/******************************************************************************/
public MainForm()
{
_app_ver = Assembly.GetExecutingAssembly().GetName().Version;
_dll_ver = Master.Version;
InitializeComponent();
// Hide settings menus and controls until servo network is detected
tabControl1.Hide();
_servo_ht = new SortedDictionary<byte, Servo>();
_active_servo = null;
// Drill down to locate containers where programatically constructed elements located (yuck!)
GroupBox _rules_container = null;
// Unfocus label required to remove focus from rules comboboxes after selection - hide under another control (yuck!)
Label _unfocus_lbl = null;
foreach(Control c_0 in this.Controls)
{
if(c_0.Name == "tabControl1")
{
TabControl tab_ctl_0 = (TabControl)c_0;
foreach(Control c_1 in tab_ctl_0.Controls)
{
if(c_1.Name == "tabPageSetup")
{
TabPage tab_page_0 = (TabPage)c_1;
foreach(Control c_2 in tab_page_0.Controls)
{
if(c_2.Name == "tabServoSettings")
{
TabControl tab_ctl_1 = (TabControl)c_2;
foreach(Control c_3 in tab_ctl_1.Controls)
{
if(c_3.Name == "tabPageSetupFuzzy")
{
TabPage tab_page_1 = (TabPage)c_3;
foreach(Control c_4 in tab_page_1.Controls)
{
if(c_4.Name == "gbSetFuzzyRules")
{
GroupBox gbx = (GroupBox)c_4;
_rules_container = gbx;
foreach(Control c_5 in gbx.Controls)
{
if(c_5.Name == "lblUnfocus")
{
_unfocus_lbl = (Label)c_5;
}
}
/*foreach(Control c_5 in gbx.Controls)
{
if(c_5.Name == "pnlFuzzyRules")
{
_rules_container = (Panel)c_5;
}
if(c_5.Name == "lblUnfocus")
{
_unfocus_lbl = (Label)c_5;
}
}*/
}
if(c_4.Name == "gbSetFuzzyMF")
{
_fuzzy_mem_funcs_obj = new FuzzyMemFuncs((GroupBox)c_4);
}
}
if(_rules_container != null && _unfocus_lbl != null)
{
_fuzzy_rules_obj = new FuzzyRules(_rules_container, _unfocus_lbl);
}
else
{
_fuzzy_rules_obj = null;
MsgBox.Show("Fuzzy Rules Panel not found");
}
if(_fuzzy_mem_funcs_obj == null)
{
MsgBox.Show("Fuzzy Mem Func groupbox not found");
}
}
if(c_3.Name == "tabPageSetupControl")
{
// Set top level groupboxes in "Servo Control" tab to have bold text
TabPage tab_page_2 = (TabPage)c_3;
foreach(Control c_5 in tab_page_2.Controls)
{
if(c_5 is GroupBox)
{
c_5.Font = new Font(c_5.Font, FontStyle.Bold);
foreach(Control c_5_ctl in c_5.Controls)
{
c_5_ctl.Font = new Font(c_5.Font, FontStyle.Regular);
}
}
}
}
}
}
}
}
}
}
}
// Populate comboboxes
InitializeControls();
// Disable symmetric control points.
cbxMemFuncCtlPts.Checked = false;
CtlPtsActive(false);
}
private bool GetServoNodes()
{
// First slave selector is "no slave" selection
_slave_selector = new List<slaveSelector>();
Slave _null_slave = null;
_slave_selector.Add(new slaveSelector(_null_slave));
if(Master.SlaveHashtable != null)
{
// Node zero always exists if any non-zero nodes present
_group = Master.GroupNode;
Dictionary<byte, Slave>.ValueCollection valueColl = Master.SlaveHashtable.Values;
foreach(Slave slave in valueColl)
{
// Build new Servo object if not already existent
if(!_servo_ht.ContainsKey(slave.Id) && slave.IsReady)
{
Servo servo = new Servo(slave);
_servo_ht.Add(slave.Id, servo);
_slave_selector.Add(new slaveSelector(slave));
}
}
}
else
{
MsgBox.Show(this, String.Format("{0} does not connect to a slave network\n", _port), "Connection Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
// Populate Slave Node combobox
cboSlaveNode.DataSource = _slave_selector;
cboSlaveNode.DisplayMember = "Description";
cboSlaveNode.ValueMember = "Id";
if(_slave_selector.Count == 2)
{
// Single servo node - Update controls with selection
cboSlaveNode.SelectedIndex = 1;
}
return true;
}
/******************************************************************************/
/// <summary>
/// plotData - Display statistics
/// </summary>
private void plotData(Servo servo)
{
if(cbxShowStatsPrev.Checked)
{
plot(servo.StatsPrev);
setCtlPts(servo.CtlPtsPrev);
}
else
{
plot(servo.StatsCur);
setCtlPts(servo.CtlPtsCur);
}
}
private void cboSlaveNode_SelectedIndexChanged(object sender, EventArgs e)
{
// first "null" selection returns obj instead of value ?!?
if(cboSlaveNode.SelectedValue is slaveSelector)
{
_active_servo = null;
}
else
{
if((byte)cboSlaveNode.SelectedValue != NULL_NODE &&
_servo_ht != null &&
_servo_ht.ContainsKey((byte)cboSlaveNode.SelectedValue))
{
_active_servo = _servo_ht[(byte)cboSlaveNode.SelectedValue];
// Prevent calling this if combobox selections not initialized
this.InvokeOnClick(btnServoCtlLoad, EventArgs.Empty);
this.InvokeOnClick(btnStatusRead, EventArgs.Empty);
this.InvokeOnClick(btnMotionCtlLoad, EventArgs.Empty);
this.InvokeOnClick(btnLimitCtlLoad, EventArgs.Empty);
// Automatically populate fuzzy vars
this.InvokeOnClick(btnGetMF, EventArgs.Empty);
this.InvokeOnClick(btnGetRules, EventArgs.Empty);
}
else
{
_active_servo = null;
}
}
}
/******************************************************************************/
public RndForm(Servo servo)
{
InitializeComponent();
_servo = servo;
}
