[chronojump] Encoder big change, now height approval is done in R
- From: Xavier de Blas <xaviblas src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] Encoder big change, now height approval is done in R
- Date: Fri, 22 May 2015 19:11:01 +0000 (UTC)
commit 18039ee19a150caee55d15556add44492b68d309
Author: Xavier de Blas <xaviblas gmail com>
Date: Fri May 22 21:10:09 2015 +0200
Encoder big change, now height approval is done in R
encoder/capture.R | 71 +++++++++++++++++++++++++++---------------------
src/encoderRProc.cs | 12 ++------
src/gui/encoder.cs | 75 +++++++++++++++++---------------------------------
src/utilEncoder.cs | 41 ----------------------------
4 files changed, 69 insertions(+), 130 deletions(-)
---
diff --git a/encoder/capture.R b/encoder/capture.R
index 4a39406..2cbba6f 100644
--- a/encoder/capture.R
+++ b/encoder/capture.R
@@ -39,6 +39,9 @@ calcule <- function(displacement, op, curveNum)
if(length(displacement) < 4)
return (curveNum)
+ if(abs(sum(displacement)) < op$MinHeight)
+ return (curveNum)
+
#read AnalysisOptions
#if is propulsive and rotatory inertial is: "p;ri"
@@ -91,15 +94,6 @@ calcule <- function(displacement, op, curveNum)
return(curveNum +1)
}
-getPositionStart <- function(input)
-{
- inputVector = unlist(strsplit(input, " "))
- if( length(inputVector) == 2 && inputVector[1] == "ps" )
- return (as.numeric(inputVector[2]))
- else
- return (0)
-}
-
#converts data: "0*5 1 0 -1*3 2"
#into: 0 0 0 0 0 1 0 -1 -1 -1 2
@@ -119,6 +113,7 @@ uncompress <- function(curveSent)
}
return (as.numeric(ints))
}
+
doProcess <- function(options)
{
@@ -131,6 +126,10 @@ doProcess <- function(options)
#print (op)
curveNum = 0
+ inertialPositionCurveSentStart = 0
+ inertialPositionCurveSentEnd = 0
+ inertialCapturingFirstPhase = TRUE
+
input <- readLines(f, n = 1L)
while(input[1] != "Q") {
if(debug) {
@@ -148,6 +147,9 @@ doProcess <- function(options)
op <- assignOptions(options)
curveNum = 0
+ inertialPositionCurveSentStart = 0
+ inertialPositionCurveSentEnd = 0
+ inertialCapturingFirstPhase = TRUE
input <- readLines(f, n = 1L)
if(input[1] == "Q")
@@ -157,13 +159,8 @@ doProcess <- function(options)
#Sys.sleep(4) #just to test how Chronojump reacts if process takes too long
#cat(paste("input is:", input, "\n"))
- #from Chronojump first it's send the eg: "ps -1000", meaning curve starts at -1000
- #then it's send the displacement
- positionStart = getPositionStart(input)
-
#-- read the curve (from some lines that finally end on an 'E')
readingCurve = TRUE
- input = NULL
while(readingCurve) {
inputLine <- readLines(f, n = 1L)
if(inputLine[1] == "E")
@@ -172,6 +169,7 @@ doProcess <- function(options)
input = c(input, inputLine)
}
#-- curve readed
+
if(debug)
write("doProcess input", stderr())
@@ -186,15 +184,19 @@ doProcess <- function(options)
#this removes all NAs
displacement = displacement[!is.na(displacement)]
-
if(debug)
write("doProcess 2", stderr())
+
if(isInertial(op$EncoderConfigurationName))
{
diametersPerTick = getInertialDiametersPerMs(displacement, op$diameter)
displacement = getDisplacementInertial(displacement, op$EncoderConfigurationName,
diametersPerTick, op$diameterExt)
- displacement = getDisplacementInertialBody(positionStart, displacement, FALSE,
op$Title) #draw: FALSE
+ #need to do this before getDisplacementInertialBody cuts the curve: /|\
+ positionTemp = cumsum(displacement)
+ inertialPositionCurveSentEnd = inertialPositionCurveSentStart +
positionTemp[length(positionTemp)]
+
+ displacement = getDisplacementInertialBody(inertialPositionCurveSentStart,
displacement, FALSE, op$Title) #draw: FALSE
} else {
displacement = getDisplacement(op$EncoderConfigurationName, displacement,
op$diameter, op$diameterExt)
}
