public void set2UI(sc.SCALE_BASE_DATA scale_base_data)
{
int resolution = (int)scale_base_data.RESOLUTION;
int inposition_area = (int)scale_base_data.INPOSITION_AREA;
int Inposition_Stability_Time = (int)scale_base_data.INPOSITION_STABLE_TIME;
int Total_Pulse_Of_One_Scale = (int)scale_base_data.TOTAL_SCALE_PULSE;
int scale_offset = (int)scale_base_data.SCALE_OFFSET;
int Scale_Reset_Distance = (int)scale_base_data.SCALE_RESE_DIST;
E_DIRC_DRIV Direction_of_Read = scale_base_data.READ_DIR;
numic_Resolution_Value.Value = (decimal)resolution / SCALE_100;
numic_InpositionArea_Value.Value = (decimal)inposition_area / SCALE_10000;
numic_InpositionStabilityTime_Value.Value = (decimal)Inposition_Stability_Time / SCALE_10;
numic_TotalPulseOfOneScale_Value.Value = (decimal)Total_Pulse_Of_One_Scale;
numic_ScaleOffset_Value.Value = (decimal)scale_offset / SCALE_10000;
numic_ScaleResetDistance_Value.Value = (decimal)Scale_Reset_Distance / SCALE_10000;
cmbo_dirc_of_read.SelectedItem = Direction_of_Read;
}
private async void Uc_bt_Save1_MyClick(object sender, EventArgs e)
{
int resolution = (int)(numic_Resolution_Value.Value * SCALE_100);
int inposition_area = (int)(numic_InpositionArea_Value.Value * SCALE_10000);
int Inposition_Stability_Time = (int)(numic_InpositionStabilityTime_Value.Value * SCALE_10);
int Total_Pulse_Of_One_Scale = (int)(numic_TotalPulseOfOneScale_Value.Value);
int scale_offset = (int)(numic_ScaleOffset_Value.Value * SCALE_10000);
int Scale_Reset_Distance = (int)(numic_ScaleResetDistance_Value.Value * SCALE_10000);
E_DIRC_DRIV Direction_of_Read = (E_DIRC_DRIV)cmbo_dirc_of_read.SelectedItem;
sc.SCALE_BASE_DATA new_scale_base_data = new SCALE_BASE_DATA();
new_scale_base_data.RESOLUTION = resolution;
new_scale_base_data.INPOSITION_AREA = inposition_area;
new_scale_base_data.INPOSITION_STABLE_TIME = Inposition_Stability_Time;
new_scale_base_data.TOTAL_SCALE_PULSE = Total_Pulse_Of_One_Scale;
new_scale_base_data.SCALE_OFFSET = scale_offset;
new_scale_base_data.SCALE_RESE_DIST = Scale_Reset_Distance;
new_scale_base_data.READ_DIR = Direction_of_Read;
new_scale_base_data.SUB_VER = scale_base_data.SUB_VER;
new_scale_base_data.ADD_TIME = scale_base_data.ADD_TIME;
new_scale_base_data.ADD_USER = scale_base_data.ADD_USER;
new_scale_base_data.UPD_TIME = scale_base_data.UPD_TIME;
new_scale_base_data.UPD_USER = scale_base_data.UPD_USER;
bool isSuccess = false;
await Task.Run(() => isSuccess = dataSetting.updateScaleBaseData(new_scale_base_data));
if (isSuccess)
{
scale_base_data.RESOLUTION = resolution;
scale_base_data.INPOSITION_AREA = inposition_area;
scale_base_data.INPOSITION_STABLE_TIME = Inposition_Stability_Time;
scale_base_data.TOTAL_SCALE_PULSE = Total_Pulse_Of_One_Scale;
scale_base_data.SCALE_OFFSET = scale_offset;
