private void ShowServo()
{
if (_lastServo != null)
{
_lastServo.SetEnable(false);
}
_lastServo = SelectedServo;
textBox4.Text = "";
if (_lastServo == null)
{
groupBox4.Enabled = false;
return;
}
groupBox4.Enabled = true;
textBox4.Text = string.Format("{0} - {1}", _lastServo.Id, _lastServo.Description);
int pos = _lastServo.Position;
if (pos < trackBar1.Minimum)
{
pos = trackBar1.Minimum;
}
if (pos > trackBar1.Maximum)
{
pos = trackBar1.Maximum;
}
_lastServo.SetEnable(true);
trackBar1.Value = pos;
}
public static ServoDevice Load(XmlNode xml, List <RS232Configuration> interfaces)
{
ServoDevice result = new ServoDevice();
string interfaceId = xml.Attributes["interface"].Value;
RS232Configuration interf = interfaces.Find(delegate(RS232Configuration o)
{
return(o.Id == interfaceId);
});
if (interf == null)
{
return(null);
}
result.Interface = interf;
result.Id = xml.Attributes["id"].Value;
result.Description = xml.Attributes["description"].Value;
result.DeviceId = byte.Parse(xml.Attributes["device"].Value);
List <Servo> servos = new List <Servo>();
foreach (XmlNode node in xml.SelectNodes("servo"))
{
Servo s = Servo.Load(node);
if (s != null)
{
s.Device = result;
servos.Add(s);
}
}
result.Servos = servos.ToArray();
return(result);
}
void Button14Click(object sender, EventArgs e)
{
Servos.Servo servo = SelectedServo;
if (servo != null)
{
servo.Max = trackBar1.Value;
gridServos.Rows[gridServos.CurrentCell.RowIndex].Cells[4].Value = servo.Max;
}
}
void Button13Click(object sender, EventArgs e)
{
Servos.Servo servo = SelectedServo;
if (servo != null)
{
servo.InitialPosition = trackBar1.Value;
gridServos.Rows[gridServos.CurrentCell.RowIndex].Cells[3].Value = servo.InitialPosition;
}
}
void Timer2Tick(object sender, EventArgs e)
{
if (Working)
{
Servos.Servo servo = SelectedServo;
if (servo != null)
{
servo.Position = trackBar1.Value;
}
}
}
public static Servo Load(XmlNode xml)
{
if (xml == null)
{
return(null);
}
Servo result = new Servo();
result.Id = xml.Attributes["id"].Value;
result.Description = xml.Attributes["description"].Value;
result.Index = byte.Parse(xml.Attributes["index"].Value);
result.Min = int.Parse(xml.Attributes["min"].Value);
result.Max = int.Parse(xml.Attributes["max"].Value);
result.InitialPosition = int.Parse(xml.Attributes["initialPosition"].Value);
return(result);
}
public ServoDevice()
{
Servos = new Servo[0];
}
private void button1_Click(object sender, EventArgs e)
{
// sprawdzenie poprawności danych
byte deviceId = (byte)numericUpDown1.Value;
byte ledsCount = (byte)numericUpDown2.Value;
string id = _servoDeviceIndex < 0 ? Guid.NewGuid().ToString() : _configuration.ServoDevices[_servoDeviceIndex].Id;
string description = textBox2.Text.Trim();
textBox2.Text = description;
if (description.Length == 0)
{
MessageBox.Show(this, string.Format("Nie podano opisu."), "Uwaga", MessageBoxButtons.OK, MessageBoxIcon.Warning);
textBox2.Focus();
return;
}
// sprawdzenie czy na tym interfejsie jest już urządzenie o takim ID
if (_servoDeviceIndex == -1 || _configuration.ServoDevices[_servoDeviceIndex].DeviceId != deviceId)
{
if (_configuration.ExistsDevice(_interf, deviceId))
{
