public void ItMasksEventNameWithTargetframeworkevalOnTargetFrameworkVersionUseWindowsFormsOrWPF()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = MSBuildLogger.TargetFrameworkTelemetryEventName,
Properties = new Dictionary <string, string>
{
{ MSBuildLogger.TargetFrameworkVersionTelemetryPropertyKey, ".NETStandard,Version=v2.0" },
{ MSBuildLogger.UseWindowsFormsTelemetryPropertyKey, "true" },
{ MSBuildLogger.UseWPFTelemetryPropertyKey, "AnyNonTrueValue" },
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.EventName.Should().Be($"msbuild/{MSBuildLogger.TargetFrameworkTelemetryEventName}");
fakeTelemetry.LogEntry.Properties.Keys.Count.Should().Be(3);
fakeTelemetry.LogEntry.Properties[MSBuildLogger.TargetFrameworkVersionTelemetryPropertyKey].Should().Be(Sha256Hasher.Hash(".NETSTANDARD,VERSION=V2.0"));
fakeTelemetry.LogEntry.Properties[MSBuildLogger.UseWindowsFormsTelemetryPropertyKey].Should().Be("True");
fakeTelemetry.LogEntry.Properties[MSBuildLogger.UseWPFTelemetryPropertyKey]
.Should().Be(
"False",
"sanitize to avoid user input, and since in SDK prop and target non 'true' is effectively false");
}
internal static void FormatAndSend(ITelemetry telemetry, TelemetryEventArgs args)
{
if (args.EventName == TargetFrameworkTelemetryEventName)
{
var newEventName = $"msbuild/{TargetFrameworkTelemetryEventName}";
Dictionary <string, string> maskedProperties = new Dictionary <string, string>();
foreach (var key in new[] {
TargetFrameworkVersionTelemetryPropertyKey,
RuntimeIdentifierTelemetryPropertyKey,
SelfContainedTelemetryPropertyKey,
UseApphostTelemetryPropertyKey,
OutputTypeTelemetryPropertyKey
})
{
if (args.Properties.TryGetValue(key, out string value))
{
maskedProperties.Add(key, Sha256Hasher.HashWithNormalizedCasing(value));
}
}
telemetry.TrackEvent(newEventName, maskedProperties, measurements: null);
}
var passthroughEvents = new string[] {
SdkTaskBaseCatchExceptionTelemetryEventName,
PublishPropertiesTelemetryEventName,
ReadyToRunTelemetryEventName
};
if (passthroughEvents.Contains(args.EventName))
{
telemetry.TrackEvent(args.EventName, args.Properties, measurements: null);
}
}
/// <summary>
/// Raises the a telemetry event to all registered loggers.
/// </summary>
private void RaiseTelemetryEvent(object sender, TelemetryEventArgs buildEvent)
{
if (TelemetryLogged != null)
{
try
{
TelemetryLogged(sender, buildEvent);
}
catch (LoggerException)
{
// if a logger has failed politely, abort immediately
// first unregister all loggers, since other loggers may receive remaining events in unexpected orderings
// if a fellow logger is throwing in an event handler.
this.UnregisterAllEventHandlers();
throw;
}
catch (Exception exception)
{
// first unregister all loggers, since other loggers may receive remaining events in unexpected orderings
// if a fellow logger is throwing in an event handler.
