public static bool AddCalibrationData(MainForm mainForm, string droneName, CalibrationInfo cInfo)
{
BinaryFormatter binFmt = new BinaryFormatter();
lock (calibrationListLocker)
{
FileStream fs = new FileStream(CALIBRATION_LIST_NAME, FileMode.OpenOrCreate);
Dictionary <string, CalibrationInfo> calibrationList;
if (fs.Length != 0)
{
object calibrationListObj = binFmt.Deserialize(fs);
try
{
calibrationList = (Dictionary <string, CalibrationInfo>)calibrationListObj;
}
catch (InvalidCastException e)
{
// When list file is wrong format.
mainForm.ShowMessageBox("Calibration list file has wrong format.");
fs.Close();
return(false);
}
}
else
{
calibrationList = new Dictionary <string, CalibrationInfo>();
}
fs.Close();
if (calibrationList.ContainsKey(droneName))
{
calibrationList.Remove(droneName);
//mainForm.ShowMessageBox("The drone's calibration data is already exist in the table.");
//fs.Close();
//return false;
}
fs = new FileStream(CALIBRATION_LIST_NAME, FileMode.Create);
calibrationList.Add(droneName, cInfo);
binFmt.Serialize(fs, calibrationList);
fs.Close();
}
return(true);
}
public static int GetPitchTime(MainForm mainForm,
string droneName,
int power,
double meter)
{
CalibrationInfo cInfo = CalibrationList.GetCalibrationData(mainForm, droneName);
MoveCalibrationInfo mcInfo = cInfo.GetMoveInfo(power);
if (mcInfo == null)
{
mainForm.ShowMessageBox("Power " + power + " data doesn't exist.");
return(-1);
}
float[] times = Array.ConvertAll(mcInfo.GetTimes(), x => (float)x); // x
float[] meters = new float[times.Length]; // y
for (int i = 0; i < meters.Length; i++)
{
if (power > 0)
{
meters[i] = (float)mcInfo.GetFrontMeter((int)times[i]);
}
else
{
meters[i] = (float)mcInfo.GetBackMeter((int)times[i]);
}
}
if (meters.Min() > meter || meters.Max() < meter)
{
mainForm.ShowMessageBox("Meter " + meter + " is out of data range.");
return(-1);
}
float[] timeResult = CubicSpline.Compute(meters, times, new float[] { (float)meter });
return((int)timeResult[0]);
}
public static CalibrationInfo Calibrate(MainForm mainForm,
BebopDrone drone,
UWBManager uwbManager,
int tag_id,
string droneName,
int[] powers = null,
int[] times = null,
bool overlap = true)
{
// Check if drone is already being calibrated.
lock (memberLocker)
{
if (calibratedDrone != -1)
{
return(null);
}
}
// Check is there already calibration data, if there is, remove.
string[] keys = CalibrationList.GetAllCalibratedDroneNames(mainForm);
CalibrationInfo cInfo;
if (keys != null)
{
if (keys.Contains(droneName))
{
if (!overlap)
{
return(null);
}
else
{
cInfo = CalibrationList.GetCalibrationData(mainForm, droneName);
}
//CalibrationList.RemoveCalibrationData(mainForm, droneName);
}
else
{
cInfo = new CalibrationInfo();
}
}
else
{
cInfo = new CalibrationInfo();
}
// x, y, z move calibration
if (powers == null || powers.Length == 0)
{
powers = CalibrationStandard.POWERS;
}
foreach (int power in powers)
{
mainForm.UpdateCalibrationLog(power.ToString() + " power move calibration");
//mainForm.UpdateCalibrationLog("Time values: " + CalibrationStandard.TIMES.ToString());
if (times == null || times.Length == 0)
{
times = CalibrationStandard.TIMES;
}
MoveCalibrationInfo mcInfo = cInfo.GetMoveInfo(power);
MoveCalibration moveCalibration =
new MoveCalibration(mainForm,
power,
times,
drone,
uwbManager,
tag_id);
List <string[]> csvRows = new List <string[]>();
moveCalibration.Calibrate(csvRows);
CSVManager.CSVWrite(power.ToString() + "Log.csv",
new string[] { "Type", "Time", "Meter" },
csvRows);
if (mcInfo == null)
{
mcInfo = new MoveCalibrationInfo(power,
moveCalibration.GetTimes(),
moveCalibration.GetLeftMeters(),
moveCalibration.GetRightMeters(),
moveCalibration.GetBackMeters(),
moveCalibration.GetFrontMeters(),
moveCalibration.GetDownMeters(),
moveCalibration.GetUpMeters());
}
else
{
int[] moveTimes = moveCalibration.GetTimes().ToArray();
mcInfo.NullCheck();
foreach (int time in moveTimes)
{
mcInfo.AddLeftMeter(time, moveCalibration.GetLeftMeters()[time]);
mcInfo.AddRightMeter(time, moveCalibration.GetRightMeters()[time]);
mcInfo.AddBackMeter(time, moveCalibration.GetBackMeters()[time]);
mcInfo.AddFrontMeter(time, moveCalibration.GetFrontMeters()[time]);
mcInfo.AddDownMeter(time, moveCalibration.GetDownMeters()[time / 2]);
mcInfo.AddUpMeter(time, moveCalibration.GetUpMeters()[time / 2]);
}
}
cInfo.AddMoveInfo(power, mcInfo);
}
// rotation calibration
mainForm.UpdateCalibrationLog("---Calibration Finish---");
lock (memberLocker)
calibratedDrone = -1;
return(cInfo);
}