private void btnAddToClass_Click(object sender, EventArgs e)
{
// Connect to the vault and continue if successful.
if (!ConnectToSelectedVault())
{
return;
}
ObjectClasses classes = vault.ClassOperations.GetAllObjectClasses();
foreach (ObjectClass cl in classes)
{
if (cl.ObjectType == 0)
{
ObjectClassAdmin cla = vault.ClassOperations.GetObjectClassAdmin(cl.ID);
// Need to get the AssociatedPropertyDefs from the underlying ObjectClass (except
// for a few built-in properties), otherwise UpdateObjectClassAdmin() will fail.
CopyPropertiesToObjectClassAdmin(cla, cl);
AssociatedPropertyDef apd = new AssociatedPropertyDef();
apd.PropertyDef = ((PropertyComboBoxItem)propertyComboBox.SelectedItem).propID;
cla.AssociatedPropertyDefs.Add(-1, apd);
vault.ClassOperations.UpdateObjectClassAdmin(cla);
}
}
MessageBox.Show("Done");
}
// Note: Will go through ALL class, even built-in ones (modify the code if different behavior
// is needed).
private void ClearSelectedClassAliases()
{
ObjectClasses classes = vault.ClassOperations.GetAllObjectClasses();
foreach (ObjectClass cl in classes)
{
// The corresponding ObjectClassAdmin
ObjectClassAdmin cla = vault.ClassOperations.GetObjectClassAdmin(cl.ID);
string clName = cla.Name.Replace(" ", ""); //String.Empty);
string aliases = cla.SemanticAliases.Value;
// Remove the aliasPrefix if it exists.
string updatedAliases = RemoveAlias(aliases, clPrefix + clName);
if (aliases != updatedAliases)
{
// Need to get the AssociatedPropertyDefs from the underlying ObjectClass (except
// for a few built-in properties), otherwise UpdateObjectClassAdmin() will fail.
CopyPropertiesToObjectClassAdmin(cla, cl);
cla.SemanticAliases.Value = updatedAliases;
vault.ClassOperations.UpdateObjectClassAdmin(cla);
}
}
}
private static bool TransmitCommand(ObjectClasses.ISerialPortIo serialPort1, byte[] Command, int ArrayLength)
{
try
{
serialPort1.DiscardInBuffer();
serialPort1.DiscardOutBuffer();
serialPort1.Write(Command, 0, ArrayLength);
}
catch (System.IO.IOException e)
{
DataComms.CreateThreadInstance("Transm. Command - exception Thrown! " + e.Message);
return false;
}
catch (UnauthorizedAccessException e)
{
DataComms.CreateThreadInstance("Transm. Command - exception Thrown! " + e.Message);
return false;
}
catch (Exception e)
{
DataComms.CreateThreadInstance("Transm. Command - exception Thrown! " + e.Message);
return false;
}
return true;
}
public static bool TryCloseSerialPort(ObjectClasses.ISerialPortIo serialPort1, string source)
{
if (serialPort1.IsOpen == true)
{
try
{
serialPort1.Close();
return true;
}
catch (System.IO.IOException)
{
DataComms.CreateThreadInstance("TryCloseSerialPort - IOException: " + source);
}
catch (UnauthorizedAccessException)
{
DataComms.CreateThreadInstance("TryCloseSerialPort - UnauthorizedAccessException: " + source);
}
catch (Exception)
{
DataComms.CreateThreadInstance("TryCloseSerialPort - Exception: " + source);
}
finally
{
}
return false;
}
else
{
return true;
}
}
public static bool SetMotorSpeed(ObjectClasses.ISerialPortIo serialPort1, int SpeedRefVal, byte DirectionByte)
{
Encoding ascii = Encoding.ASCII;
byte[] asciiBytes = ascii.GetBytes(SpeedRefVal.ToString()); //Converts the string of ASCII characters to a byte array where each member is the decimal representation of the ASCII value
