protected void controllerConnected(object sender, EventArgs e)
{
bool senderFound = false;
KeyValuePair <JeromeConnectionParams, JeromeConnectionState> senderEntry =
connections.FirstOrDefault(x => x.Value.controller == sender && (senderFound = true));
if (!senderFound)
{
return;
}
JeromeConnectionParams cp = senderEntry.Key;
this.Invoke((MethodInvoker) delegate
{
connections[cp].watch = false;
menuControl[cp].Checked = true;
this.Text = cp.name;
updateButtonsMode();
});
JeromeController controller = connections[cp].controller;
string linesState = controller.readlines();
controller.setLineMode(controllerTemplate.dir, 0);
controller.setLineMode(controllerTemplate.pulse, 0);
controller.setLineMode(controllerTemplate.enable, 0);
controller.setLineMode(controllerTemplate.ptt, 0);
controller.switchLine(controllerTemplate.enable, 1);
controller.switchLine(controllerTemplate.pulse, 0);
controller.switchLine(controllerTemplate.ptt, 0);
for (int co = 0; co < controllerTemplate.relays.Length; co++)
{
controller.setLineMode(controllerTemplate.relays[co], 0);
controller.switchLine(controllerTemplate.relays[co], 0);
}
foreach (int line in controllerTemplate.limits.Values)
{
controller.setLineMode(line, 1);
}
controller.lineStateChanged += controllerLineStateChanged;
if (linesState[controllerTemplate.limits[-1] - 1] == '0')
{
limit = -1;
}
else if (linesState[controllerTemplate.limits[1] - 1] == '0')
{
limit = 1;
}
if (position == -1)
{
rotate(0);
}
}
private void connect()
{
miConnections.Enabled = false;
if (controller == null)
{
controller = JeromeController.create(currentConnection.jeromeParams);
}
UseWaitCursor = true;
if (controller.connect())
{
miConnections.Text = "Отключиться";
controller.usartBinaryMode = true;
if (currentConnection.hwLimits)
{
controller.lineStateChanged += lineStateChanged;
}
controller.usartBytesReceived += usartBytesReceived;
controller.disconnected += onDisconnect;
connectionsDropdown = new ToolStripMenuItem[miConnections.DropDownItems.Count];
miConnections.DropDownItems.CopyTo(connectionsDropdown, 0);
miConnections.DropDownItems.Clear();
miConnectionGroups.Visible = false;
//miConnectionParams.Enabled = false;
setLine(currentTemplate.ledLine, 0);
foreach (int[] dir in currentTemplate.engineLines.Values)
{
foreach (int line in dir)
{
setLine(line, 0);
toggleLine(line, 0);
}
}
setLine(currentTemplate.uartTRLine, 0);
foreach (int line in currentTemplate.limitsLines.Values)
{
setLine(line, 1);
}
timer.Enabled = true;
miSetNorth.Visible = true;
miSetNorth.Enabled = true;
Text = currentConnection.name;
lCaption.Text = currentConnection.name;
if (currentConnectionGroup != null)
{
Text += " (" + currentConnectionGroup.name + ")";
}
Icon = (Icon)Resources.ResourceManager.GetObject(CommonInf.icons[currentConnection.icon]);
if (currentConnection.hwLimits)
{
string lines = controller.readlines();
foreach (KeyValuePair <int, int> kv in currentTemplate.limitsLines)
{
if (lines[kv.Value - 1] == '0')
{
onLimit(kv.Key);
}
}
}
else if (currentConnection.northAngle != -1)
{
currentConnection.limits = new Dictionary <int, int> {
{ 1, currentConnection.northAngle + 180 }, { -1, currentConnection.northAngle + 180 }
}
}
;
scheduleTimeoutTimer();
}
else
{
showMessage("Подключение не удалось", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
miConnections.Enabled = true;
UseWaitCursor = false;
}
private void onConnect(object sender, EventArgs e)
{
if (currentTemplate.adc != 0)
{
adcTimer = new System.Threading.Timer(obj => readADC(), null, 100, 100);
}
if (currentTemplate.ledLine != 0)
{
setLine(currentTemplate.ledLine, 0);
}
foreach (int[] dir in currentTemplate.engineLines.Values)
{
foreach (int line in dir)
{
setLine(line, 0);
toggleLine(line, 0);
}
}
if (currentTemplate.uartTRLine != 0)
{
setLine(currentTemplate.uartTRLine, 0);
}
if (currentTemplate.limitsLines != null)
{
foreach (int line in currentTemplate.limitsLines.Values)
{
setLine(line, 1);
}
}
this.Invoke((MethodInvoker) delegate()
{
timer.Enabled = true;
miSetNorth.Visible = true;
miSetNorth.Enabled = true;
pMap.Enabled = true;
if (currentTemplate.adc != 0)
{
miCalibrate.Visible = true;
}
Text = currentConnection.name;
lCaption.Text = currentConnection.name;
Icon = (Icon)Resources.ResourceManager.GetObject(CommonInf.icons[currentConnection.icon]);
});
if (currentTemplate.uartEncoder)
{
if (currentConnection.hwLimits)
{
string lines = controller.readlines();
foreach (KeyValuePair <int, int> kv in currentTemplate.limitsLines)
{
if (lines[kv.Value - 1] == '0')
{
onLimit(kv.Key);
}
}
}
else if (currentConnection.northAngle != -1)
{
currentConnection.limits = new Dictionary <int, int> {
{ 1, currentConnection.northAngle + 180 }, { -1, currentConnection.northAngle + 180 }
}
}
;
scheduleTimeoutTimer();
}
}