private void lstFunctions_ItemCheck(object sender, ItemCheckEventArgs e)
{
if (!Execution.DesignMode && !_loading)
{
String funcStr = (String)lstFunctions.Items[e.Index];
CanFrameFunction func = (CanFrameFunction)Enum.Parse(typeof(CanFrameFunction), funcStr);
Config.CurrentConfig.LogsCanFunctions[func] = (e.NewValue == CheckState.Checked);
}
}
/// <summary>
/// Récupère le message explicite associé à une fonction du protocole.
/// Les paramètres sont signalés par des accolades indiquant la position dans la trame des octets correspondant à la valeur du paramètre.
/// Si les paramètres sont fournis, leur valeur remplacent les paramètres entre accolades.
/// </summary>
/// <param name="function"></param>
/// <param name="parameters"></param>
/// <returns></returns>
public static String GetMessage(CanFrameFunction function, List <uint> parameters = null)
{
String output = "";
switch (function)
{
case CanFrameFunction.PositionAsk:
output = "Demande de position servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.PositionResponse:
output = "Retour de position servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.PositionSet:
output = "Envoi de position servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.PositionMinAsk:
output = "Demande de position min servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.PositionMinResponse:
output = "Retour de position min servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.PositionMinSet:
output = "Envoi de position min servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.PositionMaxAsk:
output = "Demande de position max servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.PositionMaxResponse:
output = "Retour de position max servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.PositionMaxSet:
output = "Envoi de position max servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.SpeedMaxAsk:
output = "Demande de vitesse servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.SpeedMaxResponse:
output = "Retour de vitesse servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.SpeedMaxSet:
output = "Envoi de vitesse servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TorqueMaxAsk:
output = "Demande de couple max servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.TorqueMaxResponse:
output = "Retour de couple max servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TorqueMaxSet:
output = "Envoi de couple max servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TorqueCurrentAsk:
output = "Demande de couple actuel servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TorqueCurrentResponse:
output = "Retour de couple actuel servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.AccelerationAsk:
output = "Demande de l'acceleration servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.AccelerationResponse:
output = "Retour de l'acceleration servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.AccelerationSet:
output = "Envoi de l'acceleration servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TargetSet:
output = "Déplacement servo {ServoID} : {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.TrajectorySet:
output = "Déplacement servo {ServoID} : Pos = {4-5}; Vit = {6-7}; Accel = {8-9}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.DisableOutput:
output = "Disable servo {ServoID}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
}
break;
case CanFrameFunction.TorqueAlert:
output = "Alerte couple dépassé (1sec) {ServoID} : Couple = {4-5}";
if (parameters != null)
{
output = ReplaceParam(output, ((ServomoteurID)parameters[0]).ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case CanFrameFunction.Debug:
output = "Debug";
break;
case CanFrameFunction.DebugAsk:
output = "Demande valeur debug";
break;
case CanFrameFunction.DebugResponse:
output = "Retour valeur debug";
break;
case CanFrameFunction.TestConnection:
output = "Test connexion";
break;
case CanFrameFunction.BatterieVoltage:
output = "Retour alimentation : {3-4}V {5-6}A";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] / 1000.0).ToString("0.00"));
output = ReplaceParam(output, (parameters[1] / 1000.0).ToString("0.00"));
}
break;
case CanFrameFunction.Buzzer:
output = "Buzzer : {3-4}Hz {5-6}mS";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString("0"));
output = ReplaceParam(output, parameters[1].ToString("0"));
}
break;
default:
output = "Inconnu";
break;
}
return(output);
}
private void ShowFrameFunction(CanFrameFunction func, bool show)
{
lstFunctions.Items.Remove(func.ToString());
lstFunctions.Items.Add(func.ToString(), show);
Config.CurrentConfig.LogsCanFunctions[func] = show;
}