this.UnregisterAllEventHandlers();
if (ExceptionHandling.IsCriticalException(exception))
{
throw;
}
InternalLoggerException.Throw(exception, buildEvent, "FatalErrorWhileLogging", false);
}
}
}
internal static void FormatAndSend(ITelemetry telemetry, TelemetryEventArgs args)
{
if (args.EventName == TargetFrameworkTelemetryEventName)
{
var newEventName = $"msbuild/{TargetFrameworkTelemetryEventName}";
Dictionary <string, string> maskedProperties = new Dictionary <string, string>();
if (args.Properties.TryGetValue(TargetFrameworkVersionTelemetryPropertyKey, out string targetFrameworkVersionValue))
{
maskedProperties.Add(TargetFrameworkVersionTelemetryPropertyKey, Sha256Hasher.HashWithNormalizedCasing(targetFrameworkVersionValue));
}
if (args.Properties.TryGetValue(UseWindowsFormsTelemetryPropertyKey, out string useWindowsFormsValue))
{
maskedProperties.Add(UseWindowsFormsTelemetryPropertyKey, SanitizeToOnlyTrueFalseEmpty(useWindowsFormsValue));
}
if (args.Properties.TryGetValue(UseWPFTelemetryPropertyKey, out string useWPFValue))
{
maskedProperties.Add(UseWPFTelemetryPropertyKey, SanitizeToOnlyTrueFalseEmpty(useWPFValue));
}
telemetry.TrackEvent(newEventName, maskedProperties, measurements: null);
}
if (args.EventName == SdkTaskBaseCatchExceptionTelemetryEventName)
{
telemetry.TrackEvent(args.EventName, args.Properties, measurements: null);
}
}
public void ItCanSendProperties()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = "targetframeworkeval",
Properties = new Dictionary <string, string>
{
{ "TargetFrameworkVersion", ".NETFramework,Version=v4.6" },
{ "RuntimeIdentifier", "null" },
{ "SelfContained", "null" },
{ "UseApphost", "null" },
{ "OutputType", "Library" },
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.Properties.ShouldBeEquivalentTo(new Dictionary <string, string>
{
{ "TargetFrameworkVersion", "9a871d7066260764d4cb5047e4b10570271d04bd1da275681a4b12bce0b27496" },
{ "RuntimeIdentifier", "fb329000228cc5a24c264c57139de8bf854fc86fc18bf1c04ab61a2b5cb4b921" },
{ "SelfContained", "fb329000228cc5a24c264c57139de8bf854fc86fc18bf1c04ab61a2b5cb4b921" },
{ "UseApphost", "fb329000228cc5a24c264c57139de8bf854fc86fc18bf1c04ab61a2b5cb4b921" },
{ "OutputType", "d77982267d9699c2a57bcab5bb975a1935f6427002f52fd4569762fd72db3a94" },
});
}
private async void DisplaySensorReadings(TelemetryEventArgs telemetryEventArgs)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
telemetryViewModel.Temperature = telemetryEventArgs.Temperature;
telemetryViewModel.Humidity = telemetryEventArgs.Humidity;
});
}
/// <summary>
/// The thread funktion to poll the telemetry data and send TelemetryUpdated events.
/// </summary>
private void Run()
{
int _lastSessionTick = 0;
iRacingSDK sdk = new iRacingSDK();
Session session = new Session();
Stopwatch sw = new Stopwatch();
sw.Start();
while (!isStopped)
{
try
{
// check if the SDK is connected
if (sdk.IsConnected())
{
IsConnected = true;
// check if car is on track and if we got new data
if ((bool)sdk.GetData("IsOnTrack") && _lastSessionTick != (int)sdk.GetData("SessionTick"))
{
IsRunning = true;
_lastSessionTick = (int)sdk.GetData("SessionTick");
sw.Restart();
TelemetryEventArgs args = new TelemetryEventArgs(new iR60TelemetryInfo(sdk, session));
RaiseEvent(OnTelemetryUpdate, args);
}
else if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
}
}
else
{
sdk.Startup();
IsRunning = false;
}
Thread.Sleep(SamplePeriod);
}
catch (Exception e)
{
LogError("iR60TelemetryProvider Exception while processing data", e);
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
