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using grapher.Models.Charts;
using grapher.Models.Serialized;
using System;
using System.Collections.Generic;
using System.Linq;
namespace grapher.Models.Calculations
{
public class AccelData
{
#region Constructors
public AccelData(
EstimatedPoints combined,
EstimatedPoints x,
EstimatedPoints y)
{
Combined = new AccelChartData();
X = new AccelChartData();
Y = new AccelChartData();
Estimated = combined;
EstimatedX = x;
EstimatedY = y;
OutVelocityToPoints = new Dictionary<double, (double, double, double, double, double, double, double)>();
}
#endregion Constructors
#region Properties
public AccelChartData Combined { get; }
public AccelChartData X { get; }
public AccelChartData Y { get; }
private EstimatedPoints Estimated { get; }
private EstimatedPoints EstimatedX { get; }
private EstimatedPoints EstimatedY { get; }
private Dictionary<double, (double, double, double, double, double, double, double)> OutVelocityToPoints { get; }
#endregion Properties
#region Methods
public void Clear()
{
Combined.Clear();
X.Clear();
Y.Clear();
OutVelocityToPoints.Clear();
}
public void CalculateDots(int x, int y, double timeInMs)
{
var outVelocity = AccelCalculator.Velocity(x, y, timeInMs);
(var inCombVel, var combSens, var combGain) = Combined.FindPointValuesFromOut(outVelocity);
Estimated.Velocity.Set(inCombVel, outVelocity);
Estimated.Sensitivity.Set(inCombVel, combSens);
Estimated.Gain.Set(inCombVel, combGain);
}
public void CalculateDotsXY(int x, int y, double timeInMs)
{
var outX = Math.Abs(x) / timeInMs;
var outY = Math.Abs(y) / timeInMs;
(var inXVelocity, var xSensitivity, var xGain) = X.FindPointValuesFromOut(outX);
EstimatedX.Velocity.Set(inXVelocity, outX);
EstimatedX.Sensitivity.Set(inXVelocity, xSensitivity);
EstimatedX.Gain.Set(inXVelocity, xGain);
(var inYVelocity, var ySensitivity, var yGain) = Y.FindPointValuesFromOut(outY);
EstimatedY.Velocity.Set(inYVelocity, outY);
EstimatedY.Sensitivity.Set(inYVelocity, ySensitivity);
EstimatedY.Gain.Set(inYVelocity, yGain);
}
public void CalculateDotsCombinedDiffSens(int x, int y, double timeInMs, DriverSettings settings)
{
(var xStripped, var yStripped) = AccelCalculator.StripSens(x, y, settings.sensitivity.x, settings.sensitivity.y);
var outVelocity = AccelCalculator.Velocity(xStripped, yStripped, timeInMs);
if (OutVelocityToPoints.TryGetValue(outVelocity, out var points))
{
EstimatedX.Sensitivity.Set(points.Item1, points.Item2);
EstimatedX.Velocity.Set(points.Item1, points.Item3);
EstimatedX.Gain.Set(points.Item1, points.Item4);
EstimatedY.Sensitivity.Set(points.Item1, points.Item5);
EstimatedY.Velocity.Set(points.Item1, points.Item6);
EstimatedY.Gain.Set(points.Item1, points.Item7);
}
else
{
var index = Combined.GetVelocityIndex(outVelocity);
var inVelocity = Combined.VelocityPoints.ElementAt(index).Key;
var xPoints = X.ValuesAtIndex(index);
var yPoints = Y.ValuesAtIndex(index);
OutVelocityToPoints.Add(outVelocity, (inVelocity, xPoints.Item1, xPoints.Item2, xPoints.Item3, yPoints.Item1, yPoints.Item2, yPoints.Item3));
EstimatedX.Sensitivity.Set(inVelocity, xPoints.Item1);
EstimatedX.Velocity.Set(inVelocity, xPoints.Item2);
EstimatedX.Gain.Set(inVelocity, xPoints.Item3);
EstimatedY.Sensitivity.Set(inVelocity, yPoints.Item1);
EstimatedY.Velocity.Set(inVelocity, yPoints.Item2);
EstimatedY.Gain.Set(inVelocity, yPoints.Item3);
}
}
#endregion Methods
}
}
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