MessageBox.Show(this, string.Format("Podany identyfikator urządzenia jest już używany na tym interfejsie."), "Uwaga", MessageBoxButtons.OK, MessageBoxIcon.Warning);
numericUpDown1.Focus();
return;
}
}
// sprawdzenie poprawności identyfikatorów diod
List <string> ids = new List <string>();
for (int i = 0; i < dataGridView1.Rows.Count; i++)
{
string id2 = (string)dataGridView1.Rows[i].Cells[1].Value;
id2 = id2.Trim();
if (id2.Length == 0)
{
MessageBox.Show(this, string.Format("Nie podano identyfikatora dla serwomechanizmu '{0}'.", (i + 1)), "Uwaga", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (ids.Contains(id2))
{
MessageBox.Show(this, string.Format("Identyfikator '{0}' został użyty więcj niż jeden raz.", id2), "Uwaga", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
ids.Add(id2);
}
// // sprawdzenie czy identyfikatory diod
// for (int i = 0; i < _configuration.ServoDevices.Length; i++)
// {
// ServoDevice servoD = _configuration.ServoDevices[i];
// if (servoD.Id == id)
// {
// continue;
// }
//
// if (ids.FindIndex(delegate(string o)
// {
// return o == led.ID;
// }) > -1)
// {
// MessageBox.Show(this, string.Format("Identyfikator '{0}' jest już wykorzystywany.", led.ID), "Uwaga", MessageBoxButtons.OK, MessageBoxIcon.Warning);
// return;
// }
// }
if (_servoDeviceIndex > -1)
{
ServoDevice dev = _configuration.ServoDevices[_servoDeviceIndex];
dev.Description = description;
dev.DeviceId = deviceId;
for (int i = 0; i < dataGridView1.Rows.Count; i++)
{
byte dindex = (byte)i;// byte.Parse(dataGridView1.Rows[i].Cells[0].Value.ToString()) - 1;
string did = (string)dataGridView1.Rows[i].Cells[1].Value;
string ddescription = (string)dataGridView1.Rows[i].Cells[2].Value;
// aktualizacja ustawień wyświetlacza lub dodanie nowego
Servo servo = Array.Find <Servo>(dev.Servos, delegate(Servo o)
{
return(o.Index == dindex);
});
if (servo != null)
{
servo.Id = did;
servo.Description = ddescription;
}
else
{
servo = new Servo()
{
Description = ddescription,
Id = did,
Index = dindex,
Device = dev
};
List <Servo> lcds2 = new List <Servo>(dev.Servos);
lcds2.Add(servo);
dev.Servos = lcds2.ToArray();
}
}
// // usunięcie diod
// List<LED> diodyOld = new List<LED>(_configuration.LEDs);
// diodyOld.RemoveAll(delegate(LED o)
// {
// return o.LEDDevice == dev && o.Index >= dataGridView1.Rows.Count;
// });
// _configuration.LEDs = diodyOld.ToArray();
}
else
{
// dodanie nowego urządzenia i wyświetlaczy
ServoDevice dev = new ServoDevice()
{
Description = description,
DeviceId = deviceId,
Id = id,
Interface = _interf
};
List <ServoDevice> devsAll = new List <ServoDevice>(_configuration.ServoDevices);
devsAll.Add(dev);
_configuration.ServoDevices = devsAll.ToArray();
AddedServoDevice = dev;
for (int i = 0; i < dataGridView1.Rows.Count; i++)
{
byte dindex = (byte)i;// byte.Parse(dataGridView1.Rows[i].Cells[0].Value.ToString());
string did = (string)dataGridView1.Rows[i].Cells[1].Value;
string ddescription = (string)dataGridView1.Rows[i].Cells[2].Value;
Servo lcd4 = new Servo()
{
Description = ddescription,
Id = did,
Index = dindex,
Device = dev
};
List <Servo> lcds2 = new List <Servo>(dev.Servos);
lcds2.Add(lcd4);
dev.Servos = lcds2.ToArray();
}
}
DialogResult = DialogResult.OK;
Close();
}
