public override bool InsertTrip(UserNodeCore context, Communication.Trip trip)
{
Command command = new InsertTripCommand(trip);
context.ServiceProxy.HandleDarPoolingRequest(command);
// This command does not change state
return true;
}
void serial_AllConfigCommunicationReceived(Communication.Frames.Configuration.AllConfig config)
{
updating_gui = true;
this.config = config;
MethodInvoker m = delegate()
{
_cbInvert1.Checked = config.servo_reverse[0];
_cbInvert2.Checked = config.servo_reverse[1];
_cbInvert3.Checked = config.servo_reverse[2];
_cbInvert4.Checked = config.servo_reverse[3];
_lblInterpretation1.Text = "";
_lblInterpretation2.Text = "";
_lblInterpretation3.Text = "";
_lblInterpretation4.Text = "";
ComboBox[] cbn = { _cbInputFunction1, _cbInputFunction2, _cbInputFunction3, _cbInputFunction4 };
cbn[0].SelectedIndex = 4;
cbn[1].SelectedIndex = 4;
cbn[2].SelectedIndex = 4;
cbn[3].SelectedIndex = 4;
if (config.channel_ap <= cbn.Length && config.channel_ap > 0)
cbn[config.channel_ap - 1].SelectedIndex = 3;
if (config.channel_motor <= cbn.Length && config.channel_motor > 0)
cbn[config.channel_motor - 1].SelectedIndex = 2;
if (config.channel_pitch <= cbn.Length && config.channel_pitch > 0)
cbn[config.channel_pitch - 1].SelectedIndex = 0;
if (config.channel_roll <= cbn.Length && config.channel_roll > 0)
cbn[config.channel_roll - 1].SelectedIndex = 1;
//if (config.channel_yaw <= cbn.Length && config.channel_yaw > 0)
// cbn[config.channel_yaw - 1].SelectedIndex = 2;
if (config.control_mixing < _cbMixing.Items.Count)
_cbMixing.SelectedIndex = Math.Max(0, Math.Min(10, config.control_mixing));
_hsPitchSensitivity.Value = Math.Max(0, (int)(config.pid_pitch2elevator_p * 10.0));
_hsRollSensitivity.Value = Math.Max(0, (int)(config.pid_roll2aileron_p * 10.0));
_cbAutothrottle.Checked = config.auto_throttle_enabled;
_hsbCruiseThrottle.Value = Math.Max(0, config.auto_throttle_cruise_pct);
_hsbCruiseThrottle_Scroll(null, new ScrollEventArgs(ScrollEventType.EndScroll, _hsbCruiseThrottle.Value));
updating_gui = false;
};
try
{
BeginInvoke(m);
}
catch
{
;
}
}
//muss statt void die AAI-Kompnente zurückgeben
public static IHESFassade BuildComponents(ISessionFactory sessionFactory)
{
ICommunication communication = new Communication.Communication();
IProduktMgmt produktKomponente = new ProduktFassade(sessionFactory);
IProduktDetails produktDetailsKomponente = new ProduktFassade(sessionFactory);
INachbestellungMgmt nachbestellungsKomponente = new NachbestellungsFassade(sessionFactory, produktKomponente);
ILagerLogMgmt lagerLogKompomente = new LagerLogFassade(sessionFactory);
IWaWiFassade waWiVerwaltungsKomponente = new WaWiVerwaltungFassade(produktKomponente, lagerLogKompomente, nachbestellungsKomponente);
IRechnungMgmt rechnungsKomponente = new RechnungFassade(sessionFactory);
IAuslieferungsMgmt auslieferungsKomponente = new AuslieferungsFassade(sessionFactory);
IKundenMgmt kundenKomponente = new KundenFassade(sessionFactory);
IAuftragMgmt auftragabwicklungKomponente = new AuftragabwicklungFassade(sessionFactory, waWiVerwaltungsKomponente);
IHESFassade hESFassade = new HESFassade(kundenKomponente, auftragabwicklungKomponente, produktDetailsKomponente, rechnungsKomponente);
