public async Task CollectData(uint dataCollectionPositionDelta, int numberOfSamples, string resultfolderPath, CancellationToken token)
{
PositionControllerResponse response = await this.positionController.GetPosition().ConfigureAwait(false);
// we assume line sensor is positioned in the middle of the position controller and image is awlays in the same place
uint startPosition = response.Position;
uint currentPosition = startPosition;
if (Directory.Exists(resultfolderPath))
{
Directory.Delete(resultfolderPath);
}
Directory.CreateDirectory(resultfolderPath);
while (!token.IsCancellationRequested)
{
double currentRealPosition = currentPosition;
currentRealPosition -= startPosition;
currentRealPosition *= PositionController.DISTANCE_PER_TICK_MM;
if (currentRealPosition > SENSOR_LENGTH)
{
break;
}
LineSensorReading lineSensorReading = await getLineSensorData(currentRealPosition, numberOfSamples, token).ConfigureAwait(false);
await saveLineSensorDataToFile(lineSensorReading, resultfolderPath).ConfigureAwait(false);
currentPosition = await moveToNextPosition(dataCollectionPositionDelta).ConfigureAwait(false);
}
}
private async Task saveLineSensorDataToFile(LineSensorReading lineSensorReading, string resultfolderPath)
{
string positionString = string.Format("{0:000.00}", lineSensorReading.Position);
string resultFilePath = $"{resultfolderPath}\\{positionString}.csv";
try
{
using (FileStream fs = new FileStream(resultFilePath, FileMode.Create, FileAccess.Write))
{
using (TextWriter tw = new StreamWriter(fs))
{
foreach (ushort[] lsv in lineSensorReading.SensorValues)
{
await tw.WriteLineAsync(ConvertLineSensorValuesToString(lsv)).ConfigureAwait(false);
}
}
}
}
catch
{
File.Delete(resultFilePath);
throw;
}
}