byte[] RSSCommand = new byte[25];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x43; //C
RSSCommand[4] = 0x4A; //J
RSSCommand[5] = 0x52; //R
RSSCommand[6] = DirectionByte; //Dir
RSSCommand[7] = 0x30; //Speed 1000.0
RSSCommand[8] = 0x30; //
RSSCommand[9] = 0x30; //
RSSCommand[10] = 0x30; //
RSSCommand[11] = 0x30; //
RSSCommand[12] = 0x30; //0
RSSCommand[13] = 0x36; //6
RSSCommand[14] = 0x30; //0
RSSCommand[15] = 0x30; //0
RSSCommand[16] = 0x30; //0
RSSCommand[17] = 0x36; //6
RSSCommand[18] = 0x30; //0
RSSCommand[19] = 0x30; //0
RSSCommand[20] = 0x39; //9
RSSCommand[21] = 0x39; //9
RSSCommand[22] = 0x39; //9
RSSCommand[23] = 0x39; //9
RSSCommand[24] = 0x04; //EOT
for (int ii = 0; ii < asciiBytes.Length; ii++)
{
RSSCommand[10 - ii] = asciiBytes[asciiBytes.Length - 1 - ii];
}
/*return*/ TransmitCommand(serialPort1, RSSCommand, 25);
System.Threading.Thread.Sleep(100);
while (serialPort1.BytesToRead != 0)
{
string text = Convert.ToString(serialPort1.ReadByte().ToString("X"));
System.Diagnostics.Debug.WriteLine(Convert.ToString(text));
}
//serialPort1.Close();
return true;
}
private ObjectClass GetObjectClass(string objectClassName)
{
//если такой есть, то возвращаем его
foreach (ObjectClass oc in ObjectClasses)
{
if (oc.Name == objectClassName)
{
return(oc);
}
}
//иначе, добавляем и возвращаем добавленный
ObjectClasses.Add(new ObjectClass(objectClassName));
return(ObjectClasses[ObjectClasses.Count - 1]);
}
public MapRegionEditorForm(ObjectClasses.MapRegion mapRegion)
{
InitializeComponent();
this.MapRegion = mapRegion;
mapDropDown.Items.Add(MinimapLoader.World);
mapDropDown.Items.Add(MinimapLoader.Dungeon);
x1NumericUpDown.Value = MapRegion.X1;
y1NumericUpDown.Value = MapRegion.Y1;
x2NumericUpDown.Value = MapRegion.X2;
y2NumericUpDown.Value = MapRegion.Y2;
mapRegionControl.MapRegion = mapRegion;
mapRegionControl.Focus();
}
// Note: Will go through ALL classes, even built-in ones (modify the code if different behavior
// is needed).
private void ClearAllClassAliases()
{
ObjectClasses classes = vault.ClassOperations.GetAllObjectClasses();
foreach (ObjectClass cl in classes)
{
// The corresponding ObjectClassAdmin
ObjectClassAdmin cla = vault.ClassOperations.GetObjectClassAdmin(cl.ID);
// Need to get the AssociatedPropertyDefs from the underlying ObjectClass (except
// for a few built-in properties), otherwise UpdateObjectClassAdmin() will fail.
CopyPropertiesToObjectClassAdmin(cla, cl);
cla.SemanticAliases.Value = "";
vault.ClassOperations.UpdateObjectClassAdmin(cla);
}
}
public static bool SetMotorTorque(ObjectClasses.ISerialPortIo serialPort1, int TorqueRefVal)
{
string HexString = TorqueRefVal.ToString("X");
Encoding ascii = Encoding.ASCII;
byte[] asciiBytes = ascii.GetBytes(HexString); //Converts the string of ASCII characters to a byte array where each member is the decimal representation of the ASCII value
byte[] WSSCommand = new byte[25];
WSSCommand[0] = 0x05; //ENQ Header
WSSCommand[1] = 0x30; //Station ID = 0;
WSSCommand[2] = 0x30; //Station ID = 0;
WSSCommand[3] = 0x57; //W
WSSCommand[4] = 0x53; //S
WSSCommand[5] = 0x53; //S
WSSCommand[6] = 0x30; //0 - BLOCK Q'TY
WSSCommand[7] = 0x31; //1
WSSCommand[8] = 0x30; //0 - VARIABLE LENGTH
WSSCommand[9] = 0x36; //6
WSSCommand[10] = 0x25; //%
WSSCommand[11] = 0x4D; //M
WSSCommand[12] = 0x44; //D
