Exemple #1
0
      public MainForm()
      {
         this.InitializeComponent();
         this.StatusLabel.Text = "";

         this.device = new Device("device", 0);
         this.downloadDevice = new Device("download device", 0);

         this.digitalIo = new PeakDigitalIo("digital IO", 0);
         this.digitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoChangeHandler);

         this.analogIo = new PeakAnalogIo("analog IO", 0);

         this.encoder = new KublerRotaryEncoder("encoder", 0);
         
         this.motor = new ElmoWhistleMotor("motor", 0);
         this.motor.OnInputChange = new ElmoWhistleMotor.InputChangeHandler(this.MotorInputChangeHandler);
         
         this.camera = new UlcRoboticsCamera("camera", 0);
         this.gps = new UlcRoboticsGps("gps", 0);
         this.nicbotBody = new UlcRoboticsNicbotBody("nicbot body", 0);
         this.nicbotWheel = new UlcRoboticsNicbotWheel("nicbot wheel", 0);
                  
         this.rs232 = new UlcRoboticsRs232("rs232", 0);
         this.rs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(this.Rs232ReceiveHandler);
         this.rs232RxQueue = new Queue();
         
         this.busInterface = new BusInterface();
         this.busInterface.AddDevice(this.device);
         this.busInterface.AddDevice(this.downloadDevice);
         this.busInterface.AddDevice(this.digitalIo);
         this.busInterface.AddDevice(this.analogIo);
         this.busInterface.AddDevice(this.encoder);
         this.busInterface.AddDevice(this.motor);
         this.busInterface.AddDevice(this.camera);
         this.busInterface.AddDevice(this.gps);
         this.busInterface.AddDevice(this.nicbotBody);
         this.busInterface.AddDevice(this.nicbotWheel);
         this.busInterface.AddDevice(this.rs232);

         Array interfaces = Enum.GetValues(typeof(BusInterfaces));

         this.BusInterfaceComboBox.Items.Clear();
         for (IEnumerator i = interfaces.GetEnumerator(); i.MoveNext(); )
         {
            this.BusInterfaceComboBox.Items.Add(i.Current);
         }
         this.BusInterfaceComboBox.SelectedIndex = 0;


         this.BaudComboBox.Items.Clear();
         this.BaudComboBox.Items.Add("10000");
         this.BaudComboBox.Items.Add("20000");
         this.BaudComboBox.Items.Add("50000");
         this.BaudComboBox.Items.Add("100000");
         this.BaudComboBox.Items.Add("125000");
         this.BaudComboBox.Items.Add("250000");
         this.BaudComboBox.Items.Add("500000");
         this.BaudComboBox.Items.Add("1000000");
         this.BaudComboBox.SelectedIndex = 5;


         this.DigitalIoBaudComboBox.Items.Clear();
         this.DigitalIoBaudComboBox.Items.Add("1000000");
         this.DigitalIoBaudComboBox.Items.Add("800000");
         this.DigitalIoBaudComboBox.Items.Add("500000");
         this.DigitalIoBaudComboBox.Items.Add("250000");
         this.DigitalIoBaudComboBox.Items.Add("125000");
         this.DigitalIoBaudComboBox.Items.Add("50000");
         this.DigitalIoBaudComboBox.SelectedIndex = 5;


         this.AnalogIoBaudComboBox.Items.Clear();
         this.AnalogIoBaudComboBox.Items.Add("1000000");
         this.AnalogIoBaudComboBox.Items.Add("800000");
         this.AnalogIoBaudComboBox.Items.Add("500000");
         this.AnalogIoBaudComboBox.Items.Add("250000");
         this.AnalogIoBaudComboBox.Items.Add("125000");
         this.AnalogIoBaudComboBox.Items.Add("50000");
         this.AnalogIoBaudComboBox.SelectedIndex = 5;


         this.EncoderBaudComboBox.Items.Clear();
         this.EncoderBaudComboBox.Items.Add("10000");
         this.EncoderBaudComboBox.Items.Add("20000");
         this.EncoderBaudComboBox.Items.Add("50000");
         this.EncoderBaudComboBox.Items.Add("100000");
         this.EncoderBaudComboBox.Items.Add("125000");
         this.EncoderBaudComboBox.Items.Add("250000");
         this.EncoderBaudComboBox.Items.Add("500000");
         this.EncoderBaudComboBox.Items.Add("1000000");
         this.EncoderBaudComboBox.SelectedIndex = 6;

         this.MotorModeComboBox.SelectedIndex = 0;

