/// <summary>
/// Saves a UscSettings object to a textfile.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="sw">The file to write to.</param>
public static void save(UscSettings settings, StreamWriter sw)
{
XmlWriter writer = XmlWriter.Create(sw);
writer.Settings.Indent = true;
writer.WriteComment("Pololu Maestro servo controller settings file, http://www.pololu.com/catalog/product/1350");
writer.WriteStartElement("UscSettings");
writer.WriteAttributeString("version", "1"); // XML file version, so that we can parse old XML types in the future
writer.WriteElementString("NeverSuspend", settings.neverSuspend ? "true" : "false");
writer.WriteElementString("SerialMode", settings.serialMode.ToString().Replace("SERIAL_MODE_", ""));
writer.WriteElementString("FixedBaudRate", settings.fixedBaudRate.ToString());
writer.WriteElementString("SerialTimeout", settings.serialTimeout.ToString());
writer.WriteElementString("EnableCrc", settings.enableCrc ? "true" : "false");
writer.WriteElementString("SerialDeviceNumber", settings.serialDeviceNumber.ToString());
writer.WriteElementString("SerialMiniSscOffset", settings.miniSscOffset.ToString());
if (settings.servoCount > 18)
{
writer.WriteElementString("EnablePullups", settings.enablePullups ? "true" : "false");
}
writer.WriteStartElement("Channels");
// Attributes of the Channels tag
if (settings.servoCount == 6)
{
writer.WriteAttributeString("ServosAvailable", settings.servosAvailable.ToString());
writer.WriteAttributeString("ServoPeriod", settings.servoPeriod.ToString());
}
else
{
writer.WriteAttributeString("MiniMaestroServoPeriod", settings.miniMaestroServoPeriod.ToString());
writer.WriteAttributeString("ServoMultiplier", settings.servoMultiplier.ToString());
}
writer.WriteComment("Period = " + (settings.periodInMicroseconds / 1000M).ToString() + " ms");
for (byte i = 0; i < settings.servoCount; i++)
{
ChannelSetting setting = settings.channelSettings[i];
writer.WriteComment("Channel " + i.ToString());
writer.WriteStartElement("Channel");
writer.WriteAttributeString("name", setting.name);
writer.WriteAttributeString("mode", setting.mode.ToString());
writer.WriteAttributeString("min", setting.minimum.ToString());
writer.WriteAttributeString("max", setting.maximum.ToString());
writer.WriteAttributeString("homemode", setting.homeMode.ToString());
writer.WriteAttributeString("home", setting.home.ToString());
writer.WriteAttributeString("speed", setting.speed.ToString());
writer.WriteAttributeString("acceleration", setting.acceleration.ToString());
writer.WriteAttributeString("neutral", setting.neutral.ToString());
writer.WriteAttributeString("range", setting.range.ToString());
writer.WriteEndElement();
}
writer.WriteEndElement();
writer.WriteStartElement("Sequences");
foreach (Sequence sequence in settings.sequences)
{
writer.WriteStartElement("Sequence");
writer.WriteAttributeString("name", sequence.name);
foreach (Frame frame in sequence.frames)
{
frame.writeXml(writer);
}
writer.WriteEndElement();
}
writer.WriteEndElement(); // end sequences
writer.WriteStartElement("Script");
writer.WriteAttributeString("ScriptDone", settings.scriptDone ? "true" : "false");
writer.WriteString(settings.script);
writer.WriteEndElement(); // end script
writer.WriteEndElement(); // End UscSettings tag.
}
/// <summary>
/// Parses a saved configuration file and returns a UscSettings object.
/// </summary>
/// <param name="warnings">A list of warnings. Whenever something goes
/// wrong with the file loading, a warning will be added to this list.
/// The warnings are not fatal; if the function returns it will return
/// a valid UscSettings object.
