private void lstFunctions_ItemCheck(object sender, ItemCheckEventArgs e)
{
if (!Execution.DesignMode && !_loading)
{
CheckedListBox lst = (CheckedListBox)sender;
String funcStr = (String)lst.Items[e.Index];
UdpFrameFunction func = (UdpFrameFunction)Enum.Parse(typeof(UdpFrameFunction), funcStr);
_configFunctions[lst][func] = (e.NewValue == CheckState.Checked);
}
}
private void ShowFrameFunction(Board board, UdpFrameFunction func, bool show)
{
_lstFunctions[board].Items.Remove(func.ToString());
_lstFunctions[board].Items.Add(func.ToString(), show);
_configFunctions[_lstFunctions[board]][func] = show;
}
/// <summary>
/// Récupère le message explicite associé à une fonction du protocole.
/// Les paramètres sont signalés par des accolades indiquant la position dans la trame des octets correspondant à la valeur du paramètre.
/// Si les paramètres sont fournis, leur valeur remplacent les paramètres entre accolades.
/// </summary>
/// <param name="function"></param>
/// <param name="parameters"></param>
/// <returns></returns>
public static String GetMessage(UdpFrameFunction function, List <uint> parameters = null)
{
String output = "";
switch (function)
{
case UdpFrameFunction.DemandeTension:
output = "Demande tension";
break;
case UdpFrameFunction.RetourTension:
output = "Retour tension {0-1}V";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] / 100f).ToString("0.00"));
}
break;
case UdpFrameFunction.DemandeLidar:
output = "Demande LIDAR";
break;
case UdpFrameFunction.ReponseLidar:
output = "Reponse LIDAR";
break;
case UdpFrameFunction.EnvoiUart2:
output = "Envoi UART2";
break;
case UdpFrameFunction.RetourUart2:
output = "Retour UART2";
break;
case UdpFrameFunction.DemandeValeursNumeriques:
output = "Demande valeurs des ports numériques";
break;
case UdpFrameFunction.RetourValeursNumeriques:
output = "Retour ports numériques : {0}_{1} / {2}_{3} / {4}_{5}";
if (parameters != null)
{
for (int i = 0; i < 6; i++)
{
output = ReplaceParam(output, Convert.ToString(parameters[i], 2).PadLeft(8, '0'));
}
}
break;
case UdpFrameFunction.Debug:
output = "Debug {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.TestConnexion:
output = "Test connexion";
break;
case UdpFrameFunction.DemandeCapteurOnOff:
output = "Demande capteur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorOnOffID)parameters[0]));
}
break;
case UdpFrameFunction.RetourCapteurOnOff:
output = "Retour capteur {0} : {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorOnOffID)parameters[0]));
output = ReplaceParam(output, NameFinder.GetName(parameters[1] > 0));
}
break;
case UdpFrameFunction.DemandeValeursAnalogiques:
output = "Demande valeurs analogiques";
break;
case UdpFrameFunction.RetourValeursAnalogiques:
output = "Retour valeurs analogiques : {0}V / {1}V / {2}V / {3}V / {4}V / {5}V / {6}V / {7}V / {8}V";
if (parameters != null)
{
for (int i = 0; i < 8; i++)
{
output = ReplaceParam(output, (parameters[i] * 0.0008056640625).ToString("0.0000") + "V");
}
}
break;
case UdpFrameFunction.DemandeCapteurCouleur:
output = "Demande capteur couleur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorColorID)parameters[0]));
}
break;
case UdpFrameFunction.RetourCapteurCouleur:
output = "Retour capteur couleur {0} : {1}-{2}-{3}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorColorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString("000"));
output = ReplaceParam(output, parameters[2].ToString("000"));
output = ReplaceParam(output, parameters[3].ToString("000"));
}
break;
case UdpFrameFunction.DemandePositionCodeur:
output = "Demande position codeur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((CodeurID)parameters[0]));
}
break;
case UdpFrameFunction.RetourPositionCodeur:
output = "Retour position codeur {0} : {1-2-3-4}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((CodeurID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.PilotageOnOff:
output = "Pilote actionneur on off {0} : {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((ActuatorOnOffID)parameters[0]));
output = ReplaceParam(output, NameFinder.GetName(parameters[1] > 0));
}
break;
case UdpFrameFunction.MoteurPosition:
output = "Pilote moteur {0} position {1-2}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.MoteurVitesse:
output = "Pilote moteur {0} vitesse {2-3} vers la {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, ((SensGD)parameters[2]).ToString().ToLower());
}
break;
case UdpFrameFunction.MoteurAccel:
output = "Pilote moteur {0} accélération {1-2}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.MoteurStop:
output = "Moteur {0} stoppé {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, ((StopMode)parameters[1]).ToString());
}
break;
case UdpFrameFunction.MoteurOrigin:
output = "Envoi du moteur {0} à l'origine";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurResetPosition:
output = "Moteur {0} réintialisé à 0";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurFin:
output = "Moteur {0} arrivé à destination";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurBlocage:
output = "Moteur {0} bloqué";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.Deplace:
output = "{0} sur {1-2} mm";
if (parameters != null)
{
output = ReplaceParam(output, (SensAR)parameters[0] == SensAR.Avant ? "Avance" : "Recule");
