[chronojump] New feature: force sensor can calculate stiffness of a band/tube
- From: Xavier de Blas <xaviblas src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] New feature: force sensor can calculate stiffness of a band/tube
- Date: Wed, 5 Aug 2020 14:39:08 +0000 (UTC)
commit daecde341456775581eac58d6e1d1df2c6134939
Author: Xavier de Blas <xaviblas gmail com>
Date: Wed Aug 5 16:38:42 2020 +0200
New feature: force sensor can calculate stiffness of a band/tube
glade/app1.glade | 189 +++++++++++++++++++++++++-------------
src/gui/app1/chronojump.cs | 3 +-
src/gui/app1/forceSensor.cs | 215 ++++++++++++++++++++++++++++++++++++++++++--
3 files changed, 333 insertions(+), 74 deletions(-)
---
diff --git a/glade/app1.glade b/glade/app1.glade
index 88bcb5c0..f07776c4 100644
--- a/glade/app1.glade
+++ b/glade/app1.glade
@@ -5758,7 +5758,7 @@ EncoderInertialCapture</property>
<property name="border_width">2</property>
<property name="spacing">6</property>
<child>
- <widget class="GtkHBox" id="hbox3">
+ <widget class="GtkHBox" id="hbox_contacts_capture_top">
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="spacing">16</property>
@@ -14640,64 +14640,12 @@ EncoderInertialCapture</property>
<widget class="GtkVBox" id="vbox159">
<property name="visible">True</property>
<property name="can_focus">False</property>
- <child>
- <widget class="GtkHBox"
id="hbox_force_sensor_lat_and_comments">
- <property name="visible">True</property>
- <property name="can_focus">False</property>
- <property name="spacing">20</property>
- <child>
- <widget class="GtkButton"
id="button_force_sensor_stiffness">
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- <signal name="clicked"
handler="on_button_force_sensor_stiffness_clicked" swapped="no"/>
- <child>
- <widget class="GtkHBox" id="hbox288">
- <property name="visible">True</property>
- <property name="can_focus">False</property>
- <property name="spacing">4</property>
- <child>
- <widget class="GtkLabel"
id="label_button_force_sensor_stiffness">
- <property name="visible">True</property>
- <property name="can_focus">False</property>
- </widget>
- <packing>
- <property name="expand">True</property>
- <property name="fill">True</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkImage"
id="image_button_force_sensor_stiffness_problem">
- <property name="can_focus">False</property>
- <property
name="stock">gtk-missing-image</property>
- </widget>
- <packing>
- <property name="expand">True</property>
- <property name="fill">True</property>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="fill">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="fill">False</property>
- <property name="padding">5</property>
- <property name="position">0</property>
- </packing>
- </child>
+ <property name="spacing">12</property>
<child>
<widget class="GtkHBox" id="hbox67">
<property name="visible">True</property>
<property name="can_focus">False</property>
+ <property name="spacing">20</property>
<child>
<widget class="GtkComboBox"
id="combo_force_sensor_capture_options">
<property name="visible">True</property>
@@ -14710,14 +14658,6 @@ EncoderInertialCapture</property>
<property name="position">0</property>
</packing>
</child>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="fill">False</property>
- <property name="padding">5</property>
- <property name="position">1</property>
- </packing>
- </child>
<child>
<widget class="GtkHBox"
id="hbox_force_sensor_laterality">
<property name="visible">True</property>
@@ -14866,7 +14806,116 @@ EncoderInertialCapture</property>
<property name="expand">False</property>
<property name="fill">False</property>
<property name="padding">5</property>
- <property name="position">2</property>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="fill">False</property>