/// </param>
/// <param name="sr">The file to read from.</param>
/// <remarks>This function is messy. Maybe I should have tried the XPath
/// library.</remarks>
public static UscSettings load(StreamReader sr, List <String> warnings)
{
XmlReader reader = XmlReader.Create(sr);
UscSettings settings = new UscSettings();
string script = "";
// The x prefix means "came directly from XML"
Dictionary <String, String> xParams = new Dictionary <string, string>();
// Only read the data inside the UscSettings element.
reader.ReadToFollowing("UscSettings");
readAttributes(reader, xParams);
reader = reader.ReadSubtree();
// Check the version number
if (!xParams.ContainsKey("version"))
{
warnings.Add("This file has no version number, so it might have been read incorrectly.");
}
else if (xParams["version"] != "1")
{
warnings.Add("Unrecognized settings file version \"" + xParams["version"] + "\".");
}
reader.Read(); // this is needed, otherwise the first tag inside uscSettings doesn't work work (not sure why)
while (reader.Read())
{
if (reader.NodeType == XmlNodeType.Element && reader.Name == "Channels")
{
// We found the Channels tag.
// Read the ServosAvailable and ServoPeriod attributes from it in to our collection.
readAttributes(reader, xParams);
// Make a reader that can only read the stuff inside the Channels tag.
var channelsReader = reader.ReadSubtree();
// For each Channel tag...
while (channelsReader.ReadToFollowing("Channel"))
{
// Read all the attributes.
Dictionary <String, String> xChannel = new Dictionary <string, string>();
readAttributes(channelsReader, xChannel);
// Transform the attributes in to a ChannelSetting object.
ChannelSetting cs = new ChannelSetting();
if (assertKey("name", xChannel, warnings))
{
cs.name = xChannel["name"];
}
if (assertKey("mode", xChannel, warnings))
{
switch (xChannel["mode"].ToLowerInvariant())
{
case "servomultiplied": cs.mode = ChannelMode.ServoMultiplied; break;
case "servo": cs.mode = ChannelMode.Servo; break;
case "input": cs.mode = ChannelMode.Input; break;
case "output": cs.mode = ChannelMode.Output; break;
default: warnings.Add("Invalid mode \"" + xChannel["mode"] + "\"."); break;
}
}
if (assertKey("homemode", xChannel, warnings))
{
switch (xChannel["homemode"].ToLowerInvariant())
{
case "goto": cs.homeMode = HomeMode.Goto; break;
case "off": cs.homeMode = HomeMode.Off; break;
case "ignore": cs.homeMode = HomeMode.Ignore; break;
default: warnings.Add("Invalid homemode \"" + xChannel["homemode"] + "\"."); break;
}
}
if (assertKey("min", xChannel, warnings))
{
parseU16(xChannel["min"], ref cs.minimum, "min", warnings);
}
if (assertKey("max", xChannel, warnings))
{
parseU16(xChannel["max"], ref cs.maximum, "max", warnings);
}
if (assertKey("home", xChannel, warnings))
{
parseU16(xChannel["home"], ref cs.home, "home", warnings);
}
if (assertKey("speed", xChannel, warnings))
{
parseU16(xChannel["speed"], ref cs.speed, "speed", warnings);
}
if (assertKey("acceleration", xChannel, warnings))
{
parseU8(xChannel["acceleration"], ref cs.acceleration, "acceleration", warnings);
}
if (assertKey("neutral", xChannel, warnings))
{
parseU16(xChannel["neutral"], ref cs.neutral, "neutral", warnings);
}
if (assertKey("range", xChannel, warnings))
{
parseU16(xChannel["range"], ref cs.range, "range", warnings);
}
settings.channelSettings.Add(cs);
}
if (channelsReader.ReadToFollowing("Channel"))
{
warnings.Add("More than " + settings.servoCount + " channel elements were found. The extra elements have been discarded.");
}
}
else if (reader.NodeType == XmlNodeType.Element && reader.Name == "Sequences")
{
// We found the Sequences tag.
