public void InitFromConfig(string filename)
{
configFilename = filename;
if (!File.Exists(configFilename))
{
return;
}
configData = JsonConvert.DeserializeObject <FilterConfigData>(File.ReadAllText(configFilename), new JsonSerializerSettings
{
TypeNameHandling = TypeNameHandling.Auto
});
foreach (List <FilterBase> filterList in filters)
{
if (filterList != null)
{
filterList.Clear();
}
}
for (int i = 0; i < filters.Length; ++i)
{
filters[i] = null;
}
for (int i = 0; i < configData.keys.Count; ++i)
{
if (configData.keys[i] == null)
{
continue;
}
FilterDataKey key = configData.keys[i];
List <FilterBase> filterList = filters[(int)key.key] = new List <FilterBase>();
foreach (FilterData filterData in key.filters)
{
if (filterData is SmoothFilterData)
{
SmoothFilterData smoothFilterData = (SmoothFilterData)filterData;
NestedSmoothFilter newFilter = new NestedSmoothFilter();
newFilter.SetParameters(smoothFilterData.nestCount, smoothFilterData.sampleCount, smoothFilterData.maxDelta);
filterList.Add(newFilter);
}
else
if (filterData is KalmanFilterData)
{
KalmanFilterData kalmanFilterData = (KalmanFilterData)filterData;
KalmanNoiseFilter newFilter = new KalmanNoiseFilter();
newFilter.SetParameters(kalmanFilterData.a, kalmanFilterData.h, kalmanFilterData.q, kalmanFilterData.r, kalmanFilterData.p, kalmanFilterData.x);
filterList.Add(newFilter);
}
}
}
}
public void SaveConfig()
{
configData = new FilterConfigData();
for (int i = 0; i < (int)GenericProviderData.DataKey.Max; ++i)
{
List <FilterBase> filterList = filters[i];
if (filterList == null)
{
continue;
}
else
{
FilterDataKey newConfig = new FilterDataKey(i);
configData.keys.Add(newConfig);
foreach (FilterBase filter in filterList)
{
if (filter is NestedSmoothFilter)
{
SmoothFilterData newFilterData = new SmoothFilterData();
NestedSmoothFilter nestSmoothFilter = (NestedSmoothFilter)filter;
newFilterData.nestCount = nestSmoothFilter.GetNestCount();
newFilterData.sampleCount = nestSmoothFilter.GetSampleCount();
newFilterData.maxDelta = nestSmoothFilter.GetMaxDelta();
newConfig.filters.Add(newFilterData);
}
else
if (filter is KalmanNoiseFilter)
{
KalmanFilterData newFilterData = new KalmanFilterData();
KalmanNoiseFilter kalmanNoiseFilter = (KalmanNoiseFilter)filter;
newFilterData.a = kalmanNoiseFilter.GetA();
newFilterData.h = kalmanNoiseFilter.GetH();
newFilterData.q = kalmanNoiseFilter.GetQ();
newFilterData.r = kalmanNoiseFilter.GetR();
newFilterData.p = kalmanNoiseFilter.GetP();
newFilterData.x = kalmanNoiseFilter.GetX();
newConfig.filters.Add(newFilterData);
}
}
}
}
string outputString = JsonConvert.SerializeObject(configData, Formatting.Indented, new JsonSerializerSettings
{
TypeNameHandling = TypeNameHandling.All
});
File.WriteAllText(configFilename, outputString);
}
public FilterBase AddFilter(FilterType filterType, GenericProviderData.DataKey key, bool updateUI = false)
{
List <FilterBase> filterList = filters[(int)key];
if (filterList == null)
{
filterList = filters[(int)key] = new List <FilterBase>();
}
FilterBase newFilter = null;
switch (filterType)
{
case FilterType.Smooth:
{
NestedSmoothFilter newSmoothFilter = new NestedSmoothFilter();
newSmoothFilter.SetParameters(0, 10, 1000.0f);
filterList.Add(newSmoothFilter);
newFilter = newSmoothFilter;
break;
}
case FilterType.Kalman:
{
KalmanNoiseFilter newKalmanFilter = new KalmanNoiseFilter();
newKalmanFilter.SetParameters(1, 1, 0.02f, 1, 0.02f, 0.0f);
filterList.Add(newKalmanFilter);
newFilter = newKalmanFilter;
break;
}
case FilterType.SavitzkyGolay:
{
break;
}
case FilterType.FIR:
{
break;
}
}
if (updateUI && FilterUI.Instance != null)
{
// FilterUI.Instance.InitChartForKey(key);
}
return(newFilter);
}
public void SetFilter(KalmanNoiseFilter _filter)
{
filter = _filter;
ignoreChanges = true;
A.Text = "" + filter.GetA();
H.Text = "" + filter.GetH();
Q.Text = "" + filter.GetQ();
R.Text = "" + filter.GetR();
P.Text = "" + filter.GetP();
X.Text = "" + filter.GetX();
ignoreChanges = false;
}
public FilterBase AddFilter(FilterType filterType, CMCustomUDPData.DataKey key, bool updateUI = false)
{
List <FilterBase> filterList = filters[(int)key];
if (filterList == null)
{
filterList = filters[(int)key] = new List <FilterBase>();
}
FilterBase newFilter = null;
switch (filterType)
{
case FilterType.Smooth:
{
NestedSmoothFilter newSmoothFilter = new NestedSmoothFilter();
newSmoothFilter.SetParameters(1, 3, 0.5f);
filterList.Add(newSmoothFilter);
newFilter = newSmoothFilter;
break;
}
case FilterType.Kalman:
{
KalmanNoiseFilter newKalmanFilter = new KalmanNoiseFilter();
newKalmanFilter.SetParameters(1, 1, 0.02f, 1, 0.02f, 0.0f);
filterList.Add(newKalmanFilter);
newFilter = newKalmanFilter;
break;
}
case FilterType.KalmanVelocity:
{
KalmanVelocityNoiseFilter newKalmanFilter = new KalmanVelocityNoiseFilter();
newKalmanFilter.SetParameters(1, 1, 0.02f, 1, 0.02f, 0.0f);
filterList.Add(newKalmanFilter);
newFilter = newKalmanFilter;
break;
}
case FilterType.SavitzkyGolay:
{
break;
}
case FilterType.FIR:
{
break;
}
case FilterType.Median:
{
MedianFilterWrapper newFilterW = new MedianFilterWrapper();
newFilterW.SetParameters(9);
filterList.Add(newFilterW);
newFilter = newFilterW;
break;
}
}
if (updateUI && FilterUI.Instance != null)
{
FilterUI.Instance.InitChartForKey(key);
}
return(newFilter);
}
