private void btnSetForce3_Click(object sender, EventArgs e)
{
if (USBSerial.advConfig.max_hall_value1 > 100)
{
int force = Int32.Parse(cbxForce3.GetItemText(cbxForce3.SelectedItem));
USBSerial.SetServoAngle(2, (int)USBSerial.map(force, 0, 100, USBSerial.advConfig.min_servo_angle3, USBSerial.advConfig.max_servo_angle3));
}
}
private void btnSetMaxAngle3_Click(object sender, EventArgs e)
{
if (USBSerial.advConfig.max_hall_value1 > 100)
{
int angle = 0;
if (Int32.TryParse(txtMaxServoAngle3.Text, out angle) && angle <= 180 && angle >= 0)
{
USBSerial.SetServoAngle(2, angle);
}
}
}
private void tmrCheckSerial_Tick(object sender, EventArgs e)
{
// also check share memory update interval
int value = 0;
this.sharedMemoryInterval = Int32.TryParse(PCIConfig.NewBaseConfig["Interval"], out value) ? value : 100;
// task
if (!PCIConfig.NewBaseConfig.ContainsKey("SerialPort") || PCIConfig.NewBaseConfig["SerialPort"] == "")
{
if (USBSerial.ComDevice.IsOpen)
{
// close port
if (CloseSerialPort())
{
lbSerialStatus.Text = "未设置USB端口，无法连接设备，请打开设置页进行配置";
}
}
return;
}
else
{
if (!USBSerial.ComDevice.IsOpen)
{
if (portCountDown == 0)
{
if (!OpenSerialPort(PCIConfig.NewBaseConfig["SerialPort"], 115200))
{
portCountDown = 5;
lbSerialStatus.Text = portErrorMessage + ", 5秒钟后重新连接..." + portCountDown.ToString();
}
else
{
lbSerialStatus.Text = "已连接";
// get adv config data
USBSerial.RequestAdvConfig();
USBSerial.RequestAdvConfig();
}
}
else
{
lbSerialStatus.Text = portErrorMessage + ", 5秒钟后重新连接..." + portCountDown.ToString();
}
portCountDown--;
}
else
{
// send heartbeat data
USBSerial.SendHeartbeat();
}
}
}
private void updateSharedMemory()
{
int force1 = -1;
int force2 = -1;
int force3 = -1;
try
{
smMutex.WaitOne();
// read force set data
Marshal.Copy(smAddr, smData.data, 0, (int)SMPos.sm_set_length);
force1 = smData.getAimForce1();
force2 = smData.getAimForce2();
force3 = smData.getAimForce3();
// clear setting flag
smData.setAimForce1(-1);
smData.setAimForce2(-1);
smData.setAimForce3(-1);
smData.setData();
Marshal.Copy(smData.data, 0, smAddr, (int)SMPos.sm_length);
sharedMemoryLastTime = DateTime.Now.Ticks / 10000;
}
catch (Exception ex)
{
MessageBox.Show("更新共享内存出错：" + ex.Message);
}
finally
{
smMutex.ReleaseMutex();
}
// check if aim forces are set
if (force1 >= 0)
{
USBSerial.SetServoAngle(0, (int)USBSerial.map(force1, 0, 100, USBSerial.advConfig.min_servo_angle1, USBSerial.advConfig.max_servo_angle1));
}
if (force2 >= 0)
{
USBSerial.SetServoAngle(1, (int)USBSerial.map(force2, 0, 100, USBSerial.advConfig.min_servo_angle2, USBSerial.advConfig.max_servo_angle2));
}
if (force3 >= 0)
{
USBSerial.SetServoAngle(2, (int)USBSerial.map(force3, 0, 100, USBSerial.advConfig.min_servo_angle3, USBSerial.advConfig.max_servo_angle3));
}
}
private void deviceDataReceived(DeviceData deviceData)
{
// update sm data received from serial device
smData.pressure = deviceData.pressure;
smData.switch1 = deviceData.switch1 == 1;
smData.switch2 = deviceData.switch2 == 1;
// check if device adv config is available
