private void UploadAction()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
char actionCode = UBT.actionTable.action[actionId].actionCode;
if (MessageConfirm(String.Format("上傳動作 {0} 到機械人, 原有的資料將會被覆蓋", actionCode)))
{
StartSystemWork();
if (UBT.UploadAction(actionId))
{
UpdateInfo(String.Format("機械人的動作{0} 成功更新了, 測試後請儲存到 SPIFFS", actionCode));
UBT.actionTable.action[actionId].actionFileExists = true;
UBT.actionTable.action[actionId].poseLoaded = true;
RefreshActionInfo();
}
else
{
UpdateInfo(String.Format("更新機械人動作{0} 失敗", actionCode), UTIL.InfoType.error);
}
EndSystemWork();
}
}
public void OnWindowClosing(object sender, CancelEventArgs e)
{
if (UBT.connected)
{
UBT.Disconnect();
}
}
private void btnMp3Test_Click(object sender, RoutedEventArgs e)
{
UpdateInfo();
// byte folderSeq, fileSeq, playVol;
if (!getMp3Folder(out byte folderSeq))
{
return;
}
if (!getMp3File(out byte fileSeq, false))
{
return;
}
if (!getMp3Vol(out byte playVol))
{
return;
}
// For MP3 command using 9600bps software serial, it'd be better to add 100ms delay between each command
UBT.V2_MP3Stop();
Thread.Sleep(100);
if (playVol != 255)
{
UBT.V2_MP3SetVol(playVol);
Thread.Sleep(100);
}
UBT.V2_MP3PlayFile(folderSeq, fileSeq);
UpdateInfo(String.Format("播放 {0}档案 {1:0000}", (folderSeq == 0xFF ? "" : string.Format("{0:0000} 目录下的", folderSeq)), fileSeq));
}
private void PostConnection()
{
UBT.PostConnection();
ucActionList.Refresh();
ucMainServo.CheckServoType();
ucControlBoard.RefreshBoardConfig();
}
private void DeleteAction()
{
UpdateInfo();
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
char actionCode = UBT.actionTable.action[actionId].actionCode;
if (MessageConfirm(String.Format("刪除 SPIFFS 上動作 {0} 的檔案", actionCode)))
{
byte result = UBT.DeleteActionFile((byte)actionId);
switch (result)
{
case 0:
UpdateInfo("Action file deleted.");
UBT.actionTable.action[actionId].actionFileExists = false;
UBT.actionTable.action[actionId].Reset();
RefreshActionInfo();
break;
case 12:
UpdateInfo("Action file does not exists, delete is not required.");
break;
default:
UpdateInfo("Fail deleting action file.");
break;
}
}
}
private void btnAutoFixAngle_Click(object sender, RoutedEventArgs e)
{
int angle = 0;
try
{
angle = int.Parse(txtFixAngle.Text.Trim());
if ((angle < 0) || (angle > 180))
{
UpdateInfo("輸入角度不正確", MyUtil.UTIL.InfoType.error);
return;
}
}
catch (Exception)
{
UpdateInfo("輸入角度不正確", MyUtil.UTIL.InfoType.error);
return;
}
byte id = (byte)activeServo;
if (UBT.V2_SetAngle(id, (byte)angle, 0))
{
UBT.V2_MoveServo(id, (byte)angle, 50);
}
UBT.LockServo(id, true);
UpdateActiveServo();
}
private void ServoLedChange(object sender, EventArgs e)
{
uc.UcServo ucServo = (uc.UcServo)sender;
byte id = ucServo.id;
if ((id < 1) || (id > CONST.MAX_SERVO))
{
return;
}
byte mode = servo[id].led;
switch (mode)
{
case CONST.LED.NO_CHANGE:
mode = CONST.LED.TURN_ON;
UBT.V2_SetLED(id, 0);
break;
case CONST.LED.TURN_ON:
mode = CONST.LED.TURN_OFF;
