/// <summary>
/// Create a handler for the given recording timepoints file.
/// </summary>
/// <param name="filename">Filename of the CSV file containing the recording timepoints</param>
internal static void Read(String filename)
{
RecordingTimepoint timepoint;
StreamReader reader;
String line;
logger.Debug("Enter: Read(String)");
// Read in the file
if (!File.Exists(filename))
{
logger.Debug("Recording file " + filename + " not found.");
return;
}
logger.Debug("Reading recording file: " + filename);
reader = new StreamReader(filename);
while ((line = reader.ReadLine()) != null)
{
// Ignore comment lines
if (line.StartsWith(";"))
{
continue;
}
if (line.StartsWith("s"))
{
continue;
}
// Parse the line into a set of recording timepoints
timepoint = new RecordingTimepoint(line);
if (!trialStartIndices.ContainsKey(timepoint.TrialNumber))
{
trialStartIndices[timepoint.TrialNumber] = list.Count;
}
list.Add(timepoint);
}
}
/// <summary>
/// Returns the value of the recording at a given time.
/// </summary>
/// <param name="trialNumber">The trial number to search data for</param>
/// <param name="secondsIntoTrial">The value is calculated for this number of seconds into the trial</param>
internal static RecordingTimepoint GetRecording(int trialNumber, double secondsIntoTrial)
{
RecordingTimepoint lower;
RecordingTimepoint upper;
RecordingTimepoint result;
int trialStartIndex;
int trialEndIndex;
// Get the starting index.
if (trialStartIndices.ContainsKey(trialNumber))
{
trialStartIndex = trialStartIndices[trialNumber];
}
else
{
return(new RecordingTimepoint());
}
// Get the ending index for the trial.
if (trialStartIndices.ContainsKey(trialNumber + 1))
{
trialEndIndex = trialStartIndices[trialNumber + 1] - 1;
}
else
{
trialEndIndex = list.Count - 1;
}
// If there is only one timepoint, return it
if (trialStartIndex == trialEndIndex)
{
return(list[trialStartIndex]);
}
// If the recording data is requested for a time in the past, return the recording timepoint
if (secondsIntoTrial <= list[trialStartIndex].Time)
{
return(list[trialStartIndex]);
}
// If the recording data is requested for a time in the future, return the last recording timepoint
if (secondsIntoTrial >= list[trialEndIndex].Time)
{
return(list[trialEndIndex]);
}
// Find the two timepoints to interpolate between
lower = null;
upper = null;
for (int i = trialStartIndex; i <= trialEndIndex; i++)
{
if ((list[i].Time > secondsIntoTrial) || (list[i + 1].Time < secondsIntoTrial))
{
continue;
}
lower = list[i];
upper = list[i + 1];
break;
}
if ((lower == null) || (upper == null))
{
// Something went wrong. Return an empty timepoint.
return(new RecordingTimepoint());
}
// Interpolate
result = new RecordingTimepoint();
result.Angles.pitch = Interpolate(lower.Angles.pitch, upper.Angles.pitch, lower.Time, upper.Time, secondsIntoTrial);
result.Angles.roll = Interpolate(lower.Angles.roll, upper.Angles.roll, lower.Time, upper.Time, secondsIntoTrial);
result.Angles.yaw = Interpolate(lower.Angles.yaw, upper.Angles.yaw, lower.Time, upper.Time, secondsIntoTrial);
result.DirectionOfBalance.pitch = lower.DirectionOfBalance.pitch;
result.DirectionOfBalance.roll = lower.DirectionOfBalance.roll;
result.DirectionOfBalance.yaw = lower.DirectionOfBalance.yaw;
result.MovingDirectionOfBalance.pitch = lower.MovingDirectionOfBalance.pitch;
result.MovingDirectionOfBalance.roll = lower.MovingDirectionOfBalance.roll;
result.MovingDirectionOfBalance.yaw = lower.MovingDirectionOfBalance.yaw;
result.TrialNumber = lower.TrialNumber;
result.TrialPhase = lower.TrialPhase;
result.Time = secondsIntoTrial;
return(result);
}
/// <summary>
/// Logs the data from the round of calculations.
/// </summary>
/// <param name="time">Seconds since start of trial</param>
/// <param name="currentMotion">Current motion</param>
/// <param name="calculatedMotion">New motion, calculated by dynamics</param>
/// <param name="recording">The c</param>
/// <param name="controlInput">Current joystick position</param>
internal void LogData(double time, MotionCommand currentMotion, MotionCommand calculatedMotion, RecordingTimepoint recording, ControlInput controlInput)
{
StringBuilder builder;
builder = new StringBuilder();
if (Hulk.InnerAxis == Hulk.Axis.Roll)
{
builder.AppendFormat(
"{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18}\n",
time,
recording.TrialNumber,
recording.TrialPhase,
recording.DirectionOfBalance.roll,
recording.DirectionOfBalance.pitch,
recording.DirectionOfBalance.yaw,
recording.MovingDirectionOfBalance.roll,
recording.MovingDirectionOfBalance.pitch,
recording.MovingDirectionOfBalance.yaw,
currentMotion.innerPosition.ToString("F6"),
currentMotion.outerPosition.ToString("F6"),
0,
currentMotion.innerVelocity.ToString("F6"),
currentMotion.outerVelocity.ToString("F6"),
0,
calculatedMotion.innerPosition.ToString("F6"),
calculatedMotion.outerPosition.ToString("F6"),
0,
(controlInput.trigger ? "1" : "0")
);
}
else
{
builder.AppendFormat(
"{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18}\n",
time,
recording.TrialNumber,
recording.TrialPhase,
recording.DirectionOfBalance.roll,
recording.DirectionOfBalance.pitch,
recording.DirectionOfBalance.yaw,
recording.MovingDirectionOfBalance.roll,
recording.MovingDirectionOfBalance.pitch,
recording.MovingDirectionOfBalance.yaw,
0,
currentMotion.outerPosition.ToString("F6"),
currentMotion.innerPosition.ToString("F6"),
0,
currentMotion.outerVelocity.ToString("F6"),
currentMotion.innerVelocity.ToString("F6"),
0,
calculatedMotion.outerPosition.ToString("F6"),
calculatedMotion.innerPosition.ToString("F6"),
(controlInput.trigger ? "1" : "0")
);
}
DataLogger.AppendData(builder.ToString());
}