private void FormSteer_FormClosing(object sender, FormClosingEventArgs e)
{
mf.vehicle.ast.isInFreeDriveMode = false;
Properties.Vehicle.Default.setVehicle_goalPointLookAhead = mf.vehicle.goalPointLookAhead;
Properties.Vehicle.Default.stanleyHeadingErrorGain = mf.vehicle.stanleyHeadingErrorGain;
Properties.Vehicle.Default.stanleyDistanceErrorGain = mf.vehicle.stanleyDistanceErrorGain;
Properties.Vehicle.Default.stanleyIntegralGainAB = mf.vehicle.stanleyIntegralGainAB;
Properties.Vehicle.Default.purePursuitIntegralGainAB = mf.vehicle.purePursuitIntegralGain;
Properties.Vehicle.Default.setVehicle_goalPointLookAheadMult = mf.vehicle.goalPointLookAheadMult;
Properties.Vehicle.Default.setVehicle_maxSteerAngle = mf.vehicle.maxSteerAngle;
Properties.Settings.Default.setAS_countsPerDegree = mf.p_252.pgn[mf.p_252.countsPerDegree] = unchecked ((byte)hsbarCountsPerDegree.Value);
Properties.Settings.Default.setAS_ackerman = mf.p_252.pgn[mf.p_252.ackerman] = unchecked ((byte)hsbarAckerman.Value);
Properties.Settings.Default.setAS_wasOffset = hsbarWasOffset.Value;
mf.p_252.pgn[mf.p_252.wasOffsetHi] = unchecked ((byte)(hsbarWasOffset.Value >> 8));
mf.p_252.pgn[mf.p_252.wasOffsetLo] = unchecked ((byte)(hsbarWasOffset.Value));
Properties.Settings.Default.setAS_highSteerPWM = mf.p_252.pgn[mf.p_252.highPWM] = unchecked ((byte)hsbarHighSteerPWM.Value);
Properties.Settings.Default.setAS_lowSteerPWM = mf.p_252.pgn[mf.p_252.lowPWM] = unchecked ((byte)hsbarLowSteerPWM.Value);
Properties.Settings.Default.setAS_Kp = mf.p_252.pgn[mf.p_252.gainProportional] = unchecked ((byte)hsbarProportionalGain.Value);
Properties.Settings.Default.setAS_minSteerPWM = mf.p_252.pgn[mf.p_252.minPWM] = unchecked ((byte)hsbarMinPWM.Value);
Properties.Settings.Default.Save();
Properties.Vehicle.Default.Save();
//save current vehicle
SettingsIO.ExportAll(mf.vehiclesDirectory + mf.vehicleFileName + ".XML");
}
private void cboxVeh_SelectedIndexChanged(object sender, EventArgs e)
{
//mf.FileOpenVehicle(mf.vehiclesDirectory + cboxVeh.SelectedItem.ToString() + ".xml");
SettingsIO.ImportAll(mf.vehiclesDirectory + cboxVeh.SelectedItem.ToString() + ".XML");
mf.LoadSettings();
Close();
}
private void FormConfig_FormClosing(object sender, FormClosingEventArgs e)
{
SaveDisplaySettings();
//reload all the settings from default and user.config
mf.LoadSettings();
//save current vehicle
SettingsIO.ExportAll(mf.vehiclesDirectory + mf.vehicleFileName + ".XML");
}
private void btnSave_Click(object sender, EventArgs e)
{
if (tboxName.Text.Trim().Length > 0)
{
//mf.FileSaveVehicle(mf.vehiclesDirectory + tboxName.Text.Trim() + ".xml");
SettingsIO.ExportAll(mf.vehiclesDirectory + tboxName.Text.Trim() + ".XML");
Close();
}
}
private void btnVehicleSave_Click(object sender, EventArgs e)
{
if (tboxVehicleNameSave.Text.Trim().Length > 0)
{
SaveDisplaySettings();
SettingsIO.ExportAll(mf.vehiclesDirectory + tboxVehicleNameSave.Text.Trim() + ".XML");
