private void WriteCautionParameters(XmlWriter writer, CautionParameter cautionParameter)
{
writer.WriteStartElement("Caution");
this.WriteElement(writer, "Name", cautionParameter.Name);
this.WriteElement(writer, "DangerHigh", cautionParameter.DangerHighLimit);
this.WriteElement(writer, "WarningHigh", cautionParameter.WarningHighLimit);
this.WriteElement(writer, "WarningLow", cautionParameter.WarningLowLimit);
this.WriteElement(writer, "DangerLow", cautionParameter.DangerLowLimit);
writer.WriteEndElement();
}
private void AssignDefaults(RobotApplications robotApplication = RobotApplications.repair)
{
this.RobotApplication = robotApplication;
this.TruckBus = new TruckBusParameters();
this.TruckBus.BusInterface = BusInterfaces.PCIA;
this.TruckBus.BitRate = 50000;
this.TruckBus.ConsumerHeartbeatRate = 3000;
this.TruckBus.ProducerHeartbeatRate = 1000;
this.TruckBus.ControllerBusId = 80;
this.TruckBus.ReelMotorBusId = 70;
this.TruckBus.ReelDigitalBusId = 17;
this.TruckBus.ReelAnalogBusId = 19;
this.TruckBus.ReelEncoderBusId = 21;
this.TruckBus.FeederTopFrontMotorBusId = 64;
this.TruckBus.FeederTopRearMotorBusId = 65;
this.TruckBus.FeederBottomFrontMotorBusId = 66;
this.TruckBus.FeederBottomRearMotorBusId = 67;
this.TruckBus.FeederEncoderBusId = 22;
this.TruckBus.GuideLeftMotorBusId = 68;
this.TruckBus.GuideRightMotorBusId = 69;
this.TruckBus.LaunchDigitalIoBusId = 16;
this.TruckBus.LaunchAnalogIoBusId = 18;
this.TruckBus.GpsBusId = 20;
this.TruckBus.FrontPumpBusId = 71;
this.TruckBus.FrontScaleRs232BusId = 96;
this.TruckBus.RearPumpBusId = 72;
this.TruckBus.RearScaleRs232BusId = 97;
this.TruckBus.ControllerTraceMask = 0;
this.TruckBus.ReelMotorTraceMask = 1;
this.TruckBus.ReelDigitalTraceMask = 1;
this.TruckBus.ReelAnalogTraceMask = 1;
this.TruckBus.ReelEncoderTraceMask = 1;
this.TruckBus.FeederTopFrontMotorTraceMask = 1;
this.TruckBus.FeederTopRearMotorTraceMask = 1;
this.TruckBus.FeederBottomFrontMotorTraceMask = 1;
this.TruckBus.FeederBottomRearMotorTraceMask = 1;
this.TruckBus.FeederEncoderTraceMask = 1;
this.TruckBus.GuideLeftMotorTraceMask = 1;
this.TruckBus.GuideRightMotorTraceMask = 1;
this.TruckBus.LaunchDigitalIoTraceMask = 1;
this.TruckBus.LaunchAnalogIoTraceMask = 1;
this.TruckBus.GpsTraceMask = 1;
this.TruckBus.FrontPumpTraceMask = 1;
this.TruckBus.FrontScaleRs232TraceMask = 1;
this.TruckBus.RearPumpTraceMask = 1;
this.TruckBus.RearScaleRs232TraceMask = 1;
this.JoystickDeadband = 5000;
this.Latitude = double.NaN;
this.Longitude = double.NaN;
this.RobotBus = new RobotBusParameters();
this.RobotBus.BusInterface = BusInterfaces.PCIB;
this.RobotBus.BitRate = 50000;
this.RobotBus.ConsumerHeartbeatRate = 3000;
this.RobotBus.ProducerHeartbeatRate = 1000;
this.RobotBus.ControllerBusId = 80;
this.RobotBus.RobotBodyBusId = 32;
this.RobotBus.RobotTopFrontWheelBusId = 49;
this.RobotBus.RobotTopRearWheelBusId = 50;
this.RobotBus.RobotBottomFrontWheelBusId = 51;
this.RobotBus.RobotBottomRearWheelBusId = 52;
this.RobotBus.ControllerTraceMask = 0;
this.RobotBus.RobotBodyTraceMask = 1;
this.RobotBus.RobotTopFrontWheelTraceMask = 1;
this.RobotBus.RobotTopRearWheelTraceMask = 1;
