public CanServos(CanConnection comm)
{
_communication = comm;
_communication.FrameReceived += _communication_FrameReceived;
_servos = new Dictionary <ServomoteurID, CanServo>();
_canBoards = new List <CanBoard> {
CanBoard.CanServo1, CanBoard.CanServo2, CanBoard.CanServo3, CanBoard.CanServo4, CanBoard.CanServo5, CanBoard.CanServo6
};
Enum.GetValues(typeof(ServomoteurID)).Cast <ServomoteurID>().ToList().ForEach(id => _servos.Add(id, new CanServo(id, _communication)));
}
// .ctor
public GladeApp(string[] args)
{
Application.Init();
Glade.XML gxml = new Glade.XML(null, "gui.glade", "window1", null);
gxml.Autoconnect(this);
CanConnection conn = new CanConnection("roulette", 2342);
InitMoods();
InitLampe();
InitBorg();
Application.Run();
}
/// <summary>
/// Initialise toutes les connexions
/// </summary>
public static void Init()
{
_connectionsCan = new Dictionary <CanBoard, CanSubConnection>();
EnableConnection = new Dictionary <Board, bool>();
UDPBoardConnection = new Dictionary <Board, Connection>();
AllConnections = new List <Connection>();
ConnectionIO = AddUDPConnection(Board.RecIO, IPAddress.Parse("10.1.0.14"), 12324, 12314);
ConnectionIO.Name = Board.RecIO.ToString();
ConnectionMove = AddUDPConnection(Board.RecMove, IPAddress.Parse("10.1.0.11"), 12321, 12311);
ConnectionMove.Name = Board.RecMove.ToString();
ConnectionCanBridge = AddUDPConnection(Board.RecCan, IPAddress.Parse("10.1.0.15"), 12325, 12315);
ConnectionCanBridge.Name = Board.RecCan.ToString();
ConnectionCan = new CanConnection(Board.RecCan);
_connectionsCan.Add(CanBoard.CanServo1, new CanSubConnection(ConnectionCan, CanBoard.CanServo1));
_connectionsCan.Add(CanBoard.CanServo2, new CanSubConnection(ConnectionCan, CanBoard.CanServo2));
_connectionsCan.Add(CanBoard.CanServo3, new CanSubConnection(ConnectionCan, CanBoard.CanServo3));
_connectionsCan.Add(CanBoard.CanServo4, new CanSubConnection(ConnectionCan, CanBoard.CanServo4));
_connectionsCan.Add(CanBoard.CanServo5, new CanSubConnection(ConnectionCan, CanBoard.CanServo5));
_connectionsCan.Add(CanBoard.CanServo6, new CanSubConnection(ConnectionCan, CanBoard.CanServo6));
ConnectionCanAlim = new CanSubConnection(ConnectionCan, CanBoard.CanAlim);
_connectionsCan.Add(CanBoard.CanAlim, ConnectionCanAlim);
_connectionsCan.Values.ToList().ForEach(o => AllConnections.Add(o));
// En remplacement des tests de connexion des ConnexionCheck, pour les syncroniser
_linkTestConnections = ThreadManager.CreateThread(link => TestConnections());
_linkTestConnections.Name = "Tests de connexion";
_linkTestConnections.StartInfiniteLoop();
}