private async void PrintData()
{
// Set True
_isPrinting = true;
try
{
// Create CSV String of Yaw Readings
string yawReadingResults = string.Join(System.Environment.NewLine, ObservedYawDataPoints.Select(s => $"{s.X},{s.Y}")?.ToList() ?? new List <string>());
string rollReadingResults = string.Join(System.Environment.NewLine, ObservedRollDataPoints.Select(s => $"{s.X},{s.Y}")?.ToList() ?? new List <string>());
string pitchReadingResults = string.Join(System.Environment.NewLine, ObservedPitchDataPoints.Select(s => $"{s.X},{s.Y}")?.ToList() ?? new List <string>());
// Get File Path
StorageFolder storageFolder = ApplicationData.Current.LocalFolder;
StorageFile yawFilePath = await storageFolder.CreateFileAsync($"yaw_{DateTime.Now.ToString("yyyyMMddHHmmss")}.csv",
CreationCollisionOption.ReplaceExisting);
StorageFile rollFilePath = await storageFolder.CreateFileAsync($"roll_{DateTime.Now.ToString("yyyyMMddHHmmss")}.csv",
CreationCollisionOption.ReplaceExisting);
StorageFile pitchFilePath = await storageFolder.CreateFileAsync($"pitch_{DateTime.Now.ToString("yyyyMMddHHmmss")}.csv",
CreationCollisionOption.ReplaceExisting);
// Write all Data to CSV File
await FileIO.WriteTextAsync(yawFilePath, yawReadingResults);
await FileIO.WriteTextAsync(rollFilePath, rollReadingResults);
await FileIO.WriteTextAsync(pitchFilePath, pitchReadingResults);
}
catch (Exception ex)
{
Console.WriteLine($"Failed to Print beause of '{ex.Message}'");
}
// Clear Printing Data Flag
_isPrinting = false;
}
private void ProcessCommand(GamepadReading reading)
{
// Check if Exit has been Demanded
CommandedData.Exit = (reading.Buttons.HasFlag(GamepadButtons.Y) || (CommandedData.Exit));
// Get Left Thumb Stick Values
LeftThumbStickX = reading.LeftThumbstickX;
LeftThumbStickY = reading.LeftThumbstickY;
// Get Right Thumb Stick Values
RightThumbStickX = reading.RightThumbstickX;
RightThumbStickY = reading.RightThumbstickY;
// Get Trigger Values
LeftTriggerValue = reading.LeftTrigger;
RightTriggerValue = reading.RightTrigger;
// Update Commanded Flight Data
CommandedData.Yaw = LeftThumbStickX;
CommandedData.Throttle = LeftThumbStickY;
CommandedData.Roll = RightThumbStickX;
CommandedData.Pitch = RightThumbStickY;
// Disarm is B is Pressed and it is currently Armed
if (reading.Buttons.HasFlag(GamepadButtons.B) && CommandedArmed)
{
CommandedArmed = false;
}
// Otherwise arm if A is Pressed and it is not currently armed
else if (reading.Buttons.HasFlag(GamepadButtons.A) && !CommandedArmed)
{
CommandedArmed = true;
}
// Perform error reset if X is Pressed
CommandedData.ResetError = (reading.Buttons.HasFlag(GamepadButtons.X) || (CommandedData.ResetError));
// Check if D-PAD Up / Down / Left / Right Selected
if (reading.Buttons.HasFlag(GamepadButtons.DPadUp))
{
CommandedData.ThrottleTrim += 0.01;
}
else if (reading.Buttons.HasFlag(GamepadButtons.DPadDown))
{
CommandedData.ThrottleTrim -= 0.01;
}
else if (reading.Buttons.HasFlag(GamepadButtons.DPadLeft))
{
CommandedData.YawTrim -= 0.01;
}
else if (reading.Buttons.HasFlag(GamepadButtons.DPadRight))
{
CommandedData.YawTrim += 0.01;
}
if (reading.Buttons.HasFlag(GamepadButtons.LeftShoulder))