UBT.V2_SetLED(id, 1);
break;
default:
mode = CONST.LED.NO_CHANGE;
break;
}
servo[id].SetLED(mode);
servo[id].Show();
if (activeServo == id)
{
UpdateActiveServoInfo();
}
}
private void DownloadAction()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
char actionCode = UBT.actionTable.action[actionId].actionCode;
if (MessageConfirm(String.Format("下載動作 {0} 的資料, 當前資料將會被覆蓋", actionCode)))
{
StartSystemWork();
if (UBT.DownloadAction((byte)actionId, true))
{
UpdateInfo(String.Format("動作{0} 成功下載", actionCode));
}
else
{
UpdateInfo(String.Format("下載動作{0} 失敗", actionCode), UTIL.InfoType.error);
}
RefreshActionInfo();
EndSystemWork();
}
}
private void SetServoAdjAngle()
{
UpdateInfo();
if (activeServo > 0)
{
byte id = (byte)activeServo;
int n = (int)sliderAdjValue.Value;
if (n < 0)
{
n += 65536;
}
UInt16 adjValue = (UInt16)n;
if (!UBT.V2_SetAdjAngle(id, adjValue))
{
UpdateInfo("Fail setting servo adjustment", UTIL.InfoType.error);
return;
}
if ((txtAdjPreview.Text == null) || (txtAdjPreview.Text.Trim() == ""))
{
return;
}
byte angle = (byte)Convert.ToInt32(txtAdjPreview.Text, 10);
UBT.V2_MoveServo(id, angle, 50);
}
}
private void btnAutoFixAngle_Click(object sender, RoutedEventArgs e)
{
if (activeServo > 0)
{
byte id = (byte)activeServo;
string sFixAngle = txtFixAngle.Text.Trim();
if (sFixAngle == "")
{
UpdateInfo("Please enter current angle", UTIL.InfoType.error);
return;
}
int iFixAngle;
if ((!int.TryParse(sFixAngle, out iFixAngle)) || (iFixAngle < 0) || (iFixAngle > 180))
{
UpdateInfo("Invalid angle, should be 0 ~ 180", UTIL.InfoType.error);
return;
}
// first get current adjustment
UInt16 adj = UBT.V2_GetAdjAngle(id);
if (adj == 0x7F7F)
{
return;
}
int adjValue = 0;
if ((adj >= 0x0000) && (adj <= 0x0130))
{
adjValue = adj;
}
else if ((adj >= 0xFED0) && (adj <= 0xFFFF))
{
adjValue = (adj - 65536);
}
else
{
UpdateInfo("Invalid adjustment", UTIL.InfoType.error);
return;
}
// get current angle
Byte currAngle = UBT.V2_GetAngle(id);
if (currAngle == 0xFF)
{
return;
}
int delta = cboDelta.SelectedIndex;
// adjValue = 3 * angle
int newAdjValue = (currAngle - iFixAngle) * 3 + adjValue;
if (newAdjValue < 0)
{
newAdjValue += 65536 + delta;
}
SetAdjAngle(newAdjValue);
txtAdjPreview.Text = sFixAngle;
SetServoAdjAngle();
}
}
private void btnResetServo_Click(object sender, RoutedEventArgs e)
{
if (activeServo <= 0)
{
return;
}
UBT.V2_ServoCommand((byte)activeServo, 1);
}
private void PostDisconnect()
{
UBT.PostDisconnect();
ucActionList.Refresh();
ucActionDetail.Refresh();
ucControlBoard.RefreshBoardConfig();
ClearBattery();
ClearMpu();
}
public void UpdateBattery()
{
// Just for safety, in case front-end submit request at the same time
UInt16 value;
byte power;
UBT.CheckBattery(out value, out power);
UIUpdateBattery(value, power);
}
private void ReadAdjAngle()
{
UpdateInfo();
UInt16 adj = UBT.V2_GetAdjAngle((byte)activeServo);
if (adj != 0x7F7F)
{
SetAdjAngle((int)adj);
}
}