WSSCommand[13] = 0x30; //COMM CODE (044)
WSSCommand[14] = 0x34; //
WSSCommand[15] = 0x34; //
WSSCommand[16] = 0x30; //DATA
WSSCommand[17] = 0x30; //
WSSCommand[18] = 0x30; //
WSSCommand[19] = 0x30; //
WSSCommand[20] = 0x30; //
WSSCommand[21] = 0x30; //
WSSCommand[22] = 0x30; //
WSSCommand[23] = 0x30; //
WSSCommand[24] = 0x04; //EOT
for (int ii = 0; ii < asciiBytes.Length; ii++)
{
WSSCommand[23 - ii] = asciiBytes[asciiBytes.Length - 1 - ii];
}
if (TransmitCommand(serialPort1, WSSCommand, 25) == false) return false;
WSSCommand[15] = 0x35;
return (TransmitCommand(serialPort1, WSSCommand, 25));
}
public static bool TryOpenSerialPort(ObjectClasses.ISerialPortIo serialPort1, string source)
{
if (serialPort1.IsOpen == false)
{
try
{
serialPort1.Open();
return true;
}
catch (System.IO.IOException e)
{
DataComms.CreateThreadInstance("TryOpenSerialPort - IOException: " + source);
}
catch (UnauthorizedAccessException e)
{
DataComms.CreateThreadInstance("TryOpenSerialPort - UnauthorizedAccessException " + source);
serialPort1.Close();
//serialPort1.Dispose();
//serialPort1 = new SerialPort();
//Logger.Write("UnauthorizedAccessException while trying to open the serial port");
//LblStatus.Text = "UnauthorizedAccessException: Please exit and restart the program";
}
catch (Exception)
{
DataComms.CreateThreadInstance("TryOpenSerialPort - Exception " + source);
}
finally
{
}
return false;
}
else
{
return true;
}
}
/// <summary>
/// Merges non-existing data from another set
/// </summary>
/// <param name="dataToMerge"></param>
public void Merge(S57Data dataToMerge)
{
foreach (KeyValuePair <string, S57ObjectClass> pair in dataToMerge.ObjectClasses)
{
if (!ObjectClasses.Keys.Contains(pair.Key))
{
ObjectClasses.Add(pair.Key, pair.Value);
_classes.Add(pair.Value.Code, pair.Value);
}
}
foreach (KeyValuePair <string, S57Attribute> pair in dataToMerge.Attributes)
{
if (!Attributes.Keys.Contains(pair.Key))
{
Attributes.Add(pair.Key, pair.Value);
_attrs.Add(pair.Value.Code, pair.Value);
}
else
{
foreach (KeyValuePair <int, string> decode in pair.Value.AttrDecode)
{
if (!Attributes[pair.Key].AttrDecode.Keys.Contains(decode.Key))
{
Attributes[pair.Key].AttrDecode.Add(decode.Key, decode.Value);
}
}
foreach (KeyValuePair <int, string> expectedInput in pair.Value.ExpectedInput)
{
if (!Attributes[pair.Key].ExpectedInput.Keys.Contains(expectedInput.Key))
{
Attributes[pair.Key].ExpectedInput.Add(expectedInput.Key, expectedInput.Value);
}
}
}
}
}
private void CreateClassAliases()
{
ObjectClasses classes = vault.ClassOperations.GetAllObjectClasses();
foreach (ObjectClass cl in classes)
{
// Skip Assignment and Report classes (comment this line out if you want to include them).
if (cl.ID < 0)
{
continue;
}
// The corresponding ObjectClassAdmin
ObjectClassAdmin cla = vault.ClassOperations.GetObjectClassAdmin(cl.ID);
string clName = cla.Name.Replace(" ", ""); //String.Empty);
string aliases = cla.SemanticAliases.Value;
Alias newAlias = new Alias(Alias.ELEMENT_TYPE_CL, clName, clPrefix);
// Add the new alias if not already there.
string updatedAliases = AddAlias(aliases, newAlias.ElementAlias);
if (aliases != updatedAliases)
{
// Need to get the AssociatedPropertyDefs from the underlying ObjectClass (except
// for a few built-in properties), otherwise UpdateObjectClassAdmin() will fail.