scale_base_data.SCALE_RESE_DIST = Scale_Reset_Distance;
scale_base_data.READ_DIR = Direction_of_Read;
}
else
{
set2UI(scale_base_data);
}
}
private void dataGridView1_SelectionChanged(object sender, EventArgs e)
{
if (dataGridView1.SelectedRows.Count == 0)
{
return;
}
int select_index = dataGridView1.SelectedRows[0].Index;
var v_sec = vsecs[select_index];
E_DIRC_DRIV drive_dir = v_sec.DIRC_DRIV;
E_DIRC_GUID guide_dir = v_sec.DIRC_GUID;
string seg_num = v_sec.SEG_NUM;
E_DIRC_GUID guide_dir_1 = v_sec.CDOG_1;
E_DIRC_GUID guide_dir_2 = v_sec.CDOG_2;
string segment_num_1 = v_sec.CHG_SEG_NUM_1;
string segment_num_2 = v_sec.CHG_SEG_NUM_2;
E_AreaSensorDir areaSensorDir = v_sec.AREA_SECSOR.Value;
E_AreaSensorDir areaSensorDir_1 = v_sec.CHG_AREA_SECSOR_1;
E_AreaSensorDir areaSensorDir_2 = v_sec.CHG_AREA_SECSOR_2;
double section_distance = v_sec.SEC_DIS / 10000;
double section_speed = v_sec.SEC_SPD.HasValue ? (v_sec.SEC_SPD.Value / 100) : 0;
bool PresenceBlockingRequest = v_sec.PRE_BLO_REQ == 1; //0
bool PresenceDiverge = v_sec.BRANCH_FLAG; //1
bool PresenceHIDControl = v_sec.HID_CONTROL; //2
bool EnableChangeGuideArea = v_sec.ENB_CHG_G_AREA == 1; //4
bool PresenceAddressReport = v_sec.PRE_ADD_REPR == 1; //8
bool LaserSensor_ForwardStraight = v_sec.RANGE_SENSOR_F == 1; //12
bool CollisionAvoidance_ForwardStraight = v_sec.OBS_SENSOR_F == 1; //13
bool CollisionAvoidance_RightStraight = v_sec.OBS_SENSOR_R == 1; //14
bool CollisionAvoidance_LeftStraight = v_sec.OBS_SENSOR_L == 1; //15
UInt16 contrl_value = convertvSec2ControlTable(v_sec);
cmbo_AreaSensor_Value.SelectedItem = areaSensorDir;
cmbo_SectionID_Value.SelectedIndex = select_index;
cmbo_DriveDir_Value.SelectedItem = drive_dir;
cmbo_GuideDir_Value.SelectedItem = guide_dir;
cmbo_SegmentNo_Value.SelectedItem = seg_num;
cmbo_DirectionOfGuide1_Value.SelectedItem = guide_dir_1;
cmbo_SegmentNumber1_Value.SelectedItem = segment_num_1.Trim();
cmbo_AreaSensor1_Value.SelectedItem = areaSensorDir_1;
cmbo_DirectionOfGuide2_Value.SelectedItem = guide_dir_2;
cmbo_SegmentNumber2_Value.SelectedItem = segment_num_2.Trim();
cmbo_AreaSensor2_Value.SelectedItem = areaSensorDir_2;
num_section_dis.Value = (decimal)section_distance;
num_section_speed.Value = (decimal)section_speed;
//ck_CA_Senser_Forward.Checked = CollisionAvoidance_ForwardStraight;
//skinCheckBox2.Checked = CollisionAvoidance_RightStraight;
//skinCheckBox3.Checked = CollisionAvoidance_LeftStraight;
//skinCheckBox4.Checked = LaserSensor_ForwardStraight;
//skinCheckBox5.Checked = PresenceBlockingRequest;
//skinCheckBox6.Checked = PresenceAddressReport;
//skinCheckBox7.Checked = EnableChangeGuideArea;
//skinCheckBox8.Checked = PresenceHIDControl;
//skinCheckBox9.Checked = PresenceDiverge;
num_controlTable_Value.Value = contrl_value;
}
private async void uc_bt_Save1_Click(object sender, EventArgs e)
