public void Prepare(PlatformDiagnostic leftPlatformDiagnostic, IObservable<PointF> leftCenterObserver, PlatformDiagnostic rightPlatformDiagnostic, IObservable<PointF> rightCenterObserver)
{
_leftPlatformDiagnostic = leftPlatformDiagnostic;
_leftCenterObserver = leftCenterObserver;
_rightPlatformDiagnostic = rightPlatformDiagnostic;
_rightCenterObserver = rightCenterObserver;
}
private static void Main(string[] args)
{
var serialPort = new SerialPort("COM3", 9600, Parity.None);
serialPort.Open();
var protocol = new Protocol(serialPort);
var weightPublisher = new ChannelReader(protocol);
var observer = weightPublisher.ObserveWeights(TimeSpan.FromMilliseconds(1)).Publish();
var disposable = observer.Connect();
var stdout = observer.Subscribe(weights => Console.WriteLine(String.Join(", ", weights)));
var channels = new List<IObservable<float>>(8);
for (var index = 0; index < 8; index++)
{
var chIndex = index;
var channel = observer.Select(values => values[chIndex])
.Buffer(TimeSpan.FromSeconds(1))
.Select(buf =>
{
if (buf.Count != 0)
return buf.Average(f => f);
return 0;
});
channels.Add(channel);
}
var common = channels.Zip();
common.Subscribe(
weights => Console.WriteLine(string.Join(", ", weights.Select(f => f.ToString("0.00")))));
var interpolators = _conf.Sensors.Select(s => new Interpolator.ChannelInterpolator(s.Interpolation)).ToList();
var interpolator = new Interpolator(interpolators);
var platformSize = _conf.Platform.Size;
var leftPlatform = new PlatformDiagnostic(platformSize, _conf.Sensors.Take(4).ToList(), _conf.Platform.LeftCorrection);
var rightPlatform = new PlatformDiagnostic(platformSize, _conf.Sensors.Skip(4).ToList(), _conf.Platform.RightCorrection);
var filtered = SortSkipTakeAvgFilter.Filter(observer, 8, 2, 4);
var weightObserver = interpolator.Interpolate(filtered);
var leftWeightObserver = weightObserver.Select(list => list.Take(4).ToList());
var rightWeightObserver = weightObserver.Select(list => list.Skip(4).ToList());
var leftCenterObserver = leftPlatform.Center(leftWeightObserver);
var rightCenterObserver = rightPlatform.Center(rightWeightObserver);
var plotDataObserver = leftCenterObserver.Zip(rightCenterObserver, Tuple.Create);
plotDataObserver.Subscribe(data => Console.WriteLine("Left: {0}, Right: {1}", data.Item1, data.Item2));
Console.ReadKey(false);
stdout.Dispose();
disposable.Dispose();
Console.ReadKey();
}
private void InitializeProcessing(IConnectableObservable<List<float>> channelObserver)
{
var interpolators = _config.Sensors.Select(s => new Interpolator.ChannelInterpolator(s.Interpolation)).ToList();
var interpolator = new Interpolator(interpolators);
var platformSize = _config.Platform.Size;
var leftPlatform = new PlatformDiagnostic(platformSize, _config.Sensors.Take(4).ToList(), _config.Platform.LeftCorrection);
var rightPlatform = new PlatformDiagnostic(platformSize, _config.Sensors.Skip(4).ToList(), _config.Platform.RightCorrection);
var filtered = CurrentAvfFilter.Filter(channelObserver, 10);
var weightObserver = interpolator.Interpolate(filtered);
var leftWeightObserver = weightObserver.Select(list => list.Take(4).ToList());
var rightWeightObserver = weightObserver.Select(list => list.Skip(4).ToList());
var leftCenterObserver = leftPlatform.Center(leftWeightObserver);
var rightCenterObserver = rightPlatform.Center(rightWeightObserver);
_indicatorsForm.Prepare(leftPlatform, leftCenterObserver, rightPlatform, rightCenterObserver);
var plotDataObserver = leftCenterObserver.ObserveOn(Scheduler.Default).Zip(rightCenterObserver,
(l, r) => new PlotData() {LeftPoint = l, RightPoint = r});
StartTracking(plotDataObserver);
}