{
CommandedData.RollTrim -= 0.01;
}
else if (reading.Buttons.HasFlag(GamepadButtons.RightShoulder))
{
CommandedData.RollTrim += 0.01;
}
else if (LeftTriggerValue > 0)
{
CommandedData.PitchTrim -= 0.01;
}
else if (RightTriggerValue > 0)
{
CommandedData.PitchTrim += 0.01;
}
// Accumulate time
_timeSinceLastChartUpdateMs += _gatherMessageFrequencyMs;
_timeSinceLastServerUpdateMs += _gatherMessageFrequencyMs;
// Check if enough time has accumulated to post new data to Data Server
if (_timeSinceLastServerUpdateMs > _frequencyToUpdateServerWithNewFlighDataMs)
{
// Reset Gather Time
_timeSinceLastServerUpdateMs = 0;
// Update Flight Data
ObservedData = _myRestClient.Update(_observedData, _commandedData).Result;
// Check if Observed Error Reset
if (ObservedData.ResetError)
{
// Clear Command for Reset Error
CommandedData.ResetError = false;
// Clear Observed for Reset Error
ObservedData.ResetError = false;
}
}
// Notify Update
for (int i = 0; i < FlightStateDataViewModels.Count; i++)
{
// Update Reference
FlightStateDataViewModels[i].ObservedData = ObservedData;
// Notify of Update
FlightStateDataViewModels[i].NotifyValuesChanged();
}
// Check if enough time has accumlated to post a new data point to chart
if (_timeSinceLastChartUpdateMs > _frequencyOfChartUpdateMs)
{
// Reset Gather Time
_timeSinceLastChartUpdateMs = 0;
// Add Data Points
if (_numberOfPointsAddedToChart > _maxNumberOfPoints)
{
// Remove First Commanded
CommandedYawDataPoints.RemoveAt(0);
CommandedThrottleDataPoints.RemoveAt(0);
CommandedRollDataPoints.RemoveAt(0);
CommandedPitchDataPoints.RemoveAt(0);
// Remove First Observed
ObservedYawDataPoints.RemoveAt(0);
ObservedThrottleDataPoints.RemoveAt(0);
ObservedRollDataPoints.RemoveAt(0);
ObservedPitchDataPoints.RemoveAt(0);
}
// Add New Commanded
CommandedYawDataPoints.Add(new DataPoint()
{
Y = CommandedData.Yaw
});
CommandedThrottleDataPoints.Add(new DataPoint()
{
Y = CommandedData.Throttle
});
CommandedRollDataPoints.Add(new DataPoint()
{
Y = CommandedData.Roll
});
CommandedPitchDataPoints.Add(new DataPoint()
{
Y = CommandedData.Pitch
});
// Add New Observed
ObservedYawDataPoints.Add(new DataPoint()
{
Y = ObservedData.Yaw
});
ObservedThrottleDataPoints.Add(new DataPoint()
{
Y = ObservedData.Throttle
});
ObservedRollDataPoints.Add(new DataPoint()
{
Y = ObservedData.Roll
});
ObservedPitchDataPoints.Add(new DataPoint()
{
Y = ObservedData.Pitch
});
// Increment the number of Points added to Chart
_numberOfPointsAddedToChart++;
}
// Use Start Button to Reset Chart
if (reading.Buttons.HasFlag(GamepadButtons.Menu))
{
// Reset Number of Points Added
_numberOfPointsAddedToChart = 0;
// Reset All Commanded
CommandedYawDataPoints.Clear();
CommandedRollDataPoints.Clear();
CommandedPitchDataPoints.Clear();
CommandedThrottleDataPoints.Clear();
// Reset All Observed
ObservedYawDataPoints.Clear();
ObservedRollDataPoints.Clear();
ObservedPitchDataPoints.Clear();
ObservedThrottleDataPoints.Clear();
}
// Use View Button Print all Recorded values to CSV File
if (reading.Buttons.HasFlag(GamepadButtons.View) && (!_isPrinting))
{
// Print data
PrintData();
}
}