return(hESFassade);
}
void serial_AllConfigCommunicationReceived(Communication.Frames.Configuration.AllConfig config)
{
MethodInvoker m = delegate()
{
timer.Stop();
this.DialogResult = System.Windows.Forms.DialogResult.OK;
this.Close();
};
try
{
BeginInvoke(m);
}
catch
{
;
}
}
void serial_ControlInfoCommunicationReceived(Communication.Frames.Incoming.ControlInfo ci)
{
this.ci = ci;
}
void serial_AttitudeCommunicationReceived(Communication.Frames.Incoming.Attitude attitude)
{
if (aI3D != null)
{
aI3D.Roll = attitude.RollDeg / 180.0 * Math.PI;
aI3D.Pitch = attitude.PitchDeg / 180.0 * Math.PI;
}
artificialHorizon1.pitch_angle = attitude.PitchDeg;
artificialHorizon1.roll_angle = -attitude.RollDeg;
}
void serial_AttitudeCommunicationReceived(Communication.Frames.Incoming.Attitude attitude)
{
roll = (float)attitude.RollDeg;
pitch = (float)attitude.PitchDeg;
yaw = -(float)attitude.YawDeg;
}
void serial_PressureTempCommunicationReceived(Communication.Frames.Incoming.PressureTemp info)
{
/*if (!is_started)
{
start_pressure_height_m = info.Height;
is_started = true;
}
pressure_height_m = info.Height - start_pressure_height_m;*/
}
void serial_GpsBasicCommunicationReceived(Communication.Frames.Incoming.GpsBasic gpsbasic)
{
longitude = gpsbasic.Longitude / 3.14159 * 180.0;
latitude = gpsbasic.Latitude / 3.14159 * 180.0;
heading = gpsbasic.Heading_deg;
height = gpsbasic.Height_m;
}
void _serial_AllConfigCommunicationReceived(Communication.Frames.Configuration.AllConfig config)
{
MethodInvoker m = delegate()
{
is_updating = true;
UncheckAll();
if ((config.osd_bitmask & 4) != 0)
Check("horizon");
if ((config.osd_bitmask & 8192) != 0)
Check("Voltage battery 1");
if ((config.osd_bitmask & 16384) != 0)
Check("Voltage battery 2");
if ((config.osd_bitmask & 16) != 0)
Check("Current battery 1");
if ((config.osd_bitmask & 256) != 0)
Check("mAh");
if ((config.osd_bitmask & 512) != 0)
Check("Autopilot mode");
if ((config.osd_bitmask & 128) != 0)
Check("GPS");
if ((config.osd_bitmask & 2) != 0)
Check("Home arrow");
if ((config.osd_bitmask & 32) != 0)
Check("Distance");
if ((config.osd_bitmask & 1024) != 0)
Check("RC-receiver");
if ((config.osd_bitmask & 32) != 0)
Check("Distance to home");
if ((config.osd_bitmask & 4096) != 0)
Check("Vario");
if ((config.osd_bitmask & 64) != 0)
Check("time");
if ((config.osd_bitmask & 2048) != 0)
Check("Speed");
if ((config.osd_bitmask & 1) != 0)
Check("Altitude");
if ((config.osd_bitmask & 32768) != 0)
Check("block name");
last_bitmask = config.osd_bitmask;
try
{
_nud_rssi_low.Value = (decimal)config.osd_voltage_low;
_nud_rssi_high.Value = (decimal)config.osd_voltage_high;
}
catch (Exception ex)
{
}
if (config.osd_RssiMode >= 0 && config.osd_RssiMode < _cbRssi.Items.Count)
_cbRssi.SelectedIndex = config.osd_RssiMode;
is_updating = false;
};
try
{
BeginInvoke(m);
}
catch
{
}
}
void serial_AttitudeCommunicationReceived(Communication.Frames.Incoming.Attitude attitude)
{
//throw new NotImplementedException();
}
public void walkToObject(Communication.Point obj, Communication.Point nao, bool fudge1)
{
