Seperation = Convert.ToInt32(Input[2]);
FixTime(Seperation);
}
else
{
FixTime();
}
}
break;
case "weka":
if (MenuController.Confirm("Are you sure you want to replace everything?", false))
{
string[] entries = Directory.GetFileSystemEntries(".", "*.csv", SearchOption.AllDirectories);
foreach (var FilePath in entries)
{
string FileContents = File.ReadAllText(FilePath);
string Output = Regex.Replace(FileContents, @"\d+,\d+", delegate(Match match)
{
string v = match.ToString().Replace(",", ".");
return(v);
});
File.WriteAllText(FilePath, Output);
}
}
break;
case "latex":
if (MenuController.Confirm("Are you sure you want to replace everything?", false))
{
string[] entries = Directory.GetFileSystemEntries(".", "*.csv", SearchOption.AllDirectories);
foreach (var FilePath in entries)
{
string FileContents = File.ReadAllText(FilePath);
string Output = Regex.Replace(FileContents, @"\d+,\d+", delegate(Match match)
{
string v = match.ToString().Replace(",", ".");
return(v);
});
Output = Regex.Replace(Output, @"""\d+""\,", delegate(Match match)
{
string substringed = match.ToString().Substring(1, match.Length - 3);
double newNum = Convert.ToDouble(substringed) / 1000f;
return(newNum.ToString().Replace(",", ".") + ",");
});
Output = Regex.Replace(Output, @"""(|-)\d+(|\.|\,)\d*""", delegate(Match match)
{
string v = match.ToString().Replace(@"""", "");
return(v);
});
Output = Regex.Replace(Output, @"""(|-)\d+(\.|\,)\d+""", delegate(Match match)
{
string v = match.ToString().Replace(@"""", "");
return(v);
});
File.WriteAllText(FilePath, Output);
}
}
break;
case "combine":
if (true)
{
StringBuilder FileContents = new StringBuilder();
string[] entries = Directory.GetFileSystemEntries(".", "*INS.csv", SearchOption.AllDirectories);
foreach (var FilePath in entries)
{
FileContents.Append(File.ReadAllText(FilePath));
}
FileContents.Replace("Timer,AX,AY,AZ,GX,GY,GZ,A\n", "");
File.WriteAllText("Combined_ins.csv", "Timer,AX,AY,AZ,GX,GY,GZ,A\n" + FileContents.ToString());
}
break;
case "ra":
if (Input.Length == 3)
{
try
{
dataMapper.CalculateRollingAverage(Convert.ToInt32(Input[2]));
}
catch (FormatException)
{
Console.WriteLine("Invalid format!");
}
}
else
{
dataMapper.CalculateRollingAverage(10);
}
break;
case "load":
if (Input.Length == 3)
{
Load load = new Load(Input[2] + ".csv");
load.HandleCSV();
dataMapper = load.data;
}
break;
case "calibrate":
if (dataMapper == null)
{
Console.WriteLine("No Data Mapper has been created!");
}
else
{
if (Input.Length == 3)
{
int Timer = 0;
try
{
Timer = Convert.ToInt32(Input[2]) * 1000;
dataMapper.CalibrateINS(Timer);
}
catch (FormatException ex)
{
Console.WriteLine("Not a number givin!");
}
}
else
{
dataMapper.CalibrateINS();
}
}
break;
case "start":
if (dataMapper == null)
{
Console.WriteLine("No Data Mapper has been created!");
}
else
{
if (InputList.Count == 3)
{
if (Input[2] == "nem")
{
dataMapper.StartReading();
if (MenuController.Confirm("Stop?", true))
{
dataMapper.StopReading();
}
}
else
{
try
{
MapperTimer = Convert.ToInt32(InputList[2]);
Thread TimerThread = new Thread(dataMapperTimer);
dataMapper.StartReading();
TimerThread.Start();
Console.WriteLine($"Started Datamapper for {MapperTimer} sec");
TimerThread.Join();
}
catch (Exception)
{
Console.WriteLine("Invalid format!");