CopyPropertiesToObjectClassAdmin(cla, cl);
cla.SemanticAliases.Value = updatedAliases;
vault.ClassOperations.UpdateObjectClassAdmin(cla);
}
// We will need the alias object later when generating the "Aliases.cs" and "Config.cs" files.
clAliases.Add(newAlias);
}
}
public static bool TryReadSerialPort(ObjectClasses.ISerialPortIo serialPort1, out byte ReadByte)
{
try
{
ReadByte = Convert.ToByte(serialPort1.ReadByte());
return true;
}
catch (System.IO.IOException)
{
DataComms.CreateThreadInstance("serialPort1.ReadByte - IOException");
ReadByte = 0;
return false;
}
catch (UnauthorizedAccessException e)
{
DataComms.CreateThreadInstance("serialPort1.ReadByte - UnauthorizedAccessException");
ReadByte = 0;
return false;
}
catch (Exception)
{
DataComms.CreateThreadInstance("serialPort1.ReadByte - Exception");
ReadByte = 0;
return false;
}
}
public static bool DisableEmergencyStop(ObjectClasses.ISerialPortIo serialPort1, Label lblStatus)
{
byte[] RSSCommand = new byte[19];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x57; //W
RSSCommand[4] = 0x53; //S
RSSCommand[5] = 0x53; //S
RSSCommand[6] = 0x30; //Request 1 Block Q'ty
RSSCommand[7] = 0x31; //Request 1 Block Q'ty
RSSCommand[8] = 0x30; //Block Varibale Length is 6
RSSCommand[9] = 0x36; //Block Varibale Length is 6
RSSCommand[10] = 0x25; //%
RSSCommand[11] = 0x4D; //M
RSSCommand[12] = 0x58; //X - Request %MD Request Data Type is 32bit
RSSCommand[13] = 0x35; //4
RSSCommand[14] = 0x32; //8
RSSCommand[15] = 0x31; //9
RSSCommand[16] = 0x30; //00
RSSCommand[17] = 0x30; //01 - E-Stop Enable
RSSCommand[18] = 0x04; //EOT
return TransmitCommand(serialPort1, RSSCommand, 19);
}
public PowerStepTestDS(ObjectClasses.ISerialPortIo SerialPort) : base(SerialPort)
{
CycleCounter = 0; //Reset the Cycle Counter when a new instance is created
CounterFlag = false; //Reset the counter flag when a new instance is created
}
public bool CanIncrementRep { get; set; } //Boolean to prevent double incement of rep counter
public TunkEcceLatsDS(ObjectClasses.ISerialPortIo SerialPort)
: base(SerialPort)
{
TotalReps = 5;
}
public static objServoResult DisableDrive(ObjectClasses.SerialPortIo serialPort)
{
objServoResult ServoResult = new objServoResult();
if (SerialMotorControl.DisableDrive(serialPort) == true)
{
ServoResult.IsSuccess = true;
ServoResult.ErrorMessage = "";
ServoResult.ErrorCode = 0;
}
else
{
ServoResult.IsSuccess = false;
ServoResult.ErrorMessage = "Disable Drive Failed.";
ServoResult.ErrorCode = -2;
}
if (ServoResult.IsSuccess == false)
{
frmMessageDialog.DisplayBriefMessage("Disable Drive Failed: Check cable connections.");
}
return ServoResult;
}
public frmSerialCommsTest(ObjectClasses.ISerialPortIo serialPort)
{
InitializeComponent();
serialPort1 = serialPort;
ServoController = new objServoController();
}
public static objServoResult ReadFeedback(ObjectClasses.ISerialPortIo serialPort1, double[] FeedbackParams, bool ReadSuccess, byte currentByte, byte[] streamPacket, byte[] currentSpeed, byte[] currentPulse, byte[] currentTorque, byte[] currentContactStatus, ref int ErrorCode, int TimeOutCounter, objServoResult RetVal, StringBuilder sb, string ByteString)
{
GlobalVariables.SerialPortBusyLeft = true;
//objServoResult RetVal = new objServoResult();
FeedbackParams[0] = 0;
FeedbackParams[1] = 0;
FeedbackParams[2] = 0;
FeedbackParams[3] = 0;
currentByte = 0;
ReadSuccess = false;
TimeOutCounter = 0;
