void interfaceKit_SensorChange(object sender, Phidgets.Events.SensorChangeEventArgs e)
{
//get value in cm
double val = e.Value * 1.296;
//set max distance to 2m
if (val > 200)
{
val = 200;
}
switch (e.Index)
{
case 0:
rightData.Add(val);
if (rightData.Count > maxDataCount)
{
rightData.RemoveAt(0);
}
labelRightAvg.Text = (rightData.Sum() / rightData.Count).ToString("0.00");
labelRight.Text = val.ToString("0.00");
progressBarRight.Value = Convert.ToInt32(val);
break;
case 1:
leftData.Add(val);
if (leftData.Count > maxDataCount)
{
leftData.RemoveAt(0);
}
labelLeftAvg.Text = (leftData.Sum() / leftData.Count).ToString("0.00");
labelLeft.Text = val.ToString("0.00");
progressBarLeft.Value = Convert.ToInt32(val);
break;
case 2:
frontData.Add(val);
if (frontData.Count > maxDataCount)
{
frontData.RemoveAt(0);
}
labelFrontAvg.Text = (frontData.Sum() / frontData.Count).ToString("0.00");
labelFront.Text = val.ToString("0.00");
progressBarFront.Value = Convert.ToInt32(val);
if (val < 50)
{
labelAllStop.BackColor = Color.Red;
TriggerAllStopEvent();
}
else
{
labelAllStop.BackColor = this.BackColor;
}
break;
}
}
public bool AddPhidget(IPhidgetViewModel viewModel)
{
if (viewModel.PortNumber == PortNumber)
{
if (!Phidgets.Any(phidget => phidget.AddPhidget(viewModel)))
{
Phidgets.Add(viewModel);
}
Phidgets.Sort((a, b) => { return(a.DeviceName.CompareTo(b.DeviceName)); });
return(true);
}
return(false);
}
static void ifkit_SensorChange(object sender, Phidgets.Events.SensorChangeEventArgs e)
{
//e.Index = 0 is the PIR movement sensor for detecting user entry
if (e.Index == 0 && (e.Value > 550 || e.Value < 450))
{
//UserSpotted(e);
}
//e.Index = 7 is the medicaiton box sensor
if (e.Index == 7 && e.Value < 125)
{
MedicationTaken(e);
}
if (e.Index == 7 && e.Value > 450)
{
//MedicationSetBack(e);
}
}
void motor_VelocityChange(object sender, Phidgets.Events.VelocityChangeEventArgs e)
{
screen.rows[1].DisplayString = e.Velocity.ToString();
}
//Error event handler...Display the description of the error to the console
void accel_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
messageTextBox.Text += e.Description.ToString();
}
void phid_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
Console.WriteLine("Error event: " + e.Description);
}
//Error event handler...display the error description string
static void rfid_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
Console.WriteLine(e.Description);
}
void PhidgitController_Attach(object sender, Phidgets.Events.AttachEventArgs e)
{
Debug.WriteLine("Attach {0}", e.Device.Name);
}
void PhidgitController_SensorChange(object sender, Phidgets.Events.SensorChangeEventArgs e)
{
Debug.WriteLine("sensor change {0}", e.Index);
}
void motorControl_ServerDisconnect(object sender, Phidgets.Events.ServerDisconnectEventArgs e)
{
}
void motorControl_SensorUpdate(object sender, Phidgets.Events.SensorUpdateEventArgs e)
{
}
void motorControl_InputChange(object sender, Phidgets.Events.InputChangeEventArgs e)
{
}
void motorControl_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
try
{
if (_motorControl != null)
{
if (_motorControl.Attached)
{