UpdateVehicleListView();
lblCurrentVehicle.Text = tboxVehicleNameSave.Text.Trim();
Properties.Vehicle.Default.setVehicle_vehicleName = tboxVehicleNameSave.Text.Trim();
Properties.Vehicle.Default.Save();
tboxVehicleNameSave.Text = "";
btnVehicleSave.Enabled = false;
}
}
private void cboxVeh_SelectedIndexChanged(object sender, EventArgs e)
{
DialogResult result3 = MessageBox.Show(
"Overwrite: " + cboxVeh.SelectedItem.ToString() + ".xml",
gStr.gsSaveAndReturn,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question,
MessageBoxDefaultButton.Button2);
if (result3 == DialogResult.Yes)
{
//mf.FileSaveVehicle(mf.vehiclesDirectory + cboxVeh.SelectedItem.ToString() + ".xml");
SettingsIO.ExportAll(mf.vehiclesDirectory + cboxVeh.SelectedItem.ToString() + ".XML");
Close();
}
}
private void btnVehicleSaveAs_Click(object sender, EventArgs e)
{
if (lvVehicles.SelectedItems.Count > 0)
{
DialogResult result3 = MessageBox.Show(
"Overwrite: " + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML",
gStr.gsSaveAndReturn,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question,
MessageBoxDefaultButton.Button2);
if (result3 == DialogResult.Yes)
{
SettingsIO.ExportAll(mf.vehiclesDirectory + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML");
}
UpdateVehicleListView();
}
}
private void btnVehicleLoad_Click(object sender, EventArgs e)
{
if (!mf.isJobStarted)
{
if (lvVehicles.SelectedItems.Count > 0)
{
DialogResult result3 = MessageBox.Show(
"Load: " + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML",
gStr.gsSaveAndReturn,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question,
MessageBoxDefaultButton.Button2);
if (result3 == DialogResult.Yes)
{
SettingsIO.ImportAll(mf.vehiclesDirectory + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML");
mf.vehicleFileName = lvVehicles.SelectedItems[0].SubItems[0].Text;
Properties.Vehicle.Default.setVehicle_vehicleName = mf.vehicleFileName;
Properties.Vehicle.Default.Save();
mf.vehicle = new CVehicle(mf);
mf.tool = new CTool(mf);
//fix the checkboxes on summary
//SaveDisplaySettings();
//reset AOG
mf.LoadSettings();
chkDisplaySky.Checked = mf.isSkyOn;
chkDisplayGrid.Checked = mf.isGridOn;
chkDisplaySpeedo.Checked = mf.isSpeedoOn;
chkDisplayDayNight.Checked = mf.isAutoDayNight;
chkDisplayExtraGuides.Checked = mf.isSideGuideLines;
chkDisplayLogNMEA.Checked = mf.isLogNMEA;
chkDisplayPolygons.Checked = mf.isDrawPolygons;
chkDisplayLightbar.Checked = mf.isLightbarOn;
chkDisplayKeyboard.Checked = mf.isKeyboardOn;
chkDisplayStartFullScreen.Checked = Properties.Settings.Default.setDisplay_isStartFullScreen;
if (mf.isMetric)
{
rbtnDisplayMetric.Checked = true;
}
else
{
rbtnDisplayImperial.Checked = true;
}
SaveDisplaySettings();
//Form Steer Settings
mf.p_252.pgn[mf.p_252.countsPerDegree] = unchecked ((byte)Properties.Settings.Default.setAS_countsPerDegree);
mf.p_252.pgn[mf.p_252.ackerman] = unchecked ((byte)Properties.Settings.Default.setAS_ackerman);