if (USBSerial.advConfig.max_hall_value1 > 100)
{
smData.contrast = deviceData.contrast > USBSerial.advConfig.contrast_threshold;
smData.force1 = Convert.ToInt32(USBSerial.map(deviceData.servo_angle1, USBSerial.advConfig.min_servo_angle1, USBSerial.advConfig.max_servo_angle1, 0, 100));
smData.force2 = Convert.ToInt32(USBSerial.map(deviceData.servo_angle2, USBSerial.advConfig.min_servo_angle2, USBSerial.advConfig.max_servo_angle2, 0, 100));
smData.force3 = Convert.ToInt32(USBSerial.map(deviceData.servo_angle3, USBSerial.advConfig.min_servo_angle3, USBSerial.advConfig.max_servo_angle3, 0, 100));
smData.diam1 = Convert.ToSingle(Math.Round(USBSerial.map(deviceData.hall_value1, USBSerial.advConfig.min_hall_value1, USBSerial.advConfig.max_hall_value1, USBSerial.advConfig.min_hall_diam1, USBSerial.advConfig.max_hall_diam1) / 10.0, 1));
smData.diam2 = Convert.ToSingle(Math.Round(USBSerial.map(deviceData.hall_value2, USBSerial.advConfig.min_hall_value2, USBSerial.advConfig.max_hall_value2, USBSerial.advConfig.min_hall_diam2, USBSerial.advConfig.max_hall_diam2) / 10.0, 1));
smData.diam3 = Convert.ToSingle(Math.Round(USBSerial.map(deviceData.hall_value3, USBSerial.advConfig.min_hall_value3, USBSerial.advConfig.max_hall_value3, USBSerial.advConfig.min_hall_diam3, USBSerial.advConfig.max_hall_diam3) / 10.0, 1));
if (DateTime.Now.Ticks / 10000 - sharedMemoryLastTime > sharedMemoryInterval)
{
// update information
updateSharedMemory();
}
this.BeginInvoke(new MethodInvoker(delegate
{
pbrPressure.Value = smData.pressure;
lbPressureValue.Text = smData.pressure.ToString();
pbxSwitch1.BackColor = smData.switch1 ? Color.Green : Color.Gray;
pbxSwitch2.BackColor = smData.switch2 ? Color.Green : Color.Gray;
pbxContrast.BackColor = smData.contrast ? Color.Green : Color.Gray;
lbForceValue1.Text = smData.force1.ToString();
lbForceValue2.Text = smData.force2.ToString();
lbForceValue3.Text = smData.force3.ToString();
diameterList[0] = smData.diam1;
diameterList[1] = smData.diam2;
diameterList[2] = smData.diam3;
detectList[0] = true; // diameterList[0] > 1.3;
detectList[1] = true; // diameterList[1] > 0.2 && diameterList[1] < 0.6;
detectList[2] = true; // diameterList[2] > 0.6;
if (detectList[0])
{
pbxThickness1.BackColor = Color.Green;
}
else
{
pbxThickness1.BackColor = Color.Gray;
tbrTravel1.Value = 0;
cpbRotation1.Value = 0;
}
if (detectList[1])
{
pbxThickness2.BackColor = Color.Green;
}
else
{
pbxThickness2.BackColor = Color.Gray;
tbrTravel2.Value = 0;
cpbRotation2.Value = 0;
}
if (detectList[2])
{
pbxThickness3.BackColor = Color.Green;
}
else
{
pbxThickness3.BackColor = Color.Gray;
tbrTravel3.Value = 0;
cpbRotation3.Value = 0;
}
lbThicknessValue1.Text = Math.Round(diameterList[0], 1).ToString();
lbThicknessValue2.Text = Math.Round(diameterList[1], 1).ToString();
lbThicknessValue3.Text = Math.Round(diameterList[2], 1).ToString();
}));
}
}
private void btnOK_Click(object sender, EventArgs e)
{
UpdateAdvConfig();
USBSerial.UpdateAdvConfig();
this.Close();
}