private double RetrieveTheta(Packet packet, Sensor s, DataInfo d)
{
List <double> data = SpecificSensorData(packet, s, d);
double resultRadians = UtilityFunctions.FunzioneOrientamento(data, UtilityFunctions.DegreeToRadian(GetSpecificPreviousAngle(s)));
return(UtilityFunctions.RadianToDegree(resultRadians));
}
private void DetectRotation()
{
List <Packet> tmp = new List <Packet>();
if (this.pktOffset != 0) //Always except the very first window
{
tmp.AddRange(this.prevWindowLastPackets.GetRange(0, 60));
}
tmp.AddRange(packets);
List <double> thetas = UtilityFunctions.RetrieveTheta(this.packets, Sensor.Sensor1, DataInfo.Magn, prevThetaForWindow);
List <double> girX = UtilityFunctions.RetrieveComponent(tmp, Sensor.Sensor1, DataInfo.Gir, Axis.X);
girX = UtilityFunctions.SmoothingCalculator(girX, 60, this.pktOffset == 0);
if (this.pktOffset != 0) //Always except the very first window
{
girX.RemoveRange(0, 60);
}
bool started = false;
int startTime = -1, endTime = -1;
double startAngle = 0D, endAngle = 0D;
for (int i = 0; i < thetas.Count; i++)
{
double currentGirX = girX[i];
double currentTheta = thetas[i];
if (i == 249) //Middle of the window, before the start of the next window
{
prevThetaForWindow = thetas[i];
}
if (currentGirX > ROTATION_THRESHOLD && !started)
{
startTime = i;
startAngle = currentTheta;
started = true;
}
else if (currentGirX < ROTATION_THRESHOLD && started)
{
endTime = i;
endAngle = currentTheta;
started = false;
double result = UtilityFunctions.RadianToDegree(Math.Abs(endAngle - startAngle));
if (result >= MIN_ROTATION_ANGLE)
{
if (endAngle > startAngle)
{
AddAction(startTime, endTime, "Girata sx di " + result + " gradi", ActionClass.Rotation);
//Console.WriteLine("Girata sx " + currentGirX + " " + result + " " + (startTime + pktOffset) + " " + (endTime + pktOffset) + " | " + UtilityFunctions.RadianToDegree(startAngle) + " " + UtilityFunctions.RadianToDegree(endAngle) + " || " + startAngle + " " + endAngle);
}
else
{
AddAction(startTime, endTime, "Girata dx di " + result + " gradi", ActionClass.Rotation);
//Console.WriteLine("Girata dx " + currentGirX + " " + result + " " + (startTime + pktOffset) + " " + (endTime + pktOffset) + " | " + UtilityFunctions.RadianToDegree(startAngle) + " " + UtilityFunctions.RadianToDegree(endAngle) + " || " + startAngle + " " + endAngle);
}
}
}
}
}