// For each Sequence tag in this sequence...
var sequencesReader = reader.ReadSubtree();
while (sequencesReader.ReadToFollowing("Sequence"))
{
// Create a new sequence.
Sequence sequence = new Sequence();
settings.sequences.Add(sequence);
// Read the sequence tag attributes (should just be "name").
Dictionary <String, String> sequenceAttributes = new Dictionary <string, string>();
readAttributes(sequencesReader, sequenceAttributes);
if (sequenceAttributes.ContainsKey("name"))
{
sequence.name = sequenceAttributes["name"];
}
else
{
sequence.name = "Sequence " + settings.sequences.Count;
warnings.Add("No name found for sequence " + sequence.name + ".");
}
// For each frame tag in this sequence...
var framesReader = reader.ReadSubtree();
while (framesReader.ReadToFollowing("Frame"))
{
// Create a new frame.
Frame frame = new Frame();
sequence.frames.Add(frame);
// Read the frame attributes from XML (name, duration)
Dictionary <String, String> frameAttributes = new Dictionary <string, string>();
readAttributes(framesReader, frameAttributes);
if (frameAttributes.ContainsKey("name"))
{
frame.name = frameAttributes["name"];
}
else
{
frame.name = "Frame " + sequence.frames.Count;
warnings.Add("No name found for " + frame.name + " in sequence \"" + sequence.name + "\".");
}
if (frameAttributes.ContainsKey("duration"))
{
parseU16(frameAttributes["duration"], ref frame.length_ms,
"Duration for frame \"" + frame.name + "\" in sequence \"" + sequence.name + "\".", warnings);
}
else
{
frame.name = "Frame " + sequence.frames.Count;
warnings.Add("No duration found for frame \"" + frame.name + "\" in sequence \"" + sequence.name + "\".");
}
frame.setTargetsFromString(reader.ReadElementContentAsString(), settings.servoCount);
}
}
}
else if (reader.NodeType == XmlNodeType.Element && reader.Name == "Script")
{
// We found the <Script> tag.
// Get the ScriptDone attribute in to our dictionary.
readAttributes(reader, xParams);
// Read the script.
script = reader.ReadElementContentAsString();
}
else if (reader.NodeType == XmlNodeType.Element)
{
// Read the miscellaneous parameters that come in element tags, like <NeverSuspend>false</NeverSuspend>.
try
{
xParams[reader.Name] = reader.ReadElementContentAsString();
}
catch (XmlException e)
{
warnings.Add("Unable to parse element \"" + reader.Name + "\": " + e.Message);
}
}
}
reader.Dispose();
//// Step 2: Put the data in to the settings object.
try
{
settings.setAndCompileScript(script);
}
catch (Exception e)
{
warnings.Add("Error compiling script from XML file: " + e.Message);
settings.scriptInconsistent = true;
}
if (assertKey("NeverSuspend", xParams, warnings))
{
parseBool(xParams["NeverSuspend"], ref settings.neverSuspend, "NeverSuspend", warnings);
}
if (assertKey("SerialMode", xParams, warnings))
{
switch (xParams["SerialMode"])
{
default: settings.serialMode = uscSerialMode.SERIAL_MODE_UART_DETECT_BAUD_RATE; break;
case "UART_FIXED_BAUD_RATE": settings.serialMode = uscSerialMode.SERIAL_MODE_UART_FIXED_BAUD_RATE; break;
case "USB_DUAL_PORT": settings.serialMode = uscSerialMode.SERIAL_MODE_USB_DUAL_PORT; break;
case "USB_CHAINED": settings.serialMode = uscSerialMode.SERIAL_MODE_USB_CHAINED; break;
}
}
if (assertKey("FixedBaudRate", xParams, warnings))
{
parseU32(xParams["FixedBaudRate"], ref settings.fixedBaudRate, "FixedBaudRate", warnings);
}
if (assertKey("SerialTimeout", xParams, warnings))
{
parseU16(xParams["SerialTimeout"], ref settings.serialTimeout, "SerialTimeout", warnings);
}
if (assertKey("EnableCrc", xParams, warnings))
{
parseBool(xParams["EnableCrc"], ref settings.enableCrc, "EnableCrc", warnings);
}
if (assertKey("SerialDeviceNumber", xParams, warnings))
{
parseU8(xParams["SerialDeviceNumber"], ref settings.serialDeviceNumber, "SerialDeviceNumber", warnings);
}
if (assertKey("SerialMiniSscOffset", xParams, warnings))
{
parseU8(xParams["SerialMiniSscOffset"], ref settings.miniSscOffset, "SerialMiniSscOffset", warnings);
}
if (assertKey("ScriptDone", xParams, warnings))
{
parseBool(xParams["ScriptDone"], ref settings.scriptDone, "ScriptDone", warnings);
}
// These parameters are optional because they don't apply to all Maestros.