sdk.Shutdown();
IsConnected = false;
IsRunning = false;
}
private async void DisplaySensorReadings(TelemetryEventArgs telemetryEventArgs)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
sensorsViewModel.SensorReadings.Temperature = telemetryEventArgs.Temperature;
sensorsViewModel.SensorReadings.Humidity = telemetryEventArgs.Humidity;
sensorsViewModel.SensorReadings.Pressure = telemetryEventArgs.Pressure;
sensorsViewModel.SensorReadings.Accelerometer = telemetryEventArgs.LinearAcceleration;
sensorsViewModel.SensorReadings.Gyroscope = telemetryEventArgs.AngularSpeed;
sensorsViewModel.SensorReadings.Magnetometer = telemetryEventArgs.MagneticField;
});
}
public void LogTelemetry(BuildEventContext buildEventContext, string eventName, IDictionary <string, string> properties)
{
ErrorUtilities.VerifyThrow(eventName != null, "eventName is null");
TelemetryEventArgs telemetryEvent = new TelemetryEventArgs
{
BuildEventContext = buildEventContext,
EventName = eventName,
Properties = properties == null ? new Dictionary <string, string>() : new Dictionary <string, string>(properties)
};
ProcessLoggingEvent(telemetryEvent);
}
internal static void FormatAndSend(ITelemetry telemetry, TelemetryEventArgs args)
{
if (args.EventName == TargetFrameworkTelemetryEventName)
{
var newEventName = $"msbuild/{TargetFrameworkTelemetryEventName}";
Dictionary <string, string> maskedProperties = new Dictionary <string, string>();
if (args.Properties.TryGetValue(TargetFrameworkVersionTelemetryPropertyKey, out string value))
{
maskedProperties.Add(TargetFrameworkVersionTelemetryPropertyKey, Sha256Hasher.HashWithNormalizedCasing(value));
}
telemetry.TrackEvent(newEventName, maskedProperties, measurements: null);
}
}
/// <summary>
/// The thread funktion to poll the telemetry data and send TelemetryUpdated events.
/// </summary>
private void Run()
{
ACAPI lastTelemetryData = new ACAPI();
Stopwatch sw = new Stopwatch();
sw.Start();
while (!isStopped)
{
try
{
// get data from game,
// if an exception will be thrown, we could not retrieve the data because the game
// is not running or something went wrong
ACAPI telemetryData = (ACAPI)readSharedMemory(typeof(ACAPI), sharedMemoryFile);
// otherwise we are connected
IsConnected = true;
if (telemetryData.PacketId != lastTelemetryData.PacketId)
{
IsRunning = true;
sw.Restart();
TelemetryEventArgs args = new TelemetryEventArgs(
new ACTelemetryInfo(telemetryData, lastTelemetryData));
RaiseEvent(OnTelemetryUpdate, args);
lastTelemetryData = telemetryData;
}
else if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
}
Thread.Sleep(SamplePeriod);
}
catch (Exception e)
{
LogError("ACTelemetryProvider Exception while processing data", e);
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
IsConnected = false;
IsRunning = false;
}
private void Telemetry_DataReady(object sender, TelemetryEventArgs e)
{
DisplaySensorReadings(e);
var telemetryData = new TelemetryData()
{
DeviceId = deviceId,
Temperature = e.Temperature,
Humidity = e.Humidity
};
var telemetryMessage = MessageHelper.Serialize(telemetryData);
deviceClient.SendEventAsync(telemetryMessage);
}
public void ItBlocksTelemetryThatIsNotInTheList()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = "User Defined Event Name",
Properties = new Dictionary <string, string>
{
{ "User Defined Key", "User Defined Value" },
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.Should().BeNull();
}
/// <summary>
/// The thread funktion to poll the telemetry data and send TelemetryUpdated events.
