public MovementForwardControls GetMovementForwardControl(MovementMotorParameters parameters, MovementForwardModes mode)
{
MovementForwardControls result = MovementForwardControls.velocity;
if (MovementForwardModes.normalAxial == mode)
{
result = parameters.AxialMode;
}
else if (MovementForwardModes.circumferential == mode)
{
result = parameters.CircumferentialMode;
}
else if (MovementForwardModes.cornerAxial == mode)
{
result = parameters.CornerAxialMode;
}
else if (MovementForwardModes.launchAxial == mode)
{
result = parameters.LaunchAxialMode;
}
return (result);
}
private void MovementManaulDisplayButton_Click(object sender, EventArgs e)
{
this.movementNonManualMode = NicBotComm.Instance.GetMovementMode();
this.movementNonManualForwardMode = NicBotComm.Instance.GetMovementForwardMode();
if (MovementForwardModes.normalAxial == this.movementNonManualForwardMode)
{
NicBotComm.Instance.SetMovementForwardMode(MovementForwardModes.normalAxial);
}
else
{
NicBotComm.Instance.SetMovementForwardMode(MovementForwardModes.circumferential);
}
NicBotComm.Instance.SetMovementMode(MovementModes.move);
this.MovementManulPanel.Left = this.MovementMainPanel.Left;
this.MovementManulPanel.Top = this.GetAbsoluteTop(this.MovementOffButton);
this.MovementManulPanel.Visible = true;
this.UpdateMovementControls();
}
private void ProcessStarting()
{
string versionString = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
this.VersionLabel.Text = versionString;
ParameterAccessor.Instance.Read(Application.ExecutablePath);
this.traceListener.SetDestination(ParameterAccessor.Instance.Trace.Address, ParameterAccessor.Instance.Trace.Port);
Tracer.WriteHigh(TraceGroup.GUI, null, "starting");
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.TitleLabel.Text = " CIRRIS XR";
this.FrontSealantReserviorPanel.Visible = true;
this.RearSealantReserviorPanel.Visible = true;
this.DrillMainPanel.Visible = true;
this.InspectionPanel.Top = this.DrillMainPanel.Top;
this.InspectionPanel.Left = this.DrillMainPanel.Left;
this.InspectionPanel.Visible = false;
ParameterAccessor.Instance.FrontDrill.ExtendedDistance.OperationalValue = 0;
ParameterAccessor.Instance.FrontDrill.RotationSpeed.OperationalValue = 0;
ParameterAccessor.Instance.RearDrill.ExtendedDistance.OperationalValue = 0;
ParameterAccessor.Instance.RearDrill.RotationSpeed.OperationalValue = 0;
this.RobotCamera6Button.Visible = true;
this.RobotCamera11Button.Visible = true;
this.RobotCamera2Button.Text = "RFF DRILL";
this.RobotCamera6Button.Text = "FFF DRILL";
this.RobotCamera10Button.Text = "LOWER FORWARD";
this.RobotCamera9Button.Text = "RRF DRILL";
this.RobotCamera11Button.Text = "FRF DRILL";
this.RobotCamera12Button.Text = "LOWER BACK";
this.RobotCamera2Button.Camera = CameraLocations.robotRffDrill;
this.RobotCamera6Button.Camera = CameraLocations.robotFffDrill;
this.RobotCamera10Button.Camera = CameraLocations.robotLowerForward;
this.RobotCamera9Button.Camera = CameraLocations.robotRrfDrill;
this.RobotCamera11Button.Camera = CameraLocations.robotFrfDrill;
this.RobotCamera12Button.Camera = CameraLocations.robotLowerBack;
}
if (RobotApplications.inspect == ParameterAccessor.Instance.RobotApplication)
{
this.TitleLabel.Text = " CIRRIS XI";
this.FrontSealantReserviorPanel.Visible = false;
this.RearSealantReserviorPanel.Visible = false;
this.DrillMainPanel.Visible = false;
this.DrillManualPanel.Visible = false;
this.SealantMainPanel.Visible = false;
this.SealantManualPanel.Visible = false;
this.BodyDrillButton.Text = "";
this.BodyDrillButton.Enabled = false;
this.InspectionPanel.Top = this.DrillMainPanel.Top;
this.InspectionPanel.Left = this.DrillMainPanel.Left;
this.InspectionPanel.Visible = true;