{
string sec_id = cmbo_SectionID_Value.Text as string;
E_DIRC_DRIV drive_dir = (E_DIRC_DRIV)cmbo_DriveDir_Value.SelectedItem;
E_DIRC_GUID guide_dir = (E_DIRC_GUID)cmbo_GuideDir_Value.SelectedItem;
E_AreaSensorDir area_sensor = (E_AreaSensorDir)cmbo_AreaSensor_Value.SelectedItem;
//string seg_num = cmbo_SegmentNo_Value.Text;
E_DIRC_GUID guide_dir_1 = (E_DIRC_GUID)cmbo_DirectionOfGuide1_Value.SelectedItem;
E_DIRC_GUID guide_dir_2 = (E_DIRC_GUID)cmbo_DirectionOfGuide2_Value.SelectedItem;
string segment_num_1 = cmbo_SegmentNumber1_Value.Text;
string segment_num_2 = cmbo_SegmentNumber2_Value.Text;
E_AreaSensorDir areaSensorDir_1 = (E_AreaSensorDir)cmbo_AreaSensor1_Value.SelectedItem;
E_AreaSensorDir areaSensorDir_2 = (E_AreaSensorDir)cmbo_AreaSensor2_Value.SelectedItem;
double section_distance = (double)(num_section_dis.Value * 10000);
double section_speed = (double)(num_section_speed.Value * 100);
bool CollisionAvoidance_ForwardStraight = ck_CA_Senser_Forward.Checked;
bool CollisionAvoidance_RightStraight = skinCheckBox2.Checked;
bool CollisionAvoidance_LeftStraight = skinCheckBox3.Checked;
bool LaserSensor_ForwardStraight = skinCheckBox4.Checked;
bool PresenceBlockingRequest = skinCheckBox5.Checked;
bool PresenceAddressReport = skinCheckBox6.Checked;
bool EnableChangeGuideArea = skinCheckBox7.Checked;
bool PresenceHIDControl = skinCheckBox8.Checked;
bool PresenceDiverge = skinCheckBox9.Checked;
ASECTION sec = new ASECTION()
{
SEC_ID = sec_id,
DIRC_DRIV = drive_dir,
DIRC_GUID = guide_dir,
AREA_SECSOR = area_sensor,
CDOG_1 = guide_dir_1,
CDOG_2 = guide_dir_2,
CHG_SEG_NUM_1 = segment_num_1,
CHG_SEG_NUM_2 = segment_num_2,
SEC_DIS = section_distance,
SEC_SPD = section_speed,
PRE_BLO_REQ = PresenceBlockingRequest ? 1 : 0,
//BRANCH_FLAG = PresenceDiverge
};
ASECTION_CONTROL_100 sec_100 = new ASECTION_CONTROL_100()
{
SEC_ID = sec_id,
CHG_AREA_SECSOR_1 = areaSensorDir_1,
CHG_AREA_SECSOR_2 = areaSensorDir_2,
OBS_SENSOR_F = CollisionAvoidance_ForwardStraight ? 1 : 0,
OBS_SENSOR_R = CollisionAvoidance_RightStraight ? 1 : 0,
OBS_SENSOR_L = CollisionAvoidance_LeftStraight ? 1 : 0,
RANGE_SENSOR_F = LaserSensor_ForwardStraight ? 1 : 0,
IS_ADR_RPT = PresenceAddressReport,
CAN_GUIDE_CHG = EnableChangeGuideArea,
HID_CONTROL = PresenceHIDControl,
BRANCH_FLAG = PresenceDiverge
};
bool isSuccess = false;
await Task.Run(() =>
{
isSuccess = dataSetting.updateSectionData(sec, sec_100);
});
if (isSuccess)
{
VSection_100ObjToShow vsec = vsecs.Where(secShow => secShow.SEC_ID == sec_id).SingleOrDefault();
vsec.DIRC_DRIV = sec.DIRC_DRIV;
vsec.DIRC_GUID = sec.DIRC_GUID;
vsec.AREA_SECSOR = sec.AREA_SECSOR;
vsec.CDOG_1 = sec.CDOG_1;
vsec.CDOG_2 = sec.CDOG_2;
vsec.CHG_SEG_NUM_1 = sec.CHG_SEG_NUM_1;
vsec.CHG_SEG_NUM_2 = sec.CHG_SEG_NUM_2;