ErrorCode = 0;
sb.Clear();
//System.Diagnostics.Debug.WriteLine("Bytes in Buffer before empty: " + serialPort1.BytesToRead.ToString());
ByteString = serialPort1.ReadExisting();
//System.Diagnostics.Debug.WriteLine("Bytes in Buffer before empty: " + serialPort1.BytesToRead.ToString());
//SerialPortFunctions.TryDiscardInputBuffer(serialPort1);
//SerialPortFunctions.TryDiscardOutputBuffer(serialPort1);
//System.Threading.Thread.Sleep(5);
//if (SerialPortFunctions.TryDiscardInputBuffer(serialPort1) == false) { RetVal.ErrorCode = 1; RetVal.IsSuccess = false; return RetVal; }
//if (SerialPortFunctions.TryDiscardOutputBuffer(serialPort1) == false) { RetVal.ErrorCode = 2; RetVal.IsSuccess = false; return RetVal; }
do
{
if (currentByte != 0x06) //only read another byte if you don't already have a packet header, I.E. you only read here the first time through the do loop
{
if (serialPort1.BytesToRead != 0) //Check to make sure there are bytes in the buffer
{
//System.Diagnostics.Debug.WriteLine("Timeout Counter: " + TimeOutCounter);
if (SerialPortFunctions.TryReadSerialPort(serialPort1, out currentByte) == false)
{
RetVal.IsSuccess = false;
RetVal.ErrorCode = 4;
return RetVal;
}
}
else
TimeOutCounter++;
if (TimeOutCounter >= 60000)
{
System.Diagnostics.Debug.WriteLine("Timeout Counter: " + TimeOutCounter + ", Bytes to Read: " + serialPort1.BytesToRead);
RetVal.ErrorCode = 3;
RetVal.IsSuccess = false;
return RetVal;
}
}
if (currentByte == 0x06) //Initiate Low Duty Cycle command success | Packet header
{
for (int k = 0; k < 72; k++) //56 is the old number of bytes excl contact status
{
currentByte = Convert.ToByte(serialPort1.ReadByte());
streamPacket[k] = currentByte;
}
try
{
currentSpeed[0] = Convert.ToByte(streamPacket[7].ToString("X2"));
currentSpeed[1] = Convert.ToByte(streamPacket[8].ToString("X2"));
currentSpeed[2] = Convert.ToByte(streamPacket[9].ToString("X2"));
currentSpeed[3] = Convert.ToByte(streamPacket[10].ToString("X2"));
currentSpeed[4] = Convert.ToByte(streamPacket[11].ToString("X2"));
currentSpeed[5] = Convert.ToByte(streamPacket[12].ToString("X2"));
currentSpeed[6] = Convert.ToByte(streamPacket[13].ToString("X2"));
currentSpeed[7] = Convert.ToByte(streamPacket[14].ToString("X2"));
currentPulse[0] = Convert.ToByte(streamPacket[23].ToString("X2"));
//currentPulse[1] = Convert.ToByte(streamPacket[24].ToString("X2"));
currentPulse[1] = SerialMotorControl.ConvertToByte(streamPacket[24]);
currentPulse[2] = Convert.ToByte(streamPacket[25].ToString("X2"));
currentPulse[3] = Convert.ToByte(streamPacket[26].ToString("X2"));
currentPulse[4] = Convert.ToByte(streamPacket[27].ToString("X2"));
currentPulse[5] = Convert.ToByte(streamPacket[28].ToString("X2"));
currentPulse[6] = Convert.ToByte(streamPacket[29].ToString("X2"));
currentPulse[7] = Convert.ToByte(streamPacket[30].ToString("X2"));
currentTorque[0] = Convert.ToByte(streamPacket[39].ToString("X2"));
currentTorque[1] = Convert.ToByte(streamPacket[40].ToString("X2"));
currentTorque[2] = Convert.ToByte(streamPacket[41].ToString("X2"));
currentTorque[3] = Convert.ToByte(streamPacket[42].ToString("X2"));
currentTorque[4] = Convert.ToByte(streamPacket[43].ToString("X2"));
currentTorque[5] = Convert.ToByte(streamPacket[44].ToString("X2"));
currentTorque[6] = Convert.ToByte(streamPacket[45].ToString("X2"));
currentTorque[7] = Convert.ToByte(streamPacket[46].ToString("X2"));