foreach (Phidgets.MotorControlMotor motor in _motorControl.motors)
{
motor.Velocity = 0;
}
}
}
_motorControl.close();
}
catch
{
Fatal_Error();
}
}
void motorControl_EncoderPositionUpdate(object sender, Phidgets.Events.EncoderPositionUpdateEventArgs e)
{
}
void motorControl_Detach(object sender, Phidgets.Events.DetachEventArgs e)
{
try
{
groupKeys.Enabled = false;
groupMotor1.Enabled = false;
groupMotor2.Enabled = false;
this.PreviewKeyDown -= Control_KeyDown;
this.KeyUp -= Control_KeyUp;
Application.DoEvents();
}
catch
{
Fatal_Error();
}
}
void manager_ServerDisconnect(object sender, Phidgets.Events.ServerDisconnectEventArgs e)
{
IsConnected = false;
data.EventLog.Insert(sender.ToString(), "ServerDisconnect", e.Device.ToString());
}
void motorControl_VelocityChange(object sender, Phidgets.Events.VelocityChangeEventArgs e)
{
try
{
if (e.Index == 0)
{
labelVelocity1.Text = e.Velocity.ToString();
}
else if (e.Index == 1)
{
labelVelocity2.Text = e.Velocity.ToString();
}
}
catch
{
Fatal_Error();
}
}
//a piece of laundry has been dropped into a bin, the index tells us which one
void PhidgitController_InputChange(object sender, Phidgets.Events.InputChangeEventArgs e)
{
logger.Info(string.Format("input change {0}", e.Index));
int slot = e.Index;
if (TargetBin == null)
{
this.Dispatcher.Invoke(new Action(delegate()
{
ClearItemFields();
Errormsg.Text = "Target slot unknown ... Please rescan item";
ErrorTxt.Visibility = Visibility.Visible;
}));
return;
}
//is item in the right slot
if (slot != TargetBin.PhidgetSlot)
{
this.Dispatcher.Invoke(new Action(delegate()
{
Errormsg.Text = "Please place item in right bin";
ErrorTxt.Visibility = Visibility.Visible;
}));
}
else
this.Dispatcher.Invoke(new Action(delegate()
{
//this event is fired multiple times
if (vm.bReceivedAlready == false)
{
ErrorTxt.Visibility = Visibility.Hidden;
logger.Info("write possibile changes to database");
if (vm.BCSMode)
{
if (item.Category.ID != 11) //do not save next day info as next time the item might NOT be next day)
vm.SaveItem(item);
}
else
{
GSS gssItem = new GSS() { CreationDate = DateTime.Now, bin = TargetBin.PhidgetSlot, BarCode = TargetBin.BarCode };
vm.SaveItemGSS(gssItem);
}
ClearItemFields();
CustomerName.Text = "";
}
vm.PhidgitController.outputs[TargetBin.PhidgetSlot] = false;
vm.bReceivedAlready = true;
}));
}
void spatial_Attach(object sender, Phidgets.Events.AttachEventArgs e)
{
Spatial attached = (Spatial)sender;
attachedTxt.Text = attached.Attached.ToString();
nameTxt.Text = attached.Name;
serialTxt.Text = attached.SerialNumber.ToString();
versionTxt.Text = attached.Version.ToString();
if (attached.compassAxes.Count < 3)
{
addMessage("You need to attach something with a compass to do anything usefull here...");
}
else
{
addMessage("Press start to begin calibration." + Environment.NewLine + "For more accuracy, you can enter the local field strength, which can be calculated for your location here: http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp");
sampleDoneButton.Enabled = true;
spatial.DataRate = spatial.DataRateMax;
//Do this in a seperate thread so the drawing doens't block the data event and cause errors.