+ <property name="padding">5</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkFrame"
id="frame_force_sensor_elastic">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ <property name="label_xalign">0</property>
+ <property
name="label_yalign">0.69999998807907104</property>
+ <property name="shadow_type">out</property>
+ <child>
+ <widget class="GtkVBox" id="vbox235">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ <property name="border_width">6</property>
+ <property name="spacing">10</property>
+ <child>
+ <widget class="GtkHBox"
id="hbox_force_sensor_stiffness">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ <property name="spacing">12</property>
+ <child>
+ <widget class="GtkButton"
id="button_force_sensor_stiffness">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <signal name="clicked"
handler="on_button_force_sensor_stiffness_clicked" swapped="no"/>
+ <child>
+ <widget class="GtkHBox" id="hbox288">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ <property name="spacing">4</property>
+ <child>
+ <widget class="GtkLabel"
id="label_button_force_sensor_stiffness">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ </widget>
+ <packing>
+ <property name="expand">True</property>
+ <property name="fill">True</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkImage"
id="image_button_force_sensor_stiffness_problem">
+ <property name="can_focus">False</property>
+ <property
name="stock">gtk-missing-image</property>
+ </widget>
+ <packing>
+ <property name="expand">True</property>
+ <property name="fill">True</property>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="fill">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkButton"
id="button_force_sensor_stiffness_detect">
+ <property name="label" translatable="yes">Detect
stiffness of one band/tube</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <signal name="clicked"
handler="on_button_force_sensor_stiffness_detect_clicked" swapped="no"/>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="fill">False</property>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="expand">True</property>
+ <property name="fill">True</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label562">
+ <property name="visible">True</property>
+ <property name="can_focus">False</property>
+ <property name="label"
translatable="yes">Elastic</property>
+ <property name="use_markup">True</property>
+ </widget>
+ <packing>
+ <property name="type">label_item</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="fill">False</property>
+ <property name="position">1</property>
</packing>
</child>
</widget>
@@ -24518,6 +24567,12 @@ Concentric</property>
<child>
<placeholder/>
</child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
</widget>
<packing>
<property name="expand">False</property>
@@ -35423,6 +35478,12 @@ then click this button.</property>
<child>
<placeholder/>
</child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
</widget>
<packing>
<property name="expand">False</property>
diff --git a/src/gui/app1/chronojump.cs b/src/gui/app1/chronojump.cs
index 286ddd40..c5020685 100644
--- a/src/gui/app1/chronojump.cs
+++ b/src/gui/app1/chronojump.cs
@@ -59,6 +59,7 @@ public partial class ChronoJumpWindow
[Widget] Gtk.Button button_start_selector_show_less;
[Widget] Gtk.Notebook notebook_sup;
[Widget] Gtk.HBox hbox_other;
+ [Widget] Gtk.HBox hbox_contacts_capture_top;
[Widget] Gtk.Notebook notebook_capture_analyze; //not encoder
[Widget] Gtk.Notebook notebook_contacts_execute_or_instructions;
[Widget] Gtk.Notebook notebook_analyze; //not encoder
@@ -6570,7 +6571,7 @@ LogB.Debug("mc finished 5");
notebook_options_top.CurrentPage = 4; //but at FORCESENSOR this notebook is not shown