if (xParams.ContainsKey("ServosAvailable"))
{
parseU8(xParams["ServosAvailable"], ref settings.servosAvailable, "ServosAvailable", warnings);
}
if (xParams.ContainsKey("ServoPeriod"))
{
parseU8(xParams["ServoPeriod"], ref settings.servoPeriod, "ServoPeriod", warnings);
}
if (xParams.ContainsKey("EnablePullups"))
{
parseBool(xParams["EnablePullups"], ref settings.enablePullups, "EnablePullups", warnings);
}
if (xParams.ContainsKey("MiniMaestroServoPeriod"))
{
parseU32(xParams["MiniMaestroServoPeriod"], ref settings.miniMaestroServoPeriod, "MiniMaestroServoPeriod", warnings);
}
if (xParams.ContainsKey("ServoMultiplier"))
{
parseU16(xParams["ServoMultiplier"], ref settings.servoMultiplier, "ServoMultiplier", warnings);
}
return(settings);
}
public void fixSettings(UscSettings settings, List<string> warnings)
{
// Discard extra channels if needed.
if (settings.servoCount > this.servoCount)
{
warnings.Add("The settings loaded include settings for " + settings.servoCount + " channels, but this device has only " + this.servoCount + " channels. The extra channel settings will be ignored.");
settings.channelSettings.RemoveRange(this.servoCount, settings.servoCount - this.servoCount);
}
// Add channels if needed.
if (settings.servoCount < this.servoCount)
{
warnings.Add("The settings loaded include settings for only " + settings.servoCount + " channels, but this device has " + this.servoCount + " channels. The other channels will be initialized with default settings.");
while(settings.servoCount < this.servoCount)
{
ChannelSetting cs = new ChannelSetting();
if (this.microMaestro && settings.servosAvailable <= settings.servoCount)
{
cs.mode = ChannelMode.Input;
}
settings.channelSettings.Add(cs);
}
}
// Prevent users from experiencing the bug with Ignore mode in Micro Maestro v1.00.
if (settings.servoCount == 6 && firmwareVersionMajor <= 1 && firmwareVersionMinor == 0)
{
bool servoIgnoreWarningShown = false;
foreach (ChannelSetting setting in settings.channelSettings)
{
if ((setting.mode == ChannelMode.Servo) && setting.homeMode == HomeMode.Ignore)
{
setting.homeMode = HomeMode.Off;
if (!servoIgnoreWarningShown)
{
warnings.Add("Ignore mode does not work for servo channels on the Micro Maestro 6-Channel Servo Controller firmware versions prior to 1.01.\nYour channels will be changed to Off mode.\nVisit Pololu.com for a firmware upgrade.");
servoIgnoreWarningShown = true;
}
}
}
}
// Set homeMode to ignore for inputs (silently, because it's not the user's fault).
foreach (ChannelSetting cs in settings.channelSettings)
{
switch (cs.mode)
{
case ChannelMode.Input:
{
cs.homeMode = HomeMode.Ignore;
cs.minimum = 0;
cs.maximum = 1024; // Should probably be 1023, but this is the tradition from the Micro Maestros.
