[chronojump] Improving realtime inertial capture

[Xavier de Blas <xaviblas src gnome org>]

commit 26ace41b2295273c60b34f0e12fb7f009615d345
Author: Xavier de Blas <xaviblas gmail com>
Date:   Thu Feb 12 21:08:28 2015 +0100

    Improving realtime inertial capture

 encoder/capture.R  |  105 +++++++++++++++++++++++++++++++---------------------
 encoder/util.R     |    7 ++-
 src/gui/encoder.cs |   22 +++++++++-
 3 files changed, 86 insertions(+), 48 deletions(-)
---
diff --git a/encoder/capture.R b/encoder/capture.R
index 7bfcb9a..86380a5 100644
--- a/encoder/capture.R
+++ b/encoder/capture.R
@@ -26,6 +26,50 @@ options <- getOptionsFromFile(optionsFile, 32)
 scriptUtilR = options[28]
 source(scriptUtilR)
 
+g = 9.81
+                   
+
+calcule <- function(displacement, op) 
+{
+       #read AnalysisOptions
+       #if is propulsive and rotatory inertial is: "p;ri" 
+       #if nothing: "-;-"
+       analysisOptionsTemp = unlist(strsplit(op$AnalysisOptions, "\\;"))
+       isPropulsive = (analysisOptionsTemp[1] == "p")
+
+
+       #simplify on capture and have the SmoothingEC == SmoothingC
+       SmoothingsEC = op$SmoothingOneC
+       
+       
+       #if ecS go kinematics first time with "e" and second with "c"
+       #ceS do the opposite
+       myEcconKn = op$Eccon
+       if(myEcconKn == "ecS" || myEcconKn == "ceS") { 
+               if(mean(displacement) < 0)
+                       myEcconKn = "e"
+               else
+                       myEcconKn = "c"
+       }
+
+
+       kinematicsResult <- kinematicsF(displacement, 
+                   op$MassBody, op$MassExtra, op$ExercisePercentBodyWeight,
+                   op$EncoderConfigurationName, op$diameter, op$diameterExt, op$anglePush, op$angleWeight, 
op$inertiaMomentum, op$gearedDown,
+                   SmoothingsEC, op$SmoothingOneC, 
+                   g, myEcconKn, isPropulsive)
+
+       paf = data.frame()
+       paf = pafGenerate(op$Eccon, kinematicsResult, op$MassBody, op$MassExtra)
+               
+       position = cumsum(displacement)
+
+       #do not use print because it shows the [1] first. Use cat:
+       cat(paste(#start, #start is not used because we have no data of the initial zeros
+                 (end-start), (position[end]-position[start]),
+                 paf$meanSpeed, paf$maxSpeed, paf$maxSpeedT, paf$meanPower, paf$peakPower, paf$peakPowerT, 
paf$pp_ppt, sep=", "))
+       cat("\n") #mandatory to read this from C#, but beware, there we will need a trim to remove the 
windows \r\n
+}
        
 input <- readLines(f, n = 1L)
 while(input[1] != "Q") {
@@ -51,10 +95,7 @@ while(input[1] != "Q") {
                displacement = getDisplacement(op$EncoderConfigurationName, displacement, op$diameter, 
op$diameterExt)
        }
        
-       position = cumsum(displacement)
-
        start = 1
-#TODO................. #in inertial here it can be two phases: first, second or both
        end = length(displacement)
        if( ! isInertial(op$EncoderConfigurationName)) {
                reduceTemp = reduceCurveBySpeed(op$Eccon, 1, 
@@ -73,49 +114,29 @@ while(input[1] != "Q") {
                displacement = displacement[start:end]
        }
 
-       position = cumsum(displacement)
-
-       g = 9.81
-                   
-       #read AnalysisOptions
-       #if is propulsive and rotatory inertial is: "p;ri" 
-       #if nothing: "-;-"
-       analysisOptionsTemp = unlist(strsplit(op$AnalysisOptions, "\\;"))
-       isPropulsive = (analysisOptionsTemp[1] == "p")
-
-
-       #simplify on capture and have the SmoothingEC == SmoothingC
-       SmoothingsEC = op$SmoothingOneC
-
-       #if ecS go kinematics first time with "e" and second with "c"
-       #ceS do the opposite
-       myEcconKn = op$Eccon
-       if(myEcconKn == "ecS" || myEcconKn == "ceS") { 
-               if(mean(displacement) < 0)
-                       myEcconKn = "e"
-               else
-                       myEcconKn = "c"
+       #if isInertial: getDisplacementInertialBody separate phases using initial height of full extended 
person
+       #so now there will be two different curves to process
+       if(isInertial(op$EncoderConfigurationName)) 
+       {
+               position = cumsum(displacement)
+               positionBottom <- floor(mean(which(position == min(position))))
+               displacement1 = displacement[1:positionBottom]
+               calcule(displacement1, op)
+
+               if( (positionBottom +1) < length(displacement)){
+                       displacement2 = displacement[(positionBottom+1):length(displacement)]
+                       calcule(displacement2, op)
+               }
+               write(c("positionBottom", positionBottom), stderr())
+               write(c("length(displacement)", length(displacement)), stderr())
+       } else {
+               calcule(displacement, op)
        }
 
