public string GetSecondCalibrationCommonds()
{
PosePositions.Clear();
TouchPoints.Clear();
var commonds = new List <BaseCommand>();
var lengths = new[] { 70, 80, 90, 100, 110, 120, 130 }; // coordinate_x
var rotates = new[] { 90, 100, 110, 120, 130, 140, 150 }; // step
var coor_Z = (int)ArmPositionCalculator.SharedInstance.ToCoordinate(ArmPositionCalculator.SharedInstance.ProbbedPose).Item3;
var tapDistance = CommandHelper.GetTapDistance();
for (var i = 0; i < lengths.Length; i++)
{
var length = lengths[i];
var rotate = rotates[i];
var pose = ArmPositionCalculator.SharedInstance.ToPose(new Tuple <double, double, double>(length, 0, coor_Z));
var x = pose.X - tapDistance;
var y = pose.Y - tapDistance;
commonds.Add(new PoseCommand(x, y, 0));
commonds.Tap();
commonds.WaitForTouch();
commonds.TouchInSameRadius(new List <int> {
rotate, -2 * rotate
});
commonds.Rotate(rotate);
}
commonds.Reset();
commonds.Add(new DoneCommand(TaskNameCalibration));
commonds.Add(new PauseCommand(30, -1));
if (commonds.Count <= 0)
{
return(string.Empty);
}
JsonSerializerSettings settings = new JsonSerializerSettings {
TypeNameHandling = TypeNameHandling.Auto
};
string serialized = JsonConvert.SerializeObject(commonds, settings);
return(serialized);
//List<Base> deserializedList = JsonConvert.DeserializeObject<List<Base>>(Serialized, settings);
}
public bool ReportTouchBegin(long timeStamp, double x, double y)
{
if (isProbing)
{
ArmPositionCalculator.SharedInstance.ProbbedPose = PosePositions.Last().Value;
ArmPositionCalculator.SharedInstance.ProbbedPose.X += CommandHelper.GetTapDistance();
ArmPositionCalculator.SharedInstance.ProbbedPose.Y += CommandHelper.GetTapDistance();
isProbing = false;
}
else
{
TouchPoints[timeStamp] = new TouchPoint(x, y);
isTouchReported = true;
}
return(true);
}