this.RobotCamera6Button.Visible = false;
this.RobotCamera11Button.Visible = false;
this.RobotCamera2Button.Text = "LOWER BACK";
this.RobotCamera10Button.Text = "LOWER FORWARD";
this.RobotCamera9Button.Text = "SENSOR ARM";
this.RobotCamera12Button.Text = "SENSOR BAY";
this.RobotCamera2Button.Camera = CameraLocations.robotLowerBack;
this.RobotCamera10Button.Camera = CameraLocations.robotLowerForward;
this.RobotCamera9Button.Camera = CameraLocations.robotSensorArm;
this.RobotCamera12Button.Camera = CameraLocations.robotSensorBay;
}
this.indicatorFlasher = false;
this.feederFastSelected = true;
this.feederPreviousRequest = 0;
this.feederNonManualMode = FeederModes.off;
this.FeederSpeedToggleButton.OptionASelected = this.feederFastSelected;
this.FeederManualPanel.Visible = false;
this.FeederManulDisplayButton.Text = "SHOW MANUAL";
this.FeederSpeedToggleButton.Visible = true;
this.FeederSpeedValueButton.ValueText = this.GetValueText(ParameterAccessor.Instance.FeederManualSpeed);
this.UpdateFeederControls();
this.ReelCalibrateToButton.ValueText = this.GetValueText(ParameterAccessor.Instance.ReelCalibrationDistance);
this.ReelManualCalibrateToButton.ValueText = this.GetValueText(ParameterAccessor.Instance.ReelCalibrationDistance);
this.ReelCalibrateToButton.Enabled = false;
this.ReelShowManualButton.Enabled = true;
this.ReelManualDirectionToggleButton.OptionASelected = true;
this.ReelManualDirectionToggleButton.Enabled = true;
this.ReelSetupButton.Enabled = true;
this.ReelManualSetupButton.Enabled = true;
this.ReelManualHideButton.Enabled = true;
this.UpdateReelControls();
this.ReelManualPanel.Visible = false;
if (MovementForwardControls.current == ParameterAccessor.Instance.ReelMotionMode)
{
this.ReelManualValueTextPanel.ValueText = this.GetValueText(ParameterAccessor.Instance.ReelManualCurrent);
this.ReelManualDirectionToggleButton.Text = "TORQUE DIRECTION";
this.ReelValuePromptLabel.Text = "SET CURRENT";
}
else
{
this.ReelManualValueTextPanel.ValueText = this.GetValueText(ParameterAccessor.Instance.ReelManualSpeed);
this.ReelManualDirectionToggleButton.Text = "SPEED DIRECTION";
this.ReelValuePromptLabel.Text = "SET SPEED";
}
this.movementFastSelected = true;
this.movementNonManualMode = MovementModes.off;
this.movementNonManualForwardMode = MovementForwardModes.normalAxial;
this.MotorManualJogDistanceValueButton.ValueText = this.GetValueText(ParameterAccessor.Instance.MovementMotorManualJogDistance);
this.MotorManualMoveSpeedValueButton.ValueText = this.GetValueText(ParameterAccessor.Instance.MovementMotorManualMoveSpeed);
this.MovementSpeedToggleButton.OptionASelected = this.movementFastSelected;
this.MovementManulPanel.Visible = false;
this.MovementManaulDisplayButton.Text = "SHOW MANUAL";
this.MovementSpeedToggleButton.Visible = true;
this.UpdateMovementControls();
#region Drill/Sealant Controls
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.toolLocation = (false != ParameterAccessor.Instance.FrontToolSelected) ? ToolLocations.front : ToolLocations.rear;
this.SetDrillSelection(this.toolLocation);
this.DrillManulDisplayButton.Text = "SHOW MANUAL";
this.DrillMainPanel.Visible = true;
this.DrillManualPanel.Visible = false;
this.drillManualVisible = false;
this.drillManualActivated = false;
NicBotComm.Instance.SetPumpSpeed(this.toolLocation, 0);
this.SealantManulDisplayButton.Text = "SHOW MANUAL";
this.SealantMainPanel.Visible = false;
this.SealantManualPanel.Visible = false;
this.pumpManualVisible = false;
this.pumpManualActivated = false;
this.SealantManualModeToggleButton.OptionASelected = false;
this.DrillMainPanel.Focus();
}
#endregion
#region Sensor Controls
if (RobotApplications.inspect == ParameterAccessor.Instance.RobotApplication)
