public void Update()
{
if (m_Args == null)
{
return;
}
try
{
switch (m_HardwareState)
{
case HardwareState.None:
if (m_Args.Design.nNumberOfJoint <= 0 || m_Args.Design.dbRadius_Base <= 0 || m_Args.Design.dbAngleOfOffset_Base <= 0)
{
break;
}
m_Plate_Base = new Plate(Plate.PlateSettings.Base, m_Args.Design.nNumberOfJoint, m_Args.Design.dbRadius_Base, m_Args.Design.dbAngleOfOffset_Base);
m_Plate_Base.MakeJointVector();
m_HardwareState = HardwareState.Setcompleted_Base;
break;
case HardwareState.Setcompleted_Base:
m_Plate_Upper = new Plate(Plate.PlateSettings.Upper, m_Args.Design.nNumberOfJoint, m_Args.Design.dbRadius_Upper, m_Args.Design.dbAngleOfOffset_Upper);
m_Plate_Upper.MakeJointVector();
m_HardwareState = HardwareState.SetCompleted_Upper;
break;
case HardwareState.SetCompleted_Upper:
m_Plate_Upper.ToolOffset = m_Args.Design.ar_dbToolOffset;
m_HardwareState = HardwareState.SetCompleted_Height;
break;
case HardwareState.SetCompleted_Height:
m_Plate_Upper.Height = m_Args.Design.dbHeight;
m_HardwareState = HardwareState.SetTargetPose;
break;
case HardwareState.SetTargetPose:
if (m_Args.Target.dbTargetPosition == null || m_Args.Target.dbTargetRotation == null)
{
break;
}
m_Plate_Upper.CalculateTranslationVector(m_Args.Target.dbTargetPosition);
m_Plate_Upper.Rotation = m_Args.Target.dbTargetRotation;
m_HardwareState = HardwareState.Actionable;
break;
case HardwareState.Actionable:
m_Args = null;
break;
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
/// <summary>
/// 2020.04.08 by chjung [ADD] 상, 하판의 각 조인트 벡터를 설정한다.
/// </summary>
public void MakeHexapodPlate(int nNumOfJoint, double dbRadius_Base, double dbAngleOfOffset_Base, double dbRadius_Upper, double dbAngleOfOffset_Upper)
{
m_Plate_Base = new Plate(Plate.PlateSettings.Base, nNumOfJoint, dbRadius_Base, dbAngleOfOffset_Base);
m_Plate_Base.MakeJointVector();
m_HardwareState = HardwareState.Setcompleted_Base;
m_Plate_Upper = new Plate(Plate.PlateSettings.Upper, nNumOfJoint, dbRadius_Upper, dbAngleOfOffset_Upper);
m_Plate_Upper.MakeJointVector();
m_HardwareState = HardwareState.SetCompleted_Upper;
}
public static void RefreshHardwareStateList(MainForm mainForm)
{
if (IsConnected("SELECT id,name FROM `hardwarestates` ", false) && myDR.HasRows)
{
mainForm.hardwareStateList.Clear();// = new List<HardwareState>();
while (myDR.Read())
{
HardwareState hardwareState = new HardwareState();
hardwareState.id = int.Parse(myDR.GetString(0));
hardwareState.name = myDR.GetString(1);
mainForm.hardwareStateList.Add(hardwareState);
}
}
}
public void SetEventData(SetData setData, DataEventArgs args)
{
if (args != null)
{
m_Args = args;
if (setData == SetData.HardWareData)
{
m_HardwareState = HardwareState.None;
}
else if (setData == SetData.TargetCoordinate)
{
m_HardwareState = HardwareState.SetTargetPose;
}
}
}
private void TimerAlive_Tick(object sender, EventArgs e)
{
currentState = client.getHardwareState();
if (currentState != null)
{
if (currentState.ledLight)
{
labelBlink.Visible = true;
}
else
{
labelBlink.Visible = false;
}
setCheckboxState(checkBox1, currentState.enabledF1);
setCheckboxState(checkBox2, currentState.enabledF2);
setCheckboxState(checkBox3, currentState.enabledF3);
setCheckboxState(checkBox4, currentState.enabledF4);
setCheckboxState(checkBox5, currentState.enabledF5);
setCheckboxState(checkBox6, currentState.enabledF6);
}
}
internal void OnIncomingState(HardwareState currentState)
{
int theirPeriod = 0;
if (this.featureNumber == 1)
{
theirPeriod = currentState.periodF1;
}
else if (this.featureNumber == 10)
{
theirPeriod = currentState.periodF10;
}
textBoxCurrent.Text = theirPeriod.ToString();
if (textBoxCurrent.Text.Equals(textBoxPeriod.Text) &&
!freqTracking)
{
trackBarFreq.Value = int.Parse(textBoxPeriod.Text);
onFreqChange();
}
}
private void TimerAlive_Tick(object sender, EventArgs e)
{
if (client.State == System.ServiceModel.CommunicationState.Faulted)
{
this.Close();
return;
}
if (client.State == System.ServiceModel.CommunicationState.Opened)
{
try
{
currentState = client.getHardwareState();
/*
* if (pwmGenerating)
* {
* int period = int.Parse(textBoxPWMGenerate.Text);
* int duty = int.Parse(textBoxDuty.Text);
* if (lastSentPeriod!=period ||
* lastSentDuty != duty)
* {
* sendNewPwmPeriodAndDuty();
* lastSentPeriod = period;
* lastSentDuty = duty;
* }
* }
*/
}
catch (Exception)
{
this.Close();
return;
}
this.Invoke(() => {
if (currentState != null)
{
if (currentState.ledLight)
{
labelLed.BackColor = Color.Blue;
}
else
{
labelLed.BackColor = Color.Transparent;
}
lock (checkBoxLock)
{
checkBox1.SetChecked(currentState.enabledF1);
checkBox2.SetChecked(currentState.enabledF2);
checkBox3.SetChecked(currentState.enabledF3);
checkBox4.SetChecked(currentState.enabledF4);
checkBox5.SetChecked(currentState.enabledF5);
checkBox6.SetChecked(currentState.enabledF6);
checkBox10.SetChecked(currentState.enabledF10);
}
if (currentState.currentState == HardwareState.SearchState.Searching)
{
//textBoxCurrent.Text = currentState.currentPeriod.ToString();
}
freqChanger1.OnIncomingState(currentState);
freqChanger10.OnIncomingState(currentState);
}
});
}
}
