/// <summary>
/// Starts the task. Called when the operator clicks the Go button.
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
internal void Go()
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Go()");
Hulk.Halt();
startOuterPosition = Hulk.CurrentMotion.outerPosition;
startInnerPosition = Hulk.CurrentMotion.innerPosition;
logger.Info("Starting position task with center at OUTER=" + startOuterPosition.ToString("F1") +
" INNER=" + startInnerPosition.ToString("F1") + ".");
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
newMotionCommand = new MotionCommand {
outerVelocity = POSITIONING_VELOCITY,
innerVelocity = POSITIONING_VELOCITY,
outerAcceleration = POSITIONING_ACCELERATION,
innerAcceleration = POSITIONING_ACCELERATION
};
Hulk.SetCommand(newMotionCommand);
Hulk.StartTask();
}
/// <summary>
/// Called by the control loop when the participant exceeds the max allowable angle from the DOB.
/// </summary>
private void HandleResetting()
{
MotionCommand moveCommand;
// Restart with balancing once reset is complete
trial.TrialStatus = Trial.Status.Moving;
Hulk.Halt();
trial.PlayResetStartSound();
queueResetEndSound = true;
// Move back to the DOB
moveCommand = new MotionCommand {
innerVelocity = Hulk.NORMAL_VELOCITY,
outerVelocity = Hulk.NORMAL_VELOCITY,
innerAcceleration = Hulk.NORMAL_ACCELERATION,
outerAcceleration = Hulk.NORMAL_ACCELERATION
};
// calculate random offset from DOB to return the chair to
double dobOffsetY = _calculateDOBOffset(trial.RestartDOBOffsetMinYaw, trial.RestartDOBOffsetMaxYaw);
double dobOffsetP = _calculateDOBOffset(trial.RestartDOBOffsetMinPitch, trial.RestartDOBOffsetMaxPitch);
double dobOffsetR = _calculateDOBOffset(trial.RestartDOBOffsetMinRoll, trial.RestartDOBOffsetMaxRoll);
if (Math.Abs(dobOffsetY) > trial.MaxAngle)
{
logger.Warn("The calculated random offset for the DOB yaw return position is outside of the maximum angle specified for this trial. Using a random offset of 0!");
dobOffsetY = 0;
}
if (Math.Abs(dobOffsetP) > trial.MaxAngle)
{
logger.Warn("The calculated random offset for the DOB pitch return position is outside of the maximum angle specified for this trial. Using a random offset of 0!");
dobOffsetP = 0;
}
if (Math.Abs(dobOffsetR) > trial.MaxAngle)
{
logger.Warn("The calculated random offset for the DOB roll return position is outside of the maximum angle specified for this trial. Using a random offset of 0!");
dobOffsetR = 0;
}
double resetDobY = trial.MovingDirectionOfBalance.yaw + dobOffsetY;
double resetDobP = trial.MovingDirectionOfBalance.pitch + dobOffsetP;
double resetDobR = trial.MovingDirectionOfBalance.roll + dobOffsetR;
moveCommand.innerPosition = (Hulk.InnerAxis == Hulk.Axis.Roll) ? resetDobR : resetDobY;
moveCommand.outerPosition = resetDobP;
Hulk.SetCommandType(Hulk.CommandType.ModulusPosition);
Hulk.SetCommand(moveCommand);
Hulk.StartDefinedMove(true);
logger.Info("Participant lost control. Resetting to orientation: yaw " + resetDobY.ToString("0.##") + " pitch " + resetDobP.ToString("0.##") + " roll " + resetDobR.ToString("0.##"));
_sendCommandStopTrial();
}
/// <summary>
/// Called from the main control loop whenever the task should be stopped.
/// DO NOT call this method directly from BalanceTask or BalancePanel.
/// </summary>
public override void StopTask()
{
logger.Debug("Enter: StopTask()");
if (trial.TrialStatus == Trial.Status.Complete)
{
logger.Info("Completed set of balance trials.");
}
else
{
logger.Info("Aborting balance trial: " + trial.TrialNumber);
trial.TrialStatus = Trial.Status.Complete;
}
DataLogger.CloseDataLog();
Hulk.Halt();
((BalanceWithHmdPanel)panel).CleanUp();
logStopwatch = null;
trialStopwatch = null;
_sendCommandStopTrial();
_sendCommandFadeOut();
}
/// <summary>
/// Called from the main control loop whenever the task should be stopped.
/// DO NOT call this method directly from RotationTask or RotationPanel.
/// </summary>
public override void StopTask()
{
logger.Debug("Enter: StopTask()");
logger.Info("Stopping rotation task.");
Hulk.Halt();
((RotationPanel)panel).CleanUp();
}
/// <summary>
/// Called from the main control loop whenever the task should be stopped.
/// DO NOT call this method directly from PassiveMovementTask or PassiveMovementPanel.
/// </summary>
public override void StopTask()
{
logger.Debug("Enter: StopTask()");
logger.Info("Stopping passive movement task.");
Hulk.Halt();
((PassiveMovementPanel)panel).CleanUp();
runningStopwatch.Stop();
DataLogger.CloseDataLog();
}