this.RobotBus.RobotBottomFrontWheelTraceMask = 1;
this.RobotBus.RobotBottomRearWheelTraceMask = 1;
this.EnableRobotBus = true;
this.FrontScale = new DigitalScaleParameters("FrontScale", 1, 9600);
this.RearScale = new DigitalScaleParameters("RearScale", 2, 9600);
this.Trace = new IpEndpointParameters("Trace", "127.0.0.1", 10000);
this.LocationServer = new IpEndpointParameters("LocationServer", "0.0.0.0", 5050);
this.ThicknessSensor = new IpEndpointParameters("ThicknessSensor", "192.168.1.101", 0);
this.ThicknessConversionUnit = new ValueParameter("ThicknessConversionUnit", "mm", 3, 0, 100, 1, 1, 1);
this.StressSensor = new IpEndpointParameters("StressSensor", "192.168.1.102", 0);
this.StressConversionUnit = new ValueParameter("StressConversionUnit", "MPa", 3, 0, 100, 1, 1, 1);
this.NitrogenPressureConversionUnit = new ValueParameter("NitrogenPressureConversionUnit", "PSI", 3, 0, 1000, 1, 100, 100);
this.NitrogenPressureCaution = new CautionParameter("NitrogenPressureCaution", 450, 425, 375, 350);
this.RobotTotalCurrentConversionUnit = new ValueParameter("RobotTotalCurrentConversionUnit", "A", 2, 0, 1000, 1, 100, 100);
this.LaunchTotalCurrentConversionUnit = new ValueParameter("LaunchTotalCurrentConversionUnit", "A", 2, 0, 1000, 1, 100, 100);
this.GuideExtensionSpeed = new ValueParameter("GuideExtensionSpeed", "RPM", 0, 1, 4500, 1, 1500, 1500);
this.GuideRetractionSpeed = new ValueParameter("GuideRetractionSpeed", "RPM", 0, 1, 4500, 1, 1500, 1500);
this.GuideMomentaryButtonAction = true;
this.ReelDistance = new ValueParameter("ReelDistance", "m", 0, 0, 0, 0, 0, 0);
this.ReelDistanceScale = new ValueParameter("ReelDistanceScale", "m", 6, 0, 1000, 0, 1, 1);
this.ReelMotionMode = MovementForwardControls.current;
this.ReelReverseCurrent = new ValueParameter("ReelReverseCurrent", "A", 1, 0.0, 6.5, 0.1, 5.0, 5.0);
this.ReelLockCurrent = new ValueParameter("ReelLockCurrent", "A", 1, 0.0, 6.5, 0.1, 2.0, 2.0);
this.ReelCalibrationDistance = new ValueParameter("ReelCalibrationDistance", "m", 0, 1, 100, 1, 1, 1);
this.ReelManualCurrent = new ValueParameter("ReelManualCurrent", "A", 1, 0.0, 6.5, 0.1, 5.0, 5.0);
this.ReelReverseSpeed = new ValueParameter("ReelReverseSpeed", "m/MIN", 1, 0.0, 40.0, 0.1, 20.0, 20.0);
this.ReelManualSpeed = new ValueParameter("ReelManualSpeed", "m/MIN", 1, 0.0, 40.0, 0.1, 20, 20);
this.ReelVelocityToRpm = (1000 / 40.0); // 40.0 m/MIN at 1000 RPM
this.FeederAutomaticTracking = false;
this.FeederVelocityToRpm = (4000 / 12.05992); // 12.05992 m/MIN at 4000 RPM
this.FeederTrackingCalibration = new ValueParameter("FeederTrackingCalibration", "%", 1, -100, 100, 0.1, 50, 50);
this.FeederMaxSpeed = new ValueParameter("FeederMaxSpeed", "m/MIN", 2, 0, 12.05992, 1, 12, 12);
this.FeederLowSpeedScale = new ValueParameter("FeederLowSpeedScale", "%", 0, 1, 100, 1, 30, 30);
this.FeederLockCurrent = new ValueParameter("FeederLockCurrent", "A", 1, 0.0, 6.5, 0.1, 2.0, 2.0);
this.FeederCurrentPer1kRPM = new ValueParameter("FeederCurrentPer1kRPM", "A", 1, 0.1, 3.0, 0.1, 0.8, 0.8);
this.FeederManualSpeed = new ValueParameter("FeederManualSpeed", "m/MIN", 2, 0, 12.05992, 1, 7, 7);
