public MainForm()
{
InitializeComponent();
controlLocker = new object();
isGLControlLoad = false;
server = new BluetoothServer(this);
droneList = new Dictionary <int, BebopDrone>();
uwbManager = new UWBManager(this);
}
public MoveCalibration(MainForm mainForm,
int power,
int[] times,
BebopDrone drone,
UWBManager uwbManager,
int tag_id)
{
this.mainForm = mainForm;
this.power = power;
this.times = new List <int>(times);
this.drone = drone;
this.uwbManager = uwbManager;
this.tag_id = tag_id;
this.leftMeter = null;
this.rightMeter = null;
this.backMeter = null;
this.frontMeter = null;
this.downMeter = null;
this.upMeter = null;
}
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);
}