{
this.sensorThicknessPending = false;
this.newThicknessReading = false;
this.sensorStressPending = false;
this.newStressReading = false;
this.sensorDirection = Directions.north;
double latitude = ParameterAccessor.Instance.Latitude;
if (double.IsNaN(latitude) == false)
{
this.SensorLatitudeTextPanel.ValueText = latitude.ToString("N4");
}
else
{
this.SensorLatitudeTextPanel.ValueText = "---";
}
double longitude = ParameterAccessor.Instance.Longitude;
if (double.IsNaN(longitude) == false)
{
this.SensorLongitudeTextPanel.ValueText = longitude.ToString("N4");
}
else
{
this.SensorLongitudeTextPanel.ValueText = "---";
}
this.SensorDirectionTextPanel.ValueText = this.sensorDirection.ToString().ToUpper();
this.SensorDirectionTextPanel.BackColor = Color.FromArgb(51, 51, 51);
this.SensorDirectionTextPanel.Enabled = true;
this.SensorDisplacementTextPanel.ValueText = "---";
this.SensorGpsDateTextPanel.ValueText = "---";
this.SensorGpsTimeTextPanel.ValueText = "---";
this.SensorThicknessAcquireButton.Enabled = true;
this.SensorThicknessReadingTextPanel.ValueText = "";
this.SensorStressAcquireButton.Enabled = true;
this.SensorStressReadingTextPanel.ValueText = "";
if (0 != ParameterAccessor.Instance.LocationServer.Port)
{
LocationServer.Instance.Start(ParameterAccessor.Instance.LocationServer.Address, ParameterAccessor.Instance.LocationServer.Port);
}
}
#endregion
#region Camera Controls
this.RobotCamera1Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera1Button.Camera);
this.RobotCamera2Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera2Button.Camera);
this.RobotCamera3Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera3Button.Camera);
this.RobotCamera4Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera4Button.Camera);
this.RobotCamera5Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera5Button.Camera);
this.RobotCamera6Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera6Button.Camera);
this.RobotCamera7Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera7Button.Camera);
this.RobotCamera8Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera8Button.Camera);
this.RobotCamera9Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera9Button.Camera);
this.RobotCamera10Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera10Button.Camera);
this.RobotCamera11Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera11Button.Camera);
this.RobotCamera12Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.RobotCamera12Button.Camera);
this.LaunchCamera1Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.LaunchCamera1Button.Camera);
this.LaunchCamera2Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.LaunchCamera2Button.Camera);
this.LaunchCamera3Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.LaunchCamera3Button.Camera);
this.LaunchCamera4Button.CenterLevel = (int)ParameterAccessor.Instance.GetLightLevel(this.LaunchCamera4Button.Camera);
this.ClearCameraSelects(this.RobotCamera1Button);
this.ClearCameraSelects(this.RobotCamera2Button);
this.ClearCameraSelects(this.RobotCamera3Button);
this.ClearCameraSelects(this.RobotCamera4Button);
this.ClearCameraSelects(this.RobotCamera5Button);
this.ClearCameraSelects(this.RobotCamera6Button);
this.ClearCameraSelects(this.RobotCamera7Button);
this.ClearCameraSelects(this.RobotCamera8Button);
this.ClearCameraSelects(this.RobotCamera9Button);
this.ClearCameraSelects(this.RobotCamera10Button);
this.ClearCameraSelects(this.RobotCamera11Button);
this.ClearCameraSelects(this.RobotCamera12Button);
this.ClearCameraSelects(this.LaunchCamera1Button);
this.ClearCameraSelects(this.LaunchCamera2Button);
this.ClearCameraSelects(this.LaunchCamera3Button);
