/// <summary>
/// Applys register to data to associated RegisterTreeNode.
/// </summary>
/// <param name="registerAddress">
/// Register address of tree node. See x_IMU_API.RegisterAddresses.
/// </param>
/// <param name="isConfirmed">
/// A value indicating if the register data being applied should be displayed as confirmed.
/// </param>
public void ApplyRegisterData(x_IMU_API.RegisterData registerData, bool isConfirmed)
{
RegisterTreeNode registerTreeNode = FindRegisterTreeNode(registerData.Address);
if (registerTreeNode == null)
{
throw new Exception("Register address does have an associated RegisterTreeNode.");
}
registerTreeNode.SetFromRegisterData(registerData, isConfirmed);
RefreshPending = true;
}
/// <summary>
/// Finds RegisterTreeNode with register address.
/// </summary>
/// <param name="registerAddress">
/// Register address of tree node.
/// </param>
/// <returns>
/// RegisterTreeNode.
/// </returns>
private RegisterTreeNode FindRegisterTreeNode(x_IMU_API.RegisterAddresses registerAddress)
{
foreach (TreeNode childNode in Nodes)
{
RegisterTreeNode registerTreeNode = FindRegisterTreeNode(childNode, registerAddress);
if (registerTreeNode != null)
{
return(registerTreeNode);
}
}
return(null);
}
/// <summary>
/// Recursively searches for RegisterTreeNode with register address starting from a root TreeNode.
/// </summary>
/// <param name="rootNode">
/// Root TreeNode that recursive search starts from.
/// </param>
/// <param name="registerAddress">
/// Register address of tree node. See x_IMU_API.RegisterAddresses.
/// </param>
/// <returns>
/// RegisterTreeNode.
/// </returns>
private RegisterTreeNode FindRegisterTreeNode(TreeNode rootNode, x_IMU_API.RegisterAddresses registerAddress)
{
foreach (TreeNode childNode in rootNode.Nodes)
{
if (childNode is RegisterTreeNode)
{
if ((childNode as RegisterTreeNode).RegisterAddress == registerAddress)
{
return(childNode as RegisterTreeNode);
}
}
else if (childNode.Nodes.Count > 0)
{
RegisterTreeNode registerTreeNode = FindRegisterTreeNode(childNode, registerAddress); // for all child nodes recursively
if (registerTreeNode != null)
{
return(registerTreeNode);
}
}
}
return(null);
}
/// <summary>
/// Sends a read register packet for a RegisterTreeNode.
/// </summary>
/// <param name="registerTreeNode">
/// RegisterTreeNode to be read.
/// </param>
private void ReadRegisterTreeNode(RegisterTreeNode registerTreeNode)
{
try
{
Thread.Sleep(5); // delay to avoid overrunning the device receive buffer
xIMUserial.SendReadRegisterPacket(new x_IMU_API.RegisterData(registerTreeNode.RegisterAddress));
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// Sends a write register packet for a RegisterTreeNode.
/// </summary>
/// <param name="registerTreeNode">
/// RegisterTreeNode to be written.
/// </param>
private void WriteRegisterTreeNode(RegisterTreeNode registerTreeNode)
{
if ((registerTreeNode.RegisterAddress == x_IMU_API.RegisterAddresses.FirmwareVersionMajorNum) ||
(registerTreeNode.RegisterAddress == x_IMU_API.RegisterAddresses.FirmwareVersionMinorNum) ||
(registerTreeNode.RegisterAddress == x_IMU_API.RegisterAddresses.DeviceID))
{
return; // do not attmept to write read-only registers
}
try
{
Thread.Sleep(5); // delay to avoid overrunning the device receive buffer
xIMUserial.SendWriteRegisterPacket(registerTreeNode.ConvertToRegisterData());
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
