private void OnInputReceived(float input1, float input2)
{
if (!useController)
{
lastInput1 = input1;
lastInput2 = input2;
float normalizedInput1 = CalibrationSettings.GetNormalizedValue(Side.Left, input1);
float normalizedInput2 = CalibrationSettings.GetNormalizedValue(Side.Right, input2);
lastNormalizedInput1 = normalizedInput1;
lastNormalizedInput2 = normalizedInput2;
//Open/Close
Squeezing(normalizedInput1, normalizedInput2);
}
}
public void onIPSConnected(NetMQMessage m)
{
index = 0;
CalibrationSettings.ClearAnchorData();
//UnityEngine.Debug.Log("onIPSConnected");
//Only start receiving IPS data if the the user is in the calibration (normal claibration of anchors) or in the tags configuration scene(use last configuration)
if (GeneralSceneManager.sceneState != GeneralSceneManager.SceneState.Calibration && GeneralSceneManager.sceneState != GeneralSceneManager.SceneState.TagsConfiguration)
{
return;
}
if (!clientUnity.client.SendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_DISCOVER))
{
UnityEngine.Debug.Log("Error. Could not send IPS_UPDATE_SETTINGS command to the server. Check the log for more information");
}
}
private void Calibrate()
{
CalibrationCorners[] samples =
_viewModel.Samples.Where(_ => _.IsCornersInitialized).Select(_ => _.Corners).ToArray();
var settings = new CalibrationSettings
{
ChessboardHeight = _viewModel.ChessboardHeight,
ChessboardWidth = _viewModel.ChessboardWidth,
CellHeight = _viewModel.CellHeight,
CellWidth = _viewModel.CellWidth,
Count = _viewModel.Samples.Count(_ => _.IsCornersInitialized),
ImageSize = _viewModel.Samples[0].StereoImage.LeftImage.Size
};
_viewModel.CalibrationResult = StereoCalibration.Calibrate(settings, samples);
}
/// <summary>
/// Processing loop, captures an image and processes it
/// </summary>
private void Application_Idle()
{
while (true)
{
try
{
Image <Bgr, byte> tempFrame = captured_frame = CameraManager.GetImage();
if (CaptureSettings.Instance().DEFAULT_DILATATION != 0)
{
tempFrame._Dilate((int)CaptureSettings.Instance().DEFAULT_DILATATION);
}
if (CaptureSettings.Instance().DEFAULT_ERODE != 0)
{
tempFrame._Erode((int)CaptureSettings.Instance().DEFAULT_ERODE);
}
if (CaptureSettings.Instance().DEFAULT_GAMMA != 1)
{
tempFrame._GammaCorrect((double)CaptureSettings.Instance().DEFAULT_GAMMA);
}
if (CaptureSettings.Instance().DEFAULT_INVERT_ENABLED)
{
tempFrame._Not();
}
if (CaptureSettings.Instance().DEFAULT_NORMALIZE_ENABLED)
{
tempFrame._EqualizeHist();
}
// fix rotation
if (CalibrationSettings.Instance().CALIBRATION_ROTATION != 0)
{
tempFrame = tempFrame.Rotate(CalibrationSettings.Instance().CALIBRATION_ROTATION, new Bgr(0, 0, 0), true);
}
processor.ProcessImage(tempFrame);
if (interactiveWindow != null && interactiveWindow.IsVisible)
{
interactiveWindow.DrawImage(tempFrame, processor);
}
InputLogic();
}
catch {
// no-op here
}
}
}
/// <summary>
/// Initializes a new instance of the HestonCalibrator class.