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.Pivot:
output = "Pivot {0} sur {1-2}°";
if (parameters != null)
{
output = ReplaceParam(output, ((SensGD)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, (parameters[1] / 100.0).ToString());
}
break;
case UdpFrameFunction.Virage:
output = "Virage {0} {1} de {4-5}° sur un rayon de {2-3}mm";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, ((SensGD)parameters[1]).ToString().ToLower());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
output = ReplaceParam(output, parameters[3].ToString());
}
break;
case UdpFrameFunction.Stop:
output = "Stop {0}";
if (parameters != null)
{
output = ReplaceParam(output, ((StopMode)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.Recallage:
output = "Recallage {0}";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.TrajectoirePolaire:
output = "Trajectoire polaire {0} sur {1-2} points";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.FinRecallage:
output = "Fin de recallage";
break;
case UdpFrameFunction.FinDeplacement:
output = "Fin de déplacement";
break;
case UdpFrameFunction.Blocage:
output = "Blocage !!!";
break;
case UdpFrameFunction.AsserDemandePositionCodeurs:
output = "Demande position codeurs déplacement";
break;
case UdpFrameFunction.AsserRetourPositionCodeurs:
output = "Retour position codeurs déplacement : {0} valeurs";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserEnvoiConsigneBrutePosition:
output = "Envoi consigne brute : {1-2} pas en {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.DemandeChargeCPU_PWM:
output = "Demande charge CPU PWM";
break;
case UdpFrameFunction.RetourChargeCPU_PWM:
output = "Retour charge CPU PWM : {0} valeurs";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserIntervalleRetourPosition:
output = "Intervalle de retour de la position : {0}ms";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] * 10).ToString());
}
break;
case UdpFrameFunction.AsserDemandePositionXYTeta:
output = "Demande position X Y Teta";
break;
case UdpFrameFunction.AsserRetourPositionXYTeta:
output = "Retour position X = {0-1}mm Y = {2-3}mm Teta = {4-5}°";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] / 10.0).ToString());
output = ReplaceParam(output, (parameters[1] / 10.0).ToString());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
}
break;
case UdpFrameFunction.AsserVitesseDeplacement:
output = "Vitesse ligne : {0-1}mm/s";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserAccelerationDeplacement:
output = "Accélération ligne : {0-1}mm/s² au début, {2-3}mm/s² à la fin";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserVitessePivot:
output = "Vitesse pivot : {0-1}mm/s";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserAccelerationPivot:
output = "Accélération pivot : {0-1}mm/s²";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserPID:
output = "Asservissement P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[2].ToString());
}
break;
case UdpFrameFunction.AsserEnvoiPositionAbsolue:
output = "Envoi position absolue : X={0-1}mm Y={2-3}mm Teta={4-5}°";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
}
break;
case UdpFrameFunction.AsserPIDCap:
output = "Asservissement cap P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.AsserPIDVitesse:
output = "Asservissement vitesse P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.EnvoiUart1:
output = "Envoi UART {0} caractères";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.RetourUart1:
output = "Réception UART {0} caractères";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.EnvoiCAN:
output = "Envoi message CAN";
break;
case UdpFrameFunction.ReponseCAN:
output = "Reception message CAN";
break;
case UdpFrameFunction.DemandeCouleurEquipe:
output = "Demande couleur équipe";
break;
case UdpFrameFunction.RetourCouleurEquipe:
output = "Retour couleur équipe : {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
default:
output = "Inconnu";
break;
}
return(output);
}
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";
}
Board board = UdpFrameFactory.ExtractBoard(tFrame.Frame);
Board sender = UdpFrameFactory.ExtractSender(tFrame.Frame, tFrame.IsInputFrame);
Board receiver = UdpFrameFactory.ExtractReceiver(tFrame.Frame, tFrame.IsInputFrame);
UdpFrameFunction func = UdpFrameFactory.ExtractFunction(tFrame.Frame);
if (board == Board.PC)
{
throw new Exception();
}
bool receiverVisible = Config.CurrentConfig.LogsDestinataires[receiver];
bool senderVisible = Config.CurrentConfig.LogsExpediteurs[sender];
bool functionVisible = (_configFunctions[_lstFunctions[board]][func]);
if (senderVisible && receiverVisible && functionVisible)
{
dgvLog.Rows.Add(_counter, time, sender.ToString(), receiver.ToString(), UdpFrameDecoder.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)
{
dgvLog.Rows.Add(_counter, time, "?", "?", "Inconnu !", tFrame.Frame.ToString());
dgvLog.Rows[dgvLog.Rows.Count - 1].DefaultCellStyle.BackColor = Color.Red;
}
_counter++;
_previousTime = tFrame.Date;
}
/// <summary>
/// Retourne le template de décodage d'une fonction dans le protocole de communication UDP
/// </summary>
/// <param name="capteur">Fonction à décoder</param>
/// <returns>Template de décodage</returns>
public static String GetName(UdpFrameFunction frame)
{
return(UdpFrameDecoder.GetMessage(frame));
}