cs.speed = 0;
cs.acceleration = 0;
cs.neutral = 1024;
cs.range = 1905;
break;
}
case ChannelMode.Output:
{
cs.minimum = 3986;
cs.maximum = 8000;
cs.speed = 0;
cs.acceleration = 0;
cs.neutral = 6000;
cs.range = 1905;
break;
}
}
}
if (settings.serialDeviceNumber >= 128)
{
settings.serialDeviceNumber = 12;
warnings.Add("The serial device number must be less than 128. It will be changed to 12.");
}
}
/// <summary>
/// Gets a settings object, pulling some info from the registry and some from the device.
/// If there is an inconsistency, a special flag is set.
/// </summary>
/// <returns></returns>
public UscSettings getUscSettings()
{
var settings = new UscSettings();
settings.serialMode = (uscSerialMode)getRawParameter(uscParameter.PARAMETER_SERIAL_MODE);
settings.fixedBaudRate = convertSpbrgToBps(getRawParameter(uscParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE));
settings.enableCrc = getRawParameter(uscParameter.PARAMETER_SERIAL_ENABLE_CRC) != 0;
settings.neverSuspend = getRawParameter(uscParameter.PARAMETER_SERIAL_NEVER_SUSPEND) != 0;
settings.serialDeviceNumber = (byte)getRawParameter(uscParameter.PARAMETER_SERIAL_DEVICE_NUMBER);
settings.miniSscOffset = (byte)getRawParameter(uscParameter.PARAMETER_SERIAL_MINI_SSC_OFFSET);
settings.serialTimeout = getRawParameter(uscParameter.PARAMETER_SERIAL_TIMEOUT);
settings.scriptDone = getRawParameter(uscParameter.PARAMETER_SCRIPT_DONE) != 0;
if (servoCount == 6)
{
settings.servosAvailable = (byte)getRawParameter(uscParameter.PARAMETER_SERVOS_AVAILABLE);
settings.servoPeriod = (byte)getRawParameter(uscParameter.PARAMETER_SERVO_PERIOD);
}
else
{
UInt32 tmp = (UInt32)(getRawParameter(uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_HU) << 8);
tmp |= (byte)getRawParameter(uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_L);
settings.miniMaestroServoPeriod = tmp;
settings.servoMultiplier = (ushort)(getRawParameter(uscParameter.PARAMETER_SERVO_MULTIPLIER) + 1);
}
if (servoCount > 18)
{
settings.enablePullups = getRawParameter(uscParameter.PARAMETER_ENABLE_PULLUPS) != 0;
}
byte ioMask = 0;
byte outputMask = 0;
byte[] channelModeBytes = new Byte[6];
if (microMaestro)
{
ioMask = (byte)getRawParameter(uscParameter.PARAMETER_IO_MASK_C);
outputMask = (byte)getRawParameter(uscParameter.PARAMETER_OUTPUT_MASK_C);
}
else
{
for (byte i = 0; i < 6; i++)
{
channelModeBytes[i] = (byte)getRawParameter(uscParameter.PARAMETER_CHANNEL_MODES_0_3 + i);
}
}
for (byte i = 0; i < servoCount; i++)
{
// Initialize the ChannelSettings objects and
// set all parameters except name and mode.