/// </summary>
/// <param name="parameters">Heston Model Parameters</param>
/// <param name="marketOptions">Observed Option prices</param>
/// <param name="calibrationSettings">Calibration settings</param>
public HestonCalibrator(HestonModelParameters parameters,
LinkedList <OptionMarketData <EuropeanOption> > marketOptions,
CalibrationSettings calibrationSettings)
{
// Heston Model Params
_RiskFreeRate = parameters.RiskFreeRate;
_InitialStockPrice = parameters.InitialStockPrice;
// Copy market data
marketOptionsList = new LinkedList <OptionMarketData <EuropeanOption> >(marketOptions);
// Calibration Settings
accuracy = calibrationSettings.Accuracy;
maxIterations = calibrationSettings.MaximumNumberOfIterations;
// Set default guess parameters
calibratedParams = parameters.CalibrationParamsToArray();
}
public void Task_2_5()
{
// Variance Process Values
double Kappa = 1.5768;
double Theta = 0.398;
double Sigma = 0.5751;
double V0 = 0.0175;
double Rho = -0.5711;
// Heston Model Params
double InitialStockPrice = 100;
double RiskFreeRate = 0.025;
// Callibration Settings
double accuracy = 0.001;
int maxIter = 1000;
VarianceProcessParameters varParams =
new VarianceProcessParameters(Kappa, Theta, Sigma, V0, Rho);
HestonModelParameters hestonModel =
new HestonModelParameters(InitialStockPrice, RiskFreeRate, varParams);
CalibrationSettings calibrationSettings = new CalibrationSettings(accuracy, maxIter);
// Market Data
LinkedList <OptionMarketData <EuropeanOption> > observedOptions =
new LinkedList <OptionMarketData <EuropeanOption> >();
EuropeanOption eu1 = new EuropeanOption(80, PayoffType.Call, 1);
OptionMarketData <EuropeanOption> marketData1 =
new OptionMarketData <EuropeanOption>(eu1, 25.72);
observedOptions.AddLast(marketData1);
EuropeanOption eu2 = new EuropeanOption(90, PayoffType.Call, 1);
OptionMarketData <EuropeanOption> marketData2 =
new OptionMarketData <EuropeanOption>(eu2, 18.93);
observedOptions.AddLast(marketData2);
EuropeanOption eu3 = new EuropeanOption(80, PayoffType.Call, 2);
OptionMarketData <EuropeanOption> marketData3 =
new OptionMarketData <EuropeanOption>(eu3, 30.49);
observedOptions.AddLast(marketData3);
EuropeanOption eu4 = new EuropeanOption(100, PayoffType.Call, 2);
OptionMarketData <EuropeanOption> marketData4 =
new OptionMarketData <EuropeanOption>(eu4, 19.36);
observedOptions.AddLast(marketData4);
EuropeanOption eu5 = new EuropeanOption(100, PayoffType.Call, 1.5);
OptionMarketData <EuropeanOption> marketData5 =
new OptionMarketData <EuropeanOption>(eu5, 16.58);
observedOptions.AddLast(marketData5);
// Heston Calibrator
HestonCalibrator calibrator = new HestonCalibrator(hestonModel, observedOptions, calibrationSettings);
calibrator.Calibrate();
double error = 0;
CalibrationOutcome outcome = CalibrationOutcome.NotStarted;
calibrator.GetCalibrationStatus(ref outcome, ref error);
Console.WriteLine("Calibration outcome: {0} and error: {1}", outcome, error);
}
public FlowControl(IDictionary <string, object> calibrationSettings)
: this()
{
CalibrationSettings.Add(FlowControlGpioPinNumberSetting, (calibrationSettings.ContainsKey(FlowControlGpioPinNumberSetting)) ? calibrationSettings[FlowControlGpioPinNumberSetting] as string : "");
}
/// <summary>
/// Creates a new CalibrationWindow.