until adjust button is clicked
notebook_results.CurrentPage = 4;
- if(button_force_sensor_stiffness.Visible)
+ if(frame_force_sensor_elastic.Visible)
changeTestImage("", "", "FORCESENSOR_ELASTIC");
else
changeTestImage("", "", "FORCESENSOR_NOT_ELASTIC");
diff --git a/src/gui/app1/forceSensor.cs b/src/gui/app1/forceSensor.cs
index 9b0e1049..3640a615 100644
--- a/src/gui/app1/forceSensor.cs
+++ b/src/gui/app1/forceSensor.cs
@@ -38,7 +38,8 @@ public partial class ChronoJumpWindow
[Widget] Gtk.HBox hbox_force_capture_buttons;
[Widget] Gtk.HBox hbox_combo_force_sensor_exercise;
[Widget] Gtk.ComboBox combo_force_sensor_exercise;
- [Widget] Gtk.Button button_force_sensor_stiffness;
+ [Widget] Gtk.Frame frame_force_sensor_elastic;
+ [Widget] Gtk.Button button_stiffness_detect;
[Widget] Gtk.Label label_button_force_sensor_stiffness;
[Widget] Gtk.Image image_button_force_sensor_stiffness_problem;
[Widget] Gtk.ComboBox combo_force_sensor_capture_options;
@@ -74,7 +75,7 @@ public partial class ChronoJumpWindow
enum secondsEnum { NO, ASC, DESC };
static secondsEnum forceSensorOtherMessageShowSeconds;
- static int forceSensorOtherMessageShowSecondsInit; //for DESC
+ static double forceSensorOtherMessageShowSecondsInit; //for DESC
static DateTime forceSensorTimeStart;
static string lastForceSensorFile = "";
@@ -88,6 +89,8 @@ public partial class ChronoJumpWindow
DateTime forceSensorTimeStartCapture;
private string forceSensorFirmwareVersion;
+ int forceSensorStiffMinCm;
+ int forceSensorStiffMaxCm;
//non GTK on this method
@@ -329,7 +332,7 @@ public partial class ChronoJumpWindow
return true;
}
- enum forceSensorOtherModeEnum { TARE, CALIBRATE, CAPTURE_PRE, TARE_AND_CAPTURE_PRE, CHECK_VERSION }
+ enum forceSensorOtherModeEnum { TARE, CALIBRATE, CAPTURE_PRE, TARE_AND_CAPTURE_PRE, STIFFNESS_DETECT,
CHECK_VERSION }
static forceSensorOtherModeEnum forceSensorOtherMode;
//buttons: tare, calibrate, check version and capture (via on_button_execute_test_cicked) come here
@@ -400,6 +403,13 @@ public partial class ChronoJumpWindow
forceOtherThread = new Thread(new ThreadStart(forceSensorCapturePre_noGTK));
}
}
+ else if (o == (object) button_stiffness_detect)
+ {
+ hbox_contacts_capture_top.Sensitive = false;
+ forceSensorButtonsSensitive(false);
+ forceSensorOtherMode = forceSensorOtherModeEnum.STIFFNESS_DETECT;
+ forceOtherThread = new Thread(new ThreadStart(forceSensorDetectStiffness));
+ }
else { //if (o == (object) button_check_version)
forceSensorButtonsSensitive(false);
forceSensorOtherMode = forceSensorOtherModeEnum.CHECK_VERSION;
@@ -431,6 +441,58 @@ public partial class ChronoJumpWindow
hbox_chronopics_and_more.Sensitive = sensitive;
}
+ private void on_button_force_sensor_stiffness_detect_clicked (object o, EventArgs args)
+ {
+ forceSensorStiffMinCm = 0;
+ forceSensorStiffMaxCm = 0;
+
+ ArrayList bigArray = new ArrayList();
+ ArrayList a1 = new ArrayList();
+ ArrayList a2 = new ArrayList();
+
+ //0 is the widgget to show; 1 is the editable; 2 id default value
+ a1.Add(Constants.GenericWindowShow.SPININT2); a1.Add(true); a1.Add("");
+ bigArray.Add(a1);
+
+ a2.Add(Constants.GenericWindowShow.SPININT3); a2.Add(true); a2.Add("");
+ bigArray.Add(a2);
+
+ genericWin = GenericWindow.Show("", true, //show now
+ Catalog.GetString("Detect stiffness of one band/tube") + "\n\n" +
+ "Eschema of the band/tube:" + "\n" +
+ "0------------------d-----A----------B---\n\n" +
+ Catalog.GetString("Legend:") + "\n" +
+ "0-d: " + Catalog.GetString("Length without tension") + "\n" +
+ "d-A: " + Catalog.GetString("Minimum working distance") + "\n" +
+ "d-B: " + Catalog.GetString("Maximum working distance") + "\n",
+ bigArray);
+
+ genericWin.LabelSpinInt2 = "d-A (cm)";
+ genericWin.LabelSpinInt3 = "d-B (cm)";
+ genericWin.SetSpin2Range(0, 30000);
