/// <summary>
/// アクションコマンドを生成する
/// </summary>
/// <param name="cid">コマンドID</param>
/// <param name="pin">ピン番号[0,1(M1/2)2-9(Servo)10-18(Sensor)19(SPI)</param>
/// <param name="args">各コマンドに応じた引数の配列</param>
/// <returns>アクションコマンド(2バイト)</returns>
public byte[] actCommand(CommandID cid, PinID pin, byte[] args)
{
byte[] msg = new byte[2];
msg[0] = (byte)(128 + ((int)cid << 4 & 0x70) + ((int)pin << 1));
switch (cid)
{
case CommandID.DC:
msg[0] = (byte)(128 + (int)pin * 8 + args[0]);
msg[1] = (byte)args[1];
break;
case CommandID.SV:
msg[0] = (byte)(128 + ((int)cid << 4 & 0x70) + ((int)(pin - 2) << 1));
msg[0] += (byte)(args[0] >> 7 & 0x01);
msg[1] = (byte)(args[0] & 0x7f);
break;
case CommandID.LED:
if (args.Length >= 1)
{
msg[0] += (byte)(args[0] & 0x01);
}
if (args.Length >= 2)
{
msg[1] = (byte)((args[1] & 0x01) << 6);
}
break;
case CommandID.SyncSV:
msg[1] = (byte)args[0];
break;
}
return(msg);
}
private void btnFindMe_Click(object sender, EventArgs e)
{
string test = txtAccessIDEntry.Text;
int intTest;
bool isNumerical = int.TryParse(test, out intTest);
/*
* First checks if the user input is numeric
*/
if (isNumerical)
{
/*
* Second checks if the user input is appropriate length
*/
if (test.Length != Globals.BookStore.accessIDLength)
{
MessageBox.Show("Please enter a valid Access ID!", "Invalid Access ID Detected");
tryCount++;
txtAccessIDEntry.Text = "";
txtAccessIDEntry.Focus();
}
else
{
int accessID = int.Parse(txtAccessIDEntry.Text);
//Console.WriteLine(accessID);
if (Globals.BookStore.findEmployee(accessID))
{
// MessageBox.Show("Employee ID has been found!", "You have been found!");
this.Hide();
PinID PINForm = new PinID();
PINForm.Show();
tryCount = 0;
}
else
{
MessageBox.Show("Please enter a valid Access ID.", "Invalid Access ID Detected");
tryCount++;
}
}
}
else
{
MessageBox.Show("Please enter a valid Access ID!", "Invalid Access ID Detected");
tryCount++;
txtAccessIDEntry.Focus();
}
/*
* This if statement tracks the attempts the user makes before force exitting the program.
*/
if (tryCount == Globals.BookStore.tryCountMax)
{
MessageBox.Show("You have reached the max attempts... Force Exitting now...", "Intrusion Detected");
this.Close();
}
}
/** コンストラクタ.
*/
public PinSet()
{
PinID = 0;
PinName = "";
PinNum = "";
PinInit = "";
PinC = "";
PinD = "";
PinE = "";
PinF = "";
}
protected override void setDCMotorSwitch(byte port, bool onoff)
{
base.setDCMotorSwitch(port, onoff);
byte[] args = new byte[2];
args[0] = onoff ? (byte)0x01 : (byte)0x02; // 0x01: 回転 0x02: 停止
args[1] = 0; // 回転:: 0:正転 1:逆転 | 停止:: 0:ブレーキあり 1:ブレーキなし
PinID pin = (port == 0) ? PinID.M1 : PinID.M2;
//setDCMotorPower(port, 100);
tcom.sendCommand(CommandID.DC, pin, args);
}
protected override void setDCMotorPower(byte port, byte power)
{
if (canSend)
{
canSend = false;
base.setDCMotorPower(port, power);
byte[] args = new byte[2];
args[0] = (byte)0x04; // 0x04: 速度
args[1] = power;
PinID pin = (port == 0) ? PinID.M1 : PinID.M2;
tcom.sendCommand(CommandID.DC, pin, args);
canSend = true;
}
}
/// <summary>
/// テストモードの初期化用データを生成する
/// </summary>
/// <param name="pin">ピン番号[0,1(M1/2)2-9(Servo)10-18(Sensor)19(SPI)</param>
/// <param name="pid">パーツID</param>
/// <returns></returns>
public byte[] initCommand(PinID pin, PartID pid)
{
byte[] msg = new byte[2];
msg[0] = (byte)(192 + ((int)pin >> 1 & 0x0f));
msg[1] = (byte)(((int)pin << 6 & 0x40) | (int)pid);
Debug.Write("Port initialization\t");
Debug.Write(pin);
Debug.Write("\t");
Debug.Write(pid);
Debug.Write("\t");
Debug.Write(msg[0]);
Debug.Write("\t");
Debug.WriteLine(msg[1]);
return(msg);
}
void nudAngle_ValueChanged(object sender, EventArgs e)
{
if (canSend)
{
canSend = false;
int offset = (int)(sender as NumericUpDown).Value;
PinID port = PinID.D5;
object target = (sender as NumericUpDown).Parent;
if (target == saD5)
{
port = PinID.D5;
}
if (target == saD6)
{
port = PinID.D6;
}
if (target == saD9)
{
port = PinID.D9;
}
if (target == saD10)
{
port = PinID.D10;
}
if (target == saD11)
{
port = PinID.D11;
}
// サーボモーターに角度情報を送信
setServoMotor(port, offset);
//if (setServoMotor(port, offset) != RET_SUCCESS)
//{ // 通信が切断された場合
// // エラーコードを設定して、キャンセルボタンをクリック
// btCancel.PerformClick();
// errorCode = (byte)ConnectingCondition.DISCONNECT;
// isConnectiong = false; // 通信切断状態を設定
//}
canSend = true;
}
}
void setServoMotor(PinID port, int offset)
{
byte[] angle = { (byte)(90 + offset) };
tcom.sendCommand(CommandID.SV, port, angle);
}
public bool sendCommand(CommandID cid, PinID pin, byte[] args)
{
return(sendCommand(comGen.actCommand(cid, pin, args)));
}
public bool sendCommand(PinID pin, PartID part)
{
return(sendCommand(comGen.initCommand(pin, part)));
}
/** �R���X�g���N�^.
*/
public PinSet()
{
PinID = 0;
PinName = "";
PinNum = "";
PinInit = "";
PinC = "";
PinD = "";
PinE = "";
PinF = "";
}