this.FeederCurrentCaution = new CautionParameter("FeederCurrentCaution", 6.0, 5.0, 0.0, 0.0);
this.TopFrontFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.TopFrontFeederMotor, "TopFront", false, false);
this.TopRearFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.TopRearFeederMotor, "TopRear", false, false);
this.BottomFrontFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.BottomFrontFeederMotor, "BottomFront", true, true);
this.BottomRearFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.BottomRearFeederMotor, "BottomRear", true, true);
this.MovementMotorLockCurrent = new ValueParameter("MovementMotorLockCurrent", "A", 1, 0.1, 3.0, 0.1, 1.0, 1.0);
this.MovementMotorMaxCurrent = new ValueParameter("MovementMotorMaxCurrent", "A", 1, 0.1, 3.0, 0.1, 3.0, 3.0);
this.MovementMotorMaxSpeed = new ValueParameter("MovementMotorMaxSpeed", "m/MIN", 2, 0, 10, 1, 3.5, 3.5);
this.MovementMotorCurrentPer1kRPM = new ValueParameter("MovementMotorCurrentPer1kRPM", "A", 1, 0.1, 3.0, 0.1, 1.0, 1.0);
this.MovementMotorLowSpeedScale = new ValueParameter("MovementMotorLowSpeedScale", "%", 0, 1, 100, 1, 30, 30);
this.MovementMotorManualJogDistance = new ValueParameter("MovementMotorManualJogDistance", "mm", 0, 1, 100, 1, 1, 1);
this.MovementMotorManualMoveSpeed = new ValueParameter("MovementMotorManualMoveSpeed", "m/MIN", 2, 0, 10, 1, 2, 2);
this.MovementMotorVelocityToRpm = (40000.0/19.04); // 19.04m/MIN at 40000 RPM, (0.476mm/(motor revolution)
this.TopFrontMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.TopFrontMovementMotor, "TopFront", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current);
this.TopRearMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.TopRearMovementMotor, "TopRear", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current);
this.BottomFrontMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.BottomFrontMovementMotor, "BottomFront", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current, MovementForwardControls.current);
this.BottomRearMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.BottomRearMovementMotor, "BottomRear", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current, MovementForwardControls.current);
this.MovementCurrentCaution = new CautionParameter("MovementCurrentCaution", 15.0, 10.0, 0.0, 0.0);
this.MovementTemperatureCaution = new CautionParameter("MovementTemperatureCaution", 130.0, 100.0, 0.0, 0.0);
this.FrontToolSelected = true;
this.FrontDrill = new DrillParameters();
this.SetDrillDefaults(ref this.FrontDrill, "Front");
this.RearDrill = new DrillParameters();
this.SetDrillDefaults(ref this.RearDrill, "Rear");
this.FrontPump = new PumpParameters();
this.SetPumpDefaults(ref this.FrontPump);
this.RearPump = new PumpParameters();
this.SetPumpDefaults(ref this.RearPump);
this.Osd = new OsdParameters();
this.SetOsdDefaults(ref this.Osd);
this.robotLightLevels = new ValueParameter[12];
for (int i = 0; i < this.robotLightLevels.Length; i++)
{
ValueParameter value = new ValueParameter();
this.SetLightDefaults(ref value);
