/// <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>
/// Sets up logging for the start of a new trial.
/// </summary>
private void StartLogging()
{
logger.Debug("Enter: StartLogging()");
DataLogger.AcquireDataLog(String.Format(Trials.ProtocolFilename + "_trial_{0}.csv",
Trials.CurrentTrial.TrialNumber.ToString("000")), dataLogHeader);
logStopwatch = new Stopwatch();
logStopwatch.Start();
}
/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="functionFilename">The filename of the CSV file containing the forcing function</param>
/// <param name="selectedAmplitude">The amplitude of the forcing function</param>
/// <param name="selectedOffset">???</param>
internal void Go(string functionFilename, double selectedAmplitude, double selectedOffset)
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
logger.Info("Starting delay measurement task.");
amplitude = selectedAmplitude;
// Move to the start location
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand();
newMotionCommand.innerPosition = selectedOffset;
newMotionCommand.outerPosition = 0.0;
newMotionCommand.outerVelocity = Hulk.NORMAL_VELOCITY;
newMotionCommand.innerVelocity = Hulk.NORMAL_VELOCITY;
newMotionCommand.outerAcceleration = Hulk.NORMAL_ACCELERATION;
newMotionCommand.innerAcceleration = Hulk.NORMAL_ACCELERATION;
Hulk.SetCommand(newMotionCommand);
Hulk.StartDefinedMove(false);
while (Hulk.SystemStatus != Hulk.Status.Idling)
{
Thread.Sleep(100);
}
// Prepare for trial
DataLogger.AcquireDataLog(Path.GetFileNameWithoutExtension(functionFilename) +
"_Amplitude" + amplitude.ToString("F1") + "_Offset" + selectedOffset.ToString("F1") + "_data.csv", dataLogHeader);
runningStopwatch.Reset();
runningStopwatch.Start();
// Start task
Hulk.SetCommandType(Hulk.CommandType.Velocity);
Hulk.StartTask();
}
/// <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();
}
}