ChannelSetting setting = new ChannelSetting();
if (microMaestro)
{
byte bitmask = (byte)(1 << channelToPort(i));
if ((ioMask & bitmask) == 0)
{
setting.mode = ChannelMode.Servo;
}
else if ((outputMask & bitmask) == 0)
{
setting.mode = ChannelMode.Input;
}
else
{
setting.mode = ChannelMode.Output;
}
}
else
{
setting.mode = (ChannelMode)((channelModeBytes[i >> 2] >> ((i & 3)<<1)) & 3);
}
ushort home = getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_HOME, i));
if (home == 0)
{
setting.homeMode = HomeMode.Off;
setting.home = 0;
}
else if (home == 1)
{
setting.homeMode = HomeMode.Ignore;
setting.home = 0;
}
else
{
setting.homeMode = HomeMode.Goto;
setting.home = home;
}
setting.minimum = (ushort)(64 * getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_MIN, i)));
setting.maximum = (ushort)(64 * getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_MAX, i)));
setting.neutral = getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_NEUTRAL, i));
setting.range = (ushort)(127 * getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_RANGE, i)));
setting.speed = exponentialSpeedToNormalSpeed((byte)getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_SPEED, i)));
setting.acceleration = (byte)getRawParameter(specifyServo(uscParameter.PARAMETER_SERVO0_ACCELERATION, i));
settings.channelSettings.Add(setting);
}
RegistryKey key = openRegistryKey();
if (key != null)
{
// Get names for servos from the registry.
for (byte i = 0; i < servoCount; i++)
{
settings.channelSettings[i].name = (string)key.GetValue("servoName" + i.ToString("d2"), "");
}
// Get the script from the registry
string script = (string)key.GetValue("script");
if (script == null)
script = "";
try
{
// compile it to get the checksum
settings.setAndCompileScript(script);
BytecodeProgram program = settings.bytecodeProgram;
if (program.getByteList().Count > this.maxScriptLength)
{
throw new Exception();
}
if (program.getCRC() != (ushort)getRawParameter(uscParameter.PARAMETER_SCRIPT_CRC))
{
throw new Exception();
}
}
catch (Exception)
{
// no script found or error compiling - leave script at ""
settings.scriptInconsistent = true;
}
// Get the sequences from the registry.
settings.sequences = Sequencer.Sequence.readSequencesFromRegistry(key, servoCount);
}
return settings;
}
/// <summary>
/// Parses a saved configuration file and returns a UscSettings object.
/// </summary>
/// <param name="warnings">A list of warnings. Whenever something goes
/// wrong with the file loading, a warning will be added to this list.
/// The warnings are not fatal; if the function returns it will return
/// a valid UscSettings object.
/// </param>
/// <param name="sr">The file to read from.</param>
/// <remarks>This function is messy. Maybe I should have tried the XPath
/// library.</remarks>
public static UscSettings load(StreamReader sr, List<String> warnings)
{
XmlReader reader = XmlReader.Create(sr);
UscSettings settings = new UscSettings();
string script = "";
// The x prefix means "came directly from XML"
Dictionary<String, String> xParams = new Dictionary<string, string>();
// Only read the data inside the UscSettings element.
reader.ReadToFollowing("UscSettings");
readAttributes(reader, xParams);
reader = reader.ReadSubtree();
// Check the version number
if (!xParams.ContainsKey("version"))
{
warnings.Add("This file has no version number, so it might have been read incorrectly.");
}
else if (xParams["version"] != "1")
{
warnings.Add("Unrecognized settings file version \"" + xParams["version"] + "\".");
}
reader.Read(); // this is needed, otherwise the first tag inside uscSettings doesn't work work (not sure why)
while (reader.Read())
{
if (reader.NodeType == XmlNodeType.Element && reader.Name == "Channels")
{
// We found the Channels tag.
// Read the ServosAvailable and ServoPeriod attributes from it in to our collection.
readAttributes(reader, xParams);
// Make a reader that can only read the stuff inside the Channels tag.
var channelsReader = reader.ReadSubtree();
// For each Channel tag...
while(channelsReader.ReadToFollowing("Channel"))
{
// Read all the attributes.
Dictionary<String, String> xChannel = new Dictionary<string, string>();
readAttributes(channelsReader, xChannel);
// Transform the attributes in to a ChannelSetting object.