/// </summary>
/// <param name="autoStart">Whether or not to automatically begin calibration.</param>
/// <param name="autoSave">Whether or not to save the calibration settings using Extended Weak Reference.</param>
public CalibrationWindow(bool autoStart, bool autoSave)
{
_autoStart = autoStart;
_autoSave = autoSave;
Settings = new CalibrationSettings();
Name = "calibrationWindow";
Width = Glide.LCD.Width;
Height = Glide.LCD.Height;
BackColor = Colors.White;
Graphics = new Graphics(Width, Height);
int yPos = (Height / 2) - 50;
_text1 = new TextBlock("text1", 255, (Glide.LCD.Width - 300) / 2, yPos, 300, 50);
_text1.Font = FontManager.GetFont(FontManager.FontType.droid_reg12);
_text1.TextAlign = HorizontalAlignment.Center;
AddChild(_text1);
yPos += 50 + 5;
_startBtn = new Button("startBtn", 255, (Width - 200) / 2, yPos, 122, 32);
_startBtn.Text = "Recalibrate";
_startBtn.TapEvent += new OnTap(_startBtn_TapEvent);
_startBtn.Visible = false;
AddChild(_startBtn);
_exitBtn = new Button("exitBtn", 255, _startBtn.X + _startBtn.Width + 10, yPos, 68, 32);
_exitBtn.Text = "Done";
_exitBtn.TapEvent += new OnTap(_exitBtn_TapEvent);
_exitBtn.Visible = false;
AddChild(_exitBtn);
_canvas = new Canvas();
AddChild(_canvas);
if (_autoStart)
{
_text1.FontColor = Colors.Black;
_text1.Text = "Touch the crosshair location.";
Start();
}
else
{
if (GlideTouch.Calibrated)
{
_text1.FontColor = Colors.Red;
_text1.Text = "Touch is already calibrated.";
_exitBtn.Visible = true;
_startBtn.Visible = true;
}
else
{
_text1.FontColor = Colors.Black;
_text1.Text = "Touch the screen to start.";
TapEvent += new OnTap(CalibrationWindow_TapEvent);
}
}
}
/// <summary>
/// Creates a new CalibrationWindow.
/// </summary>
/// <param name="autoStart">Whether or not to automatically begin calibration.</param>
/// <param name="autoSave">Whether or not to save the calibration settings using Extended Weak Reference.</param>
public CalibrationWindow(bool autoStart, bool autoSave)
{
_autoStart = autoStart;
_autoSave = autoSave;
Settings = new CalibrationSettings();
Name = "calibrationWindow";
Width = Glide.LCD.Width;
Height = Glide.LCD.Height;
BackColor = Colors.White;
Graphics = new Graphics(Width, Height);
int yPos = (Height / 2) - 50;
_text1 = new TextBlock("text1", 255, (Glide.LCD.Width - 300) / 2, yPos, 300, 50);
_text1.Font = FontManager.GetFont(FontManager.FontType.droid_reg12);
_text1.TextAlign = HorizontalAlignment.Center;
AddChild(_text1);
yPos += 50 + 5;
_startBtn = new Button("startBtn", 255, (Width - 200) / 2, yPos, 122, 32);
_startBtn.Text = "Recalibrate";
_startBtn.TapEvent += new OnTap(_startBtn_TapEvent);
_startBtn.Visible = false;
AddChild(_startBtn);
_exitBtn = new Button("exitBtn", 255, _startBtn.X + _startBtn.Width + 10, yPos, 68, 32);
_exitBtn.Text = "Done";
_exitBtn.TapEvent += new OnTap(_exitBtn_TapEvent);
_exitBtn.Visible = false;
AddChild(_exitBtn);
_canvas = new Canvas();
AddChild(_canvas);
if (_autoStart)
{
_text1.FontColor = Colors.Black;
_text1.Text = "Touch the crosshair location.";
Start();
}
else
{
if (GlideTouch.Calibrated)
{
_text1.FontColor = Colors.Red;
_text1.Text = "Touch is already calibrated.";
_exitBtn.Visible = true;
_startBtn.Visible = true;
}
else
{
_text1.FontColor = Colors.Black;
_text1.Text = "Touch the screen to start.";
TapEvent += new OnTap(CalibrationWindow_TapEvent);
}
}
}
public static void Task6()
{
Console.WriteLine("********Task 6*********");
// Variance Process Values
double Kappa = 1.5768;
double Theta = 0.398;
double Sigma = 0.5751;
double V0 = 0.0175;
double Rho = -0.5711;
// Heston Model Params
double InitialStockPrice = 100;
double RiskFreeRate = 0.025;
// Callibration Settings
double accuracy = 1.0e-3;
int maxIter = 1000;
VarianceProcessParameters varParams =
new VarianceProcessParameters(Kappa, Theta, Sigma, V0, Rho);
HestonModelParameters hestonModel =
new HestonModelParameters(InitialStockPrice, RiskFreeRate, varParams);
HestonModelParameters guess =
new HestonModelParameters(InitialStockPrice, RiskFreeRate,
