private void txtThumbPos_KeyDown(object sender, KeyEventArgs e)
{
if (handManualState)
{
if (e.KeyCode == Keys.Enter)
{
Console.WriteLine(SendMessageConfig.SendToHand(Int16.Parse(txtThumbPos.Text == string.Empty ? "0" : txtThumbPos.Text), Int16.Parse(txtIndexPos.Text == string.Empty ? "0" : txtIndexPos.Text)
, Int16.Parse(txtMiddlePos.Text == string.Empty ? "0" : txtMiddlePos.Text), Int16.Parse(txtRingPos.Text == string.Empty ? "0" : txtRingPos.Text), Int16.Parse(txtPinkyPos.Text == string.Empty ? "0" : txtPinkyPos.Text)
, 100, 100, 100, 100, 100));
}
if (e.KeyCode == Keys.Enter && hand.IsConnected())
{
hand.SendMessage(SendMessageConfig.SendToHand(Int16.Parse(txtThumbPos.Text == string.Empty ? "0" : txtThumbPos.Text), Int16.Parse(txtIndexPos.Text == string.Empty ? "0" : txtIndexPos.Text)
, Int16.Parse(txtMiddlePos.Text == string.Empty ? "0" : txtMiddlePos.Text), Int16.Parse(txtRingPos.Text == string.Empty ? "0" : txtRingPos.Text), Int16.Parse(txtPinkyPos.Text == string.Empty ? "0" : txtPinkyPos.Text)
, 100, 100, 100, 100, 100));
trThumb.Value = Int16.Parse(txtThumbPos.Text == string.Empty ? "0" : txtThumbPos.Text);
trIndex.Value = Int16.Parse(txtIndexPos.Text == string.Empty ? "0" : txtIndexPos.Text);
trMiddle.Value = Int16.Parse(txtMiddlePos.Text == string.Empty ? "0" : txtMiddlePos.Text);
trRing.Value = Int16.Parse(txtRingPos.Text == string.Empty ? "0" : txtRingPos.Text);
trPinky.Value = Int16.Parse(txtPinkyPos.Text == string.Empty ? "0" : txtPinkyPos.Text);
Console.WriteLine(SendMessageConfig.SendToHand((Int16)trThumb.Value, (Int16)trIndex.Value, (Int16)trMiddle.Value, (Int16)trRing.Value, (Int16)trPinky.Value, 100, 100, 100, 100, 100));
}
}
}
private void btnDemoHand_Click(object sender, EventArgs e)
{
if (!demoFlag)
{
hand.SendMessage(SendMessageConfig.SendToHand(100, 100, 100, 100, 100, 100, 100, 100, 100, 100));
demoFlag = true;
btnDemoHand.Text = "StopDemo";
Task.Run(() =>
{
Thread.Sleep(1000);
while (demoFlag)
{
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(100, 70, 80, 100, 100, 100, 100, 100, 100, 100));
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(70, 30, 40, 100, 70, 100, 100, 100, 100, 100));
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(30, 60, 20, 70, 40, 100, 100, 100, 100, 100));
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(60, 90, 50, 40, 20, 100, 100, 100, 100, 100));
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(90, 100, 100, 20, 50, 100, 100, 100, 100, 100));
Thread.Sleep(450);
hand.SendMessage(SendMessageConfig.SendToHand(100, 100, 100, 60, 80, 100, 100, 100, 100, 100));
}
});
}
else
{
btnDemoHand.Text = "Demo";
demoFlag = false;
}
}
private void trPinky_Scroll(object sender, EventArgs e)
{
if (btnStartHand.Text == "AutoReceive")
{
hand.SendMessage(SendMessageConfig.SendToHand((Int16)trThumb.Value, (Int16)trIndex.Value, (Int16)trMiddle.Value, (Int16)trRing.Value, (Int16)trPinky.Value, 100, 100, 100, 100, 100));
Console.WriteLine(SendMessageConfig.SendToHand((Int16)trThumb.Value, (Int16)trIndex.Value, (Int16)trMiddle.Value, (Int16)trRing.Value, (Int16)trPinky.Value, 100, 100, 100, 100, 100));
setScrollTextBoxes();
}
}
private void Hand_ReceiveMessageHandler(object sender, MessageReceiveEventArgs e)
{
int[] values = Array.ConvertAll(e.Message.Split(','), int.Parse);