ChannelSetting cs = new ChannelSetting();
if (assertKey("name", xChannel, warnings))
{
cs.name = xChannel["name"];
}
if (assertKey("mode", xChannel, warnings))
{
switch (xChannel["mode"].ToLower())
{
case "servomultiplied": cs.mode = ChannelMode.ServoMultiplied; break;
case "servo": cs.mode = ChannelMode.Servo; break;
case "input": cs.mode = ChannelMode.Input; break;
case "output": cs.mode = ChannelMode.Output; break;
default: warnings.Add("Invalid mode \"" + xChannel["mode"] + "\"."); break;
}
}
if (assertKey("homemode", xChannel, warnings))
{
switch (xChannel["homemode"].ToLower())
{
case "goto": cs.homeMode = HomeMode.Goto; break;
case "off": cs.homeMode = HomeMode.Off; break;
case "ignore": cs.homeMode = HomeMode.Ignore; break;
default: warnings.Add("Invalid homemode \"" + xChannel["homemode"] + "\"."); break;
}
}
if (assertKey("min", xChannel, warnings)) { parseU16(xChannel["min"], ref cs.minimum, "min", warnings); }
if (assertKey("max", xChannel, warnings)) { parseU16(xChannel["max"], ref cs.maximum, "max", warnings); }
if (assertKey("home", xChannel, warnings)) { parseU16(xChannel["home"], ref cs.home, "home", warnings); }
if (assertKey("speed", xChannel, warnings)) { parseU16(xChannel["speed"], ref cs.speed, "speed", warnings); }
if (assertKey("acceleration", xChannel, warnings)) { parseU8(xChannel["acceleration"], ref cs.acceleration, "acceleration", warnings); }
if (assertKey("neutral", xChannel, warnings)) { parseU16(xChannel["neutral"], ref cs.neutral, "neutral", warnings); }
if (assertKey("range", xChannel, warnings)) { parseU16(xChannel["range"], ref cs.range, "range", warnings); }
settings.channelSettings.Add(cs);
}
if (channelsReader.ReadToFollowing("Channel"))
{
warnings.Add("More than " + settings.servoCount + " channel elements were found. The extra elements have been discarded.");
}
}
else if (reader.NodeType == XmlNodeType.Element && reader.Name == "Sequences")
{
// We found the Sequences tag.
// For each Sequence tag in this sequence...
var sequencesReader = reader.ReadSubtree();
while (sequencesReader.ReadToFollowing("Sequence"))
{
// Create a new sequence.
Sequence sequence = new Sequence();
settings.sequences.Add(sequence);
// Read the sequence tag attributes (should just be "name").
Dictionary<String, String> sequenceAttributes = new Dictionary<string, string>();
readAttributes(sequencesReader, sequenceAttributes);
if (sequenceAttributes.ContainsKey("name"))
{
sequence.name = sequenceAttributes["name"];
}
else
{
sequence.name = "Sequence " + settings.sequences.Count;
warnings.Add("No name found for sequence " + sequence.name + ".");
}
// For each frame tag in this sequence...
var framesReader = reader.ReadSubtree();
while (framesReader.ReadToFollowing("Frame"))
{
// Create a new frame.
Frame frame = new Frame();
sequence.frames.Add(frame);
// Read the frame attributes from XML (name, duration)
Dictionary<String, String> frameAttributes = new Dictionary<string, string>();
readAttributes(framesReader, frameAttributes);
if (frameAttributes.ContainsKey("name"))
{
frame.name = frameAttributes["name"];
}
else
{
frame.name = "Frame " + sequence.frames.Count;
warnings.Add("No name found for " + frame.name + " in sequence \"" + sequence.name + "\".");
}
if (frameAttributes.ContainsKey("duration"))
{
parseU16(frameAttributes["duration"], ref frame.length_ms,
"Duration for frame \"" + frame.name + "\" in sequence \"" + sequence.name + "\".", warnings);
}
else
{
frame.name = "Frame " + sequence.frames.Count;
warnings.Add("No duration found for frame \"" + frame.name + "\" in sequence \"" + sequence.name + "\".");
}
frame.setTargetsFromString(reader.ReadElementContentAsString(), settings.servoCount);
}
}
}
else if (reader.NodeType == XmlNodeType.Element && reader.Name == "Script")
{
// We found the <Script> tag.