/// </summary>
private void Run()
{
Shared telemetryData;
Stopwatch sw = new Stopwatch();
sw.Start();
while (!isStopped)
{
try
{
telemetryData = (Shared)readSharedMemory(typeof(Shared), sharedMemoryFile);
IsConnected = true;
if (telemetryData.GamePaused != 1 && telemetryData.GameInMenus != 1 && telemetryData.Player.GameSimulationTicks != 0)
{
IsRunning = true;
sw.Restart();
TelemetryEventArgs args = new TelemetryEventArgs(
new r3eTelemetryInfo(telemetryData));
RaiseEvent(OnTelemetryUpdate, args);
}
else if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
}
Thread.Sleep(SamplePeriod);
}
catch (Exception e)
{
LogDebug("RaceRoom Racing Experience (R3E) TelemetryProvider Exception while processing data", e);
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
IsConnected = false;
IsRunning = false;
Log("polling stopped, RaceRoom Racing Experience (R3E) TelemetryProvider");
}
public void ItMasksEventNameWithTargetframeworkevalOnTargetFrameworkVersionUseWindowsFormsOrWPFWhenFieldIsEmpty()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = MSBuildLogger.TargetFrameworkTelemetryEventName,
Properties = new Dictionary <string, string>
{
{ MSBuildLogger.UseWindowsFormsTelemetryPropertyKey, "null" },
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.Properties[MSBuildLogger.UseWindowsFormsTelemetryPropertyKey]
.Should().Be(
"null",
"MSBuild will throw when the task param contain empty and if the field is empty json will emit the entry, so it still need to be set to something.");
}
public void ItDoesNotMaskReadyToRunTelemetry()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = MSBuildLogger.ReadyToRunTelemetryEventName,
Properties = new Dictionary <string, string>
{
{ "PublishReadyToRunUseCrossgen2", "null" },
{ "otherProperty", "otherProperty value" }
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.EventName.Should().Be(MSBuildLogger.ReadyToRunTelemetryEventName);
fakeTelemetry.LogEntry.Properties.Keys.Count.Should().Be(2);
fakeTelemetry.LogEntry.Properties["PublishReadyToRunUseCrossgen2"].Should().Be("null");
fakeTelemetry.LogEntry.Properties["otherProperty"].Should().Be("otherProperty value");
}
public void ItDoesNotMasksExceptionTelemetry()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = MSBuildLogger.SdkTaskBaseCatchExceptionTelemetryEventName,
Properties = new Dictionary <string, string>
{
{ "exceptionType", "System.Exception" },
{ "detail", "Exception detail" }
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.EventName.Should().Be(MSBuildLogger.SdkTaskBaseCatchExceptionTelemetryEventName);
fakeTelemetry.LogEntry.Properties.Keys.Count.Should().Be(2);
fakeTelemetry.LogEntry.Properties["exceptionType"].Should().Be("System.Exception");
fakeTelemetry.LogEntry.Properties["detail"].Should().Be("Exception detail");
}
public void ItMasksTargetFrameworkEventname()
{
var fakeTelemetry = new FakeTelemetry();
var telemetryEventArgs = new TelemetryEventArgs
{
EventName = "targetframeworkeval",
Properties = new Dictionary <string, string>
{
{ "TargetFrameworkVersion", ".NETStandard,Version=v2.0" },
}
};
MSBuildLogger.FormatAndSend(fakeTelemetry, telemetryEventArgs);
fakeTelemetry.LogEntry.EventName.Should().Be("msbuild/targetframeworkeval");
fakeTelemetry.LogEntry.Properties.Keys.Count.Should().Be(1);
var expectedKey = "TargetFrameworkVersion";
fakeTelemetry.LogEntry.Properties.Should().ContainKey(expectedKey);
fakeTelemetry.LogEntry.Properties[expectedKey].Should().Be(Sha256Hasher.Hash(".NETSTANDARD,VERSION=V2.0"));
}
private void OnTelemetry(object sender, TelemetryEventArgs e) => _telemetry.SendTelemetry(e.value);
private void Run()
{
FH4Data data;
Session session = new Session();
Stopwatch sw = new Stopwatch();
sw.Start();
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Any, PORTNUM));
Log("Listener started (port: " + PORTNUM.ToString() + ") FH4TelemetryProvider.Thread");
while (!isStopped)
{
try
{
// get data from game,