+ genericWin.SetSpin3Range(0, 30000);
+ genericWin.SetButtonAcceptLabel(Catalog.GetString("Start"));
+ //genericWin.SetSizeRequest(300, -1);
+ genericWin.Button_accept.Clicked += new EventHandler(force_sensor_stiffness_detect_start);
+ }
+ private void force_sensor_stiffness_detect_start (object o, EventArgs args)
+ {
+ genericWin.Button_accept.Clicked -= new EventHandler(force_sensor_stiffness_detect_start);
+
+ forceSensorStiffMinCm = genericWin.SpinInt2Selected;
+ forceSensorStiffMaxCm = genericWin.SpinInt3Selected;
+ genericWin.HideAndNull();
+
+ if(forceSensorStiffMinCm == forceSensorStiffMaxCm)
+ {
+ new DialogMessage(Constants.MessageTypes.WARNING, "Error: Distances cannot be the
same");
+ return;
+ }
+
+ on_button_contacts_exercise_close_clicked (o, args);
+ on_buttons_force_sensor_clicked (button_stiffness_detect, new EventArgs ());
+ }
+
private void forceSensorPersonChanged()
{
blankForceSensorInterface();
@@ -476,6 +538,14 @@ public partial class ChronoJumpWindow
double seconds = ts.TotalSeconds;
secondsStr = " (" + Util.TrimDecimals(seconds, 0) + " s)";
}
+ else if(forceSensorOtherMessageShowSeconds == secondsEnum.DESC)
+ {
+ TimeSpan ts = DateTime.Now.Subtract(forceSensorTimeStart);
+ double seconds = forceSensorOtherMessageShowSecondsInit - ts.TotalSeconds;
+ if(seconds < 0)
+ seconds = 0;
+ secondsStr = " (" + Util.TrimDecimals(seconds, 0) + " s)";
+ }
}
if(forceOtherThread.IsAlive)
@@ -486,7 +556,16 @@ public partial class ChronoJumpWindow
event_execute_label_message.Text = forceSensorOtherMessage + secondsStr;
else
*/
- event_execute_label_message.Text = forceSensorOtherMessage + secondsStr;
+ event_execute_label_message.Text = forceSensorOtherMessage + secondsStr;
+ event_execute_label_message.UseMarkup = true;
+
+ if(forceSensorOtherMode == forceSensorOtherModeEnum.STIFFNESS_DETECT &&
+ forceSensorValues != null)
+ {
+ label_force_sensor_value_max.Text = string.Format("{0:0.##} N",
forceSensorValues.Max);
+ label_force_sensor_value_min.Text = string.Format("{0:0.##} N",
forceSensorValues.Min);
+ label_force_sensor_value.Text = string.Format("{0:0.##} N",
forceSensorValues.ValueLast);
+ }
}
else
{
@@ -499,6 +578,12 @@ public partial class ChronoJumpWindow
hbox_force_sensor_adjust_actions.Sensitive = true;
return false;
}
+ else if(forceSensorOtherMode == forceSensorOtherModeEnum.STIFFNESS_DETECT)
+ {
+ forceSensorButtonsSensitive(true);
+ hbox_contacts_capture_top.Sensitive = true;
+ event_execute_label_message.Text = forceSensorOtherMessage;
+ }
else if(forceSensorOtherMode == forceSensorOtherModeEnum.CHECK_VERSION)
{
forceSensorButtonsSensitive(true);
@@ -674,6 +759,118 @@ public partial class ChronoJumpWindow
return "0.3"; //if there is a problem default to 0.3
}
+ //Attention: no GTK here!!
+ private void forceSensorDetectStiffness()
+ {
+ // 0 connect if needed
+ if(! portFSOpened)
+ if(! forceSensorConnect())
+ return;
+
+ forceSensorOtherMessageShowSeconds = secondsEnum.NO;
+
+ double forceAtMin = forceSensorDetectStiffnessDo (forceSensorStiffMinCm, "A");
+ //LogB.Information("forceAtMin: " + forceAtMin.ToString());
+ if(forceAtMin < 0)
+ {
+ forceSensorOtherMessage = "Error. Force is lower than 0.";
+ return;
+ }
+
+ double forceAtMax = forceSensorDetectStiffnessDo (forceSensorStiffMaxCm, "B");
+ //LogB.Information("forceAtMax: " + forceAtMax.ToString());
+ if(forceAtMax < 0)
+ {
+ forceSensorOtherMessage = "Error. Force is lower than 0.";
+ return;
+ }
+ if(forceAtMin >= forceAtMax)
+ {
+ forceSensorOtherMessage = "Error. Force in second situation has to be higher.";
+ return;
+ }
+
+ forceSensorOtherMessage = string.Format("Stiffness: {0} N/m", Math.Round(
+
(forceAtMax-forceAtMin)/(forceSensorStiffMaxCm-forceSensorStiffMinCm), 3));
+ }
+ //Attention: no GTK here!!
