private int GetParamInt32(ParamID id)
{
int value;
var status = GetParamInt32(id, out value);
if (status != CTR_Code.CTR_OKAY)
CheckStatus((int)status);
return value;
}
private double GetParam(ParamID id)
{
C_TalonSRX_RequestParam(m_impl, (int)id);
Timer.Delay(DelayForSolicitedSignals);
var value = 0.0;
var status = C_TalonSRX_GetParamResponse(m_impl, (int)id, ref value);
if (status != CTR_Code.CTR_OKAY)
CheckStatus((int)status);
return value;
}
protected override void LaunchPluginFunction(CloudData data)
{
HashSet <int> selectedpointsSet = data.globalMetaData.SelectedPointsList;
HashSet <float> selectedtrajectorySet = data.globalMetaData.SelectedTrajectories;
N = 0;
List <double> TrajectoriesList = new List <double>();
List <double> Xvalues = new List <double>();
List <double> Yvalues = new List <double>();
List <double> Zvalues = new List <double>();
List <double> Tvalues = new List <double>();
Debug.Log("lowtime " + data.globalMetaData.lowertimeLimit);
Debug.Log("uptime " + data.globalMetaData.uppertimeLimit);
float xaverage, yaverage, zaverage;
float xsum = 0;
float ysum = 0;
float zsum = 0;
int pointnumber = 0;
foreach (float i in selectedtrajectorySet)
{
foreach (int j in data.pointTrajectoriesTable[i].metadata.selectedpointsIDList)
{
if (data.pointMetaDataTable[j].isHidden == false)
{
//Debug.Log("time " + data.pointDataTable[j].time);
if (data.pointDataTable[j].time >= data.globalMetaData.lowertimeLimit && data.pointDataTable[j].time <= data.globalMetaData.uppertimeLimit)
{
Debug.Log("check");
N++;
TrajectoriesList.Add(i);
Xvalues.Add((double)data.pointDataTable[j].position.x);
Yvalues.Add((double)data.pointDataTable[j].position.y);
Zvalues.Add((double)data.pointDataTable[j].position.z);
Tvalues.Add((double)data.pointDataTable[j].time);
xsum += data.pointDataTable[j].normed_position.x;
ysum += data.pointDataTable[j].normed_position.y;
zsum += data.pointDataTable[j].normed_position.z;
pointnumber++;
}
}
}
}
xaverage = xsum / pointnumber;
yaverage = ysum / pointnumber;
zaverage = zsum / pointnumber;
ArrowLocalPosition = new Vector3(xaverage, yaverage, zaverage);
//DEBUG
/**
* N = 25;
* for(int i = 0; i < 5; i++)
* {
* TrajectoriesList.Add(i);
* Xvalues.Add((double)Random.Range(0,100));
* Yvalues.Add((double)Random.Range(0, 100));
* Zvalues.Add((double)Random.Range(0, 100));
* Tvalues.Add(0);
* TrajectoriesList.Add(i);
* Xvalues.Add((double)Random.Range(0, 100));
* Yvalues.Add((double)Random.Range(0, 100));
* Zvalues.Add((double)Random.Range(0, 100));
* Tvalues.Add(1);
* TrajectoriesList.Add(i);
* Xvalues.Add((double)Random.Range(0, 100));
* Yvalues.Add((double)Random.Range(0, 100));
* Zvalues.Add((double)Random.Range(0, 100));
* Tvalues.Add(2);
* TrajectoriesList.Add(i);
* Xvalues.Add((double)Random.Range(0, 100));
* Yvalues.Add((double)Random.Range(0, 100));
* Zvalues.Add((double)Random.Range(0, 100));
* Tvalues.Add(3);
* TrajectoriesList.Add(i);
* Xvalues.Add((double)Random.Range(0, 100));
* Yvalues.Add((double)Random.Range(0, 100));
* Zvalues.Add((double)Random.Range(0, 100));
* Tvalues.Add(4);
* }
*
* Debug.Log(TrajectoriesList.Count);
**/
//END_DEBUG
double[] TrajectoriesArray = TrajectoriesList.ToArray();
double[] XvaluesArray = Xvalues.ToArray();