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
IsConnected = false;
Thread.Sleep(1000);
}
continue;
}
else
{
IsConnected = true;
}
Byte[] received = socket.Receive(ref _senderIP);
data = new FH4Data(received);
if (data.IsRaceOn == 1)
{
IsRunning = true;
TelemetryEventArgs args = new TelemetryEventArgs(
new FH4TelemetryInfo(data, session));
RaiseEvent(OnTelemetryUpdate, args);
}
else
{
IsRunning = false;
}
sw.Restart();
//Thread.Sleep(SamplePeriod);
}
catch (Exception)
{
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
socket.Close();
IsConnected = false;
IsRunning = false;
}
private void Run()
{
F12019NewTelemetryData data; // Exposes only data for interest to SimFeedback
PacketMotionData packData; // Raw data as received from game
Session session = new Session();
Stopwatch sw = new Stopwatch();
sw.Start();
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Parse("127.0.0.1"), PORTNUM));
Log("Listener started (port: " + PORTNUM.ToString() + ") F12019NewTelemetryProvider.Thread");
while (!isStopped)
{
try
{
// get data from game,
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
IsConnected = false;
Thread.Sleep(1000);
}
continue;
}
else
{
IsConnected = true;
}
Byte[] received = socket.Receive(ref _senderIP);
LogDebug($"Packet size: '{received.Length}'");
if (received.Length == bytesInTelemetryPacket2019 || received.Length == bytesInTelemetryPacket2018)
{
// Unfortunately we need to "digest" the car telemetry data just to get the RPMs out of it.
// Storing the RPMs in class variable for easier access when adding it to our SFB exposed telemetry data
var telemData = new PacketCarTelemetryData(received);
if (received.Length == bytesInTelemetryPacket2019)
{
lastRPMs = telemData.m_carTelemetryData2019[0].m_engineRPM;
}
else
{
lastRPMs = telemData.m_carTelemetryData2018[0].m_engineRPM;
}
LogDebug($"Got RPMs: '{lastRPMs}'");
}
else if (received.Length == bytesInMotionPacket2019 || received.Length == bytesInMotionPacket2019 - 2)
{
packData = new PacketMotionData(received);
if (packData.m_header.m_packetId == 0) // should always be the case if the # of bytes received match
{
data = new F12019NewTelemetryData(packData);
LogDebug($"Got longitudal g force: '{data.gForceLongitudinal}'");
IsRunning = true;
TelemetryEventArgs args = new TelemetryEventArgs(
new F12019NewTelemetryInfo(data, session));
RaiseEvent(OnTelemetryUpdate, args);
}
else
{
LogDebug("Received packet has expected number of bytes but is not a motion packet. This should not happen.");
IsRunning = false;
lastRPMs = 0;
}
}
else if (received.Length == bytesInParticipantPacket2019 || received.Length == bytesInParticipantPacket2018)
{
var participantData = new ParticpantData(received);
LogDebug($"Got human driver index '{participantData.humanDriver}'");
humanDriver = participantData.humanDriver;
}
else if (received.Length == bytesInSessionData2019 || received.Length == bytesInSessionData2018)
{
var sessionData = new SessionData(received);
LogDebug($"Got watched driver index '{sessionData.m_spectatorCarIndex}'");
spectatorCarIndex = sessionData.m_spectatorCarIndex;
}
sw.Restart();
//Thread.Sleep(SamplePeriod);
}
catch (Exception e)
{
IsConnected = false;
IsRunning = false;
lastRPMs = 0;
LogDebug($"Caught Exception while unmarshalling data '{e.Message}'");
Thread.Sleep(1000);
}
}
socket.Close();
IsConnected = false;
IsRunning = false;
}
public void Telemetry(TelemetryEventArgs e) => OnTelemetry?.Invoke(this, e);
private void OnTelemetryLogged(object sender, TelemetryEventArgs args)
{
_telemetry.TrackEvent(args.EventName, args.Properties, measurements: null);
}
private void OnTelemetryLogged(object sender, TelemetryEventArgs args)
{
FormatAndSend(_telemetry, args);
}
// ReSharper disable once UnusedMember.Local
private void OnTelemetryLogged(TelemetryEventArgs e)
{
TelemetryLogged?.Invoke(this, e);
}
/// <summary>
/// The thread funktion to poll the telemetry data and send TelemetryUpdated events.