private void cbxActiveLocked_Changed(object sender, RoutedEventArgs e)
{
if ((!updating_servo_info) && (activeServo > 0))
{
bool goLock = (this.cbxActiveLocked.IsChecked == true);
List <data.ServoInfo> lsi = new List <data.ServoInfo>();
lsi.Add(new data.ServoInfo((byte)activeServo));
UBT.LockServo(lsi, goLock);
UpdateActiveServoInfo();
}
}
private void rbHeadLed_Clicked(object sender, RoutedEventArgs e)
{
if (rbHeadLedTurnOff.IsChecked == true)
{
UBT.V2_SetHeadLED(0);
}
else if (rbHeadLedTurnOn.IsChecked == true)
{
UBT.V2_SetHeadLED(1);
}
}
private void ActionList_StopAction(object sender, EventArgs e)
{
UpdateInfo();
if (UBT.StopAction())
{
UpdateInfo("动作播放停止了");
}
else
{
UpdateInfo("停止播放动作出错");
}
}
private void SetDebug(bool mode)
{
UpdateInfo();
if (UBT.SetDebug(mode))
{
UpdateInfo(String.Format("除虫模式已{0}", (mode ? "启动" : "停止")));
}
else
{
UpdateInfo("设定除虫模式失败");
}
}
public void ReadAdjAngle()
{
UpdateInfo();
if (activeServo <= 0)
{
return;
}
UInt16 adj = UBT.V2_GetAdjAngle((byte)activeServo);
if (adj != 0x7F7F)
{
SetAdjAngle((int)adj);
}
}
private void SetSelectedServoLock(bool goLock)
{
List <data.ServoInfo> lsi = new List <data.ServoInfo>();
for (byte i = 1; i <= CONST.MAX_SERVO; i++)
{
if (servo[i].isSelected)
{
lsi.Add(new data.ServoInfo(i));
}
}
UBT.LockServo(lsi, goLock);
UpdateActiveServoInfo();
}
private void sliderTimer_Tick(object sender, EventArgs e)
{
if (activeServo > 0)
{
sliderTimer.Stop();
double dblAngle = Math.Round(sliderActiveAngle.Value);
byte angle = (byte)dblAngle;
byte oldAngle = servo[activeServo].angle;
// if (angle == oldAngle) return;
double diff = (byte)Math.Abs(angle - oldAngle);
byte time = (byte)(Math.Round(40.0 * diff / CONST.SERVO.MAX_ANGLE)); // 40 ~ 1s, 1s for 240 angle
UBT.MoveServo((byte)activeServo, angle, time);
int TimeMs = time * 25 + 100; // add extra 100ms, seeem still not work, sometimes command cannot be executed for fast change.
servoEndTicks = DateTime.Now.Ticks + TimeMs * TimeSpan.TicksPerMillisecond;
}
}
private void btnReadPose_Click(object sender, RoutedEventArgs e)
{
UpdateInfo();
data.PoseInfo pi = ucActionDetail.GetSelectedPose();
if (pi == null)
{
UpdateInfo("没有选定姿势", MyUtil.UTIL.InfoType.alert);
}
else
{
UBT.SetPose(pi.actionId, pi.poseId);
for (int i = 1; i <= CONST.MAX_SERVO; i++)
{
servo[i].SetLED(pi.servoLed[i]);
servo[i].Show();
}
if (activeServo > 0)
{
rbLedNoChange.IsChecked = (pi.servoLed[activeServo] == CONST.LED.NO_CHANGE);
rbLedTurnOn.IsChecked = (pi.servoLed[activeServo] == CONST.LED.TURN_ON);
rbLedTurnOff.IsChecked = (pi.servoLed[activeServo] == CONST.LED.TURN_OFF);
}
rbHeadLedNoChange.IsChecked = (pi.headLed == CONST.LED.NO_CHANGE);
rbHeadLedTurnOn.IsChecked = (pi.headLed == CONST.LED.TURN_ON);
rbHeadLedTurnOff.IsChecked = (pi.headLed == CONST.LED.TURN_OFF);
if (pi.mp3Vol == CONST.AI.STOP_MUSIC_VOL)
{
cbxStopMp3.IsChecked = true;
tbMp3Folder.Text = "";
tbMp3File.Text = "";
tbMp3Vol.Text = "";
}
else
{
cbxStopMp3.IsChecked = false;
