public void getCorrelatedFeature() //get the correlated feature
{
CorrelatedFeature = "";
Line reg = null;
for (int i = 0; i < cf.Count; i++)
{
if (cf[i].Feature1 == DesiredFeature)
{
CorrelatedFeature = cf[i].Feature2;
reg = cf[i].LineReg;
break;
}
if (cf[i].Feature2 == DesiredFeature)
{
CorrelatedFeature = cf[i].Feature1;
reg = cf[i].LineReg;
break;
}
}
// adding the point to the graphs
if ((CorrelatedFeature.EndsWith("1") || CorrelatedFeature.EndsWith("2")) && CorrelatedFeature != "")
{
PointsTopLeftGraph.Add(new DataPoint(TimeInDeci, getDuplicatedFaetureVal(CorrelatedFeature)));
PointsBottomGraph.Add(new DataPoint(PointsTopRightGraph.Last().Y, PointsTopLeftGraph.Last().Y));
// if the bottom graph has more then 30 points inside it, the first point will move to the old bottom graph points
if (PointsBottomGraph.Count > 30)
{
OldPointsBottomGraph.Add(PointsBottomGraph.First());
PointsBottomGraph.Remove(PointsBottomGraph.First());
}
// for saving the minimum and maximum x values of the line regression.
if (PointsBottomGraph.Last().X < lineMinX)
{
lineMinX = (float)PointsBottomGraph.Last().X;
}
if (PointsBottomGraph.Last().X > lineMaxX)
{
lineMaxX = (float)PointsBottomGraph.Last().X;
}
if (LineBottomGraph.Count == 0)
{
LineBottomGraph.Add(new DataPoint(lineMinX, reg.f(lineMinX)));
LineBottomGraph.Add(new DataPoint(lineMaxX, reg.f(lineMaxX)));
}
else
{
LineBottomGraph[0] = new DataPoint(lineMinX, reg.f(lineMinX));
LineBottomGraph[1] = new DataPoint(lineMaxX, reg.f(lineMaxX));
}
}
// the same idea in case the desired feature doesnt have a duplicate value
else if (CorrelatedFeature != "")
{
PointsTopLeftGraph.Add(new DataPoint(TimeInDeci, getFaetureVal(CorrelatedFeature)));
PointsBottomGraph.Add(new DataPoint(PointsTopRightGraph.Last().Y, PointsTopLeftGraph.Last().Y));
if (PointsBottomGraph.Count > 30)
{
OldPointsBottomGraph.Add(PointsBottomGraph.First());
PointsBottomGraph.Remove(PointsBottomGraph.First());
}
if (PointsBottomGraph.Last().X < lineMinX)
{
lineMinX = (float)PointsBottomGraph.Last().X;
}
if (PointsBottomGraph.Last().X > lineMaxX)
{
lineMaxX = (float)PointsBottomGraph.Last().X;
}
if (LineBottomGraph.Count == 0)
{
LineBottomGraph.Add(new DataPoint(lineMinX, reg.f(lineMinX)));
LineBottomGraph.Add(new DataPoint(lineMaxX, reg.f(lineMaxX)));
}
else
{
LineBottomGraph[0] = new DataPoint(lineMinX, reg.f(lineMinX));
LineBottomGraph[1] = new DataPoint(lineMaxX, reg.f(lineMaxX));
}
}
// else, the desired value is changed
else
{
pointsTopLeftGraph.Clear();
pointsBottomGraph.Clear();
lineBottomGraph.Clear();
OldPointsBottomGraph.Clear();
CorrelatedFeature = "";
}
}
// starting the application
public void start()
{
this.connect(Constants.HOST_IP, Constants.HOST_PORT); // connecting to the flight gear server.
NetworkStream writer = new NetworkStream(fg); // creating a stream for writing to the server.
string line;
new Thread(delegate()
{
if (ts.FeaturesMap.Count == 0) // saving the values of the reg flight in timeseries
{
ts.initFeaturesMap(regFlightFile, settingsFile);
}
SimpleAnomalyDetector simp = new SimpleAnomalyDetector();
cf = simp.LearnNormal(ts);
//dynamic c = loadDLL();
//TimeSeries anomalyTs = new TimeSeries();
//anomalyTs.initFeaturesMap(AnomalyFlight, settingsFile);
//List<AnomalyReport> anomalies = c.Detect(anomalyTs);
//int anomalyIndex = 0;
while (timeInDeciSeconds <= ts.getNumOfTimesteps()) // while we are not at the end of the flight
{
if (!Stop) // if the video is not stopped.
{
UpdateTime(); // updating the time of the flight by 1 deciseconds.
if (timeInDeciSeconds == ts.getNumOfTimesteps() - 1) // if the time is the end of the flight we will pause the connection.
{
Stop = true;
}
if ((DesiredFeature.EndsWith("1") || DesiredFeature.EndsWith("2")) && DesiredFeature != "") // check if the feature has 2 occurences.
{
PointsTopRightGraph.Add(new DataPoint(TimeInDeci, getDuplicatedFaetureVal(DesiredFeature))); // adding new point to the graph of the desired feature;
getCorrelatedFeature(); // if the feature has a correlated feature, it will handle the correlated feature's graph here.
InvalidateFlag++; // indicating we made a chenge in points.
}
else if (DesiredFeature != "")
{
PointsTopRightGraph.Add(new DataPoint(TimeInDeci, getFaetureVal(DesiredFeature)));
getCorrelatedFeature();
InvalidateFlag++;
}
/*
* if((anomalyIndex > anomalies.Count) && anomalies[anomalyIndex++].TimeStep == TimeInDeci)
* {
* UpdateAnomaly();
* }
*/
line = ts.GetTimestepStr(timeInDeciSeconds); // getting the next time series line.
// updating the flight members
Elevator = (ts.getFeatureVal("elevator", timeInDeciSeconds)) * 130 + 125; // update the elevator.
Aileron = (ts.getFeatureVal("aileron", timeInDeciSeconds)) * 130 + 125; // update the aileron.
Throttle = (getDuplicatedFaetureVal("throttle1")) * 46 + 46; // update the throttle.
Rudder = (ts.getFeatureVal("rudder", timeInDeciSeconds)) + 46; // update the rudder.
Height = ts.getFeatureVal("altitude-ft", timeInDeciSeconds); // update the altitude-ft.
FlightSpeed = ts.getFeatureVal("airspeed-kt", timeInDeciSeconds); // update the airspeed-kt.
Direction = ts.getFeatureVal("heading-deg", timeInDeciSeconds); // update the heading-deg.
Roll = ts.getFeatureVal("roll-deg", timeInDeciSeconds); // update the roll-deg.
Yaw = ts.getFeatureVal("side-slip-deg", timeInDeciSeconds); // update the side-slip-deg.
Pitch = ts.getFeatureVal("pitch-deg", timeInDeciSeconds); // update the pitch-deg.
if (writer.CanWrite)
{
byte[] writeBuffer = Encoding.ASCII.GetBytes(line + "\r\n"); // start writing the given features.
writer.Write(writeBuffer, 0, writeBuffer.Length);
writer.Flush();
// sending data in 10HZ
int converToIntSpeed = Convert.ToInt32(100 / Speed); // this is how we use the speed of the video
Thread.Sleep(converToIntSpeed); // the sleep method decides the rate we produce the video.
}
else
{
Console.WriteLine("Sorry. You cannot send information to Flight Gear right now.");
}
}
else
{
while (Stop)
{
}
; // so we wont return to the main loop while we are at pause or stop button.
}
}
writer.Close();
fg.Close();
}).Start();
}