vsec.SEC_DIS = sec.SEC_DIS;
vsec.SEC_SPD = sec.SEC_SPD;
vsec.PRE_BLO_REQ = sec.PRE_BLO_REQ;
//vsec.PRE_DIV = sec.PRE_DIV;
vsec.CHG_AREA_SECSOR_1 = sec_100.CHG_AREA_SECSOR_1;
vsec.CHG_AREA_SECSOR_2 = sec_100.CHG_AREA_SECSOR_2;
vsec.OBS_SENSOR_F = sec_100.OBS_SENSOR_F;
vsec.OBS_SENSOR_R = sec_100.OBS_SENSOR_R;
vsec.OBS_SENSOR_L = sec_100.OBS_SENSOR_L;
vsec.RANGE_SENSOR_F = sec_100.RANGE_SENSOR_F;
vsec.IS_ADR_RPT = sec_100.IS_ADR_RPT;
vsec.CAN_GUIDE_CHG = sec_100.CAN_GUIDE_CHG;
vsec.HID_CONTROL = sec_100.HID_CONTROL;
vsec.BRANCH_FLAG = sec_100.BRANCH_FLAG;
}
}
private async void Uc_bt_Save1_MyClick(object sender, EventArgs e)
{
var vh_data = cmbo_VehicleID_Value.SelectedItem as sc.AVEHICLE_CONTROL_100;
var new_vh_data = new sc.AVEHICLE_CONTROL_100();
int resolution = (int)(numic_Resolution_Value.Value * SCALE_1000);
int start_stop_speed = (int)(numic_StartStopSpeed_Value.Value * SCALE_100);
int max_speed = (int)(numic_MaxSpeed_Value.Value * SCALE_100);
int accel_deccel_time = (int)(numic_AccDeccTime_Value.Value * SCALE_1000);
E_DIRC_DRIV dire_of_home = (E_DIRC_DRIV)cmbo_DirectOfHome_Value.SelectedItem;
int home_speed = (int)(numic_HomeSpeed_Value.Value * SCALE_100);
int keep_distance_speed = (int)(numic_KeepDistanceSpeed_Value.Value * SCALE_100);
int keep_distance_far_speed = (int)(numic_KeepDistanceFar_Value.Value);
int keep_distance_near_speed = (int)(numic_KeepDistanceNear_Value.Value);
int maunual_high_speed = (int)(numic_ManualHighSpeed_Value.Value * SCALE_100);
int maunual_low_speed = (int)(numic_ManualLowSpeed_Value.Value * SCALE_100);
int teaching_speed = (int)(numic_TeachingSpeed_Value.Value * SCALE_100);
E_DIRC_DRIV travel_dirc = (E_DIRC_DRIV)cmbo_TravelDirection_Value.SelectedItem;
int front_limit = (int)(numic_FrontLimit_Value.Value);
int rear_limit = (int)(numic_FrontLimit_Value.Value);
int s_curve_rate = (int)(numic_SCurveRate_Value.Value);
E_ENCODER_POLE pole_encoder = (E_ENCODER_POLE)cmbo_PoleOfEncoder_Value.SelectedItem;
int position_compensation = (int)(numic_position_compensation.Value * SCALE_10000);
new_vh_data.VEHICLE_ID = vh_data.VEHICLE_ID;
new_vh_data.TRAVEL_RESOLUTION = resolution;
new_vh_data.TRAVEL_START_STOP_SPEED = start_stop_speed;
new_vh_data.TRAVEL_MAX_SPD = max_speed;
new_vh_data.TRAVEL_ACCEL_DECCEL_TIME = accel_deccel_time;
new_vh_data.TRAVEL_HOME_DIR = dire_of_home;
new_vh_data.TRAVEL_HOME_SPD = home_speed;
new_vh_data.TRAVEL_KEEP_DIS_SPD = keep_distance_speed;
new_vh_data.TRAVEL_OBS_DETECT_LONG = keep_distance_far_speed;
new_vh_data.TRAVEL_OBS_DETECT_SHORT = keep_distance_near_speed;
new_vh_data.TRAVEL_MANUAL_HIGH_SPD = maunual_high_speed;
new_vh_data.TRAVEL_MANUAL_LOW_SPD = maunual_low_speed;
new_vh_data.TRAVEL_TEACHING_SPD = teaching_speed;
new_vh_data.TRAVEL_TRAVEL_DIR = travel_dirc;
new_vh_data.TRAVEL_TRAVEL_DIR = travel_dirc;