         this.CameraBaudComboBox.Items.Clear();
         this.CameraBaudComboBox.Items.Add("10000");
         this.CameraBaudComboBox.Items.Add("20000");
         this.CameraBaudComboBox.Items.Add("50000");
         this.CameraBaudComboBox.Items.Add("125000");
         this.CameraBaudComboBox.Items.Add("250000");
         this.CameraBaudComboBox.Items.Add("500000");
         this.CameraBaudComboBox.Items.Add("1000000");
         this.CameraBaudComboBox.SelectedIndex = 5;


         this.GpsBaudComboBox.Items.Clear();
         this.GpsBaudComboBox.Items.Add("10000");
         this.GpsBaudComboBox.Items.Add("20000");
         this.GpsBaudComboBox.Items.Add("50000");
         this.GpsBaudComboBox.Items.Add("125000");
         this.GpsBaudComboBox.Items.Add("250000");
         this.GpsBaudComboBox.Items.Add("500000");
         this.GpsBaudComboBox.Items.Add("1000000");
         this.GpsBaudComboBox.SelectedIndex = 5;


         this.NicbotBodyBaudComboBox.Items.Clear();
         this.NicbotBodyBaudComboBox.Items.Add("10000");
         this.NicbotBodyBaudComboBox.Items.Add("20000");
         this.NicbotBodyBaudComboBox.Items.Add("50000");
         this.NicbotBodyBaudComboBox.Items.Add("100000");
         this.NicbotBodyBaudComboBox.Items.Add("125000");
         this.NicbotBodyBaudComboBox.Items.Add("250000");
         this.NicbotBodyBaudComboBox.Items.Add("500000");
         this.NicbotBodyBaudComboBox.Items.Add("1000000");
         this.NicbotBodyBaudComboBox.SelectedIndex = 5;


         this.NicbotWheelModeComboBox.SelectedIndex = 0;
         
         this.NicbotWheelBaudComboBox.Items.Clear();
         this.NicbotWheelBaudComboBox.Items.Add("10000");
         this.NicbotWheelBaudComboBox.Items.Add("20000");
         this.NicbotWheelBaudComboBox.Items.Add("50000");
         this.NicbotWheelBaudComboBox.Items.Add("100000");
         this.NicbotWheelBaudComboBox.Items.Add("125000");
         this.NicbotWheelBaudComboBox.Items.Add("250000");
         this.NicbotWheelBaudComboBox.Items.Add("500000");
         this.NicbotWheelBaudComboBox.Items.Add("1000000");
         this.NicbotWheelBaudComboBox.SelectedIndex = 5;


         this.Rs232BaudComboBox.Items.Clear();
         this.Rs232BaudComboBox.Items.Add("10000");
         this.Rs232BaudComboBox.Items.Add("20000");
         this.Rs232BaudComboBox.Items.Add("50000");
         this.Rs232BaudComboBox.Items.Add("125000");
         this.Rs232BaudComboBox.Items.Add("250000");
         this.Rs232BaudComboBox.Items.Add("500000");
         this.Rs232BaudComboBox.Items.Add("1000000");
         this.Rs232BaudComboBox.SelectedIndex = 5;

         this.NicbotAutoDrillOriginCheckBox.Checked = false;
         this.NicbotAutoDrillContinuousModeRadioButton.Checked = true;
         this.NicbotAutoDrillDistanceRetractionRadioButton.Checked = true;

         this.traceQueue = new Queue();

         QueuedTraceListener queuedTraceListener = new QueuedTraceListener(this.traceQueue);
         Trace.Listeners.Add(queuedTraceListener);

         Tracer.MaskString = "FFFFFFFF";

         this.ActivityButton.Text = "Start";
         this.active = false;

         this.DownloadProgressLabel.Text = "";
         this.DownloadActivityButton.Text = "Start";
         this.downloadActive = false;

         this.HeartbeatActivityButton.Text = "Start";
         this.heartbeatActive = false;

         this.GpsDegreesRadioButton.Checked = true;
      }
      private void Initialize()
      {
         this.busReceiveQueue = new Queue();
         this.deviceResetQueue = new Queue();