if (hand.RFIDEnabled)
{
if (values[15] != 0)
{
hand.HandRFID = (HandRFIDs)values[15];
Console.WriteLine(SendMessageConfig.SendRFIDFeedback((HandRFIDs)values[15]));
}
}
Invoke(new Action(() =>
{
try
{
// How to run these codes as parallel
hand.Thumb.Position = values[0];
hand.Index.Position = values[1];
hand.Middle.Position = values[2];
hand.Ring.Position = values[3];
hand.Pinky.Position = values[4];
if (!handManualState)
{
trThumb.Value = values[0] > trThumb.Maximum ? trThumb.Maximum : (values[0] < trThumb.Minimum ? trThumb.Minimum : values[0]);
trIndex.Value = values[1] > trIndex.Maximum ? trIndex.Maximum : (values[1] < trIndex.Minimum ? trIndex.Minimum : values[1]);
trMiddle.Value = values[2] > trMiddle.Maximum ? trIndex.Maximum : (values[2] < trMiddle.Minimum ? trMiddle.Minimum : values[2]);
trRing.Value = values[3] > trRing.Maximum ? trRing.Maximum : (values[3] < trRing.Minimum ? trRing.Minimum : values[3]);
trPinky.Value = values[4] > trPinky.Maximum ? trPinky.Maximum : (values[4] < trPinky.Minimum ? trPinky.Minimum : values[4]);
txtThumbPos.Text = trThumb.Value.ToString();
txtIndexPos.Text = trIndex.Value.ToString();
txtMiddlePos.Text = trMiddle.Value.ToString();
txtRingPos.Text = trRing.Value.ToString();
txtPinkyPos.Text = trPinky.Value.ToString();
SelectAllTextBoxes();
}
thumbCur.Text = values[5].ToString();
indexCur.Text = values[6].ToString();
middleCur.Text = values[7].ToString();
ringCur.Text = values[8].ToString();
pinkyCur.Text = values[9].ToString();
lblThumbFsr.Text = values[10].ToString();
lblIndexFsr.Text = values[11].ToString();
lblMiddleFsr.Text = values[12].ToString();
lblRingFsr.Text = values[13].ToString();
lblTemppinky.Text = $"Temperature: {values[14]}";
panelTemp.BackColor = setTempColor(values[14]);
lblRfid.Text = $"RFID : {values[15]}";
}
catch (Exception ex)
{
MessageBox.Show(ex.GetBaseException().ToString() + "\n\n" + "Receiving from hand");
}
}));
}
private void Emg1c_MessageReceived(object sender, MessageReceiveEventArgs e)
{
//string[] values = e.Message.Split(new[] {':','#'}, StringSplitOptions.None);
Match[] values = Regex.Matches(e.Message, @":+[0-9]+#").Cast <Match>().ToArray();
try
{
for (int i = 0; i < values.Length; i++)
{
string temp1 = values[i].Value;
string temp = temp1.Substring(1, temp1.IndexOf('#') - 1);
// threshold
if (emg1cThresholdCheck.Checked)
{
if (int.Parse(temp) > numEmg1cThreshold.Value && !emg1cThresholdReach)
{
Console.WriteLine(SendMessageConfig.HandFist());
hand.SendMessage(SendMessageConfig.HandFist());
emg1cThresholdReach = true;
}
else if (int.Parse(temp) < numEmg1cThreshold.Value && emg1cThresholdReach)
{
Console.WriteLine(SendMessageConfig.HandOpen());
hand.SendMessage(SendMessageConfig.HandOpen());
emg1cThresholdReach = false;
}
}
//Thread.Sleep(emg1c.Delay);
if (int.TryParse(temp, out int j))
{
emg1cChartValue.Add(new ChartModel()
{
Data = double.Parse(temp),
Time = DateTime.Now
});
Invoke(new Action(() =>
{
emg1cChart.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(2).Ticks;
emg1cChart.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(10).Ticks;
}));
if (emg1cChartValue.Count > 100)
{
emg1cChartValue.RemoveAt(0);
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.GetBaseException().ToString() + "\n\nFROM EMG1C RECEIVE");
}
}
