private void reportCheckUpResults() { if (logger == null) return; String loggerName = logger.getName() + "DataReporter"; dataReporter = new OneDoFJointCheckUpDiagnosticDataReporter(loggerName, joint, diagnosticParameters, processedPositionQualityMean, processedPositionQualityStandardDeviation, processedPositionDelayMean, processedPositionDelayStandardDeviation, rawVelocityQualityMean, rawVelocityQualityStandardDeviation, rawVelocityDelayMean, rawVelocityDelayStandardDeviation, processedVelocityQualityMean, processedVelocityQualityStandardDeviation, processedVelocityDelayMean, processedVelocityDelayStandardDeviation, forceTrackingQualityMean, forceTrackingQualityStandardDeviation, forceTrackingDelayMean, forceTrackingDelayStandardDeviation, fourierAnalysis, functionGenerator); sendDataReporter = true; }
@Override public void run() { isDoneExportingData.set(false); reportCheckUpResults(); isDoneExportingData.set(true); }
@Override public boolean isDone() { if (validityChecker.sensorsCannotBeTrusted()) { disableEstimators(); if (logger != null) logger.severe(joint.getName() + " Joint sensors can't be trusted, skipping to the next diagnostic task."); return true; } if (dataReporter != null && !dataReporter.isDoneExportingData()) return false; return getTimeInCurrentTask() >= checkUpDuration.getDoubleValue() + 2.0 * rampDuration.getDoubleValue(); }
reportDelay(DelaySignalType.PROCESSED_POSITION, processedPositionQualityMean, processedPositionQualityStandardDeviation, processedPositionDelayMean, processedPositionDelayStandardDeviation); reportDelay(DelaySignalType.RAW_VELOCITY, rawVelocityQualityMean, rawVelocityQualityStandardDeviation, rawVelocityDelayMean, rawVelocityDelayStandardDeviation); reportDelay(DelaySignalType.PROCESSED_VELOCITY, processedVelocityQualityMean, processedVelocityQualityStandardDeviation, processedVelocityDelayMean, processedVelocityDelayStandardDeviation);
@Override public boolean isDone() { if (validityChecker.sensorsCannotBeTrusted()) { disableEstimators(); if (logger != null) logger.severe(joint.getName() + " Joint sensors can't be trusted, skipping to the next diagnostic task."); return true; } if (dataReporter != null && !dataReporter.isDoneExportingData()) return false; return getTimeInCurrentTask() >= checkUpDuration.getDoubleValue() + 2.0 * rampDuration.getDoubleValue(); }
reportDelay(DelaySignalType.PROCESSED_POSITION, processedPositionQualityMean, processedPositionQualityStandardDeviation, processedPositionDelayMean, processedPositionDelayStandardDeviation); reportDelay(DelaySignalType.RAW_VELOCITY, rawVelocityQualityMean, rawVelocityQualityStandardDeviation, rawVelocityDelayMean, rawVelocityDelayStandardDeviation); reportDelay(DelaySignalType.PROCESSED_VELOCITY, processedVelocityQualityMean, processedVelocityQualityStandardDeviation, processedVelocityDelayMean, processedVelocityDelayStandardDeviation);
private void reportCheckUpResults() { if (logger == null) return; String loggerName = logger.getName() + "DataReporter"; dataReporter = new OneDoFJointCheckUpDiagnosticDataReporter(loggerName, joint, diagnosticParameters, processedPositionQualityMean, processedPositionQualityStandardDeviation, processedPositionDelayMean, processedPositionDelayStandardDeviation, rawVelocityQualityMean, rawVelocityQualityStandardDeviation, rawVelocityDelayMean, rawVelocityDelayStandardDeviation, processedVelocityQualityMean, processedVelocityQualityStandardDeviation, processedVelocityDelayMean, processedVelocityDelayStandardDeviation, forceTrackingQualityMean, forceTrackingQualityStandardDeviation, forceTrackingDelayMean, forceTrackingDelayStandardDeviation, fourierAnalysis, functionGenerator); sendDataReporter = true; }
@Override public void run() { isDoneExportingData.set(false); reportCheckUpResults(); isDoneExportingData.set(true); }