currentContactStatus[7] = Convert.ToByte(streamPacket[62].ToString("X2"));
}
catch (FormatException e)
{
ReadSuccess = true;
FeedbackParams[0] = 0;
FeedbackParams[1] = 0;
FeedbackParams[2] = 0;
FeedbackParams[3] = 0;
RetVal.ErrorCode = 4;
RetVal.IsSuccess = false;
return RetVal;
}
finally
{
}
//StringBuilder sb = new StringBuilder();
foreach (byte byteval in currentSpeed)
{
Char charval = Convert.ToChar(Int32.Parse(byteval.ToString(), System.Globalization.NumberStyles.HexNumber));
sb.Append(Convert.ToString(charval));
}
FeedbackParams[0] = ConvertToInt32(sb);
sb.Clear();
foreach (byte byteval in currentPulse)
{
Char charval = Convert.ToChar(Int32.Parse(byteval.ToString(), System.Globalization.NumberStyles.HexNumber));
sb.Append(Convert.ToString(charval));
}
FeedbackParams[1] = ConvertToInt32(sb) - Convert.ToInt32((12000 * CalibrationSettings.Default.GearRatio) * (Math.Floor(ConvertToInt32(sb) / (12000 * CalibrationSettings.Default.GearRatio))));
sb.Clear();
foreach (byte byteval in currentTorque)
{
Char charval = Convert.ToChar(Int32.Parse(byteval.ToString(), System.Globalization.NumberStyles.HexNumber));
sb.Append(Convert.ToString(charval));
}
FeedbackParams[2] = -ConvertToInt32(sb);
sb.Clear();
Char charval1 = Convert.ToChar(Int32.Parse(currentContactStatus[7].ToString(), System.Globalization.NumberStyles.HexNumber));
sb.Append(Convert.ToString(charval1));
FeedbackParams[3] = ConvertToInt32(sb);
ReadSuccess = true;
}
} while (ReadSuccess == false);
RetVal.IsSuccess = true;
GlobalVariables.SerialPortBusyLeft = false;
return RetVal;
}
public static bool WriteSeatActuatorByte(ObjectClasses.ISerialPortIo serialPort, char charVal)
{
byte[] charByte = new byte[] { Convert.ToByte(charVal) };
return TransmitCommand(serialPort, charByte, 1);
}
public static bool TryOpenSerialPort(ObjectClasses.ISerialPortIo serialPort1, Label lblStatus)
{
try
{
serialPort1.Open();
return true;
}
catch (System.IO.IOException e)
{
lblStatus.Text = serialPort1.PortName + " failed to open. Check cable connections and Port Settings.";
}
finally
{
}
return false;
}
//This command only works for VP-Drives (Embedded Controller)
public static bool SetMotorPosition(ObjectClasses.ISerialPortIo serialPort1, int PositionRefVal)
{
string HexString = PositionRefVal.ToString("X");
Encoding ascii = Encoding.ASCII;
byte[] asciiBytes = ascii.GetBytes(PositionRefVal.ToString()); //Converts the string of ASCII characters to a byte array where each member is the decimal representation of the ASCII value
byte[] RSSCommand = new byte[27];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x43; //C
RSSCommand[4] = 0x50; //P
RSSCommand[5] = 0x52; //R
RSSCommand[6] = 0x30; //Direction
RSSCommand[7] = 0x30; //1
RSSCommand[8] = 0x30; //2
RSSCommand[9] = 0x30; //3
RSSCommand[10] = 0x32; //4
RSSCommand[11] = 0x30; //5
RSSCommand[12] = 0x30; //6
RSSCommand[13] = 0x30; //Speed - 1
RSSCommand[14] = 0x35; //2
RSSCommand[15] = 0x30; //3
RSSCommand[16] = 0x30; //4
RSSCommand[17] = 0x30; //5
RSSCommand[18] = 0x32; //Accel Time - 1
RSSCommand[19] = 0x30; //2
RSSCommand[20] = 0x30; //3
RSSCommand[21] = 0x30; //4
RSSCommand[22] = 0x31; //Decel Time - 1
RSSCommand[23] = 0x30; //2
RSSCommand[24] = 0x30; //3
RSSCommand[25] = 0x30; //4
RSSCommand[26] = 0x04; //EOT
/*return*/ TransmitCommand(serialPort1, RSSCommand, 27);
System.Threading.Thread.Sleep(100);
while (serialPort1.BytesToRead != 0)
{