/// </summary>
private void Run()
{
SFUAPI lastTelemetryData = new SFUAPI();
lastTelemetryData.Reset();
Session session = new Session();
Stopwatch sw = new Stopwatch();
sw.Start();
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Any, PORTNUM));
Log("Listener started (port: " + PORTNUM.ToString() + ") SFUTelemetryProvider.Thread");
while (!isStopped)
{
try
{
// get data from game,
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
IsConnected = false;
Thread.Sleep(1000);
}
continue;
}
else
{
IsConnected = true;
}
Byte[] received = socket.Receive(ref _senderIP);
var alloc = GCHandle.Alloc(received, GCHandleType.Pinned);
SFUAPI telemetryData = (SFUAPI)Marshal.PtrToStructure(alloc.AddrOfPinnedObject(), typeof(SFUAPI));
// otherwise we are connected
IsConnected = true;
if (telemetryData.packetID != lastTelemetryData.packetID)
{
IsRunning = true;
sw.Restart();
TelemetryEventArgs args = new TelemetryEventArgs(
new SFUTelemetryInfo(telemetryData, lastTelemetryData));
RaiseEvent(OnTelemetryUpdate, args);
lastTelemetryData = telemetryData;
}
else if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
}
}
catch (Exception e)
{
LogError("SFUTelemetryProvider Exception while processing data", e);
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
socket.Close();
IsConnected = false;
IsRunning = false;
}
/// <summary>
/// The thread funktion to poll the telemetry data and send TelemetryUpdated events.
/// </summary>
private void Run()
{
isStopped = false;
WFSTAPI lastTelemetryData = new WFSTAPI();
lastTelemetryData.Reset();
Matrix4x4 lastTransform = Matrix4x4.Identity;
bool lastFrameValid = false;
Vector3 lastVelocity = Vector3.Zero;
float lastYaw = 0.0f;
Stopwatch sw = new Stopwatch();
sw.Start();
NestedSmooth accXSmooth = new NestedSmooth(3, 6, 0.5f);
NestedSmooth accYSmooth = new NestedSmooth(3, 6, 0.5f);
NestedSmooth accZSmooth = new NestedSmooth(3, 6, 0.5f);
KalmanFilter velXFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.02f, 0.0f);
KalmanFilter velZFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.02f, 0.0f);
NoiseFilter velXSmooth = new NoiseFilter(6, 0.5f);
NoiseFilter velZSmooth = new NoiseFilter(6, 0.5f);
KalmanFilter yawRateFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.02f, 0.0f);
NoiseFilter yawRateSmooth = new NoiseFilter(6, 0.5f);
NoiseFilter pitchFilter = new NoiseFilter(3);
NoiseFilter rollFilter = new NoiseFilter(3);
NoiseFilter yawFilter = new NoiseFilter(3);
KalmanFilter posXFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.1f, 0.0f);
KalmanFilter posYFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.1f, 0.0f);
KalmanFilter posZFilter = new KalmanFilter(1, 1, 0.02f, 1, 0.1f, 0.0f);
NestedSmooth posXSmooth = new NestedSmooth(12, 6, 0.5f);
NestedSmooth posYSmooth = new NestedSmooth(12, 6, 0.5f);
NestedSmooth posZSmooth = new NestedSmooth(12, 6, 0.5f);
NoiseFilter slipAngleSmooth = new NoiseFilter(6, 0.25f);
ProcessMemoryReader reader = new ProcessMemoryReader();
reader.ReadProcess = wfstProcess;
uint readSize = 4 * 4 * 4;
byte[] readBuffer = new byte[readSize];
reader.OpenProcess();
while (!isStopped)
{
try
{