new VarianceProcessParameters(1.55, 0.88, 1.5999, 0.4, -0.55));
CalibrationSettings calibrationSettings = new CalibrationSettings(accuracy, maxIter);
// Market Data
LinkedList <IOptionMarketData <IEuropeanOption> > observedOptions =
new LinkedList <IOptionMarketData <IEuropeanOption> >();
EuropeanOption eu1 = new EuropeanOption(80, PayoffType.Call, 1);
EuropeanOptionFormula eu1Form = new EuropeanOptionFormula(hestonModel, eu1);
OptionMarketData <IEuropeanOption> marketData1 =
new OptionMarketData <IEuropeanOption>(eu1, eu1Form.Price());
observedOptions.AddLast(marketData1);
EuropeanOption eu2 = new EuropeanOption(90, PayoffType.Call, 1);
EuropeanOptionFormula eu2Form = new EuropeanOptionFormula(hestonModel, eu2);
OptionMarketData <IEuropeanOption> marketData2 =
new OptionMarketData <IEuropeanOption>(eu2, eu2Form.Price());
observedOptions.AddLast(marketData2);
EuropeanOption eu3 = new EuropeanOption(80, PayoffType.Call, 2);
EuropeanOptionFormula eu3Form = new EuropeanOptionFormula(hestonModel, eu3);
OptionMarketData <IEuropeanOption> marketData3 =
new OptionMarketData <IEuropeanOption>(eu3, eu3Form.Price());
observedOptions.AddLast(marketData3);
EuropeanOption eu4 = new EuropeanOption(100, PayoffType.Call, 2);
EuropeanOptionFormula eu4Form = new EuropeanOptionFormula(hestonModel, eu4);
OptionMarketData <IEuropeanOption> marketData4 =
new OptionMarketData <IEuropeanOption>(eu4, eu4Form.Price());
observedOptions.AddLast(marketData4);
EuropeanOption eu5 = new EuropeanOption(100, PayoffType.Call, 1.5);
EuropeanOptionFormula eu5Form = new EuropeanOptionFormula(hestonModel, eu5);
OptionMarketData <IEuropeanOption> marketData5 =
new OptionMarketData <IEuropeanOption>(eu5, eu5Form.Price());
observedOptions.AddLast(marketData5);
HestonCalibrationResult result;
result = (HestonCalibrationResult)
Heston.CalibrateHestonParameters(guess, observedOptions, calibrationSettings);
Console.WriteLine("Calibration outcome: {0} and error: {1}", result.MinimizerStatus, result.PricingError);
}
public static void Task5()
{
// Variance Process Values
double Kappa = 1.5768;
double Theta = 0.398;
double Sigma = 0.5751;
double V0 = 1.0175;
double Rho = -0.5711;
// Heston Model Params
double InitialStockPrice = 100;
double RiskFreeRate = 0.025;
// Callibration Settings
double accuracy = 0.001;
int maxIter = 1000;
VarianceProcessParameters varParams =
new VarianceProcessParameters(Kappa, Theta, Sigma, V0, Rho);
HestonModelParameters hestonModel =
new HestonModelParameters(InitialStockPrice, RiskFreeRate, varParams);
CalibrationSettings calibrationSettings = new CalibrationSettings(accuracy, maxIter);
// Market Data
LinkedList <IOptionMarketData <IEuropeanOption> > observedOptions =
new LinkedList <IOptionMarketData <IEuropeanOption> >();
EuropeanOption eu1 = new EuropeanOption(80, PayoffType.Call, 1);
OptionMarketData <IEuropeanOption> marketData1 =
new OptionMarketData <IEuropeanOption>(eu1, 25.72);
observedOptions.AddLast(marketData1);
EuropeanOption eu2 = new EuropeanOption(90, PayoffType.Call, 1);
OptionMarketData <IEuropeanOption> marketData2 =
new OptionMarketData <IEuropeanOption>(eu2, 18.93);
observedOptions.AddLast(marketData2);
EuropeanOption eu3 = new EuropeanOption(80, PayoffType.Call, 2);
OptionMarketData <IEuropeanOption> marketData3 =
new OptionMarketData <IEuropeanOption>(eu3, 30.49);
observedOptions.AddLast(marketData3);
EuropeanOption eu4 = new EuropeanOption(100, PayoffType.Call, 2);
OptionMarketData <IEuropeanOption> marketData4 =
new OptionMarketData <IEuropeanOption>(eu4, 19.36);
observedOptions.AddLast(marketData4);
EuropeanOption eu5 = new EuropeanOption(100, PayoffType.Call, 1.5);
OptionMarketData <IEuropeanOption> marketData5 =
new OptionMarketData <IEuropeanOption>(eu5, 16.58);
observedOptions.AddLast(marketData5);
HestonCalibrationResult result;
result = (HestonCalibrationResult)
Heston.CalibrateHestonParameters(hestonModel, observedOptions, calibrationSettings);
Console.WriteLine("Calibration outcome: {0} and error: {1}", result.MinimizerStatus, result.PricingError);