@@ -223,25 +225,32 @@ doProcess <- function(options)
#if isInertial: getDisplacementInertialBody separate phases using initial height of full
extended person
#so now there will be two different curves to process
+ position = cumsum(displacement)
+
if(isInertial(op$EncoderConfigurationName))
{
- position = cumsum(displacement)
- positionTop <- floor(mean(which(position == max(position))))
- displacement1 = displacement[1:positionTop]
- displacement2 = displacement[(positionTop+1):length(displacement)]
-
- if(op$Eccon == "c")
- curveNum <- calcule(displacement1, op, curveNum)
- else {
- curveNum <- calcule(displacement1, op, curveNum)
- curveNum <- calcule(displacement2, op, curveNum)
+ if(abs(max(position) - min(position)) >= op$MinHeight) {
+ if(inertialCapturingFirstPhase)
+ inertialCapturingFirstPhase = FALSE
+ else {
+ positionTop <- floor(mean(which(position == max(position))))
+ displacement1 = displacement[1:positionTop]
+ displacement2 = displacement[(positionTop+1):length(displacement)]
+
+ if(op$Eccon == "c") {
+ curveNum <- calcule(displacement1, op, curveNum)
+ } else {
+ curveNum <- calcule(displacement1, op, curveNum)
+ curveNum <- calcule(displacement2, op, curveNum)
+ }
+ }
}
+ } else {
+ curveNum <- calcule(displacement, op, curveNum)
+ }
+
+ inertialPositionCurveSentStart = inertialPositionCurveSentEnd
- #write(c("positionTop", positionTop), stderr())
- #write(c("length(displacement)", length(displacement)), stderr())
- } else
- curveNum <- calcule(displacement, op, curveNum)
-
if(debug)
write("doProcess 4", stderr())
diff --git a/src/encoderRProc.cs b/src/encoderRProc.cs
index f5ea988..edc6ed2 100644
--- a/src/encoderRProc.cs
+++ b/src/encoderRProc.cs
@@ -227,20 +227,14 @@ public class EncoderRProcCapture : EncoderRProc
}
//here curve is sent compressed (string. eg: "0*5 1 0 -1*3 2")
- public void SendCurve(double heightAtStart, string curveCompressed)
+ public void SendCurve(string curveCompressed)
{
LogB.Debug("writing line 1 -->");
- string curveSend = "ps " + Util.ConvertToPoint(heightAtStart);
- LogB.Debug("curveSend [heightAtStart]",curveSend);
- p.StandardInput.WriteLine(curveSend);
-
- curveSend = curveCompressed;
-
//TODO convert comma to point in this doubles
- LogB.Debug("curveSend [displacement array]",curveSend);
- p.StandardInput.WriteLine(curveSend); //this will send some lines because compressed data
comes with '\n's
+ LogB.Debug("curveSend [displacement array]",curveCompressed);
+ p.StandardInput.WriteLine(curveCompressed); //this will send some lines because
compressed data comes with '\n's
p.StandardInput.WriteLine("E"); //this will mean the 'E'nd of the curve. Then data
can be uncompressed on R
LogB.Debug("<-- writen line 1");
diff --git a/src/gui/encoder.cs b/src/gui/encoder.cs
index 77400b7..e788e96 100644
--- a/src/gui/encoder.cs
+++ b/src/gui/encoder.cs
@@ -198,7 +198,8 @@ public partial class ChronoJumpWindow
private ArrayList encoderCompareInterperson; //personID:personName
private ArrayList encoderCompareIntersession; //sessionID:sessionDate
- private static double [] encoderReaded; //data coming from encoder and converted (can be
double)
+ //private static double [] encoderReaded; //data coming from encoder and converted (can
be double)
+ private static int [] encoderReaded; //data coming from encoder and converted
private static int encoderCaptureCountdown;
private static Gdk.Point [] encoderCapturePoints; //stored to be realtime displayed
private static int encoderCapturePointsCaptured; //stored to be realtime displayed
@@ -2021,15 +2022,10 @@ public partial class ChronoJumpWindow
//int recordingTime = es.Ep.Time * 1000;
int recordingTime = time * 1000;
- //this is what's readed from encoder, as it's linear (non-inverted, not inertial, ...)