new_vh_data.TRAVEL_F_DIR_LIMIT = position_compensation; //先用F_DIR_LIMIT 作為position_compensation的欄位
//new_vh_data.TRAVEL_R_DIR_LIMIT = rear_limit * SCALE_100;
new_vh_data.TRAVEL_S_CURVE_RATE = s_curve_rate;
new_vh_data.TRAVEL_ENCODER_POLARITY = pole_encoder;
new_vh_data.SUB_VER = "";
bool isSuccess = false;
await Task.Run(() => isSuccess = dataSetting.updateTravelBaseData(new_vh_data));
if (isSuccess)
{
vh_data.TRAVEL_RESOLUTION = resolution;
vh_data.TRAVEL_START_STOP_SPEED = start_stop_speed;
vh_data.TRAVEL_MAX_SPD = max_speed;
vh_data.TRAVEL_ACCEL_DECCEL_TIME = accel_deccel_time;
vh_data.TRAVEL_HOME_DIR = dire_of_home;
vh_data.TRAVEL_HOME_SPD = home_speed;
vh_data.TRAVEL_KEEP_DIS_SPD = keep_distance_speed;
vh_data.TRAVEL_OBS_DETECT_LONG = keep_distance_far_speed;
vh_data.TRAVEL_OBS_DETECT_SHORT = keep_distance_near_speed;
vh_data.TRAVEL_MANUAL_HIGH_SPD = maunual_high_speed;
vh_data.TRAVEL_MANUAL_LOW_SPD = maunual_low_speed;
vh_data.TRAVEL_TEACHING_SPD = teaching_speed;
vh_data.TRAVEL_TRAVEL_DIR = travel_dirc;
//vh_data.TRAVEL_F_DIR_LIMIT = front_limit;
vh_data.TRAVEL_R_DIR_LIMIT = rear_limit;
vh_data.TRAVEL_S_CURVE_RATE = s_curve_rate;
vh_data.TRAVEL_ENCODER_POLARITY = pole_encoder;
vh_data.TRAVEL_F_DIR_LIMIT = position_compensation;
}
else
{
set2UI(vh_data);
}
}
private void set2UI(sc.AVEHICLE_CONTROL_100 vh_data)
{
double resolution = (double)vh_data.TRAVEL_RESOLUTION / SCALE_1000;
double start_stop_speed = (double)vh_data.TRAVEL_START_STOP_SPEED / SCALE_100;
double max_speed = (double)vh_data.TRAVEL_MAX_SPD / SCALE_100;
double accel_deccel_time = (double)vh_data.TRAVEL_ACCEL_DECCEL_TIME / SCALE_1000;
E_DIRC_DRIV dire_of_home = vh_data.TRAVEL_HOME_DIR;
double home_speed = (double)vh_data.TRAVEL_HOME_SPD / SCALE_100;
double keep_distance_speed = (double)vh_data.TRAVEL_KEEP_DIS_SPD / SCALE_100;
double keep_distance_far_speed = (double)vh_data.TRAVEL_OBS_DETECT_LONG;
double keep_distance_near_speed = (double)vh_data.TRAVEL_OBS_DETECT_SHORT;
double maunual_high_speed = (double)vh_data.TRAVEL_MANUAL_HIGH_SPD / SCALE_100;
double maunual_low_speed = (double)vh_data.TRAVEL_MANUAL_LOW_SPD / SCALE_100;
double teaching_speed = (double)vh_data.TRAVEL_TEACHING_SPD / SCALE_100;
E_DIRC_DRIV travel_dirc = vh_data.TRAVEL_TRAVEL_DIR;
double front_limit = (double)vh_data.TRAVEL_F_DIR_LIMIT;
double rear_limit = (double)vh_data.TRAVEL_R_DIR_LIMIT;
double s_curve_rate = (double)vh_data.TRAVEL_S_CURVE_RATE;
E_ENCODER_POLE pole_encoder = vh_data.TRAVEL_ENCODER_POLARITY;
double position_compensation = (double)vh_data.TRAVEL_F_DIR_LIMIT / SCALE_10000;
numic_Resolution_Value.Value = (decimal)resolution;
numic_StartStopSpeed_Value.Value = (decimal)start_stop_speed;
numic_MaxSpeed_Value.Value = (decimal)max_speed;