mf.p_252.pgn[mf.p_252.wasOffsetHi] = unchecked ((byte)(Properties.Settings.Default.setAS_wasOffset >> 8));
mf.p_252.pgn[mf.p_252.wasOffsetLo] = unchecked ((byte)(Properties.Settings.Default.setAS_wasOffset));
mf.p_252.pgn[mf.p_252.highPWM] = unchecked ((byte)Properties.Settings.Default.setAS_highSteerPWM);
mf.p_252.pgn[mf.p_252.lowPWM] = unchecked ((byte)Properties.Settings.Default.setAS_lowSteerPWM);
mf.p_252.pgn[mf.p_252.gainProportional] = unchecked ((byte)Properties.Settings.Default.setAS_Kp);
mf.p_252.pgn[mf.p_252.minPWM] = unchecked ((byte)Properties.Settings.Default.setAS_minSteerPWM);
mf.SendPgnToLoop(mf.p_252.pgn);
//machine module settings
mf.p_238.pgn[mf.p_238.set0] = Properties.Vehicle.Default.setArdMac_setting0;
mf.p_238.pgn[mf.p_238.raiseTime] = Properties.Vehicle.Default.setArdMac_hydRaiseTime;
mf.p_238.pgn[mf.p_238.lowerTime] = Properties.Vehicle.Default.setArdMac_hydLowerTime;
mf.SendPgnToLoop(mf.p_238.pgn);
//steer config
mf.p_251.pgn[mf.p_251.set0] = Properties.Vehicle.Default.setArdSteer_setting0;
mf.p_251.pgn[mf.p_251.set1] = Properties.Vehicle.Default.setArdSteer_setting1;
mf.p_251.pgn[mf.p_251.maxPulse] = Properties.Vehicle.Default.setArdSteer_maxPulseCounts;
mf.p_251.pgn[mf.p_251.minSpeed] = 5; //0.5 kmh
mf.SendPgnToLoop(mf.p_251.pgn);
mf.TimedMessageBox(2500, "Steer and Machine Settings Sent", "Was Steer Module Connected?");
}
UpdateVehicleListView();
}
}
else
{
var form = new FormTimedMessage(2000, gStr.gsFieldIsOpen, gStr.gsCloseFieldFirst);
form.Show(this);
}
//Close();
}
private void btnVehicleLoad_Click(object sender, EventArgs e)
{
if (!mf.isJobStarted)
{
if (lvVehicles.SelectedItems.Count > 0)
{
DialogResult result3 = MessageBox.Show(
"Load: " + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML",
gStr.gsSaveAndReturn,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question,
MessageBoxDefaultButton.Button2);
if (result3 == DialogResult.Yes)
{
SettingsIO.ImportAll(mf.vehiclesDirectory + lvVehicles.SelectedItems[0].SubItems[0].Text + ".XML");
mf.vehicleFileName = lvVehicles.SelectedItems[0].SubItems[0].Text;
Properties.Vehicle.Default.setVehicle_vehicleName = mf.vehicleFileName;
Properties.Vehicle.Default.Save();
mf.vehicle = new CVehicle(mf);
mf.tool = new CTool(mf);
//fix the checkboxes on summary
//SaveDisplaySettings();
//reset AOG
mf.LoadSettings();
chkDisplaySky.Checked = mf.isSkyOn;
chkDisplayFloor.Checked = mf.isTextureOn;
chkDisplayGrid.Checked = mf.isGridOn;
chkDisplaySpeedo.Checked = mf.isSpeedoOn;
chkDisplayDayNight.Checked = mf.isAutoDayNight;
chkDisplayExtraGuides.Checked = mf.isSideGuideLines;
chkDisplayLogNMEA.Checked = mf.isLogNMEA;
chkDisplayPolygons.Checked = mf.isDrawPolygons;
chkDisplayLightbar.Checked = mf.isLightbarOn;
chkDisplayKeyboard.Checked = mf.isKeyboardOn;
chkDisplayStartFullScreen.Checked = Properties.Settings.Default.setDisplay_isStartFullScreen;
