/// <summary>
/// Gradually stops any rotation of the HULK, using the currently specified
/// deceleration parameters. Called when the operator clicks the Soft Stop button.
/// </summary>
/// <param name="stateInfo">Not used. Here so that the method can be called by a worker thread.</param>
internal void SoftStop(Object stateInfo)
{
MotionCommand newCommand;
logger.Debug("Enter: SoftStop(Object)");
logger.Info("Decelerating.");
Hulk.SetCommandType(Hulk.CommandType.Velocity);
newCommand = new MotionCommand();
newCommand.innerVelocity = 0;
newCommand.outerVelocity = 0;
newCommand.innerAcceleration = Hulk.NORMAL_ACCELERATION;
newCommand.outerAcceleration = Hulk.NORMAL_ACCELERATION;
Hulk.SetCommand(newCommand);
while ((Hulk.CurrentMotion.innerVelocity > 0.1) || (Hulk.CurrentMotion.outerVelocity > 0.1))
{
Thread.Sleep(100);
}
Hulk.StopTask();
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from BalanceTask or BalancePanel.
/// </summary>
public override void ContinueTask()
{
if (!InputController.IsJoystickConnected)
{
logger.Warn("No joystick found. Stopping balance task.");
Hulk.StopTask();
return;
}
switch (trial.TrialStatus)
{
case Trial.Status.Moving:
HandleStateMoving();
break;
case Trial.Status.BalancingDOBChanging: // DO NOT add a break here
case Trial.Status.BalancingDOBStable:
HandleStateBalancing();
break;
case Trial.Status.Resetting:
HandleResetting();
break;
case Trial.Status.Complete:
HandleStateComplete();
break;
}
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from DelayMeasurementTask or DelayMeasurementPanel.
/// </summary>
public override void ContinueTask()
{
ControlInput controlInput;
FunctionTimepoint function;
MotionCommand command;
double elapsedTime;
elapsedTime = runningStopwatch.ElapsedMilliseconds * 1.0 / 1000;
function = ForcingFunctions.GetForcingFunction(elapsedTime);
controlInput = (Hulk.InnerAxis == Hulk.Axis.Roll) ?
new ControlInput(function.Input.roll, function.Input.pitch, false, false) :
new ControlInput(function.Input.yaw, function.Input.pitch, false, false);
command = new MotionCommand();
command.innerVelocity = controlInput.x * amplitude;
command.outerVelocity = controlInput.y * amplitude;
command.innerAcceleration = 300;
command.outerAcceleration = 300;
Hulk.SetCommand(command);
Hulk.ContinueTask();
LogData(elapsedTime, Hulk.CurrentMotion, command, controlInput);
if (elapsedTime >= ForcingFunctions.GetForcingFunctionMaxTime())
{
Hulk.StopTask();
return;
}
}
/// <summary>
/// Stops the task.
/// This method should ONLY contain a call to Hulk.StopTask().
/// Any other post-task cleanup should be handled in DelayMeasurementTask.StopTask() or DelayMeasurementPanel.CleanUp().
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
private void stopButton_Click(object sender, EventArgs e)
{
logger.Debug("Enter: stopButton_Click(object, EventArgs)");
if (Hulk.CheckCommandAllowed())
{
Hulk.StopTask();
}
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from RotationTask or RotationPanel.
/// </summary>
public override void ContinueTask()
{
if ((stopTime != DateTime.MinValue) && (DateTime.Now.CompareTo(stopTime) >= 0))
{
// Duration limit reached.
Hulk.StopTask();
}
else
{
Hulk.ContinueTask();
}
}
/// <summary>
/// Stops the task.
/// This method should ONLY contain a call to Hulk.StopTask().
/// Any other post-task cleanup should be handled in BalanceTask.StopTask() or ModeledControllerWithHmdPanel.CleanUp().
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
private void stopButton_Click(object sender, EventArgs e)
{
logger.Debug("Enter: stopButton_Click(object, EventArgs)");
if (Hulk.CheckCommandAllowed())
{
protocolStopwatch.Stop();
protocolStopwatch.Reset();
Hulk.StopTask();
ICommand c = new ICommand();
c.CommandType = (int)eCommands.FadeOut;
AppMain.ServerHandler.sendCommandToRegisteredClients(c, null);
}
}
/// <summary>
/// Called by th control loop when the trial's time limit has been reached.