Communication.Point p = new Communication.Point();
p.X = obj.X - nao.X;
p.Y = obj.Y - nao.Y;
p.Z = checkAngle(nao.Z);
if (Math.Abs(p.Z) > PI / 2)
{
Console.WriteLine("Facing Kinect");
}
rotate(p);
double newZ = Math.Atan2(p.Y, p.X);
if (newZ > PI)
newZ = PI;
else if (newZ < -1 * PI)
newZ = -1 * PI;
p.X = Math.Round(p.X, 2);
p.Y = Math.Round(p.Y, 2);
newZ = Math.Round(newZ, 2);
Console.WriteLine("Object: ({0}, {1}, {2}),\nNao: ({3}, {4}, {5}),\nNew Loc: ({6}, {7}, {8}) @{9}",
obj.X, obj.Y, obj.Z, nao.X, nao.Y, nao.Z, p.X, p.Y, p.Z, newZ);
fudge(p, fudge1);
Console.WriteLine("Fudged: ({0}, {1}, {2})", p.X, p.Y, p.Z);
proxy.post.walkTo((float)p.X, (float)p.Y, (float)newZ);
prevAng = (float)newZ + (float)p.Z;
if (prevAng > PI)
prevAng = prevAng - 2 * PI;
else if (prevAng < -1 * PI)
prevAng = prevAng + 2 * PI;
Console.WriteLine("PPPPPPPPPPPPPPPPPPPPredicted Angle: " + prevAng);
}
// tranform the position of the object wrt to Nao's facing direction
private void rotate(Communication.Point p)
{
float x = (float)p.X;
float y = (float)p.Y;
float rad = (float)p.Z;
p.X = (float)(x * Math.Cos(rad) + y * Math.Sin(rad));
p.Y = (float)(-x * Math.Sin(rad) + y * Math.Cos(rad));
}
private void fudge(Communication.Point delta, bool fudge1)
{
double theta = Math.Atan2(delta.Y, delta.X);
double hyp = Math.Sqrt(Math.Pow(delta.X, 2) + Math.Pow(delta.Y, 2)) - (fudge1 ? FUDGE_1 : FUDGE_2);
delta.X = hyp * Math.Cos(theta);
delta.Y = hyp * Math.Sign(theta);
Console.WriteLine("Theta: " + theta);
}
private void boxTasker()
{
Console.WriteLine("BoxTasker started");
Communication.Communication boxCommunication = new Communication.Communication();
Console.WriteLine("Waiting for connection to box");
Socket boks = boxCommunication.openConnection(boxPORT);
while (true)
{
Socket boks_connected = boxCommunication.waitForClient(boks);
//boks_connected.SendTimeout = 1000;
//boks_connected.reciveTimeout = 5000;
Console.WriteLine("BOX Connected");
try {
int timeRemember = 0;
int timeNow = 0;
string boxState = "0";
int tjekCounter = 0;
bool firstStart = true;
timeRemember = timeNow;
while (boks_connected.Connected)
{
byte[] buf = new byte[BUFSIZE];
string menuBox = "0";
DateTime time = DateTime.Now;
timeNow = time.Second;
if (boks_connected.Available > 0)
{
buf = boxCommunication.recive(boks_connected);
menuBox = boxCommunication.decodeMessageString(buf);
timeRemember = timeNow;
Console.WriteLine("menuBox = {0}", menuBox);
}
//else if (timeRemember + 5 == timeNow )
//{
// Console.WriteLine("Time: {0} ", timeNow);
// Console.WriteLine("States: {0} , {1} , {2}", stades[0], stades[1], stades[2]);
// //menuBox = "2";
// timeRemember = timeNow;
//}
//else if (5 > timeNow )
//{
// timeRemember = 5;
//}
//else if(firstStart == true)
//{
// //menuBox = "2";
// firstStart = false;
//}
switch (menuBox.Substring(0, Math.Min(1, menuBox.Length)))
{ //Menu for the box
case "1": //login/unlock
Console.WriteLine("Getting table data");
buf = boxCommunication.convertMessageString("1");
boxCommunication.transmit(boks_connected, buf);
System.Threading.Thread.Sleep(500);
buf = boxCommunication.receive(boks_connected);
string id = boxCommunication.decodeMessageString(buf);