+ private double forceSensorDetectStiffnessDo (int distanceCm, string letter)
+ {
+ // 1 send tare command
+ if(! forceSensorSendCommand("start_capture:", "Preparing capture...", "Catched force
capturing"))
+ return -1;
+
+ // 2 read confirmation data
+ string str = "";
+ do {
+ Thread.Sleep(100); //sleep to let arduino start reading
+ try {
+ str = portFS.ReadLine();
+ } catch {
+ forceSensorOtherMessage = "Disconnected";
+ return -1;
+ }
+ LogB.Information("init string: " + str);
+ }
+ while(! str.Contains("Starting capture"));
+
+ //forceSensorOtherMessage = string.Format("Please elongate the band/tube to {0} cm from its
length without tension. You have 10 seconds.", distanceCm);
+ forceSensorOtherMessage = string.Format("0-------d---A---B--\t\tElongate to <b>{0}</b>
\t(d-{0} = {1} cm). \t", letter, distanceCm);
+
+ forceSensorOtherMessageShowSecondsInit = 10.999;
+ forceSensorOtherMessageShowSeconds = secondsEnum.DESC;
+
+ forceSensorValues = new ForceSensorValues();
+ label_force_sensor_value_max.Text = "0 N";
+ label_force_sensor_value.Text = "0 N";
+ label_force_sensor_value_min.Text = "0 N";
+
+ int count = 0;
+ do {
+ str = portFS.ReadLine();
+
+ int time;
+ double force;
+ string trigger;
+ if(! forceSensorProcessCapturedLine(str, out time, out force,
+ false, out trigger))
+ continue;
+
+ forceSensorValues.TimeLast = time;
+ forceSensorValues.ValueLast = force;
+ forceSensorValues.SetMaxMinIfNeeded(force, time);
+
+ count ++;
+ } while (forceSensorValues.TimeLast < 10000000 && count < 1000);
+ //if there is a problem on getting time, it will end at 1000 count
+
+ forceSensorOtherMessageShowSeconds = secondsEnum.NO;
+ LogB.Information("timeLast: " + forceSensorValues.TimeLast.ToString());
+
+ LogB.Information("Calling end_capture");
+ if(! forceSensorSendCommand("end_capture:", "Ending capture ...", "Catched ending capture"))
+ return -1;
+
+ LogB.Information("Waiting end_capture");
+ do {
+ Thread.Sleep(10);
+ try {
+ str = portFS.ReadLine();
+ } catch {
+ LogB.Information("Catched waiting end_capture feedback");
+ }
+ LogB.Information("waiting \"Capture ended\" string: " + str);
+ }
+ while(! str.Contains("Capture ended"));
+ LogB.Information("Success: received end_capture");
+
+ // 5 print message
+ forceSensorOtherMessageShowSeconds = secondsEnum.NO;
+ forceSensorOtherMessage = string.Format("max force detected: {0}", forceSensorValues.Max);
+
+ return(forceSensorValues.Max);
+ }
+
//Attention: no GTK here!!
private bool forceSensorCheckBinaryCapture()
{
@@ -1573,7 +1770,7 @@ LogB.Information(" fs R ");
if(currentForceSensorExercise.ComputeAsElastic)
{
setStiffnessButtonLabel(fs.Stiffness);
- button_force_sensor_stiffness.Visible = true;
+ frame_force_sensor_elastic.Visible = true;
changeTestImage("", "", "FORCESENSOR_ELASTIC");
// stiffness 2: update elastic bands table
@@ -1591,7 +1788,7 @@ LogB.Information(" fs R ");
} else
{
label_button_force_sensor_stiffness.Text = "0";
- button_force_sensor_stiffness.Visible = false;
+ frame_force_sensor_elastic.Visible = false;
changeTestImage("", "", "FORCESENSOR_NOT_ELASTIC");
}
@@ -2388,7 +2585,7 @@ LogB.Information(" fs R ");
label_button_force_sensor_stiffness.Text = "0";
image_button_force_sensor_stiffness_problem.Visible = true;
- button_force_sensor_stiffness.Visible = false;
+ frame_force_sensor_elastic.Visible = false;
changeTestImage("", "", "FORCESENSOR_NOT_ELASTIC");
combo_force_sensor_button_sensitive_exercise(false);
@@ -2402,11 +2599,11 @@ LogB.Information(" fs R ");
double stiffness = ForceSensorElasticBand.GetStiffnessOfActiveBands(list_fseb);
setStiffnessButtonLabel(stiffness);
- button_force_sensor_stiffness.Visible = true;
+ frame_force_sensor_elastic.Visible = true;
changeTestImage("", "", "FORCESENSOR_ELASTIC");
} else {
label_button_force_sensor_stiffness.Text = "0";
- button_force_sensor_stiffness.Visible = false;
+ frame_force_sensor_elastic.Visible = false;
changeTestImage("", "", "FORCESENSOR_NOT_ELASTIC");
image_button_force_sensor_stiffness_problem.Visible = false;
}
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