if (mf.isMetric)
{
rbtnDisplayMetric.Checked = true;
}
else
{
rbtnDisplayImperial.Checked = true;
}
SaveDisplaySettings();
lblCurrentVehicle.Text = Properties.Vehicle.Default.setVehicle_vehicleName;
if (mf.isMetric)
{
lblInchesCm.Text = gStr.gsCentimeters;
lblFeetMeters.Text = gStr.gsMeters;
lblSecTotalWidthFeet.Visible = false;
lblSecTotalWidthInches.Visible = false;
lblSecTotalWidthMeters.Visible = true;
}
else
{
lblInchesCm.Text = gStr.gsInches;
lblFeetMeters.Text = "Feet";
lblSecTotalWidthFeet.Visible = true;
lblSecTotalWidthInches.Visible = true;
lblSecTotalWidthMeters.Visible = false;
}
if (mf.isMetric)
{
lblSecTotalWidthMeters.Text = (mf.tool.toolWidth * 100).ToString() + " cm";
}
else
{
double toFeet = mf.tool.toolWidth * 3.2808;
lblSecTotalWidthFeet.Text = Convert.ToString((int)toFeet) + "'";
double temp = Math.Round((toFeet - Math.Truncate(toFeet)) * 12, 0);
lblSecTotalWidthInches.Text = Convert.ToString(temp) + '"';
}
//Form Steer Settings
mf.p_252.pgn[mf.p_252.countsPerDegree] = unchecked ((byte)Properties.Settings.Default.setAS_countsPerDegree);
mf.p_252.pgn[mf.p_252.ackerman] = unchecked ((byte)Properties.Settings.Default.setAS_ackerman);
mf.p_252.pgn[mf.p_252.wasOffsetHi] = unchecked ((byte)(Properties.Settings.Default.setAS_wasOffset >> 8));
mf.p_252.pgn[mf.p_252.wasOffsetLo] = unchecked ((byte)(Properties.Settings.Default.setAS_wasOffset));
mf.p_252.pgn[mf.p_252.highPWM] = unchecked ((byte)Properties.Settings.Default.setAS_highSteerPWM);
mf.p_252.pgn[mf.p_252.lowPWM] = unchecked ((byte)Properties.Settings.Default.setAS_lowSteerPWM);
mf.p_252.pgn[mf.p_252.gainProportional] = unchecked ((byte)Properties.Settings.Default.setAS_Kp);
mf.p_252.pgn[mf.p_252.minPWM] = unchecked ((byte)Properties.Settings.Default.setAS_minSteerPWM);
mf.SendPgnToLoop(mf.p_252.pgn);
//machine module settings
mf.p_238.pgn[mf.p_238.set0] = Properties.Vehicle.Default.setArdMac_setting0;
mf.p_238.pgn[mf.p_238.raiseTime] = Properties.Vehicle.Default.setArdMac_hydRaiseTime;
mf.p_238.pgn[mf.p_238.lowerTime] = Properties.Vehicle.Default.setArdMac_hydLowerTime;
mf.SendPgnToLoop(mf.p_238.pgn);
//steer config
mf.p_251.pgn[mf.p_251.set0] = Properties.Vehicle.Default.setArdSteer_setting0;
mf.p_251.pgn[mf.p_251.set1] = Properties.Vehicle.Default.setArdSteer_setting1;
mf.p_251.pgn[mf.p_251.maxPulse] = Properties.Vehicle.Default.setArdSteer_maxPulseCounts;
mf.p_251.pgn[mf.p_251.minSpeed] = 5; //0.5 kmh
if (Properties.Settings.Default.setAS_isAngVelGuidance)
{
mf.p_251.pgn[mf.p_251.angVel] = 1;
}
else
{
mf.p_251.pgn[mf.p_251.angVel] = 0;
}
mf.SendPgnToLoop(mf.p_251.pgn);
//Send Pin configuration
SendRelaySettingsToMachineModule();
///Remind the user
mf.TimedMessageBox(2500, "Steer and Machine Settings Sent", "Were Modules Connected?");
}
UpdateVehicleListView();
}
}
else
{
var form = new FormTimedMessage(2000, gStr.gsFieldIsOpen, gStr.gsCloseFieldFirst);
form.Show(this);
}
//Close();
}
