// Actuators X
List<IActuator> actuatorsXList;
List<String> actuatorsNamesXList;
String[] actuatorsNamesXArray;
IDimension2DX dimensionX = config.getDimensionX();
actuatorsXList = dimensionX.getActuatorsList();
actuatorsNamesXList = new ArrayList<String>(actuatorsXList.size());
for (IActuator actuator : actuatorsXList) {
if (actuator.isEnabled()) {
actuatorsNamesXList.add(actuator.getName());
}
}
actuatorsNamesXArray = actuatorsNamesXList
.toArray(new String[actuatorsNamesXList.size()]);
setAttribute("actuators", actuatorsNamesXArray);
// Actuators y
List<IActuator> actuatorsYList;
List<String> actuatorsNamesYList;
String[] actuatorsNamesYArray;
IDimension2DY dimensionY = config.getDimensionY();
actuatorsYList = dimensionY.getActuatorsList();
actuatorsNamesYList = new ArrayList<String>(actuatorsYList.size());
for (IActuator actuator : actuatorsYList) {
if (actuator.isEnabled()) {
actuatorsNamesYList.add(actuator.getName());
}
}
actuatorsNamesYArray = actuatorsNamesYList
.toArray(new String[actuatorsNamesYList.size()]);
setAttribute("actuators2", actuatorsNamesYArray);
// Dimensions X
// Tango exchanges trajectories as double arrays that contains the positions, in
// order,
// actuator after actuator, range after range, of the trajectories of all the
// actuators.
// There is one such array per dimension.
double[] allActuatorsPositionsXArray;
double initialValueX;
// Contains the positions in order, range after range, of the trajectories of an
// actuator.
List<Double> actuatorPositionsXList;
// Contains the positions in order, actuator after actuator, range after range,
// of
// the trajectories of all the actuators.
List<Double> allActuatorsPositionsXList;
// The list of integrations times.
List<Double> integrationsTimesXList;
double[] integrationsTimesXArray;
int integrationTimeIndexX;
// The list of speeds.
List<Double> speedXList = new ArrayList<Double>();
double[] speedXArray;
// The number of points, which is the total steps numbers + 1 per range.
int totalStepsNumberX;
// The actuators used for this dimension
List<IActuator> dimensionActuatorsXList = dimensionX.getActuatorsList();
// The positions, sorted as Tango expect them.
allActuatorsPositionsXList = new ArrayList<Double>();
// The number of enabled actuators.
int enabledActuatorsXNumber = 0;
// The positions must be sorted by actuator, so we loop over the actuators.
for (int index = 0; index < dimensionActuatorsXList.size(); index++) {
IActuator actuator = dimensionActuatorsXList.get(index);
if (actuator.isEnabled()) {
initialValueX = ActuatorConnector.getData(actuator);
actuatorPositionsXList = new ArrayList<Double>();
// For each actuators, the positions must be sorted by range.
for (ITrajectory2DX trajectory : findActuatorTrajectories(dimensionX,
index)) {
actuatorPositionsXList.addAll(TrajectoryCalculator
.calculateLinearTrajectoriesPosition(trajectory,
initialValueX));
// The speeds must be sorted in the same order, so we read them
// here.
speedXList.add(trajectory.getSpeed());
}
allActuatorsPositionsXList.addAll(actuatorPositionsXList);
++enabledActuatorsXNumber;
}
}
// Integration Time and steps number.
integrationsTimesXList = new ArrayList<Double>(dimensionX.getRangesList()
.size());
int stepsNumberX;
totalStepsNumberX = 0;
for (IRange2DX range : dimensionX.getRangesList()) {
stepsNumberX = range.getStepsNumber();
for (integrationTimeIndexX = 0; integrationTimeIndexX < stepsNumberX + 1; ++integrationTimeIndexX) {
integrationsTimesXList.add(range.getIntegrationTime());
}
totalStepsNumberX += stepsNumberX + 1;