string text = Convert.ToString(serialPort1.ReadByte().ToString("X"));
System.Diagnostics.Debug.WriteLine(Convert.ToString(text));
}
//serialPort1.Close();
return true;
}
public static bool DisableDrive(ObjectClasses.ISerialPortIo serialPort1)
{
byte[] RSSCommand = new byte[19];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x57; //W
RSSCommand[4] = 0x53; //S
RSSCommand[5] = 0x53; //S
RSSCommand[6] = 0x30; //Request 1 Block Q'ty
RSSCommand[7] = 0x31; //Request 1 Block Q'ty
RSSCommand[8] = 0x30; //Block Varibale Length is 6
RSSCommand[9] = 0x36; //Block Varibale Length is 6
RSSCommand[10] = 0x25; //%
RSSCommand[11] = 0x4D; //M
RSSCommand[12] = 0x58; //X - Request %MD Request Data Type is 32bit
RSSCommand[13] = 0x35; //5
RSSCommand[14] = 0x31; //1
RSSCommand[15] = 0x32; //2
RSSCommand[16] = 0x30; //00
RSSCommand[17] = 0x30; //00 - Servo Off
RSSCommand[18] = 0x04; //EOT
return TransmitCommand(serialPort1, RSSCommand, 19);
}
public static bool SetSpeedCommand(ObjectClasses.ISerialPortIo serialPort1, int SpeedRefVal)
{
SpeedRefVal = SpeedRefVal * 10;
string HexString = SpeedRefVal.ToString("X");
Encoding ascii = Encoding.ASCII;
byte[] asciiBytes = ascii.GetBytes(HexString); //Converts the string of ASCII characters to a byte array where each member is the decimal representation of the ASCII value
byte[] RSSCommand = new byte[25];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x57; //W
RSSCommand[4] = 0x53; //S
RSSCommand[5] = 0x53; //S
RSSCommand[6] = 0x30; //Request 1 Block Q'ty
RSSCommand[7] = 0x31; //Request 1 Block Q'ty
RSSCommand[8] = 0x30; //Block Varibale Length is 6
RSSCommand[9] = 0x36; //Block Varibale Length is 6
RSSCommand[10] = 0x25; //%
RSSCommand[11] = 0x4D; //M
RSSCommand[12] = 0x44; //D - Request %MD Request Data Type is 32bit
RSSCommand[13] = 0x31; //1
RSSCommand[14] = 0x32; //2
RSSCommand[15] = 0x37; //7
RSSCommand[16] = 0x30; //00
RSSCommand[17] = 0x30; //00
RSSCommand[18] = 0x30; //00
RSSCommand[19] = 0x30; //00
RSSCommand[20] = 0x30; //00
RSSCommand[21] = 0x30; //00
RSSCommand[22] = 0x30; //00
RSSCommand[23] = 0x30; //00
RSSCommand[24] = 0x04; //EOT
for (int ii = 0; ii < asciiBytes.Length; ii++)
{
RSSCommand[23 - ii] = asciiBytes[asciiBytes.Length - 1 - ii];
}
return TransmitCommand(serialPort1, RSSCommand, 25);
}
public static bool TryDiscardInputBuffer(ObjectClasses.ISerialPortIo serialPort1)
{
if (serialPort1.IsOpen == true)
{
try
{
serialPort1.DiscardInBuffer();
return true;
}
catch (System.IO.IOException)
{
DataComms.CreateThreadInstance("TryDiscardInputBuffer - IOException");
}
catch (System.InvalidOperationException)
{
DataComms.CreateThreadInstance("TryDiscardInputBuffer - InvalidOperation");
}
catch (UnauthorizedAccessException)
{
DataComms.CreateThreadInstance("TryDiscardInputBuffer - UnauthorizedAccessException");
}
finally
{
}
return false;
}
else
{
return false;
}
}
//StopSequence - Move to DataSample?
private void StopMotor(ObjectClasses.ISerialPortIo serialPort)
{
if (GlobalVariables.leftSerialPort.IsOpen == true) //This function must be moved to the servocontroller
{
if (GlobalVariables.ServoController.TryStopMotor(serialPort).IsSuccess == false)
return;
//Set Motor Torque Forward
if (SerialMotorControl.WriteSingleRegister(166, (UInt16)100, serialPort) == false)
return;
//Set Motor Torque Reverse
if (SerialMotorControl.WriteSingleRegister(168, (UInt16)100, serialPort) == false)
return;
}
}
//StopSequence - Move to DataSample?