value.Name = "RobotLightLevel_" + (i + 1).ToString();
this.robotLightLevels[i] = value;
}
this.launchLightLevels = new ValueParameter[4];
for (int i = 0; i < this.launchLightLevels.Length; i++)
{
ValueParameter value = new ValueParameter();
this.SetLightDefaults(ref value);
value.Name = "LaunchLightLevel_" + (i + 1).ToString();
this.launchLightLevels[i] = value;
}
}
private CautionParameter ReadCautionParameters(XmlReader reader)
{
CautionParameter result = null;
bool readResult = true;
string name = "";
double dangerHighLimit = 0;
double warningHighLimit = 0;
double warningLowLimit = 0;
double dangerLowLimit = 0;
for (; readResult; )
{
readResult = reader.Read();
if (reader.IsStartElement())
{
switch (reader.Name)
{
case "Name":
{
name = this.ReadString(reader);
break;
}
case "DangerHigh":
{
dangerHighLimit = this.ReadDouble(reader);
break;
}
case "WarningHigh":
{
warningHighLimit = this.ReadDouble(reader);
break;
}
case "WarningLow":
{
warningLowLimit = this.ReadDouble(reader);
break;
}
case "DangerLow":
{
dangerLowLimit = this.ReadDouble(reader);
break;
}
}
}
else
{
if ("Caution" == reader.Name)
{
result = new CautionParameter(name, dangerHighLimit, warningHighLimit, warningLowLimit, dangerLowLimit);
break;
}
}
}
return (result);
}
private void ReadData(string filePath)
{
try
{
using (XmlReader reader = XmlReader.Create(filePath))
{
bool result = true;
#region Drill Read
{
for (; result;)
{
result = reader.Read();
if (reader.IsStartElement())
{
switch (reader.Name)
{
case "TruckBus":
{
TruckBusParameters truckBusParameters = this.ReadTruckBusParameters(reader);
if (null != truckBusParameters)
{
this.TruckBus = truckBusParameters;
}
break;
}
case "RobotBus":
{
RobotBusParameters robotBusParameters = this.ReadRobotBusParameters(reader);
if (null != robotBusParameters)
{
this.RobotBus = robotBusParameters;
}
break;
}
case "IpEndpoint":
{
IpEndpointParameters ipEndpointParameters = this.ReadIpEndpoint(reader);
if (null != ipEndpointParameters)
{
switch (ipEndpointParameters.Name)
{
case "Trace":
{
this.Trace = ipEndpointParameters;
break;
}
case "LocationServer":
{
this.LocationServer = ipEndpointParameters;
break;
}
case "ThicknessSensor":
{
this.ThicknessSensor = ipEndpointParameters;
break;
}
case "StressSensor":
{
this.StressSensor = ipEndpointParameters;
break;
}
}
}
break;
}
case "DigitalScale":
{
DigitalScaleParameters digitalScaleParameters = this.ReadDigitalScaleParameters(reader);
if (null != digitalScaleParameters)
{
switch (digitalScaleParameters.Location)
{
case "FrontScale":
{
this.FrontScale = digitalScaleParameters;
break;
}
case "RearScale":
{
this.RearScale = digitalScaleParameters;
break;
}
}
}
break;
}
case "Caution":
{
CautionParameter cautionParameter = this.ReadCautionParameters(reader);
if (null != cautionParameter)
{
switch (cautionParameter.Name)
{
case "NitrogenPressureCaution":
{
this.NitrogenPressureCaution = cautionParameter;
break;
}
case "FeederCurrentCaution":
{
this.FeederCurrentCaution = cautionParameter;
break;
}
case "MovementCurrentCaution":
{
this.MovementCurrentCaution = cautionParameter;
break;
}
case "MovementTemperatureCaution":
{