}
/// <summary>
/// Takes all detected contours, transforms their positions into the coordinate system of the table,
/// taking also into accoutn perspective distortion. At last, it creates descriptors of detected
/// stones and passes everything to the merging processor that will increase the simulation step
/// </summary>
private void InputLogic()
{
foundRocks.Clear();
if (tableManager.IsRunning)
{
foreach (FoundTemplateDesc found in processor.foundTemplates)
{
System.Drawing.Rectangle foundRect = found.sample.contour.SourceBoundingRect;
#region hledani transformovaneho bodu
try
{
double found_pos_x = foundRect.Left + foundRect.Size.Width / 2;
double found_pos_y = foundRect.Top + foundRect.Size.Height / 2;
double mx = found_pos_x; // X-axis coord in the trapezoid
double my = captured_frame.Height - found_pos_y; // Y-axis coord in the trapezoid
double ax = CalibrationSettings.Instance().CALIBRATION_POINT_A.X; // X-axis coord of A-point in trapezoid
// estimation of other points according to ( a = (2*r1r2)/(r1+1))
double r1 = CalibrationSettings.Instance().CALIBRATION_PERSPECTIVE;
double r2 = CalibrationSettings.Instance().CALIBRATION_POINT_C.X - CalibrationSettings.Instance().CALIBRATION_POINT_A.X;
double bx = ax + (2 * (r1 * r2)) / (r1 + 1); // X-axis coord of B-point in trapezoid
double cx = CalibrationSettings.Instance().CALIBRATION_POINT_C.X; // X-axis coord of C-point in trapezoid
double dx = ax + bx - cx; // X-axis coord of D-point in trapezoid
double cy = captured_frame.Height - CalibrationSettings.Instance().CALIBRATION_POINT_C.Y; // Y-axis coord of C-point in trapezoid
double ay = captured_frame.Height - CalibrationSettings.Instance().CALIBRATION_POINT_A.Y; // Y-axis coord of A-point in trapezoid
double pom = (my - ay) / (cy - ay); // ratio between the bottom base and the upper base
double r1m = mx - (ax + (dx - ax) * pom); // distance of the M point from the left side
double r1r2 = pom * (cx - bx - dx + ax) + bx - ax; // length of a line that crosses the M-point and both sides
double ab = Math.Abs(bx - ax); // length of AB line
double cd = Math.Abs(cx - dx); // length of CD line
double alfa = r1r2 / ab; // perspective distortion
double maximum = captured_frame.Height / (cd / ab); // max distortion
double real = (captured_frame.Height) * (pom / alfa); // relative distortion to the M-point
// projection to a rectangle the frame represents
double mxx = (ax < bx) ? captured_frame.Width * (r1m / r1r2) : captured_frame.Width - captured_frame.Width * r1m / r1r2;
double mxy = (ay > cy) ? (captured_frame.Height * real / maximum) : captured_frame.Height - (captured_frame.Height * real / maximum);
// recalculation from camera space to table space
mxx *= CommonAttribService.ACTUAL_TABLE_WIDTH / ((double)captured_frame.Width);
mxy *= CommonAttribService.ACTUAL_TABLE_HEIGHT / ((double)captured_frame.Height);
foundRocks.Add(CreateFoundRock(found.template.name, new FPoint(mxx - CommonAttribService.ACTUAL_TABLE_WIDTH / 2, CommonAttribService.ACTUAL_TABLE_HEIGHT / 2 - mxy), processor.templates, found.rate, found.scale, found.angle));
}
catch
{
MessageBox.Show("An error occurred during calibration. Try to set the calibration again!");
StopThread();
}
#endregion
}
// merge both systems between two time steps
realTableManager.MergeSystems(foundRocks);
}
}
// Update is called once per frame
void FixedUpdate()
{
switch (state)
{
case CalibrationState.IDLE:
//The spinning wheel(throbber) rotates
if (autocalibratingThrobber.activeInHierarchy)
{
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
}
break;
case CalibrationState.DISCOVERING:
searchingLabel.transform.GetChild(0).Rotate(0, 0, -200 * Time.deltaTime);
break;
case CalibrationState.RECEIVING_DISCOVER_ANCHORS:
List <int> anchorsIDList = PozyxModule.GetAnchorList();
{
//UnityEngine.Debug.Log("ReadingAnchorList");
dicoveredAnchors.text = "";
for (int i = 0; i < anchorsIDList.Count; i++)
{
//Writing the anchor list received inside the TextBoxes that can be clicked, with the HorizontalGroup name