}
}
}
else
{
dataMapper.StartReading();
Console.WriteLine("Started Datamapper");
}
}
break;
case "stop":
if (dataMapper == null)
{
Console.WriteLine("No Data Mapper has been created!");
}
else
{
dataMapper.StopReading();
Console.WriteLine("Stopped data logging");
}
break;
case "clear":
if (dataMapper == null)
{
Console.WriteLine("No Data Mapper has been created!");
}
else
{
dataMapper.ClearEntries();
Console.WriteLine("Cleared the DataList");
}
break;
case "save":
if (dataMapper == null)
{
Console.WriteLine("No Data Mapper has been created!");
}
else
{
if (InputList.Count == 3)
{
string FileName = InputList[2];
if (File.Exists(FileName + "_INS.csv") || File.Exists(FileName + "_POZYX.csv"))
{
if (MenuController.Confirm("This file already exists, Overwrite?", false))
{
CSVWriterController csvWriter = new CSVWriterController(dataMapper, FileName);
csvWriter.Execute();
Console.WriteLine($"Saved to {FileName}");
}
else
{
Console.WriteLine("Cancelled!");
}
}
else
{
CSVWriterController csvWriter = new CSVWriterController(dataMapper, FileName);
csvWriter.Execute();
Console.WriteLine($"Saved to {FileName}");
}
}
}
break;
case "new":
if (Input.Length == 2)
{
dataMapper = new DataMapper.DataMapper();
}
else
{
switch (Input[2])
{
case "ins":
dataMapper = new DataMapper.DataMapper(false, true);
break;
case "pozyx":
dataMapper = new DataMapper.DataMapper(true, false);
break;
default:
break;
}
}
Console.WriteLine("Created new DataMapper!");
break;
case "kalman":
dataMapper.GenerateKalman();
Console.WriteLine("Generated data kalman filtered data of INS data.");
break;
case "segment":
string SegmentFile = "Segmented.csv";
if (File.Exists(SegmentFile))
{
File.Delete(SegmentFile);
}
ConcurrentQueue <DataEntry> OutputSegments = dataMapper.SegmentData();
using (var test = File.AppendText(SegmentFile))
{
test.WriteLine("Timer,AX,AY,AZ,GX,GY,GZ,Angle");
int i = 0;
foreach (var item in OutputSegments)
{
Console.WriteLine($"{i++}");
string output = $"\"{item.INS_Accelerometer.TimeOfData}\",\"{item.INS_Accelerometer.X}\",\"{item.INS_Accelerometer.Y}\",\"{item.INS_Accelerometer.Z}\",\"{item.INS_Gyroscope.X}\",\"{item.INS_Gyroscope.Y}\",\"{item.INS_Gyroscope.Z}\",\"{item.INS_Angle}\"";
Console.WriteLine($"{output}");
test.WriteLine(output);
}
}
Console.WriteLine($"Done segmenting data! {OutputSegments.Count}");
break;
case "variance":
ConcurrentQueue <Tuple <DataEntry, double, double> > varianceData = dataMapper.CalculateVariance();
string VarianceFile = "Variance.csv";
if (File.Exists(VarianceFile))
{
File.Delete(VarianceFile);
}
using (var test = File.AppendText(VarianceFile))
{
test.WriteLine("Timer,AX,AY,AZ,GX,GY,GZ,Angle,Variance,Slope");
foreach (var item in varianceData)
{
string output = $"\"{item.Item1.INS_Accelerometer.TimeOfData}\",\"{item.Item1.INS_Accelerometer.X}\",\"{item.Item1.INS_Accelerometer.Y}\",\"{item.Item1.INS_Accelerometer.Z}\",\"{item.Item1.INS_Gyroscope.X}\",\"{item.Item1.INS_Gyroscope.Y}\",\"{item.Item1.INS_Gyroscope.Z}\",\"{item.Item1.INS_Angle}\",\"{item.Item2}\",\"{item.Item3}\"";
test.WriteLine(output);
}
}
Console.WriteLine("Done!");
break;
case "acc":
CalculateLasseStuff();
Console.WriteLine("Done!");
break;
default:
Console.WriteLine("Invalid input format, use help command!");
break;
}
}