this.MovementTemperatureCaution = cautionParameter;
break;
}
}
}
break;
}
case "Value":
{
ValueParameter valueParameter = this.ReadValueParameters(reader);
if (null != valueParameter)
{
switch (valueParameter.Name)
{
case "ThicknessConversionUnit":
{
this.ThicknessConversionUnit = valueParameter;
break;
}
case "StressConversionUnit":
{
this.StressConversionUnit = valueParameter;
break;
}
case "NitrogenPressureConversionUnit":
{
this.NitrogenPressureConversionUnit = valueParameter;
break;
}
case "RobotTotalCurrentConversionUnit":
{
this.RobotTotalCurrentConversionUnit = valueParameter;
break;
}
case "LaunchTotalCurrentConversionUnit":
{
this.LaunchTotalCurrentConversionUnit = valueParameter;
break;
}
case "GuideExtensionSpeed":
{
this.GuideExtensionSpeed = valueParameter;
break;
}
case "GuideRetractionSpeed":
{
this.GuideRetractionSpeed = valueParameter;
break;
}
case "ReelDistance":
{
this.ReelDistance = valueParameter;
break;
}
case "ReelDistanceScale":
{
this.ReelDistanceScale = valueParameter;
break;
}
case "ReelReverseCurrent":
{
this.ReelReverseCurrent = valueParameter;
break;
}
case "ReelLockCurrent":
{
this.ReelLockCurrent = valueParameter;
break;
}
case "ReelCalibrationDistance":
{
this.ReelCalibrationDistance = valueParameter;
break;
}
case "ReelManualCurrent":
{
this.ReelManualCurrent = valueParameter;
break;
}
case "ReelReverseSpeed":
{
this.ReelReverseSpeed = valueParameter;
break;
}
case "ReelManualSpeed":
{
this.ReelManualSpeed = valueParameter;
break;
}
case "FeederTrackingCalibration":
{
this.FeederTrackingCalibration = valueParameter;
break;
}
case "FeederMaxSpeed":
{
this.FeederMaxSpeed = valueParameter;
break;
}
case "FeederLowSpeedScale":
{
this.FeederLowSpeedScale = valueParameter;
break;
}
case "FeederLockCurrent":
{
this.FeederLockCurrent = valueParameter;
break;
}
case "FeederCurrentPer1kRPM":
{
this.FeederCurrentPer1kRPM = valueParameter;
break;
}
case "FeederManualSpeed":
{
this.FeederManualSpeed = valueParameter;
break;
}
case "MovementMotorLockCurrent":
{
this.MovementMotorLockCurrent = valueParameter;
break;
}
case "MovementMotorMaxCurrent":
{
this.MovementMotorMaxCurrent = valueParameter;
break;
}
case "MovementMotorMaxSpeed":
{
this.MovementMotorMaxSpeed = valueParameter;
break;
}
case "MovementMotorCurrentPer1kRPM":
{
this.MovementMotorCurrentPer1kRPM = valueParameter;
break;
}
case "MovementMotorLowSpeedScale":
{
this.MovementMotorLowSpeedScale = valueParameter;
break;
}
case "MovementMotorManualJogDistance":
{
this.MovementMotorManualJogDistance = valueParameter;
break;
}
case "MovementMotorManualMoveSpeed":
{
this.MovementMotorManualMoveSpeed = valueParameter;
break;
}
}
}
break;
}
case "RobotApplication":
{
this.RobotApplication = ReadRobotApplication(reader);
break;
}
case "EnableRobotBus":
{
this.EnableRobotBus = this.ReadBool(reader);
break;
}
case "JoystickDeadband":
{
this.JoystickDeadband = this.ReadInt(reader);
break;
}
case "Latitude":
{
this.Latitude = this.ReadDouble(reader);
break;
}
case "Longitude":
{
this.Longitude = this.ReadDouble(reader);
break;
}
case "GuideMomentaryButtonAction":
{