boxCommunication.transmit(boks_connected, buf);
System.Threading.Thread.Sleep(500);
Console.WriteLine("ID: {0}", id);
buf = boxCommunication.receive(boks_connected);
string state = boxCommunication.decodeMessageString(buf);
Console.WriteLine("State: {0}", state);
if (addr[0] == id)
{
stades[0] = state;
}
else if (addr[1] == id)
{
stades[1] = state;
}
else if (addr[2] == state)
{
stades[2] = state;
}
break;
case "2": //Ping
Console.WriteLine("Asking for table data");
buf = boxCommunication.convertMessageString("1");
//boxCommunication.transmit(boks_connected, buf);
System.Threading.Thread.Sleep(100);
break;
}
}
}
catch
{
Console.Write("Boks lost connection");
boxCommunication.closeConnection(boks_connected);
}
}
}
void serial_RcInputCommunicationReceived(Communication.Frames.Incoming.RcInput rcinput)
{
if (config != null)
{
MethodInvoker m = delegate()
{
ProgressBar[] pbs = { _pbChannel1, _pbChannel2, _pbChannel3, _pbChannel4, _pbChannel5, _pbChannel6 };
for (int i = 0; i < 6; i++)
{
if (rcinput.GetPwm(i + 1) > 900 && rcinput.GetPwm(i + 1) < 2100)
pbs[i].Value = rcinput.GetPwm(i + 1) - 900;
else
pbs[i].Value = 0;
}
Label[] channel_labels = {_lblInterpretation1, _lblInterpretation2, _lblInterpretation3, _lblInterpretation4, _lblInterpretation5, _lblInterpretation6 };
_lblInterpretation1.Text = "";
_lblInterpretation2.Text = "";
_lblInterpretation3.Text = "";
_lblInterpretation4.Text = "";
_lblInterpretation5.Text = "";
_lblInterpretation6.Text = "";
if (config.channel_ap > 0 && config.channel_ap <= channel_labels.Length)
{
if (rcinput.GetPwm(config.channel_ap) > 1750)
channel_labels[config.channel_ap - 1].Text = "Manual mode";
else if (rcinput.GetPwm(config.channel_ap) > 1350)
channel_labels[config.channel_ap - 1].Text = "Stabilized mode";
else if (rcinput.GetPwm(config.channel_ap) > 900)
channel_labels[config.channel_ap - 1].Text = "Autopilot mode";
else
channel_labels[config.channel_ap - 1].Text = "Undetermined";
}
if (config.channel_motor > 0 && config.channel_motor <= channel_labels.Length)
{
if (rcinput.GetPwm(config.channel_motor) > 1500)
channel_labels[config.channel_motor - 1].Text = "Throttle high (" + (ci == null ? "?)" : ci.Throttle.ToString() + "%)");
else if (rcinput.GetPwm(config.channel_motor) > 920)
channel_labels[config.channel_motor - 1].Text = "Throttle low (" + (ci == null ? "?)" : ci.Throttle.ToString() + "%)");
else if (rcinput.GetPwm(config.channel_motor) > 800)
channel_labels[config.channel_motor - 1].Text = "Throttle in autopilot failsafe";
else
channel_labels[config.channel_motor - 1].Text = "Undetermined";
}
if (config.channel_pitch > 0 && config.channel_pitch <= channel_labels.Length)
{
if (rcinput.GetPwm(config.channel_pitch) > 1750)
channel_labels[config.channel_pitch - 1].Text = "Pitching UP";
else if (rcinput.GetPwm(config.channel_pitch) > 1250)
channel_labels[config.channel_pitch - 1].Text = "Pithing +- neutral";
else if (rcinput.GetPwm(config.channel_pitch) > 900)
channel_labels[config.channel_pitch - 1].Text = "Pithing DOWN";
else
channel_labels[config.channel_pitch - 1].Text = "Undetermined";
}
if (config.channel_roll > 0 && config.channel_roll <= channel_labels.Length)
