// Check configuration is valid
private void saveForm()
{
bool configurationIsValid = true;
// Create configuration
Configuration configuration = new Configuration();
configuration.HaptiQName = configurationName.Text;
configuration.idServoBoard = _currentAdvancedServoBoard.SerialNumber;
configuration.nameServoBoard = _currentAdvancedServoBoard.Name;
configuration.interfaceKitBoardAttached = (int)InterfaceKitsComboBox.SelectedItem == 0 ? false : true;
if (configuration.interfaceKitBoardAttached)
{
configuration.idInterfaceKit = _currentInterfaceKitBoard.SerialNumber;
configuration.nameInterfaceKit = _currentInterfaceKitBoard.Name;
}
configuration.numberActuators = checkedServos(configuration);
configuration.numberPressureSensors = checkedPressureSensors(configuration);
if (configuration.numberActuators == 0) // there must be a positive number of actuators
{
configurationIsValid = false;
}
if (_currentInputIdentifier != null)
{
configuration.inputIdentifier = _currentInputIdentifier;
}
else
{
configurationIsValid = false;
}
// Remove chosen boards from devicesToBeConfigured
// XXX - code duplication
// XXX - remove from comboBox too
for (int i = _devicesToBeConfigured.Count - 1; i >= 0; i--)
{
if (_devicesToBeConfigured[i].GetType() == typeof(AdvancedServo) &&
_devicesToBeConfigured[i].SerialNumber == _currentAdvancedServoBoard.SerialNumber)
{
_devicesToBeConfigured.Remove(_devicesToBeConfigured[i]);
}
else if (configuration.interfaceKitBoardAttached &&
_devicesToBeConfigured[i].GetType() == typeof(InterfaceKit) &&
_devicesToBeConfigured[i].SerialNumber == _currentInterfaceKitBoard.SerialNumber)
{
_devicesToBeConfigured.Remove(_devicesToBeConfigured[i]);
}
}
// Update color of save button
changeButtonColor(button1, configurationIsValid);
ConfigurationManager.addConfiguration(configuration);
}
/// <summary>
/// Add a given configuration to the ConfigurationManager
/// </summary>
/// <param name="configuration"></param>
public static void addConfiguration(Configuration configuration)
{
configuration.serializableInputIdentifier = configuration.inputIdentifier.getSerializableInputIdentifier();
configurations.Add(configuration);
String configurationFile = Configuration.CONFIGURATION_FILENAME_PREFIX +
configuration.HaptiQName.Replace(" ", string.Empty) +
Configuration.CONFIGURATION_FILENAME_EXT;
Helper.SerializeToXML(configuration, configurationFile);
}
/// <summary>
/// Serialize given configuration to specified file (XML)
/// </summary>
/// <param name="configuration"></param>
/// <param name="fileName"></param>
public static void SerializeToXML(Configuration configuration, String fileName)
{
XmlSerializer serializer = new XmlSerializer(typeof(Configuration));
TextWriter textWriter = new StreamWriter(@fileName);
serializer.Serialize(textWriter, configuration);
textWriter.Close();
}
private int checkedPressureSensors(Configuration configuration)
{
if (Pressure1.Checked) { configuration.pressureSensors.Add(0); }
if (Pressure2.Checked) { configuration.pressureSensors.Add(1); }
if (Pressure3.Checked) { configuration.pressureSensors.Add(2); }
if (Pressure4.Checked) { configuration.pressureSensors.Add(3); }
if (Pressure5.Checked) { configuration.pressureSensors.Add(4); }
if (Pressure6.Checked) { configuration.pressureSensors.Add(5); }
if (Pressure7.Checked) { configuration.pressureSensors.Add(6); }
if (Pressure8.Checked) { configuration.pressureSensors.Add(7); }
return configuration.pressureSensors.Count;
}
private int checkedServos(Configuration configuration)
{
if (Actuator1.Checked)
{ configuration.actuators[0] = new SerializableTuple<int,int>(Actuator1MIN.Value, Actuator1MAX.Value); }
if (Actuator2.Checked)
{ configuration.actuators[1] = new SerializableTuple<int, int>(Actuator2MIN.Value, Actuator2MAX.Value); }
if (Actuator3.Checked)
{ configuration.actuators[2] = new SerializableTuple<int, int>(Actuator3MIN.Value, Actuator3MAX.Value); }
if (Actuator4.Checked)
{ configuration.actuators[3] = new SerializableTuple<int, int>(Actuator4MIN.Value, Actuator4MAX.Value); }
if (Actuator5.Checked)
{ configuration.actuators[4] = new SerializableTuple<int, int>(Actuator5MIN.Value, Actuator5MAX.Value); }
if (Actuator6.Checked)
{ configuration.actuators[5] = new SerializableTuple<int, int>(Actuator6MIN.Value, Actuator6MAX.Value); }
if (Actuator7.Checked)
{ configuration.actuators[6] = new SerializableTuple<int, int>(Actuator7MIN.Value, Actuator7MAX.Value); }
if (Actuator8.Checked)
{ configuration.actuators[7] = new SerializableTuple<int, int>(Actuator8MIN.Value, Actuator8MAX.Value); }
return configuration.actuators.Count;
}
/// <summary>
/// Initialise the HaptiQ given a configuration
/// </summary>
/// <param name="id">id for this HaptiQ.
/// The HaptiQs manager or whoever is creating the HaptiQ should use an
/// id which is unique.</param>
/// <param name="configuration">Configuration used by this HaptiQ to setup
/// servo and interfacekit boards.</param>
public HaptiQ(uint id, Configuration configuration)
{
if (configuration == null)
{
Helper.Logger("HaptiQ_API.HaptiQ.HaptiQ:: id: " + id + "; configuration is null");
throw new ArgumentNullException("HaptiQ_API.HaptiQ.HaptiQ:: configuration");
}
this._id = id;
this._configuration = configuration;
// Initialise data structures
_inputData = new Dictionary<int, Tuple<DateTime, PRESSURE_STATE>>();
_currentPressureData = new Dictionary<int, double>();
_actuators = new List<Actuator>();
_behaviours = new HashSet<IBehaviour>();
// Initialise boards
initialiseServoBoard();
initialiseInterfaceKitBoard();
// Let this HaptiQ be an independent thread.
// Another approach would be to have the HaptiQsManager to handle all the HaptiQs sequentially,
// but then the users may lose the feeling of concurrency.
Thread thread = new Thread(loop);
thread.Start();
}