this.ReadElement(reader, ref this.GuideMomentaryButtonAction);
break;
}
case "ReelMotionMode":
{
this.ReelMotionMode = this.ReadMotorForwardControl(reader);
break;
}
case "ReelVelocityToRpm":
{
this.ReelVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FeederAutomaticTracking":
{
this.ReadElement(reader, ref this.FeederAutomaticTracking);
break;
}
case "FeederVelocityToRpm":
{
this.FeederVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FeederMotor":
{
FeederMotorParameters feederMotorParameters = this.ReadFeederMotorParameters(reader);
if (null != feederMotorParameters)
{
switch (feederMotorParameters.Location)
{
case "TopFront":
{
this.TopFrontFeederMotor = feederMotorParameters;
break;
}
case "TopRear":
{
this.TopRearFeederMotor = feederMotorParameters;
break;
}
case "BottomFront":
{
this.BottomFrontFeederMotor = feederMotorParameters;
break;
}
case "BottomRear":
{
this.BottomRearFeederMotor = feederMotorParameters;
break;
}
}
}
break;
}
case "MovementMotor":
{
MovementMotorParameters movementMotorParameters = this.ReadMovementMotorParameters(reader);
if (null != movementMotorParameters)
{
switch (movementMotorParameters.Location)
{
case "TopFront":
{
this.TopFrontMovementMotor = movementMotorParameters;
break;
}
case "TopRear":
{
this.TopRearMovementMotor = movementMotorParameters;
break;
}
case "BottomFront":
{
this.BottomFrontMovementMotor = movementMotorParameters;
break;
}
case "BottomRear":
{
this.BottomRearMovementMotor = movementMotorParameters;
break;
}
}
}
break;
}
case "MovementMotorVelocityToRpm":
{
this.MovementMotorVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FrontToolSelected":
{
this.FrontToolSelected = this.ReadBool(reader);
break;
}
case "Drill":
{
DrillParameters drillParameters = this.ReadDrillParameters(reader);
if (null != drillParameters)
{
switch (drillParameters.Location)
{
case "Front":
{
this.FrontDrill = drillParameters;
break;
}
case "Rear":
{
this.RearDrill = drillParameters;
break;
}
}
}
break;
}
case "Pump":
{
PumpParameters pumpParameters = this.ReadPumpParameters(reader);
if (null != pumpParameters)
{
switch (pumpParameters.Location)
{
case "Front":
{
this.FrontPump = pumpParameters;
break;
}
case "Rear":
{
this.RearPump = pumpParameters;
break;
}
}
}
break;
}
case "Osd":
{
OsdParameters osdParameters = this.ReadOsdParameters(reader);
if (null != osdParameters)
{
this.Osd = osdParameters;
}
break;
}
case "Lights":
{
this.ReadLightParameters(reader);
break;
}
}
}
else
{
#if false
switch (reader.Name)
{
case "Drills":
{
break;
}
case "Drill":
{
break;
}
}
#endif
}
}
}
#endregion
reader.Close();
reader.Dispose();
}
}
catch { }
}
private void SetCautionPanel(double reading, CautionParameter cautionParameter, Control panel)
{
Color backColor = Color.Black;
Color foreColor = Color.White;
if ((reading > cautionParameter.DangerHighLimit) ||
(reading < cautionParameter.DangerLowLimit))
{
backColor = Color.Red;
}
else if ((reading > cautionParameter.WarningHighLimit) ||
(reading < cautionParameter.WarningLowLimit))
{
backColor = Color.Yellow;
foreColor = Color.Black;
}
panel.BackColor = backColor;
panel.ForeColor = foreColor;
}