public void SetBoardID(CanBoard board)
{
_boardID = board;
if (_servo1 != null)
{
_servo1.TorqueAlert -= PanelBoardCanServos_TorqueAlert1;
_servo2.TorqueAlert -= PanelBoardCanServos_TorqueAlert2;
_servo3.TorqueAlert -= PanelBoardCanServos_TorqueAlert3;
_servo4.TorqueAlert -= PanelBoardCanServos_TorqueAlert4;
}
_servo1 = AllDevices.CanServos[(ServomoteurID)(((int)_boardID - 1) * 4 + 0)];
_servo2 = AllDevices.CanServos[(ServomoteurID)(((int)_boardID - 1) * 4 + 1)];
_servo3 = AllDevices.CanServos[(ServomoteurID)(((int)_boardID - 1) * 4 + 2)];
_servo4 = AllDevices.CanServos[(ServomoteurID)(((int)_boardID - 1) * 4 + 3)];
lblTitle.Text = _boardID.ToString();
lblServo1.Text = Parse(_servo1.ID);
lblServo2.Text = Parse(_servo2.ID);
lblServo3.Text = Parse(_servo3.ID);
lblServo4.Text = Parse(_servo4.ID);
if (!Execution.DesignMode)
{
_servo1.TorqueAlert += PanelBoardCanServos_TorqueAlert1;
_servo2.TorqueAlert += PanelBoardCanServos_TorqueAlert2;
_servo3.TorqueAlert += PanelBoardCanServos_TorqueAlert3;
_servo4.TorqueAlert += PanelBoardCanServos_TorqueAlert4;
}
}
public CanSubConnection(CanConnection baseConnection, CanBoard board)
{
_baseConnection = baseConnection;
_board = board;
ConnectionChecker = new ConnectionChecker(this, 500);
ConnectionChecker.SendConnectionTest += ConnectionChecker_SendConnectionTest;
_baseConnection.FrameReceived += _baseConnection_FrameReceived;
_name = board.ToString();
}
private void lstReceiver_ItemCheck(object sender, ItemCheckEventArgs e)
{
if (!Execution.DesignMode && !_loading)
{
String boardStr = (String)lstReceiver.Items[e.Index];
CanBoard board = (CanBoard)Enum.Parse(typeof(CanBoard), boardStr);
Config.CurrentConfig.LogsCanReceivers[board] = (e.NewValue == CheckState.Checked);
}
}
public static Frame BuildDebugAsk(CanBoard board)
{
byte[] tab = new byte[10];
tab[0] = 0x00;
tab[1] = (byte)board;
tab[2] = (byte)CanFrameFunction.DebugAsk;
return(new Frame(tab));
}
public static Frame BuildTestConnection(CanBoard board)
{
byte[] tab = new byte[10];
tab[0] = 0x00;
tab[1] = (byte)board;
tab[2] = (byte)CanFrameFunction.TestConnection;
return(new Frame(tab));
}
private void mnuHideSameBoardFrames_Click(object sender, EventArgs e)
{
if (dgvLog.SelectedRows.Count >= 1)
{
foreach (DataGridViewRow line in dgvLog.SelectedRows)
{
CanBoard board = CanFrameFactory.ExtractBoard(GetFrameFromLine(line).Frame);
ShowFramesReceiver(board, false);
ShowFramesSender(board, false);
}
DisplayLog();
}
}
public static Frame BuildBeep(CanBoard board, int freqHz, int durationMs)
{
byte[] tab = new byte[10];
tab[0] = 0x00;
tab[1] = (byte)board;
tab[2] = (byte)CanFrameFunction.Buzzer;
tab[3] = ByteDivide(freqHz, true);
tab[4] = ByteDivide(freqHz, false);
tab[5] = ByteDivide(durationMs, true);
tab[6] = ByteDivide(durationMs, false);
return(new Frame(tab));
}
/// <summary>
/// Retourne la carte concernée par une connexion
/// </summary>
/// <param name="conn">Connexion dont on veut la carte</param>
/// <returns>La carte concernée par la connexion donnée</returns>
public static CanBoard GetCANBoardByConnection(Connection conn)
{
CanBoard output = CanBoard.CanServo1;
foreach (CanBoard c in Enum.GetValues(typeof(CanBoard)))
{
if (_connectionsCan.ContainsKey(c) && _connectionsCan[c] == conn)
{
output = c;
}
}
return(output);
}
private void _communication_FrameReceived(Frame frame)
{
try
{
CanBoard idCan = CanFrameFactory.ExtractBoard(frame);
if (_canBoards.Contains(idCan))
{
ServomoteurID servoGlobalId = CanFrameFactory.ExtractServomoteurID(frame);
_servos[servoGlobalId].FrameReceived(frame);
}
}
catch (Exception e)
{
Console.WriteLine("ERREUR CAN : " + frame.ToString() + " - " + e.Message);
}
}
private void ShowFramesSender(CanBoard board, bool show)
{
lstSender.Items.Remove(board.ToString());
lstSender.Items.Add(board.ToString(), show);
Config.CurrentConfig.LogsCanSenders[board] = show;
}
public void DisplayFrame(TimedFrame tFrame)
{
String time = "";
try
{
if (rdoTimeAbsolute.Checked)
{
time = tFrame.Date.ToString("hh:mm:ss:fff");
}
if (rdoTimeFromStart.Checked)
{
time = (tFrame.Date - _startTime).ToString(@"hh\:mm\:ss\:fff");
}
if (rdoTimeFromPrev.Checked)
{
time = ((int)(tFrame.Date - _previousTime).TotalMilliseconds).ToString() + " ms";
}
if (rdoTimeFromPrevDisplay.Checked)
{
time = ((int)(tFrame.Date - _previousDisplayTime).TotalMilliseconds).ToString() + " ms";
}
CanBoard board = CanFrameFactory.ExtractBoard(tFrame.Frame);
CanBoard sender = CanFrameFactory.ExtractSender(tFrame.Frame, tFrame.IsInputFrame);
CanBoard receiver = CanFrameFactory.ExtractReceiver(tFrame.Frame, tFrame.IsInputFrame);
if (board == CanBoard.PC)
{
throw new Exception();
}
bool receiverVisible = Config.CurrentConfig.LogsCanReceivers[receiver];
bool senderVisible = Config.CurrentConfig.LogsCanSenders[sender];
bool functionVisible = Config.CurrentConfig.LogsCanFunctions[CanFrameFactory.ExtractFunction(tFrame.Frame)];
if (senderVisible && receiverVisible && functionVisible)
{
dgvLog.Rows.Add(_counter, time, sender.ToString(), receiver.ToString(), CanFrameDecoder.Decode(tFrame.Frame), tFrame.Frame.ToString());
_previousDisplayTime = tFrame.Date;
if (rdoColorByBoard.Checked)
{
dgvLog.Rows[dgvLog.Rows.Count - 1].DefaultCellStyle.BackColor = _boardColor[board];
}
else if (rdoColorByReceiver.Checked)
{
dgvLog.Rows[dgvLog.Rows.Count - 1].DefaultCellStyle.BackColor = _boardColor[receiver];
}
else if (rdoColorBySender.Checked)
{
dgvLog.Rows[dgvLog.Rows.Count - 1].DefaultCellStyle.BackColor = _boardColor[sender];
}
}
}
catch (Exception e)
{
dgvLog.Rows.Add(_counter, time, "?", "?", "Inconnu !", tFrame.Frame.ToString());
dgvLog.Rows[dgvLog.Rows.Count - 1].DefaultCellStyle.BackColor = Color.Red;
}
_counter++;
_previousTime = tFrame.Date;
}