float dt = (float)sw.ElapsedMilliseconds / 1000.0f;
int byteReadSize;
reader.ReadProcessMemory((IntPtr)memoryAddress, readSize, out byteReadSize, readBuffer);
if (byteReadSize == 0)
{
continue;
}
float[] floats = new float[4 * 4];
Buffer.BlockCopy(readBuffer, 0, floats, 0, readBuffer.Length);
Matrix4x4 transform = new Matrix4x4(floats[0], floats[1], floats[2], floats[3]
, floats[4], floats[5], floats[6], floats[7]
, floats[8], floats[9], floats[10], floats[11]
, floats[12], floats[13], floats[14], floats[15]);
Vector3 rht = new Vector3(transform.M11, transform.M12, transform.M13);
Vector3 up = new Vector3(transform.M21, transform.M22, transform.M23);
Vector3 fwd = new Vector3(transform.M31, transform.M32, transform.M33);
float rhtMag = rht.Length();
float upMag = up.Length();
float fwdMag = fwd.Length();
//reading garbage
if (rhtMag < 0.9f || upMag < 0.9f || fwdMag < 0.9f)
{
IsConnected = false;
IsRunning = false;
TelemetryLost();
break;
}
if (!lastFrameValid)
{
lastTransform = transform;
lastFrameValid = true;
lastVelocity = Vector3.Zero;
lastYaw = 0.0f;
continue;
}
WFSTAPI telemetryData = new WFSTAPI();
if (dt <= 0)
{
dt = 1.0f;
}
Vector3 worldVelocity = (transform.Translation - lastTransform.Translation) / dt;
lastTransform = transform;
Matrix4x4 rotation = new Matrix4x4();
rotation = transform;
rotation.M41 = 0.0f;
rotation.M42 = 0.0f;
rotation.M43 = 0.0f;
Matrix4x4 rotInv = new Matrix4x4();
Matrix4x4.Invert(rotation, out rotInv);
Vector3 localVelocity = Vector3.Transform(worldVelocity, rotInv);
telemetryData.velX = worldVelocity.X;
telemetryData.velZ = worldVelocity.Z;
Vector3 localAcceleration = localVelocity - lastVelocity;
lastVelocity = localVelocity;
telemetryData.accX = localAcceleration.X * 10.0f;
telemetryData.accY = localAcceleration.Y * 100.0f;
telemetryData.accZ = localAcceleration.Z * 10.0f;
float pitch = (float)Math.Asin(-fwd.Y);
float yaw = (float)Math.Atan2(fwd.X, fwd.Z);
float roll = 0.0f;
Vector3 rhtPlane = rht;
rhtPlane.Y = 0;
rhtPlane = Vector3.Normalize(rhtPlane);
if (rhtPlane.Length() <= float.Epsilon)
{
roll = -(float)(Math.Sign(rht.Y) * Math.PI * 0.5f);
}
else
{
roll = -(float)Math.Asin(Vector3.Dot(up, rhtPlane));
}
telemetryData.pitchPos = pitch;
telemetryData.yawPos = yaw;
telemetryData.rollPos = roll;
telemetryData.yawRate = CalculateAngularChange(lastYaw, yaw) * (180.0f / (float)Math.PI);
lastYaw = yaw;
// otherwise we are connected
IsConnected = true;
if (IsConnected)
{
IsRunning = true;
WFSTAPI telemetryToSend = new WFSTAPI();
telemetryToSend.Reset();
telemetryToSend.CopyFields(telemetryData);
telemetryToSend.accX = accXSmooth.Filter(telemetryData.accX);
telemetryToSend.accY = accYSmooth.Filter(telemetryData.accY);
telemetryToSend.accZ = accZSmooth.Filter(telemetryData.accZ);
telemetryToSend.pitchPos = pitchFilter.Filter(telemetryData.pitchPos);
telemetryToSend.rollPos = rollFilter.Filter(telemetryData.rollPos);
telemetryToSend.yawPos = yawFilter.Filter(telemetryData.yawPos);
telemetryToSend.velX = velXSmooth.Filter(velXFilter.Filter(telemetryData.velX));
telemetryToSend.velZ = velZSmooth.Filter(velZFilter.Filter(telemetryData.velZ));