this.ClearCameraSelects(this.LaunchCamera4Button);
this.cameraSelectMode = CameraSelectModes.none;
this.UpdateCameraHoldEnable();
this.UpdateCameraSelectorColor();
this.selectedLaunchCameraButton = null;
this.selectedRobotCameraAButton = null;
this.selectedRobotCameraBButton = null;
this.UpdateCameraHoldEnable();
#endregion
NicBotComm.Instance.Start();
ParameterAccessor.Instance.FrontDrill.ExtendedDistance.OperationalValue = ParameterAccessor.Instance.FrontDrill.ExtendedDistance.MinimumValue; // todo remove
ParameterAccessor.Instance.FrontDrill.RotationSpeed.OperationalValue = ParameterAccessor.Instance.FrontDrill.RotationSpeed.MinimumValue; // todo remove
ParameterAccessor.Instance.RearDrill.ExtendedDistance.OperationalValue = ParameterAccessor.Instance.RearDrill.ExtendedDistance.MinimumValue; // todo remove
ParameterAccessor.Instance.RearDrill.RotationSpeed.OperationalValue = ParameterAccessor.Instance.RearDrill.RotationSpeed.MinimumValue; // todo remove
this.SystemStatusTextBox.Text = "starting";
this.SystemStatusTextBox.BackColor = Color.Yellow;
this.UpdateTimer.Interval = 100;
this.Process = this.ProcessWaitComm;
}
public void SetMovementForwardMode(MovementForwardModes mode)
{
if (mode == MovementForwardModes.circumferential)
{
this.movementWheelModeChangeRequest = MovementWheelModes.circumferential;
}
else
{
this.movementWheelModeChangeRequest = MovementWheelModes.axial;
}
this.movementForwardMode = mode;
}
private void InitializeValues()
{
this.busReady = false;
this.busStatus = null;
this.busReceiveQueue.Clear();
this.deviceResetQueue.Clear();
this.robotBody.NodeId = (byte)ParameterAccessor.Instance.RobotBus.RobotBodyBusId;
this.robotTopFrontWheel.NodeId = (byte)ParameterAccessor.Instance.RobotBus.RobotTopFrontWheelBusId;
this.robotTopRearWheel.NodeId = (byte)ParameterAccessor.Instance.RobotBus.RobotTopRearWheelBusId;
this.robotBottomFrontWheel.NodeId = (byte)ParameterAccessor.Instance.RobotBus.RobotBottomFrontWheelBusId;
this.robotBottomRearWheel.NodeId = (byte)ParameterAccessor.Instance.RobotBus.RobotBottomRearWheelBusId;
this.TraceMask = ParameterAccessor.Instance.RobotBus.ControllerTraceMask;
this.robotBody.TraceMask = ParameterAccessor.Instance.RobotBus.RobotBodyTraceMask;
this.robotTopFrontWheel.TraceMask = ParameterAccessor.Instance.RobotBus.RobotTopFrontWheelTraceMask;
this.robotTopRearWheel.TraceMask = ParameterAccessor.Instance.RobotBus.RobotTopRearWheelTraceMask;
this.robotBottomFrontWheel.TraceMask = ParameterAccessor.Instance.RobotBus.RobotBottomFrontWheelTraceMask;
this.robotBottomRearWheel.TraceMask = ParameterAccessor.Instance.RobotBus.RobotBottomRearWheelTraceMask;
this.InitializeRobotBody();
this.movementMode = MovementModes.off;
this.movementForwardMode = MovementForwardModes.normalAxial;
this.movementWheelModeChangeRequest = MovementWheelModes.neither;
this.movementWheelModeActual = MovementWheelModes.neither;
this.movementTopFrontWheelStatus.Initialize();
this.movementTopRearWheelStatus.Initialize();
this.movementBottomFrontWheelStatus.Initialize();
this.movementBottomRearWheelStatus.Initialize();
this.drillFrontRotationSetPoint = 0;
this.drillRearRotationSetPoint = 0;
this.drillFrontIndexSetPoint = 0;
this.drillRearIndexSetPoint = 0;
this.drillFrontLaserSetPoint = false;
this.drillRearLaserSetPoint = false;
this.cameraA = CameraLocations.robotFrontUpperBack;
this.cameraB = CameraLocations.robotLowerBack;
this.videoASetPoint = 0;
this.videoBSetPoint = 0;
for (int i = 0; i < this.cameraLightLevelSetPoints.Length; i++)
{
this.cameraLightLevelSetPoints[i] = 0;
}
}
public void SetMovementForwardMode(MovementForwardModes mode)
{
RobotCommBus.Instance.SetMovementForwardMode(mode);
}