//UnityEngine.Debug.Log("Reading Anchor List Element: " + i);
//anchorParent.transform.Find("Cube" + anchorID).position = anchorData.position;
//anchor1Pos = cam.WorldToScreenPoint(anchorData.position);
//transform.Find("Cube" + anchorID + "ID").GetComponent<RectTransform>().anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
dicoveredAnchors.text += "Anchor: " + i + " ID: " + "0x" + anchorsIDList[i].ToString("x") + "\n";
anchorList.transform.Find("HorizontalGroup" + (i + 1)).GetChild(0).GetChild(0).GetComponent <Text>().text = "0x" + anchorsIDList[i].ToString("x");
anchorList.transform.Find("HorizontalGroup" + (i + 1)).GetChild(0).name = anchorsIDList[i].ToString();
}
//UnityEngine.Debug.Log("FinishedReadingAnchorList");
//Activate the button that lets the user give the correct position to the anchors
configAnchorsButton.GetComponent <Button>().interactable = true;
configAnchorsButton.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1, 1, 1, 1);
//UnityEngine.Debug.Log("All anchors positioned");
searchingLabel.SetActive(false);
state = CalibrationState.RECEIVED_DISCOVER_ANCHORS;
}
break;
case CalibrationState.RECEIVED_DISCOVER_ANCHORS:
//Having done previously that, is this state necessary?
if (PozyxModule.anchorsReceived)
{
PozyxModule.anchorsReceived = false;
state = CalibrationState.DISCOVERED;
}
break;
case CalibrationState.DISCOVERED:
anchorReadCount = 0;
for (int i = 0; i < 8; i++)
{
ServerMessages.IPSFrameAnchorData anchorData = CalibrationSettings.GetAnchorData(i);
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).GetChild(0).GetComponent<Text>().text = anchorData.id.ToString();
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).name = anchorData.id.ToString();
//Writing the corresponding id of an anchor to a cube
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(0).GetComponent <TextMesh>().text = "0x" + anchorData.id.ToString("x");
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(1).localPosition = anchorData.position;
for (int j = 1; j < 9; j++)
{
//UnityEngine.Debug.Log(anchorData.order);
//Writing the received position of the anchors
if (anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).name == anchorData.id.ToString())
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = anchorData.position.x.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = anchorData.position.y.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().text = anchorData.position.z.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Image>().color = new Vector4(0, 255, 0, 150);
anchorReadCount++;
//Writing the received position of the anchor list when autocalibration is pressed
if (autoCalib && (anchorData.order == 1 || anchorData.order == 5))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "0";
}
else if (autoCalib && (anchorData.order == 3 || anchorData.order == 7))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "0";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
}
else if (autoCalib && (anchorData.order == 2 || anchorData.order == 6))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
}
else if (autoCalib)
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "0";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "0";
}
}
}
}
//UnityEngine.Debug.Log("Anclas coincidentes: " + anchorReadCount);
//Activates button to confirm configuration
if (anchorReadCount == 8)
{
UnityEngine.Debug.Log("PozyxModuleAnchorsReady");
confirmManual.interactable = true;
confirmManual.transform.GetChild(0).GetComponent <Text>().color = new Vector4(255, 255, 255, 255);
}
state = CalibrationState.IDLE;
//anchorParent.transform.Find("Cube" + anchorID).position = anchorData.position;
//anchor1Pos = cam.WorldToScreenPoint(anchorData.position);
//transform.Find("Cube" + anchorID + "ID").GetComponent<RectTransform>().anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
//dicoveredAnchors.text += "Tag: " + anchorID + " ID: " + anchorData.id + "\n";
//anchorList.transform.Find("Anchor" + anchorID).GetChild(0).GetComponent<Text>().text = "Anchor ID: " + anchorData.id;