drawThread = new Thread(new ThreadStart(drawThreadFunc));
drawThread.Start();
}
}
//Error event handler...Display the error description to the console
public void ifKit_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
Console.WriteLine(e.Description);
}
void spatial_Detach(object sender, Phidgets.Events.DetachEventArgs e)
{
Spatial detached = (Spatial)sender;
attachedTxt.Text = detached.Attached.ToString();
nameTxt.Text = "";
serialTxt.Text = "";
versionTxt.Text = "";
sampleDoneButton.Enabled = false;
pictureBox1.Image = null;
messagesTextBox.Clear();
if (drawThread != null)
if (drawThread.IsAlive)
drawThread.Abort();
}
private void manager_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
Helper.Logger("HaptiQ_API.HaptiQsManager.manager_Error:: " + e.Description);
}
void spatial_SpatialData(object sender, Phidgets.Events.SpatialDataEventArgs e)
{
//This displays a vector representing the measured field in red, and after calibration the calibrated field in green
if (e.spatialData[0].MagneticField.Length == 3)
{
lock (p)
{
if (twoAxisButton.Checked)
{
p.originalVertices[4] = new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
-e.spatialData[0].MagneticField[2]);
if (calibrated)
{
Vector3 rawData = new Vector3(e.spatialData[0].MagneticField[0], e.spatialData[0].MagneticField[1], e.spatialData[0].MagneticField[2]);
Vector3 calibratedData = Matrix3x3.Multiply(Vector3.Subtract(rawData, cal.offset), cal.gainAndTransform);
//apply local mag field - calibrate returns a unit (mag 1) field
calibratedData = Vector3.Multiply(double.Parse(localFieldTextBox.Text), calibratedData);
p.originalVertices[5] = new Vector3(
calibratedData.X,
calibratedData.Y,
-calibratedData.Z);
}
}
else
{
p.originalVertices[4] = new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[2],
-e.spatialData[0].MagneticField[1]);
if (calibrated)
{
Vector3 rawData = new Vector3(e.spatialData[0].MagneticField[0], e.spatialData[0].MagneticField[1], e.spatialData[0].MagneticField[2]);
Vector3 calibratedData = Matrix3x3.Multiply(Vector3.Subtract(rawData, cal.offset), cal.gainAndTransform);
//apply local mag field - calibrate returns a unit (mag 1) field
calibratedData = Vector3.Multiply(double.Parse(localFieldTextBox.Text), calibratedData);
p.originalVertices[5] = new Vector3(
calibratedData.X,
calibratedData.Z,
-calibratedData.Y);
}
}
}
}
//This samples magnetic field data
if (sampling)
{
lock (compassSamples)
{
if (sampling)
{
sampleCounter++;
if (sampleCounter >= samplesPerSample)
{
sampleCounter = 0;
if (e.spatialData[0].MagneticField.Length == 3)
{
compassSamples.Add(
new compassDataPoint(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
e.spatialData[0].MagneticField[2]
)
);
//This draws the magnetic vectors as dots
lock (p)
{
if (twoAxisButton.Checked)
{
p.addPoint(new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
-e.spatialData[0].MagneticField[2]), Brushes.Red);
}
else
{
p.addPoint(new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[2],
-e.spatialData[0].MagneticField[1]), Brushes.Red);
}
}
}
}
}
}
}
}
//error handler...display the error description in a messagebox
void br_Error(object sender, Phidgets.Events.ErrorEventArgs e) {
Phidget phid = (Phidget)sender;
DialogResult result;
switch (e.Type) {
case PhidgetException.ErrorType.PHIDGET_ERREVENT_BADPASSWORD:
phid.close();
TextInputBox dialog = new TextInputBox("Error Event",
"Authentication error: This server requires a password.", "Please enter the password, or cancel.");
result = dialog.ShowDialog();
if (result == DialogResult.OK)
openCmdLine(phid, dialog.password);
else
Environment.Exit(0);
break;
default:
if (!errorBox.Visible)
errorBox.Show();
break;
}
errorBox.addMessage(DateTime.Now.ToLongDateString() + " " + DateTime.Now.ToLongTimeString() + ": " + e.Description);
}
/// <summary>
/// Updates the tram number when a new RFID tag is scanned.
