public void SetPoint(byte[] p)
{
State = CalibrateState.RecievingCalibrationPoints;
p = MessageUtility.GetOnlyData(p);
int index = p[1];
int chanel1 = BitConverter.ToInt32(new byte[] { p[5], p[4], p[3], p[2] }, 0);
int chanel2 = BitConverter.ToInt32(new byte[] { p[9], p[8], p[7], p[6] }, 0);
int chanel3 = BitConverter.ToInt32(new byte[] { p[13], p[12], p[11], p[10] }, 0);
int chanel4 = BitConverter.ToInt32(new byte[] { p[17], p[16], p[15], p[14] }, 0);
chanels[0].SetXPoint(index, chanel1);
chanels[1].SetXPoint(index, chanel2);
chanels[2].SetXPoint(index, chanel3);
chanels[3].SetXPoint(index, chanel4);
}
internal void SetInductance(byte[] p)
{
State = CalibrateState.RecievingCalibrationInductance;
p = MessageUtility.GetOnlyData(p);
int index = p[1];
int chanel1L = BitConverter.ToInt32(new byte[] { p[5], p[4], p[3], p[2] }, 0);
int chanel2L = BitConverter.ToInt32(new byte[] { p[9], p[8], p[7], p[6] }, 0);
int chanel3L = BitConverter.ToInt32(new byte[] { p[13], p[12], p[11], p[10] }, 0);
int chanel4L = BitConverter.ToInt32(new byte[] { p[17], p[16], p[15], p[14] }, 0);
int chanel1LTot = 0;
int chanel2LTot = 0;
int chanel3LTot = 0;
int chanel4LTot = 0;
if (p.Length > 18)
{
chanel1LTot = BitConverter.ToInt32(new byte[] { p[25], p[24], p[23], p[22], p[21], p[20], p[19], p[18] }, 0) / 10;
chanel2LTot = BitConverter.ToInt32(new byte[] { p[33], p[32], p[31], p[30], p[29], p[28], p[27], p[26] }, 0) / 10;
chanel3LTot = BitConverter.ToInt32(new byte[] { p[41], p[40], p[39], p[38], p[37], p[36], p[35], p[34] }, 0) / 10;
chanel4LTot = BitConverter.ToInt32(new byte[] { p[49], p[48], p[47], p[46], p[45], p[44], p[43], p[42] }, 0) / 10;
}
chanels[0].SetDetectorXPoint(index, chanel1L, chanel1LTot);
chanels[1].SetDetectorXPoint(index, chanel2L, chanel2LTot);
chanels[2].SetDetectorXPoint(index, chanel3L, chanel3LTot);
chanels[3].SetDetectorXPoint(index, chanel4L, chanel4LTot);
}
private void calibrateModel_StateChanged(CalibrateState state)
{
switch (state)
{
case CalibrateState.Start:
StatusText.Visibility = Visibility.Visible;
StatusText.Text = "";
break;
case CalibrateState.RecievingCalibrationInductance:
StatusText.Text = "Recieving Calibration Inductance";
break;
case CalibrateState.RecievingCalibrationPoints:
StatusText.Text = "Recieving Calibration Points";
break;
case CalibrateState.DoneCalibrationPoints:
StatusText.Text = "Recieved all Calibration Points";
foreach (var chanel in calibrateModel.chanels)
{
chanel.CalcData();
}
SendResults();
break;
case CalibrateState.Done:
tempbtn.IsEnabled = true;
StatusText.Text = "Recieved all Calibration Inductance, All Done";
break;
}
}
public override void SetData(byte[] data)
{
if (State == CalibrateState.RecievingCalibrationPoints)
{
State = CalibrateState.DoneCalibrationPoints;
}
else if (State == CalibrateState.RecievingCalibrationInductance)
{
State = CalibrateState.Done;
worker.RunWorkerAsync();
}
}
public override void InstallBindings()
{
// StateMachineInstaller
Container.BindInterfacesTo <StateManager> ().AsSingle().NonLazy();
// Root StateMachine
RootStateMachine root = new RootStateMachine();
Container.Bind <IRootStateMachine> ().To <RootStateMachine> ().FromInstance(root);
CalibrateState calibrateState = new CalibrateState();
root.AddState(StateName.CALIBRATE_STATE, calibrateState);
Container.Bind <ICalibrateState> ().To <CalibrateState> ().FromInstance(calibrateState);
Container.QueueForInject(calibrateState);
ARStateMachine aRStateMachine = new ARStateMachine();
root.AddState(StateName.AR_SM, aRStateMachine);
Container.Bind <IARStateMachine> ().To <ARStateMachine> ().FromInstance(aRStateMachine);
// AR StateMachine
BuildStateMachine buildStateMachine = new BuildStateMachine();
aRStateMachine.AddState(StateName.BUILD_SM, buildStateMachine);
Container.Bind <IBuildStateMachine> ().To <BuildStateMachine> ().FromInstance(buildStateMachine);
Container.QueueForInject(buildStateMachine);