private void StopMotor(ObjectClasses.ISerialPortIo serialPort)
{
if (GlobalVariables.leftSerialPort.IsOpen == true) //This function must be moved to the servocontroller
{
if (GlobalVariables.ServoController.TryStopMotor(serialPort).IsSuccess == false)
return;
//Calculate Reference Torque value (in Percentage)
double targetTorque = CalibrationSettings.Default.MaxAllowableForce * CalibrationSettings.Default.SprocketRadius;
int torqueRefVal = GlobalFunctions.ConvertToTorqueRefVal(targetTorque);
//SetMotorTorque blocks the thread, so we are not using it for now
//Set Motor Torque Forward
if (SerialMotorControl.WriteSingleRegister(166, (UInt16)torqueRefVal, serialPort) == false)
return;
//Set Motor Torque Reverse
if (SerialMotorControl.WriteSingleRegister(168, (UInt16)torqueRefVal, serialPort) == false)
return;
}
}
//Constructor
public objDataSample(ObjectClasses.ISerialPortIo SerialPort)
{
serialPort = SerialPort;
}
//Constructor
public EcceScrumDS(ObjectClasses.ISerialPortIo SerialPort)
: base(SerialPort)
{
}
public static bool EnableFeedback(ObjectClasses.ISerialPortIo serialPort1)
{
byte[] RCBCommand = new byte[15];
RCBCommand[0] = 0x05; //ENQ Header
RCBCommand[1] = 0x30; //Station ID = 0;
RCBCommand[2] = 0x30; //Station ID = 0;
RCBCommand[3] = 0x52; //R
RCBCommand[4] = 0x43; //C
RCBCommand[5] = 0x42; //B
RCBCommand[6] = 0x31; //1 - > Read Current Speed + Command Speed
RCBCommand[7] = 0x31; //1 - > Read Current Pulse + Command Pulse
RCBCommand[8] = 0x31; //1 - > Read Current Load + Command Load
RCBCommand[9] = 0x31; //1 - > Read Contact Status + DC Voltage
RCBCommand[10] = 0x30; //0 - > Don't Read
RCBCommand[11] = 0x30; //0 - > Don't Read
RCBCommand[12] = 0x30; //0 - > Don't Read
RCBCommand[13] = 0x30; //0 - > Don't Read
RCBCommand[14] = 0x04; //1
return TransmitCommand(serialPort1, RCBCommand, 15);
}
//Performance Variables
public MvcDS(ObjectClasses.ISerialPortIo SerialPort) : base(SerialPort)
{
}
public WeighYourselfDS(ObjectClasses.ISerialPortIo SerialPort) : base(SerialPort)
{
}
//Performance Variables
public StaticStrengthTestDS(ObjectClasses.ISerialPortIo SerialPort) : base(SerialPort)
{
}
public static bool TryStopMotor(ObjectClasses.ISerialPortIo serialPort1, Label lblStatus)
{
byte[] RSSCommand = new byte[25];
RSSCommand[0] = 0x05; //ENQ Header
RSSCommand[1] = 0x30; //Station ID = 0;
RSSCommand[2] = 0x30; //Station ID = 0;
RSSCommand[3] = 0x43; //W
RSSCommand[4] = 0x4A; //S
RSSCommand[5] = 0x52; //S
RSSCommand[6] = 0x30; //Request 1 Block Q'ty
RSSCommand[7] = 0x30; //Request 1 Block Q'ty
RSSCommand[8] = 0x30; //Block Varibale Length is 6
RSSCommand[9] = 0x30; //Block Varibale Length is 6
RSSCommand[10] = 0x30; //%
RSSCommand[11] = 0x30; //M
RSSCommand[12] = 0x30; //X - Request %MD Request Data Type is 32bit
RSSCommand[13] = 0x36; //5
RSSCommand[14] = 0x30; //1
RSSCommand[15] = 0x30; //2
RSSCommand[16] = 0x30; //00
RSSCommand[17] = 0x36; //00 - Servo Off
RSSCommand[18] = 0x30; //EOT
RSSCommand[19] = 0x30; //5
RSSCommand[20] = 0x39; //1
RSSCommand[21] = 0x39; //2
RSSCommand[22] = 0x39; //00
RSSCommand[23] = 0x39; //00 - Servo Off
RSSCommand[24] = 0x04; //EOT
return TransmitCommand(serialPort1, RSSCommand, 25);
//System.Threading.Thread.Sleep(100);
}
//Constructor
public SpinShaperDS(ObjectClasses.ISerialPortIo SerialPort) : base(SerialPort)
{
spinShaperData = new Classes.SpinShaperData();
}
public ThreadOpenSerialPort(ObjectClasses.ISerialPortIo SerialPort, string Source)
{
f_SerialPort = SerialPort;
f_Source = Source;
}