//anchorList.transform.Find("Anchor" + anchorID).name = anchorData.id.ToString();
//configAnchorsButton.GetComponent<Button>().interactable = true;
//configAnchorsButton.transform.GetChild(0).GetComponent<Text>().color = new Vector4(1, 1, 1, 1);
//UnityEngine.Debug.Log("All anchor data received and ready to be used");
//searchingLabel.SetActive(false);
//ipsCommandSent = false;
break;
case CalibrationState.MANUAL_ACCEPTED:
//Sending the configuration and wait for positioning
clientUnity.client.SendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_UPDATE_SETTINGS);
state = CalibrationState.TRY_START_POSITIONING;
break;
case CalibrationState.AUTOCALIBRATION_RECEIVED:
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
anchorReadCount = 0;
for (int i = 0; i < 8; i++)
{
ServerMessages.IPSFrameAnchorData anchorData = CalibrationSettings.GetAnchorData(i);
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).GetChild(0).GetComponent<Text>().text = anchorData.id.ToString();
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).name = anchorData.id.ToString();
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(0).GetComponent <TextMesh>().text = "0x" + anchorData.id.ToString("x");
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(1).localPosition = anchorData.position;
//Receiving the anchors position from autocalibration
for (int j = 1; j < 9; j++)
{
if (anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).name == anchorData.id.ToString())
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = anchorData.position.x.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = anchorData.position.y.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().text = anchorData.position.z.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Button>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Image>().color = new Vector4(0, 255, 0, 150);
anchorReadCount++;
//Painting orange the autocalibrated anchors
if (anchorData.order == 1 || anchorData.order == 2 || anchorData.order == 5 || anchorData.order == 6)
{
ColorBlock cb = anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().colors;
cb.disabledColor = new Vector4(1.0f, 0.6f, 0.0f, 0.4f);
cb.normalColor = new Vector4(1.0f, 0.8f, 0.4f, 1.0f);
cb.highlightedColor = new Vector4(1.0f, 0.9f, 0.7f, 1.0f);
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().colors = cb;
}
if (anchorData.order == 2 || anchorData.order == 3 || anchorData.order == 6 || anchorData.order == 7)
{
ColorBlock cb = anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().colors;
cb.disabledColor = new Vector4(1.0f, 0.6f, 0.0f, 0.4f);
cb.normalColor = new Vector4(1.0f, 0.8f, 0.4f, 1.0f);
cb.highlightedColor = new Vector4(1.0f, 0.9f, 0.7f, 1.0f);
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().colors = cb;
}
}
}
}
if (anchorReadCount == 8)
{
//Habilitating the three buttons
//UnityEngine.Debug.Log("AnchorsAutocalibratedReady");
// ## Se puede sacar fuera del if todo
confirmManual.gameObject.SetActive(false);
editConfig.gameObject.SetActive(true);
redoAutocalibration.gameObject.SetActive(true);
confirmAuto.gameObject.SetActive(true);
editConfig.interactable = true;
editConfig.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
redoAutocalibration.interactable = true;
redoAutocalibration.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
confirmAuto.interactable = true;
confirmAuto.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
//acceptConfig.interactable = true;
//acceptConfig.transform.GetChild(0).GetComponent<Text>().color = new Vector4(255, 255, 255, 255);
}
state = CalibrationState.AUTOCALIBRATION_FINNISHED;
break;
case CalibrationState.AUTOCALIBRATION_ACCEPTED:
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
// Used to check the current state
break;
case CalibrationState.AUTOCALIBRATION_FINNISHED:
// Used to check the current state
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
break;
case CalibrationState.CALIBRATION_PREVIEW:
//Nobody uses this state ??
