//updates the port when selected
private void listBox_avPorts_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
try
{
serialPort.Close();
serialPort.PortName = listBox_avPorts.SelectedItem.ToString();
serialPort.Open();
}
catch (Exception)
{ serialPort.PortName = " "; }
}
static void Main(string[] args)
{
HrController.port = ComPort;
ComPort.DataReceived += HrDecoder.DecodePacket;
HrDecoder.OnDataDecodedEvent += HrDecoder.ProcessPacket;
HrDecoder.OnStatAckEvent += HrDecoder_OnStatAckEvent;
HrDecoder.OnIjogAckEvent += HrDecoder_OnIjogAckEvent;
HrDecoder.OnSjogAckEvent += HrDecoder_OnSjogAckEvent;
HrDecoder.OnRamReadAckEvent += HrDecoder_OnRamReadAckEvent;
HrDecoder.OnEepReadAckEvent += HrDecoder_OnEepReadAckEvent;
ComPort.Open();
while (lockShell)
{
Console.Write('>');
string[] parsedCmd = ParseShellCmd(Console.ReadLine());
switch (parsedCmd[0])
{
case "REBOOT":
if (parsedCmd.Length == 1)
{
Console.WriteLine("REBOOT <pID>");
}
else
{
HrController.REBOOT(Convert.ToByte(parsedCmd[1]));
}
break;
case "ROOLBACK":
if (parsedCmd.Length == 1)
{
Console.WriteLine("ROLLBACK <ID>");
}
else
{
HrController.ROLLBACK(Convert.ToByte(parsedCmd[1]));
}
break;
case "EEP_WRITE":
if (parsedCmd.Length == 1)
{
Console.WriteLine("EEP_WRITE <pID> <StartAddr> <Length> <DataDecimal>");
}
else
{
HrController.EEP_WRITE(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]),
Convert.ToByte(parsedCmd[3]), Convert.ToUInt16(parsedCmd[4]));
}
break;
case "EEP_READ":
if (parsedCmd.Length == 1)
{
Console.WriteLine("EEP_READ <pID> <StartAddr> <Length>");
}
else
{
HrController.EEP_READ(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]), Convert.ToByte(parsedCmd[3]));
}
break;
case "STAT":
if (parsedCmd.Length == 1)
{
Console.WriteLine("STAT <pID>");
}
else
{
HrController.STAT(Convert.ToByte(parsedCmd[1]));
}
break;
//for testing incredible things
case "debug":
if (parsedCmd.Length == 1)
{
Console.WriteLine("debug <JOG1> <JOG2>");
}
else
{
Ser1Config.JOG = Convert.ToUInt16(parsedCmd[1]);
Ser2Config.JOG = Convert.ToUInt16(parsedCmd[2]);
ROBOT_ARM_CONFIG = new List <JOG_TAG>
{
Ser1Config,
Ser2Config
};
HrController.S_JOG(ROBOT_ARM_CONFIG, 0x3C);
}
break;
//implemented, working
case "moveto":
if (parsedCmd.Length == 1)
{
Console.WriteLine("moveto <ID> <JOG>");
}
else
{
floatingConfig.ID = Convert.ToByte(parsedCmd[1]);
floatingConfig.JOG = Convert.ToUInt16(parsedCmd[2]);
HrController.S_JOG(floatingConfig, 10);
}
break;
case "GetPos":
if (parsedCmd.Length == 1)
{
Console.WriteLine("GetPos <pID>");
}
else
{
HrController.RAM_READ(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Absolute_Position, 2);
}
break;
//implemented, working
case "torqueControl":
if (parsedCmd.Length == 1)
{
Console.WriteLine("torqueControl <ID> <TRK_ON, BRK_ON, TRK_FREE>");
}
else
{
if (parsedCmd[2] == "TRK_ON")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x60);
}
if (parsedCmd[2] == "BRK_ON")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x40);
}
if (parsedCmd[2] == "TRK_FREE")
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x00);
}
}
break;
case "RAM_READ":
if (parsedCmd.Length == 1)
{
Console.WriteLine("RAM_READ <pID> <StartAddr> <Length>");
}
else
{
HrController.RAM_READ(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]), Convert.ToByte(parsedCmd[3]));
}
break;
case "RAM_WRITE":
if (parsedCmd.Length == 1)
{
Console.WriteLine("RAM_WRITE <pID> <StartAddr> <Length> <Value> {ADDR 48 / 49 for error status}");
}
else
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), Convert.ToByte(parsedCmd[2]),
Convert.ToByte(parsedCmd[3]), Convert.ToUInt16(parsedCmd[4]));
}
break;
case "initPos":
floatingConfig.ID = 1;
floatingConfig.JOG = 512;
floatingConfig.playTime = 100;
HrController.I_JOG(floatingConfig);
floatingConfig.ID = 2;
floatingConfig.JOG = 512;
floatingConfig.playTime = 100;
HrController.I_JOG(floatingConfig);
break;
case "allFree":
HrController.RAM_WRITE(1, (byte)RAM_ADDR.Torque_Control, 1, 0x00);
HrController.RAM_WRITE(2, (byte)RAM_ADDR.Torque_Control, 1, 0x00);
break;
case "allOn":
HrController.RAM_WRITE(1, (byte)RAM_ADDR.Torque_Control, 1, 0x60);
HrController.RAM_WRITE(2, (byte)RAM_ADDR.Torque_Control, 1, 0x60);
break;
case "disconnect":
ComPort.Close();
break;
case "connect":
ComPort.Open();
break;
case "list":
Console.WriteLine("moveto <ID> <JOG>");
Console.WriteLine("torqueControl <ID> <TRK_ON, BRK_ON, TRK_FREE>");
Console.WriteLine("RAM_READ <pID> <StartAddr> <Length>");
Console.WriteLine("RAM_WRITE <pID> <StartAddr> <Length> <Value> {ADDR 48 / 49 for error status}");
Console.WriteLine("initPos");
Console.WriteLine("allFree");
Console.WriteLine("allOn");
Console.WriteLine("disconnect");
Console.WriteLine("connect");
break;
case "ResolveErrs":
if (parsedCmd.Length == 1)
{
Console.WriteLine("ResolveErrs <pID>");
}
else
{
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Status_Error, 1, 0x00);
HrController.RAM_WRITE(Convert.ToByte(parsedCmd[1]), (byte)RAM_ADDR.Torque_Control, 1, 0x60);
}
break;
case "quit":
ComPort.Close();
lockShell = false;
break;
}
}
}