{
if (rcinput.GetPwm(config.channel_roll) > 1750)
channel_labels[config.channel_roll - 1].Text = "Rolling RIGHT";
else if (rcinput.GetPwm(config.channel_roll) > 1250)
channel_labels[config.channel_roll - 1].Text = "Roll +- neutral";
else if (rcinput.GetPwm(config.channel_roll) > 900)
channel_labels[config.channel_roll - 1].Text = "Rolling LEFT";
else
channel_labels[config.channel_roll - 1].Text = "Undetermined";
}
};
try
{
BeginInvoke(m);
}
catch
{
}
}
}
void serial_AllConfigCommunicationReceived(Communication.Frames.Configuration.AllConfig config)
{
if (this.config_original == null)
config_original = config;
guiUpdateBusy = true;
_tmrGuiUpdateBusy.Enabled = true;
_tmrGuiUpdateBusy.Start();
this.config = config;
MethodInvoker m = delegate()
{
_cbInvert1.Checked = config.servo_reverse[0];
_cbInvert2.Checked = config.servo_reverse[1];
_cbInvert3.Checked = config.servo_reverse[2];
_cbInvert4.Checked = config.servo_reverse[3];
_cbInvert5.Checked = config.servo_reverse[4];
_cbInvert6.Checked = config.servo_reverse[5];
ComboBox[] cbn = { _cbInputFunction1, _cbInputFunction2, _cbInputFunction3, _cbInputFunction4, _cbInputFunction5, _cbInputFunction6 };
cbn[0].SelectedIndex = 5;
cbn[1].SelectedIndex = 5;
cbn[2].SelectedIndex = 5;
cbn[3].SelectedIndex = 5;
cbn[4].SelectedIndex = 5;
cbn[5].SelectedIndex = 5;
if (config.channel_ap <= 6 && config.channel_ap > 0)
cbn[config.channel_ap - 1].SelectedIndex = 4;
if (config.channel_motor <= 6 && config.channel_motor > 0)
cbn[config.channel_motor - 1].SelectedIndex = 3;
if (config.channel_pitch <= 6 && config.channel_pitch > 0)
cbn[config.channel_pitch - 1].SelectedIndex = 0;
if (config.channel_roll <= 6 && config.channel_roll > 0)
cbn[config.channel_roll - 1].SelectedIndex = 1;
if (config.channel_yaw <= 6 && config.channel_yaw > 0)
cbn[config.channel_yaw - 1].SelectedIndex = 2;
if (config.control_mixing < _cbMixing.Items.Count)
_cbMixing.SelectedIndex = config.control_mixing;
_hsPitchSensitivity.Value = Math.Max(0, (int)(config.pid_pitch2elevator_p * 10.0));
_hsRollSensitivity.Value = Math.Max(0, (int)(config.pid_roll2aileron_p * 10.0));
//_hsRollSensitivity_ValueChanged(null, ScrollEventArgs.Empty);
//_hsPitchSensitivity_ValueChanged(null, ScrollEventArgs.Empty);
_cbAutothrottle.Checked = config.auto_throttle_enabled;
_hsbCruiseThrottle.Value = Math.Max(0, config.auto_throttle_cruise_pct);
_hsbCruiseThrottle_Scroll(null, new ScrollEventArgs(ScrollEventType.EndScroll, _hsbCruiseThrottle.Value));
};
try
{
BeginInvoke(m);
}
catch
{
;
}
}
void serial_ControlInfoCommunicationReceived(Communication.Frames.Incoming.ControlInfo ci)
{
pressure_height_m = ci.Altitude;
}
public virtual bool InsertTrip(UserNodeCore context, Communication.Trip trip)
{
return false;
}
void serial_AttitudeCommunicationReceived(Communication.Frames.Incoming.Attitude attitude)
{
MethodInvoker m = delegate()
{
artificialHorizon.pitch_angle = attitude.PitchDeg;
artificialHorizon.roll_angle = -attitude.RollDeg;
_lblPitch.Text = "Pitch: " + ((int)attitude.PitchDeg).ToString();
_lblRoll.Text = "Roll: " + ((int)attitude.RollDeg).ToString();
};
try
{
BeginInvoke(m);
}
catch
{
}
}