RaceStateMachine raceStateMachine = new RaceStateMachine();
aRStateMachine.AddState(StateName.RACE_SM, raceStateMachine);
Container.Bind <IRaceStateMachine> ().To <RaceStateMachine> ().FromInstance(raceStateMachine);
// Build StateMachine
BuildDialogState buildDialogState = new BuildDialogState();
buildStateMachine.AddState(StateName.BUILD_DIALOG_STATE, buildDialogState);
Container.Bind <IBuildDialogState> ().To <BuildDialogState> ().FromInstance(buildDialogState);
Container.QueueForInject(buildDialogState);
BuildPaintState buildPaintState = new BuildPaintState();
buildStateMachine.AddState(StateName.BUILD_PAINT_STATE, buildPaintState);
Container.Bind <IBuildPaintState> ().To <BuildPaintState> ().FromInstance(buildPaintState);
Container.QueueForInject(buildPaintState);
BuildEditorState buildEditorState = new BuildEditorState();
buildStateMachine.AddState(StateName.BUILD_EDITOR_STATE, buildEditorState);
Container.Bind <IBuildEditorState> ().To <BuildEditorState> ().FromInstance(buildEditorState);
Container.QueueForInject(buildEditorState);
BuildSaveState buildSaveState = new BuildSaveState();
buildStateMachine.AddState(StateName.BUILD_SAVE_STATE, buildSaveState);
Container.Bind <IBuildSaveState> ().To <BuildSaveState> ().FromInstance(buildSaveState);
BuildLoadState buildLoadState = new BuildLoadState();
buildStateMachine.AddState(StateName.BUILD_LOAD_STATE, buildLoadState);
Container.Bind <IBuildLoadState> ().To <BuildLoadState> ().FromInstance(buildLoadState);
Container.QueueForInject(buildLoadState);
BuildObserveDialogState buildObserveDialogState = new BuildObserveDialogState();
buildStateMachine.AddState(StateName.BUILD_OBSERVE_DIALOG_STATE, buildObserveDialogState);
Container.Bind <IBuildObserveDialogState> ().To <BuildObserveDialogState> ().FromInstance(buildObserveDialogState);
BuildObserveState buildObserveState = new BuildObserveState();
buildStateMachine.AddState(StateName.BUILD_OBSERVE_STATE, buildObserveState);
Container.Bind <IBuildObserveState> ().To <BuildObserveState> ().FromInstance(buildObserveState);
Container.QueueForInject(buildObserveState);
// Race StateMachine
RaceSetupState raceSetupState = new RaceSetupState();
raceStateMachine.AddState(StateName.RACE_SETUP, raceSetupState);
Container.Bind <IRaceSetupState> ().To <RaceSetupState> ().FromInstance(raceSetupState);
Container.QueueForInject(raceSetupState);
RacingState racingState = new RacingState();
raceStateMachine.AddState(StateName.RACE_RACING, racingState);
Container.Bind <IRacingState> ().To <RacingState> ().FromInstance(racingState);
Container.QueueForInject(racingState);
RaceOverState raceOverState = new RaceOverState();
raceStateMachine.AddState(StateName.RACE_OVER, raceOverState);
Container.Bind <IRaceOverState> ().To <RaceOverState> ().FromInstance(raceOverState);
Container.QueueForInject(raceOverState);
}
/// <summary>
/// performs steps necessary for Kinect pan two-points calibration (center and left)
/// </summary>
private void calibrateKinectButton_Click(object sender, RoutedEventArgs e)
{
testState = TestState.None;
EnableDisableControls(false);
switch (calibrateState)
{
case CalibrateState.None:
panKinectCalibrateScrollBar.Value = _panTiltAlignment.mksPanKinect(0.0d);
calibrateKinectButton.Content = "Align Laser With Center";
calibrateState = CalibrateState.ChoosingFirst;
break;
case CalibrateState.ChoosingFirst:
panKinectMksFirst = panKinectMks;
panKinectCalibrateScrollBar.Value = _panTiltAlignment.mksPanKinect(-spanHKinect);
calibrateKinectButton.Content = "Align Laser With Left";
calibrateState = CalibrateState.ChoosingSecond;
break;
case CalibrateState.ChoosingSecond:
panKinectMksSecond = panKinectMks;
computeCalibrationKinect();
calibrateKinectButton.Content = "Calculated";
calibrateState = CalibrateState.Done;
break;
case CalibrateState.Done:
calibrateKinectButton.Content = "Calibrate Kinect";
calibrateState = CalibrateState.None;