/// </summary>
/// <param name="sender">Contains a reference to the RFID manager.</param>
/// <param name="e">Contains the RFID tag that was scanned.</param>
private void RFIDManager_DataReceived(object sender, Phidgets.Events.TagEventArgs e)
{
this.tramNumber = e.Tag;
TextBoxUpdate textBoxUpdate = new TextBoxUpdate(this.UpdateTextBox);
this.Invoke(textBoxUpdate);
}
void motor_Attach(object sender, Phidgets.Events.AttachEventArgs e)
{
screen.rows[0].DisplayString = "motor attached";
}
/// <summary>
/// Gives a message box when the RFID scanner has been detached.
/// </summary>
/// <param name="sender">Contains a reference to the RFID manager</param>
/// <param name="e">Contains the detach event data.</param>
private void RFIDManager_Detached(object sender, Phidgets.Events.DetachEventArgs e)
{
MessageBox.Show("An RFID reader has been detached.");
}
void interfaceKit_SensorChange(object sender, Phidgets.Events.SensorChangeEventArgs e)
{
//get value in cm
double val = e.Value * 1.296;
//set max distance to 2m
if (val > 200)
{
val = 200;
}
switch (e.Index)
{
case 0:
//right
break;
case 1:
//left
break;
case 2:
//frontData.Add(val);
//if (frontData.Count > 100)
//{
// frontData.RemoveAt(0);
//}
//double d = frontData.Sum() / frontData.Count;
frontData = val;
screen.rows[0].DisplayString = val.ToString(); // + " - " + frontData.Count.ToString();
//if (frontData.Count > 70)
//{
if (val <= 30)
{
DeadStop();
}
//}
break;
}
}
void manager_Detach(object sender, Phidgets.Events.DetachEventArgs e)
{
data.EventLog.Insert(sender.ToString(), "Detach", e.Device.ToString());
}
void FrequencyCounter_Packet(object sender, Phidgets.Events.PacketEventArgs e)
{
int[] Count = new int[2];
int[] TimeLastEvent = new int[2];
//Read the packet
int n = 0;
int TimerCount = ((int)e.Packet[n++]) | ((int)e.Packet[n++] << 8);
Count[0] = (((int)e.Packet[n++]) | ((int)e.Packet[n++] << 8) | ((int)e.Packet[n++] << 16));
TimeLastEvent[0] = ((int)e.Packet[n++]) | ((int)e.Packet[n++] << 8);
Count[1] = (((int)e.Packet[n++]) | ((int)e.Packet[n++] << 8) | ((int)e.Packet[n++] << 16));
TimeLastEvent[1] = ((int)e.Packet[n++]) | ((int)e.Packet[n++] << 8);
for (int i = 0; i < 2; i++)
{
long lastCount = inputs[i].totalCount;
double lastFreq = inputs[i].frequency;
inputs[i].totalCount += Count[i];
inputs[i].totalTime += TimerCount;
if (Count[i] == 0)
{
if (i == 0)
i = 0;
if (inputs[i].adjust != -1) //Do not accumulate if timed out
inputs[i].adjust += TimerCount;
if (inputs[i].adjust > inputs[i].timeOut * tickspersec)
{
inputs[i].adjust = -1;
inputs[i].frequency = 0;
OnCountChange(new CountChangeEventArgs(i, (int)Count[i], (int)inputs[i].frequency, (int)TimerCount));
}
}
else if (Count[i] >= 1)
{
if ((inputs[i].adjust == -1) && (Count[i] == 1))
inputs[i].adjust = TimerCount - TimeLastEvent[i];
else
{
if (inputs[i].adjust == -1)
inputs[i].adjust = 0;
inputs[i].frequency = (double)((double)Count[i] / (inputs[i].adjust + TimeLastEvent[i]) * tickspersec);
inputs[i].adjust = TimerCount - TimeLastEvent[i];
}
}
if(lastCount != inputs[i].totalCount)
OnCountChange(new CountChangeEventArgs(i, (int)Count[i], (double)inputs[i].frequency, (long)TimerCount));
}
}
void manager_Error(object sender, Phidgets.Events.ErrorEventArgs e)
{
//kill all phidgets
manager.close();
data.EventLog.Insert(sender.ToString(), "Error", e.Type + " - " + e.Description, true);
}