double[] YvaluesArray = Yvalues.ToArray();
double[] ZvaluesArray = Zvalues.ToArray();
double[] TvaluesArray = Tvalues.ToArray();
fixed(double *Trajectoriespointer = TrajectoriesArray)
{
fixed(double *xvalues = XvaluesArray)
{
fixed(double *yvalues = YvaluesArray)
{
fixed(double *zvalues = ZvaluesArray)
{
fixed(double *tvalues = TvaluesArray)
{
this.trajectories = Trajectoriespointer;
this.xCoord = xvalues;
this.yCoord = yvalues;
this.zCoord = zvalues;
this.tCoord = tvalues;
double diffusion = 145.0;
double forceX = 14.0;
double forceY = 16.0;
double forceZ = 17.0;
Diffusion = &diffusion;
ForceX = &forceX;
ForceY = &forceY;
ForceZ = &forceZ;
//functionID = (FunctionID)dropdown.value;
headerID = (HeaderID)headerDropdown.value;
paramID = (ParamID)paramDropdown.value;
// Debug.Log("FunctionID - "+(int)functionID);
double.TryParse(SigmaInput.text, out Sigma);
double.TryParse(SigmaxyInput.text, out SigmaXY);
double.TryParse(SigmazInput.text, out SigmaZ);
//Debug.Log("fid " + functionID);
Debug.Log("Sigma " + Sigma);
Debug.Log("Sigmaxy " + SigmaXY);
Debug.Log("Sigmaz " + SigmaZ);
Infer3D((int)headerID, (int)paramID, Sigma, SigmaXY, SigmaZ, N, trajectories,
xCoord, yCoord, zCoord, tCoord, Diffusion, ForceX, ForceY, ForceZ);
double diffusionres = *Diffusion;
double forceXres = *ForceX;
double forceYres = *ForceY;
double forceZres = *ForceZ;
diffusionres = Math.Round(diffusionres, 3);
forceXres = Math.Round(forceXres, 3);
forceYres = Math.Round(forceYres, 3);
forceZres = Math.Round(forceZres, 3);
ResultsString = "diffusion : " + diffusionres + "\n" + "forceX : " + forceXres + "\n"
+ "forceY : " + forceYres + "\n" + "forceZ : " + forceZres + "\n";
Debug.Log("N : " + N);
Debug.Log("diffusion : " + *Diffusion);
Debug.Log("forceX : " + *ForceX);
Debug.Log("forceY : " + *ForceY);
Debug.Log("forceZ : " + *ForceZ);
GameObject go = new GameObject("ARROW");
go.transform.position = Vector3.zero;
go.transform.SetParent(data.transform, true);
//go.transform.SetParent(data.transform);
go.AddComponent <GenerateArrow>();
go.GetComponent <GenerateArrow>().GenerateTriangularArrowMesh(new Vector3((float)*ForceX, (float)*ForceY, (float)*ForceZ).normalized);
go.transform.localPosition = ArrowLocalPosition;
Debug.Log("ArrowCalculatedpos : " + ArrowLocalPosition);
Debug.Log("ArrowWorldPos : " + go.transform.position);
Debug.Log("ArrowLocalPos : " + go.transform.localPosition);
}
}
}
}
}
}
private void SetParam(ParamID id, double value)
{
var errorCode = C_TalonSRX_SetParam(m_impl, (int)id, value);
if (errorCode != CTR_Code.CTR_OKAY)
CheckStatus((int)errorCode);
}
private CTR_Code GetParamInt32(ParamID id, out int value)
{
C_TalonSRX_RequestParam(m_impl, (int)id);
Timer.Delay(DelayForSolicitedSignals);
value = 0;
return C_TalonSRX_GetParamResponseInt32(m_impl, (int)id, ref value);
}
/// <summary>
/// General set frame.
/// </summary>
/// <param name="paramEnum">The parameter to set.</param>
/// <param name="value">The value to set the parameter to.</param>
public void SetParameter(ParamID paramEnum, double value)
{
CTR_Code status = C_TalonSRX_SetParam(m_talonPointer, (int)paramEnum, value);
CheckCTRStatus(status);
}
public ParamDefFloat(ParamID pid, float min, float max, float defaultV)
{
}
