/// <summary>
/// Method that generates/treats Tags(ID and position), and sends them to a MySQL Database.
/// </summary>
private void RunAlgorithm()
{
Position laserPosition = null;
if (usingLasers)
{
laserPosition = LocalizationAlgorithm.GetPositionFromLasers(Devices);
if (laserPosition == null)
{
return;
}
}
int servoAngle = int.MinValue;
if (usingServo)
{
servoAngle = LocalizationAlgorithm.GetAngleFromServo(Devices);
if (servoAngle == int.MinValue)
{
return;
}
}
List <TagRead> tagsReads = LocalizationAlgorithm.GetTagsReads(Devices, RemoveFromUIGridMetaTagsDel);
List <Tag> tags = MathematicalModel.RunMathematicalModel(tagsReads);
if (tags.Count == 0)
{
WriteLog("Mathematical Model applied: 0 tags obtained", 0);
return;
}
tags = LocalizationAlgorithm.TagsPosteriorTreatment(tags, laserPosition, servoAngle, usingLasers, usingServo);
UpdateUIGridTagsDel(tags);
InsertTagsOnDB(tags);
/// Sends a copy of tags obtained to Excel Mediator
ExcelMediator.tagsObtained = tags;
}
private void ButtonTestAngleConsole_Click(object sender, EventArgs e)
{
Position initP = new Position(Convert.ToDecimal(3), Convert.ToDecimal(3));
Position finalP;
//double delta = 0.5;
Console.WriteLine("TEST Apply Angle");
Console.WriteLine("test: {0}", Math.Cos(180));
Console.WriteLine("test: {0}", Math.Cos(Math.PI));
Console.WriteLine("IPos\tAngle\tFPos");
//for(int angle = -180; angle <= 180; angle += 10)
for (int angle = -180; angle <= 180; angle += 45)
{
finalP = LocalizationAlgorithm.ApplyAngleTransformation(angle, new Position(initP.X, initP.Y), out double D, out double alpha);
Console.WriteLine("{0}\t{1} \t{2}", initP, angle, finalP);
}
Console.WriteLine("TEST Apply Angle-----");
}