/// </summary>
private void HandleStateComplete()
{
logger.Info("Completed balance trial: " + trial.TrialNumber);
DataLogger.CloseDataLog();
bool advanceToNextTrial = true;
if ((trial.NumberIndications == 0) && trial.JoystickIndicationsMandatory)
{
logger.Warn("Participant did not indicate during this trial - restarting trial");
StartLogging();
StartTrial();
advanceToNextTrial = false;
}
if (advanceToNextTrial)
{
trial.PlayEndSound();
if (Trials.CurrentTrialIndex == (Trials.List.Count - 1))
{
// Entire protocol has been completed
Hulk.StopTask();
}
else
{
// Continue to following trial
Trials.CurrentTrialIndex++;
trial = Trials.CurrentTrial;
StartLogging();
trial.MovingDirectionOfBalance.roll = Trials.PreviousTrial.MovingDirectionOfBalance.roll;
trial.MovingDirectionOfBalance.pitch = Trials.PreviousTrial.MovingDirectionOfBalance.pitch;
trial.MovingDirectionOfBalance.yaw = Trials.PreviousTrial.MovingDirectionOfBalance.yaw;
StartTrial();
}
}
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from PassiveMovementTask or PassiveMovementPanel.
/// </summary>
public override void ContinueTask()
{
MotionCommand command;
RecordingTimepoint recording;
double elapsedTime;
double angleDiff;
elapsedTime = runningStopwatch.ElapsedMilliseconds * 1.0 / 1000;
// Check whether the entire block is complete
if (Recordings.IsEndOfRecordingSeries(currentTrialNumber, elapsedTime))
{
// Play the last recording timepoint
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
Hulk.SetCommand(command);
Hulk.ContinueTask();
// Stop the HULK and return to idling
Hulk.StopTask();
return;
}
// Check whether the current trial is complete
if (Recordings.IsEndOfRecordingTrial(currentTrialNumber, elapsedTime))
{
// Clean up from last trial
DataLogger.CloseDataLog();
runningStopwatch.Reset();
// Prepare for next trial
runningStopwatch.Start();
currentTrialNumber++;
numClicks = 0;
((PassiveMovementPanel)panel).UpdateListbox();
DataLogger.AcquireDataLog(String.Format("recording{0:000}.csv", currentTrialNumber), dataLogHeader);
return;
}
// Determine the control input for this simulation step
if (Recordings.HasRecording())
{
// Check whether the trigger has just been pressed
if (!previousTrigger && InputController.JoystickInput.trigger)
{
numClicks++;
}
previousTrigger = InputController.JoystickInput.trigger;
recording = Recordings.GetRecording(currentTrialNumber, elapsedTime);
command = new MotionCommand();
command.outerPosition = recording.Angles.pitch;
if (Hulk.ChairMount == Hulk.MountType.Back)
{
command.innerPosition = recording.Angles.roll;
}
else
{
command.innerPosition = recording.Angles.yaw;
}
// Stop if a large angle change is commanded. A large angle change could be dangerous at these accelerations.
angleDiff = Math.Abs(lastPositionInner - command.innerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous INNER move >3 deg prevented. Current=" +
lastPositionInner.ToString("F2") + " New=" + command.innerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
angleDiff = Math.Abs(lastPositionOuter - command.outerPosition);
if ((angleDiff > 3.0) && (angleDiff < 357.0))
{
logger.Warn("SAFETY: Instantaneous OUTER move >3 deg prevented. Current=" +
lastPositionOuter.ToString("F2") + " New=" + command.outerPosition.ToString("F2"));
Hulk.StopTask();
return;
}
lastPositionOuter = command.outerPosition;
lastPositionInner = command.innerPosition;
LogData(elapsedTime, Hulk.CurrentMotion, command, recording, InputController.JoystickInput);
Hulk.SetCommand(command);
Hulk.ContinueTask();
}
}