/// <summary>
/// Creates a settings file object
/// </summary>
/// <returns>The settings file with the parameters of each controller</returns>
public static HelicopterSettings Load()
{
var settingsFile = GetSettingsFile();
var helicopterSettings = new HelicopterSettings
{
FilePath = settingsFile,
XmlText = File.ReadAllText(settingsFile),
};
helicopterSettings.XDocument = XDocument.Parse(helicopterSettings.XmlText);
var settingsElement = helicopterSettings.XDocument.Element("Settings");
var helicopterElement = settingsElement.Element("Helicopter");
helicopterSettings.PidThreadRefreshIntervalMilliseconds = helicopterElement.Attribute("PidThreadRefreshIntervalMilliseconds").ParseInt();
helicopterSettings.ConnectionType = (ConnectionType)Enum.Parse(typeof(ConnectionType), helicopterElement.Attribute("ConnectionType").Value);
helicopterSettings.ControllerSettings = HelicopterControllerSettings.FromXmlElement(helicopterElement.Element("Controller"));
return helicopterSettings;
}
public static SessionRecord CreateNewSessionRecord(Session session, HelicopterSettings settings)
{
SessionRecord sessionRecord;
var yaw = session.YawDataSeries;
var tilt = session.TiltDataSeries;
using (var context = new HelicopterModelEntities())
{
var settingsRecordId = UpdateSettingsRecord(settings, context);
sessionRecord = new SessionRecord
{
SettingsId = settingsRecordId,
StartTime = session.StartTime,
EndTime = session.EndTime,
Comment = String.Empty
};
var yawRecord = new ControllerRecord
{
MotorType = yaw.MotorType.ToString(),
DriverType = yaw.MotorDriver.ToString(),
CWProportionalGain = yaw.CWProportionalGain,
CWIntegralGain = yaw.CWIntegralGain,
CWDerivativeGain = yaw.CWDerivativeGain,
CCWProportionalGain = yaw.CCWProportionalGain,
CCWIntegralGain = yaw.CCWIntegralGain,
CCWDerivativeGain = yaw.CCWDerivativeGain,
IntegralWindupThreshold = yaw.IWindupThreshold,
OutputRateLimit = yaw.OutputRateLimit,
MeasurementRecords = yaw.ControllerData.Select(x => new MeasurementRecord
{
TimeStamp = x.TimeStamp,
SetPoint = x.SetPoint,
CurrentAngle = x.CurrentAngle
}).ToList()
};
var tiltRecord = new ControllerRecord
{
MotorType = tilt.MotorType.ToString(),
DriverType = tilt.MotorDriver.ToString(),
CWProportionalGain = tilt.CWProportionalGain,
CWIntegralGain = tilt.CWIntegralGain,
CWDerivativeGain = tilt.CWDerivativeGain,
IntegralWindupThreshold = tilt.IWindupThreshold,
OutputRateLimit = tilt.OutputRateLimit,
MeasurementRecords = tilt.ControllerData.Select(x => new MeasurementRecord
{
TimeStamp = x.TimeStamp,
SetPoint = x.SetPoint,
CurrentAngle = x.CurrentAngle
}).ToList()
};
sessionRecord.ControllerRecords.Add(yawRecord);
sessionRecord.ControllerRecords.Add(tiltRecord);
context.SessionRecords.Add(sessionRecord);
context.SaveChanges();
Log.Debug("Created and saved new session with ID");
}
return sessionRecord;
}
private static int UpdateSettingsRecord(HelicopterSettings settings, HelicopterModelEntities context)
{
var hash = GetSHA1Hash(settings.XmlText);
var settingsRecord = context.SettingsRecords.SingleOrDefault(x => x.Hash == hash);
if (settingsRecord != null) return settingsRecord.Id;
settingsRecord = new SettingsRecord
{
Created = DateTime.Now,
Hash = hash,
Text = settings.XmlText
};
context.SettingsRecords.Add(settingsRecord);
context.SaveChanges();
return settingsRecord.Id;
}