EnableDisableControls(true);
break;
}
}
/// <summary>
/// performs steps necessary for two-points calibration (center and upper left)
/// </summary>
private void calibrateButton_Click(object sender, RoutedEventArgs e)
{
testState = TestState.None;
EnableDisableControls(false);
bool rightGun = rightGunCheckBox.IsChecked.GetValueOrDefault();
switch (calibrateState)
{
case CalibrateState.None:
//_panTiltAlignment.panAlign = 0.0d;
//_panTiltAlignment.tiltAlign = 0.0d;
//_panTiltAlignment.panFactor = 10.0d;
//_panTiltAlignment.tiltFactor = 10.0d;
if (rightGun)
{
panCalibrateScrollBar.Value = _panTiltAlignment.mksPanGunRight(0.0d);
tiltCalibrateScrollBar.Value = _panTiltAlignment.mksTiltGunRight(0.0d);
}
else
{
panCalibrateScrollBar.Value = _panTiltAlignment.mksPanGunLeft(0.0d);
tiltCalibrateScrollBar.Value = _panTiltAlignment.mksTiltGunLeft(0.0d);
}
calibrateButton.Content = "Point to Center";
calibrateState = CalibrateState.ChoosingFirst;
break;
case CalibrateState.ChoosingFirst:
panMksFirst = panMks;
tiltMksFirst = tiltMks;
if (rightGun)
{
panCalibrateScrollBar.Value = _panTiltAlignment.mksPanGunRight(spanH);
tiltCalibrateScrollBar.Value = _panTiltAlignment.mksTiltGunRight(spanV);
}
else
{
panCalibrateScrollBar.Value = _panTiltAlignment.mksPanGunLeft(spanH);
tiltCalibrateScrollBar.Value = _panTiltAlignment.mksTiltGunLeft(spanV);
}
calibrateButton.Content = "Point to Upper Left";
calibrateState = CalibrateState.ChoosingSecond;
break;
case CalibrateState.ChoosingSecond:
panMksSecond = panMks;
tiltMksSecond = tiltMks;
computeCalibration(rightGun);
if (rightGun)
{
panAlignScrollBar.Value = _panTiltAlignment.panAlignGunRight;
panFactorScrollBar.Value = _panTiltAlignment.panFactorGunRight;
tiltAlignScrollBar.Value = _panTiltAlignment.tiltAlignGunRight;
tiltFactorScrollBar.Value = _panTiltAlignment.tiltFactorGunRight;
}
else
{
panAlignScrollBar.Value = _panTiltAlignment.panAlignGunLeft;
panFactorScrollBar.Value = _panTiltAlignment.panFactorGunLeft;
tiltAlignScrollBar.Value = _panTiltAlignment.tiltAlignGunLeft;
tiltFactorScrollBar.Value = _panTiltAlignment.tiltFactorGunLeft;
}
calibrateButton.Content = "Calculated";
calibrateState = CalibrateState.Done;
break;
case CalibrateState.Done:
calibrateButton.Content = "Calibrate";
calibrateState = CalibrateState.None;
EnableDisableControls(true);
break;
}
}
/// <summary>
/// test Kinect calibration by going through two sides of the sighting frame
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void testKinectButton_Click(object sender, RoutedEventArgs e)
{
calibrateState = CalibrateState.None;
calibrateKinectButton.Content = "Calibrate Kinect";
switch (testState)
{
case TestState.None:
setPanKinect(-spanHKinect);
testState = TestState.LowerRight; // left
testKinectButton.Content = "next>";
break;
case TestState.LowerRight:
setPanKinect(spanHKinect);
testState = TestState.LowerLeft;
testKinectButton.Content = "finish>";
break;
case TestState.LowerLeft:
setPanKinect(0.0d);
testState = TestState.None;
testKinectButton.Content = "Test Kinect";
break;
}
}
/// <summary>
/// test calibration by going through all four corners of the sighting frame
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void testButton_Click(object sender, RoutedEventArgs e)
{
calibrateState = CalibrateState.None;
calibrateButton.Content = "Calibrate";
switch (testState)
{
case TestState.None:
setPan(-spanH);
setTilt(spanV);
testState = TestState.UpperLeft;
testButton.Content = "next>";
break;
case TestState.UpperLeft:
setPan(spanH);
setTilt(spanV);
testState = TestState.UpperRight;
break;
case TestState.UpperRight:
setPan(spanH);
setTilt(-spanV);
testState = TestState.LowerRight;
break;
case TestState.LowerRight:
setPan(-spanH);
setTilt(-spanV);
testState = TestState.LowerLeft;
testButton.Content = "finish>";
break;
case TestState.LowerLeft:
testState = TestState.None;
testButton.Content = "Test";
setPan(0);
setTilt(0);
break;
}
}