// Get the ScriptDone attribute in to our dictionary.
readAttributes(reader, xParams);
// Read the script.
script = reader.ReadElementContentAsString();
}
else if (reader.NodeType == XmlNodeType.Element)
{
// Read the miscellaneous parameters that come in element tags, like <NeverSuspend>false</NeverSuspend>.
try
{
xParams[reader.Name] = reader.ReadElementContentAsString();
}
catch (XmlException e)
{
warnings.Add("Unable to parse element \"" + reader.Name + "\": " + e.Message);
}
}
}
reader.Close();
//// Step 2: Put the data in to the settings object.
try
{
settings.setAndCompileScript(script);
}
catch (Exception e)
{
warnings.Add("Error compiling script from XML file: " + e.Message);
settings.scriptInconsistent = true;
}
if (assertKey("NeverSuspend", xParams, warnings))
{
parseBool(xParams["NeverSuspend"], ref settings.neverSuspend, "NeverSuspend", warnings);
}
if (assertKey("SerialMode", xParams, warnings))
{
switch (xParams["SerialMode"])
{
default: settings.serialMode = uscSerialMode.SERIAL_MODE_UART_DETECT_BAUD_RATE; break;
case "UART_FIXED_BAUD_RATE": settings.serialMode = uscSerialMode.SERIAL_MODE_UART_FIXED_BAUD_RATE; break;
case "USB_DUAL_PORT": settings.serialMode = uscSerialMode.SERIAL_MODE_USB_DUAL_PORT; break;
case "USB_CHAINED": settings.serialMode = uscSerialMode.SERIAL_MODE_USB_CHAINED; break;
}
}
if (assertKey("FixedBaudRate", xParams, warnings))
{
parseU32(xParams["FixedBaudRate"], ref settings.fixedBaudRate, "FixedBaudRate", warnings);
}
if (assertKey("SerialTimeout", xParams, warnings))
{
parseU16(xParams["SerialTimeout"], ref settings.serialTimeout, "SerialTimeout", warnings);
}
if (assertKey("EnableCrc", xParams, warnings))
{
parseBool(xParams["EnableCrc"], ref settings.enableCrc, "EnableCrc", warnings);
}
if (assertKey("SerialDeviceNumber", xParams, warnings))
{
parseU8(xParams["SerialDeviceNumber"], ref settings.serialDeviceNumber, "SerialDeviceNumber", warnings);
}
if (assertKey("SerialMiniSscOffset", xParams, warnings))
{
parseU8(xParams["SerialMiniSscOffset"], ref settings.miniSscOffset, "SerialMiniSscOffset", warnings);
}
if (assertKey("ScriptDone", xParams, warnings))
{
parseBool(xParams["ScriptDone"], ref settings.scriptDone, "ScriptDone", warnings);
}
// These parameters are optional because they don't apply to all Maestros.
if (xParams.ContainsKey("ServosAvailable"))
{
parseU8(xParams["ServosAvailable"], ref settings.servosAvailable, "ServosAvailable", warnings);
}
if (xParams.ContainsKey("ServoPeriod"))
{
parseU8(xParams["ServoPeriod"], ref settings.servoPeriod, "ServoPeriod", warnings);
}
if (xParams.ContainsKey("EnablePullups"))
{
parseBool(xParams["EnablePullups"], ref settings.enablePullups, "EnablePullups", warnings);
}
if (xParams.ContainsKey("MiniMaestroServoPeriod"))
{
parseU32(xParams["MiniMaestroServoPeriod"], ref settings.miniMaestroServoPeriod, "MiniMaestroServoPeriod", warnings);
}
if (xParams.ContainsKey("ServoMultiplier"))
{
parseU16(xParams["ServoMultiplier"], ref settings.servoMultiplier, "ServoMultiplier", warnings);
}
return settings;
}