telemetryToSend.yawRate = yawRateSmooth.Filter(yawRateFilter.Filter(telemetryData.yawRate));
telemetryToSend.yawAcc = slipAngleSmooth.Filter(telemetryToSend.CalculateSlipAngle());
sw.Restart();
TelemetryEventArgs args = new TelemetryEventArgs(
new WFSTTelemetryInfo(telemetryToSend, lastTelemetryData));
RaiseEvent(OnTelemetryUpdate, args);
lastTelemetryData = telemetryToSend;
Thread.Sleep(1000 / 100);
}
else if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
}
}
catch (Exception e)
{
LogError("WFSTTelemetryProvider Exception while processing data", e);
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
IsConnected = false;
IsRunning = false;
reader.CloseHandle();
}
private void OnTelemetryLogged(object sender, TelemetryEventArgs args)
{
Console.WriteLine(JsonConvert.SerializeObject(args));
}
private void Run()
{
XP11Data data;
Session session = new Session();
Stopwatch sw = new Stopwatch();
Stopwatch sSTimer = new Stopwatch(); //softStartTimer
float sSMul = 0.0f; //softStartMultiplier (1.0f is the normal ratio for telemetry data), calculated with equation (sSTimer - sSWaitForALign)/sStime
float sSTime = 5000f; //softStartTime, amount of milliseconds for the softstart to occur, starting after time sSWaitForAlign.
//softStartWaitForAlign, the time it takes for the SFX-100 to elevate to neutral height.
//Important: it takes about 3 seconds for the rig to start using telemetry data, if sSWaitForAlign is set below 3 seconds,
//somehow the rig jumps directly to the telemetry position. I am not sure what is causing this....5 seconds seems like a secure value
//So a total of 10 seconds until the rig is fully aligned to telemetry data.
float sSWaitForAlign = 5000f;
sw.Start();
UdpClient socket = new UdpClient();
socket.ExclusiveAddressUse = false;
socket.Client.Bind(new IPEndPoint(IPAddress.Any, PORTNUM));
Log("Listener started (port: " + PORTNUM.ToString() + ") XP11TelemetryProvider.Thread");
sSTimer.Reset();
sSTimer.Start();
while (!isStopped)
{
try
{
// get data from game,
if (socket.Available == 0)
{
if (sw.ElapsedMilliseconds > 500)
{
IsRunning = false;
IsConnected = false;
Thread.Sleep(1000);
}
continue;
}
else
{
IsConnected = true;
}
//Calculate the sofStartMultiplier from where when user presses start + sSWaitForAlign extra time for the SFX-100 to go to neutral position.
//The time for the softstart alignment is sSTime.
if (sSMul < 1.0f && sSTimer.ElapsedMilliseconds > sSWaitForAlign)
{
sSMul = (sSTimer.ElapsedMilliseconds - sSWaitForAlign) / sSTime;
if (sSMul >= 1.0f)
{
sSMul = 1.0f;
sSTimer.Stop();
}
}
Byte[] received = socket.Receive(ref _senderIP);
data = new XP11Data(received, sSMul);
if (data.IsRaceOn == 1)
{
IsRunning = true;
TelemetryEventArgs args = new TelemetryEventArgs(new XP11TelemetryInfo(data, session));
RaiseEvent(OnTelemetryUpdate, args);
}
else
{
IsRunning = false;
}
sw.Restart();
}
catch (Exception)
{
IsConnected = false;
IsRunning = false;
Thread.Sleep(1000);
}
}
socket.Close();
IsConnected = false;
IsRunning = false;
}
private void OnTelemetryLogged(object sender, TelemetryEventArgs e) => TelemetryLogged?.Invoke(sender, e);