- //it's stored in file like this
- int byteReadedRaw;
- //this it's converted applying encoderConfigurationConversions: inverted, inertial, diameter,
gearedDown, ...
- double byteReaded;
+ int byteReaded;
//initialize
- int [] encoderReadedRaw = new int[recordingTime]; //stored to file in this method
- encoderReaded = new double[recordingTime];
+ encoderReaded = new int[recordingTime];
double sum = 0;
string dataString = "";
@@ -2068,11 +2064,6 @@ public partial class ChronoJumpWindow
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;
int consecutiveZerosMax = (int)
encoderCaptureOptionsWin.spin_encoder_capture_inactivity_end_time.Value * 1000;
@@ -2097,7 +2088,7 @@ public partial class ChronoJumpWindow
do {
try {
- byteReadedRaw = sp.ReadByte();
+ byteReaded = sp.ReadByte();
} catch {
LogB.Error("Maybe encoder cable is disconnected");
encoderProcessCancel = true;
@@ -2105,13 +2096,12 @@ public partial class ChronoJumpWindow
}
- if(byteReadedRaw > 128)
- byteReadedRaw = byteReadedRaw - 256;
+ if(byteReaded > 128)
+ byteReaded = byteReaded - 256;
if(inertialCaptureDirectionInverted)
- byteReadedRaw *= -1;
+ byteReaded *= -1;
- byteReaded = UtilEncoder.GetDisplacement(byteReadedRaw, encoderConfigurationCurrent);
i=i+1;
if(i >= 0) {
@@ -2140,7 +2130,6 @@ public partial class ChronoJumpWindow
sum += byteReaded;
encoderReaded[i] = byteReaded;
- encoderReadedRaw[i] = byteReadedRaw;
encoderCapturePoints[i] = new Gdk.Point(
Convert.ToInt32(widthG * i / recordingTime),
@@ -2178,7 +2167,6 @@ public partial class ChronoJumpWindow
sum *= -1;
for(int j=0; j <= i; j ++) {
encoderReaded[j] *= -1;
- encoderReadedRaw[j] *= -1;
}
double sum2=0;
for(int j=0; j <= i; j ++) {
@@ -2266,22 +2254,15 @@ public partial class ChronoJumpWindow
LogB.Debug("curve stuff" + ecc.startFrame + ":" +
ecc.endFrame + ":" + encoderReaded.Length);
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
++) {
- heightCurve += encoderReaded[j];
curve[k]=encoderReaded[j];
k++;
}
previousEnd = ecc.endFrame;
- heightAccumulated += heightCurve;
-
- heightCurve = Math.Abs(heightCurve / 10); //mm -> cm
- LogB.Information(" height: " +
heightCurve.ToString());
+ //22-may-2015: This is done in R now
//1) check heightCurve in a fast way first to discard
curves soon
// only process curves with height >= min_height
@@ -2325,30 +2306,26 @@ public partial class ChronoJumpWindow
if(! inertiaMomentCalculation) {
bool sendCurve = true;
- if(heightCurve >=
encoderSelectedMinimumHeight) //1
- {
-
if(encoderConfigurationCurrent.has_inertia) {
- if(capturingFirstPhase)
- sendCurve = false;
- } else { // !