         this.reelMotor = new ElmoWhistleMotor("reel motor", (byte)ParameterAccessor.Instance.TruckBus.ReelMotorBusId);
         this.reelDigitalIo = new PeakDigitalIo("reel digital IO", (byte)ParameterAccessor.Instance.TruckBus.ReelDigitalBusId);
         this.reelAnalogIo = new PeakAnalogIo("reel analog IO", (byte)ParameterAccessor.Instance.TruckBus.ReelAnalogBusId);
         this.reelEncoder = new KublerRotaryEncoder("reel encoder", (byte)ParameterAccessor.Instance.TruckBus.ReelEncoderBusId);
         this.feederTopFrontMotor = new ElmoWhistleMotor("feeder tf-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederTopFrontMotorBusId);
         this.feederTopRearMotor = new ElmoWhistleMotor("feeder tr-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederTopRearMotorBusId);
         this.feederBottomFrontMotor = new ElmoWhistleMotor("feeder bf-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederBottomFrontMotorBusId);
         this.feederBottomRearMotor = new ElmoWhistleMotor("feeder br-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederBottomRearMotorBusId);
         this.feederEncoder = new KublerRotaryEncoder("feeder encoder", (byte)ParameterAccessor.Instance.TruckBus.FeederEncoderBusId);
         this.guideLeftMotor = new ElmoWhistleMotor("guide l-motor", (byte)ParameterAccessor.Instance.TruckBus.GuideLeftMotorBusId);
         this.guideRightMotor = new ElmoWhistleMotor("guide r-motor", (byte)ParameterAccessor.Instance.TruckBus.GuideRightMotorBusId);
         this.launchDigitalIo = new PeakDigitalIo("launch digital IO", (byte)ParameterAccessor.Instance.TruckBus.LaunchDigitalIoBusId);
         this.launchAnalogIo = new PeakAnalogIo("launch analog IO", (byte)ParameterAccessor.Instance.TruckBus.LaunchAnalogIoBusId);
         this.gps = new UlcRoboticsGps("gps", (byte)ParameterAccessor.Instance.TruckBus.GpsBusId);

         if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
         {
            this.frontPumpMotor = new ElmoWhistleMotor("front pump motor", (byte)ParameterAccessor.Instance.TruckBus.FrontPumpBusId);
            this.frontScaleRs232 = new UlcRoboticsRs232("front scale rs232", (byte)ParameterAccessor.Instance.TruckBus.FrontScaleRs232BusId);
            this.frontScaleRs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(FgDigitalScale.Front.Receive);

            this.rearPumpMotor = new ElmoWhistleMotor("rear pump motor", (byte)ParameterAccessor.Instance.TruckBus.RearPumpBusId);
            this.rearScaleRs232 = new UlcRoboticsRs232("rear scale rs232", (byte)ParameterAccessor.Instance.TruckBus.RearScaleRs232BusId);
            this.rearScaleRs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(FgDigitalScale.Rear.Receive);
         }

         this.deviceList = new ArrayList();
         this.deviceList.Add(this.reelMotor);
         this.deviceList.Add(this.reelEncoder);
         this.deviceList.Add(this.feederTopFrontMotor);
         this.deviceList.Add(this.feederTopRearMotor);
         this.deviceList.Add(this.feederBottomFrontMotor);
         this.deviceList.Add(this.feederBottomRearMotor);
         this.deviceList.Add(this.feederEncoder);
         this.deviceList.Add(this.guideLeftMotor);
         this.deviceList.Add(this.guideRightMotor);
         this.deviceList.Add(this.reelDigitalIo);
         this.deviceList.Add(this.launchDigitalIo);
         this.deviceList.Add(this.reelAnalogIo);
         this.deviceList.Add(this.launchAnalogIo);
         this.deviceList.Add(this.gps);

         if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
         {
            this.deviceList.Add(this.frontPumpMotor);
            this.deviceList.Add(this.frontScaleRs232);

            this.deviceList.Add(this.rearPumpMotor);
            this.deviceList.Add(this.rearScaleRs232);
         }

         foreach (Device device in this.deviceList)
         {
            device.OnReceiveTrace = new Device.ReceiveTraceHandler(this.DeviceTraceReceive);
            device.OnTransmitTrace = new Device.TransmitTraceHandler(this.DeviceTraceTransmit);
            device.OnTransmit = new Device.TransmitHandler(this.DeviceTransmit);
            device.OnCommError = new Device.CommErrorHandler(this.DeviceError);
         }

         this.reelDigitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoInputChangeHandler);
         this.launchDigitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoInputChangeHandler);

         this.feederTopFrontStatus = new FeederMotorStatus();
         this.feederTopRearStatus = new FeederMotorStatus();
         this.feederBottomFrontStatus = new FeederMotorStatus();
         this.feederBottomRearStatus = new FeederMotorStatus();

         this.guideLeftStatus = new GuideMotorStatus();
         this.guideRightStatus = new GuideMotorStatus();
      }