numic_AccDeccTime_Value.Value = (decimal)accel_deccel_time;
cmbo_DirectOfHome_Value.SelectedItem = dire_of_home;
numic_HomeSpeed_Value.Value = (decimal)home_speed;
numic_KeepDistanceSpeed_Value.Value = (decimal)keep_distance_speed;
numic_KeepDistanceFar_Value.Value = (decimal)keep_distance_far_speed;
numic_KeepDistanceNear_Value.Value = (decimal)keep_distance_near_speed;
numic_ManualHighSpeed_Value.Value = (decimal)maunual_high_speed;
numic_ManualLowSpeed_Value.Value = (decimal)maunual_low_speed;
numic_TeachingSpeed_Value.Value = (decimal)teaching_speed;
cmbo_TravelDirection_Value.SelectedItem = travel_dirc;
numic_FrontLimit_Value.Value = (decimal)front_limit;
numic_RearLimit_Value.Value = (decimal)rear_limit;
numic_SCurveRate_Value.Value = (decimal)s_curve_rate;
cmbo_PoleOfEncoder_Value.SelectedItem = pole_encoder;
numic_position_compensation.Value = (decimal)position_compensation;
//int resolution = (int)numic_Resolution_Value.Value;
//int start_stop_speed = (int)numic_StartStopSpeed_Value.Value;
//int max_speed = (int)numic_MaxSpeed_Value.Value;
//int accel_deccel_time = (int)numic_AccDeccTime_Value.Value;
//E_DIRC_DRIV dire_of_home = (E_DIRC_DRIV)cmbo_DirectOfHome_Value.SelectedItem;
//int home_speed = (int)numic_HomeSpeed_Value.Value;
//int keep_distance_speed = (int)numic_KeepDistanceSpeed_Value.Value;
//int keep_distance_far_speed = (int)numic_KeepDistanceFar_Value.Value;
//int keep_distance_near_speed = (int)numic_KeepDistanceNear_Value.Value;
//int maunual_high_speed = (int)numic_ManualHighSpeed_Value.Value;
//int maunual_low_speed = (int)numic_ManualLowSpeed_Value.Value;
//int teaching_speed = (int)numic_TeachingSpeed_Value.Value;
//E_DIRC_DRIV travel_dirc = (E_DIRC_DRIV)cmbo_TravelDirection_Value.SelectedItem;
//int front_limit = (int)numic_FrontLimit_Value.Value;
//int rear_limit = (int)numic_FrontLimit_Value.Value;
//int s_curve_rate = (int)numic_SCurveRate_Value.Value;
//E_ENCODER_POLE pole_encoder = (E_ENCODER_POLE)cmbo_PoleOfEncoder_Value.SelectedItem;
//numic_StartStopSpeed_Value.Value = start_stop_speed / SCALE_100;
//numic_MaxSpeed_Value.Value = max_speed / SCALE_100;
//numic_AccDeccTime_Value.Value = accel_deccel_time / SCALE_1000;
//numic_SCurveRate_Value.Value = s_curve_rate;
//numic_RunningSpeed_Value.Value = run_speed / SCALE_100;
//numic_ManualHighSpeed_Value.Value = manual_high_speed / SCALE_10000;
//numic_ManualLowSpeed_Value.Value = manual_low_speed / SCALE_10000;
//numic_FrontLeftLoclPosition_Value.Value = lf_lock_position / SCALE_10000;
//numic_RearLeftLoclPosition_Value.Value = lb_lock_position / SCALE_10000;
//numic_FrontRightLoclPosition_Value.Value = rf_lock_position / SCALE_10000;
//numic_RearRightLoclPosition_Value.Value = rb_lock_position / SCALE_10000;
//numic_ChangeStabilityTime_Value.Value = chang_stable_time / SCALE_10;
}