encoderConfigurationCurrent.has_inertia
- if( eccon == "c" && ! ecc.up )
- sendCurve = false;
- if( (eccon == "ec" || eccon
== "ecS") && ecc.up && capturingFirstPhase ) //3
- sendCurve = false;
- if(
- (eccon ==
"ec" || eccon == "ecS") &&
-
ecca.curvesAccepted > 0 &&
-
lastDirectionStoredIsUp == ecc.up ) //4
- sendCurve = false;
- }
- capturingFirstPhase = false;
- } else {
- sendCurve = false;
+
+ if(encoderConfigurationCurrent.has_inertia) {
+ //22 may 2015: send'it because we
need to know the heigth change in order to do the cuts
+ //if(capturingFirstPhase)
+ // sendCurve = false;
+ } else { // !
encoderConfigurationCurrent.has_inertia
+ if( eccon == "c" && ! ecc.up )
+ sendCurve = false;
+ if( (eccon == "ec" || eccon == "ecS")
&& ecc.up && capturingFirstPhase ) //3
+ sendCurve = false;
+ if(
+ (eccon == "ec" ||
eccon == "ecS") &&
+ ecca.curvesAccepted >
0 &&
+
lastDirectionStoredIsUp == ecc.up ) //4
+ sendCurve = false;
}
+ capturingFirstPhase = false;
if(sendCurve) {
encoderRProcCapture.SendCurve(
- heightAtCurveStart,
UtilEncoder.CompressData(curve, 25) //compressed
);
@@ -2394,7 +2371,7 @@ public partial class ChronoJumpWindow
sep = "";
for(int j=0; j < i ; j ++) {
- writer.Write(sep + encoderReadedRaw[j]); //store the raw file (before
encoderConfigurationConversions)
+ writer.Write(sep + encoderReaded[j]); //store the raw file (before
encoderConfigurationConversions)
sep = ", ";
}
diff --git a/src/utilEncoder.cs b/src/utilEncoder.cs
index 8a6220c..8cee3fe 100644
--- a/src/utilEncoder.cs
+++ b/src/utilEncoder.cs
@@ -755,46 +755,5 @@ public class UtilEncoder
return list;
}
- /* -------- EncoderConfiguration, kinematics and Dynamics ----
- *
- * this is the same than graph.R
- * -------------------------------------------------------- */
-
- /*
- * in signals and curves, need to do conversions (invert, inertiaMomentum, diameter)
- * we use 'data' variable because can be position or displacement
- */
-
- public static double GetDisplacement(int byteReaded, EncoderConfiguration ec) {
- /* no change:
- * WEIGHTEDMOVPULLEYLINEARONPERSON1, WEIGHTEDMOVPULLEYLINEARONPERSON1INV,
- * WEIGHTEDMOVPULLEYLINEARONPERSON2, WEIGHTEDMOVPULLEYLINEARONPERSON2INV,
- * LINEARONPLANE, LINEARONPLANEWEIGHTDIFFANGLE, ROTARYFRICTIONSIDE,
WEIGHTEDMOVPULLEYROTARYFRICTION
- */
-
- double data = byteReaded;
- if(
- ec.name == Constants.EncoderConfigurationNames.LINEARINVERTED ||
- ec.name ==
Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON1INV ||
- ec.name ==
Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON2INV ) {
- data *= -1;
- } else if(ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYONLINEARENCODER) {
- //default is: gearedDown = 2. Future maybe this will be a parameter
- data *= 2;
- } else if(ec.name == Constants.EncoderConfigurationNames.ROTARYFRICTIONAXIS) {
- data = data * ec.D / ec.d;
- } else if(
- ec.name == Constants.EncoderConfigurationNames.ROTARYAXIS ||
- ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYROTARYAXIS)
- {
- int ticksRotaryEncoder = 200; //our rotary axis encoder send 200 ticks by turn
- //diameter m -> mm
- data = ( data / ticksRotaryEncoder ) * 2 * Math.PI * ( ec.d * 1000 / 2 );
- }
- return data;
- }
-
-
- /* ----end of EncoderConfiguration, kinematics and Dynamics ---- */
}
[
Date Prev][
Date Next] [
Thread Prev][
Thread Next]
[
Thread Index]
[
Date Index]
[
Author Index]