-
-       kinematicsResult <- kinematicsF(displacement, 
-                   op$MassBody, op$MassExtra, op$ExercisePercentBodyWeight,
-                   op$EncoderConfigurationName, op$diameter, op$diameterExt, op$anglePush, op$angleWeight, 
op$inertiaMomentum, op$gearedDown,
-                   SmoothingsEC, op$SmoothingOneC, 
-                   g, myEcconKn, isPropulsive)
-
-       paf = data.frame()
-       paf = pafGenerate(op$Eccon, kinematicsResult, op$MassBody, op$MassExtra)
-
-       #do not use print because it shows the [1] first. Use cat:
-       cat(paste(#start, #start is not used because we have no data of the initial zeros
-                 (end-start), (position[end]-position[start]),
-                 paf$meanSpeed, paf$maxSpeed, paf$maxSpeedT, paf$meanPower, paf$peakPower, paf$peakPowerT, 
paf$pp_ppt, sep=", "))
-       cat("\n") #mandatory to read this from C#, but beware, there we will need a trim to remove the 
windows \r\n
-
-
        input <- readLines(f, n = 1L)
 }
+               
+
 
 write("Ending capture.R", stderr())
 quit()
diff --git a/encoder/util.R b/encoder/util.R
index 63f7c8a..a373938 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -686,7 +686,7 @@ getDisplacementInertialBody <- function(displacement, draw, title)
        #TODO: check if started backwards on realtime capture (extrema is null)
        firstDownPhaseTime = 1
        downHeight = 0
-       if(position.ext$nextreme > 0) {
+       if( position.ext$nextreme > 0 && ! is.null(position.ext$minindex) && ! is.null(position.ext$maxindex) 
) {
                #Fix if disc goes wrong direction at start
                if(position.ext$maxindex[1] < position.ext$minindex[1]) {
                        displacement = displacement * -1
@@ -768,8 +768,9 @@ fixDisplacementInertial <- function(displacement, encoderConfigurationName, diam
 
                ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks by turn
                #angle in radians
-               angle = abs(cumsum(displacementMeters * 1000)) * 2 * pi / ticksRotaryEncoder
-               position = angle * diameterMeters / 2
+               angle = cumsum(displacementMeters * 1000) * 2 * pi / ticksRotaryEncoder
+               #abs makes it change direction when signal is lower than initial position (0)
+               position = abs(angle * diameterMeters / 2)
                position = position * 1000      #m -> mm
                #this is to make "inverted cumsum"
                displacement = c(0,diff(position)) #this displacement is going to be used now
diff --git a/src/gui/encoder.cs b/src/gui/encoder.cs
index 5541349..8d7dc29 100644
--- a/src/gui/encoder.cs
+++ b/src/gui/encoder.cs
@@ -2074,6 +2074,11 @@ public partial class ChronoJumpWindow
                int previousFrameChange = 0;
                int previousEnd = 0;
                int lastNonZero = 0;
+               
+               //used to send the heightAtCurveStart to R
+               //this is need on inertial to convert on direction curve (recorded by encoder) to a con-ecc 
curve (done by the person)
+               double heightAtCurveStart = 0;
+               double heightAccumulated = 0;
 
                //this will be used to stop encoder automatically       
                int consecutiveZeros = -1;              
@@ -2219,7 +2224,10 @@ public partial class ChronoJumpWindow
                                                        
                                                        string eccon = findEccon(true);
                                                        LogB.Debug("curve stuff" + ecc.startFrame + ":" + 
ecc.endFrame + ":" + encoderReaded.Length);
-                                                       if(ecc.endFrame - ecc.startFrame > 0 ) {
+                                                       if(ecc.endFrame - ecc.startFrame > 0 ) 
+                                                       {
+                                                               heightAtCurveStart = heightAccumulated;
+
                                                                double heightCurve = 0;
                                                                double [] curve = new double[ecc.endFrame - 
ecc.startFrame];
                                                                for(int k=0, j=ecc.startFrame; j < 
ecc.endFrame ; j ++) {
@@ -2229,6 +2237,8 @@ public partial class ChronoJumpWindow
                                                                }
                                                                        
                                                                previousEnd = ecc.endFrame;
+
+                                                               heightAccumulated += heightCurve;
                                                                
                                                                heightCurve = Math.Abs(heightCurve / 10); 
//mm -> cm
                                                                LogB.Information(" height: " + 
heightCurve.ToString());
@@ -2243,7 +2253,13 @@ public partial class ChronoJumpWindow
                                                                                ( ( eccon == "c" && 
previousWasUp ) || eccon != "c" ) &&        //2
                                                                                ! ( (eccon == "ec" || eccon 
== "ecS") && ecc.up && ecca.curvesAccepted == 0 )  //3
                                                                  ) {
-                                                                       
UtilEncoder.RunEncoderCaptureNoRDotNetSendCurve(pCaptureNoRDotNet, curve);
+                                                                       //this is need on inertial to convert 
on direction curve (recorded by encoder) 
+                                                                       //to a con-ecc curve (done by the 
person)
+                                                                       
if(encoderConfigurationCurrent.has_inertia)
+                                                                               curve[0] = 
heightAtCurveStart; 
+
+                                                                       
UtilEncoder.RunEncoderCaptureNoRDotNetSendCurve(
+                                                                                       pCaptureNoRDotNet, 
curve);
                                                                        ecca.curvesDone ++;
                                                                        ecca.curvesAccepted ++;
                                                                        ecca.ecc.Add(ecc);
@@ -4954,7 +4970,7 @@ LogB.Debug("D");
                                                        Convert.ToInt32( (graphWidth/2) - textWidth/2), 0, 
//x, y 
                                                        layout_encoder_capture_curves_bars);
 
-                                       updateEncoderCaptureGraph(true, false, false); //graphSignal, not 
calcCurves, not plotCurvesBars
+                                       updateEncoderCaptureGraph(true, true, true); //graphSignal, 
calcCurves, plotCurvesBars
                                } else
                                        updateEncoderCaptureGraph(true, true, true); //graphSignal, 
calcCurves, plotCurvesBars
                        } else {