ServerMessages.IPSFrameData frameData = DroneModule.DequeueIPSDronFrame();
if (frameData != null)
{
//UnityEngine.Debug.Log("Position: " + frameData.position);
//UnityEngine.Debug.Log("Rotation: " + frameData.rotation);
drone.transform.position = frameData.position;
drone.transform.rotation = Quaternion.Euler(frameData.rotation);
}
anchor1Pos = cam.WorldToScreenPoint(anchor1GO.transform.position);
anchor2Pos = cam.WorldToScreenPoint(anchor2GO.transform.position);
anchor3Pos = cam.WorldToScreenPoint(anchor3GO.transform.position);
anchor4Pos = cam.WorldToScreenPoint(anchor4GO.transform.position);
anchor5Pos = cam.WorldToScreenPoint(anchor5GO.transform.position);
anchor6Pos = cam.WorldToScreenPoint(anchor6GO.transform.position);
anchor7Pos = cam.WorldToScreenPoint(anchor7GO.transform.position);
anchor8Pos = cam.WorldToScreenPoint(anchor8GO.transform.position);
// ## TODO: Incluir en el if de arriba buscando cada anchorID según el ID actual y asociar su posición
anchor1ID.anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
anchor2ID.anchoredPosition = new Vector2(anchor2Pos.x - 40, anchor2Pos.y - Screen.height * 0.15f);
anchor3ID.anchoredPosition = new Vector2(anchor3Pos.x - 40, anchor3Pos.y - Screen.height * 0.15f);
anchor4ID.anchoredPosition = new Vector2(anchor4Pos.x - 40, anchor4Pos.y - Screen.height * 0.15f);
anchor5ID.anchoredPosition = new Vector2(anchor5Pos.x - 40, anchor5Pos.y - Screen.height * 0.15f);
anchor6ID.anchoredPosition = new Vector2(anchor6Pos.x - 40, anchor6Pos.y - Screen.height * 0.15f);
anchor7ID.anchoredPosition = new Vector2(anchor7Pos.x - 40, anchor7Pos.y - Screen.height * 0.15f);
anchor8ID.anchoredPosition = new Vector2(anchor8Pos.x - 40, anchor8Pos.y - Screen.height * 0.15f);
break;
case CalibrationState.TRY_START_POSITIONING:
//Check for positioning
if (PozyxModule.positiningIsValid)
{
firstPositionTry = true;
state = CalibrationState.POSITIONING_CONFIRMED;
}
else
{
if (firstPositionTry)
{
autocalibratingThrobber.transform.parent.GetComponent <Text>().text = "Waiting for positioning";
autocalibratingThrobber.transform.parent.gameObject.SetActive(true);
firstPositionTry = false;
}
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
}
break;
case CalibrationState.POSITIONING_CONFIRMED:
//Change scene, positioning received
state = CalibrationState.IDLE;
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
//UnityEngine.Debug.Log(GeneralSceneManager.appState);
//You can access the scene from both buttons, as calibrating is always necessary, that is way there is a button to use last calibration and skip the process
if (GeneralSceneManager.appState == GeneralSceneManager.ApplicationState.Mapping)
{
SceneManager.LoadScene("Mapping");
}
else if (GeneralSceneManager.appState == GeneralSceneManager.ApplicationState.Recording)
{
SceneManager.LoadScene("PlanSelection");
}
break;
case CalibrationState.LAST_REQ_FAILED:
UnityEngine.Debug.Log("LastReqFailed");
if (discoverPanel.activeInHierarchy)
{ // Something failed discovering anchors, retry
UnityEngine.Debug.Log("DiscoverFailed");
dicoveredAnchors.text = PozyxModule.errorMsg;
state = CalibrationState.DISCOVERING;
}
else
{ // Something failed with anchors configuration, let the user change the config and try again
UnityEngine.Debug.Log("ConfigFailed");
state = CalibrationState.IDLE;
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
if (confirmManual.gameObject.activeInHierarchy)
{
confirmManual.interactable = true;
confirmManual.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
}
else if (confirmAuto.gameObject.activeInHierarchy)
{
confirmAuto.interactable = true;
confirmAuto.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
editConfig.interactable = true;
editConfig.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
redoAutocalibration.interactable = true;
redoAutocalibration.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
}
}
//discoverButton.SetActive(true);
//configAnchorsButton.SetActive(false);
//startingLabel.SetActive(true);
//searchingLabel.SetActive(false);
break;
}
}