tbMp3Folder.Text = (pi.mp3Folder == 0xff ? "" : pi.mp3Folder.ToString());
tbMp3File.Text = (pi.mp3File == 0xff ? "" : pi.mp3File.ToString());
tbMp3Vol.Text = (pi.mp3Vol == 0xff ? "" : pi.mp3Vol.ToString());
}
tbExecTime.Text = pi.servoTime.ToString();
tbWaitTime.Text = pi.waitTime.ToString();
}
}
public void UpdateMpu()
{
if (!UBT.mpuExists)
{
return;
}
Int16 ax, ay, az;
if (UBT.GetMpuData(out ax, out ay, out az))
{
UIUdateMpu(ax.ToString(), ay.ToString(), az.ToString());
}
else
{
UIUdateMpu();
}
}
private void DownloadActionTable()
{
if (MessageConfirm("從機械人重新下載所有動作, 當前資料將會被覆蓋"))
{
StartSystemWork();
if (UBT.DownloadActionTable())
{
UpdateInfo("下載資料完成");
}
else
{
UpdateInfo("下載資料失敗");
}
RefreshActionInfo();
EndSystemWork();
}
}
private void UpdateAngle()
{
if (activeServo > 0)
{
string sAngle = tbAngle.Text.Trim();
int angle;
if (!int.TryParse(sAngle, out angle))
{
return;
}
if ((angle < 0) || (angle > 240))
{
UpdateInfo(string.Format("Invalid angle: {0}", angle));
}
sliderActiveAngle.Value = angle;
UBT.MoveServo((byte)activeServo, (byte)angle, 0);
}
}
private void sliderTimer_Tick(object sender, EventArgs e)
{
sliderTimer.Stop();
double dblAngle = Math.Round(sliderActiveAngle.Value);
byte angle = (byte)dblAngle;
UBT.MoveServo((byte)activeServo, angle, 0);
if (sliderMode > 0)
{
// extra one time after stop
if (sliderMode == 1)
{
sliderMode = 0;
}
sliderTimer.Start();
}
}
private void rbLed_Clicked(object sender, RoutedEventArgs e)
{
if (activeServo > 0)
{
byte mode = CONST.LED.NO_CHANGE;
if (rbLedTurnOff.IsChecked == true)
{
mode = CONST.LED.TURN_OFF;
UBT.V2_SetLED((byte)activeServo, 1);
}
else if (rbLedTurnOn.IsChecked == true)
{
mode = CONST.LED.TURN_ON;
UBT.V2_SetLED((byte)activeServo, 0);
}
servo[activeServo].SetLED(mode);
servo[activeServo].Show();
}
}
private void SetAllLed(byte mode)
{
UpdateInfo();
for (int i = 1; i <= CONST.MAX_SERVO; i++)
{
servo[i].SetLED(mode);
servo[i].Show();
}
if (mode == CONST.LED.TURN_ON)
{
UBT.V2_SetLED(0, 0);
}
else if (mode == CONST.LED.TURN_OFF)
{
UBT.V2_SetLED(0, 1);
}
if (activeServo > 0)
{
UpdateActiveServoInfo();
}
}
private void InitServo()
{
ConfigObject CONFIG = SYSTEM.configObject;
gridRobot.Background = loadImage(CONFIG);
for (byte i = 1; i <= CONFIG.max_servo; i++)
{
uc.UcServo us = new uc.UcServo(UBT.GetServo(i));
us.Width = 38;
us.Height = 38;
us.HorizontalAlignment = HorizontalAlignment.Left;
us.VerticalAlignment = VerticalAlignment.Top;
// us.Margin = new Thickness(servoPos[i, 0], servoPos[i, 1], 0, 0);
us.Margin = new Thickness(CONFIG.servos[i - 1].X, CONFIG.servos[i - 1].Y, 0, 0);
us.Show();
us.MouseDownEventHandler += Servo_MouseDown;
servo[i] = us;
gridRobot.Children.Add(us);
}
}
private void ServoLockChange(object sender, EventArgs e)
{
uc.UcServo ucServo = (uc.UcServo)sender;
byte id = ucServo.id;
if ((id < 1) || (id > CONST.MAX_SERVO))
{
return;
}
bool goLock = !servo[id].locked;
List <data.ServoInfo> lsi = new List <data.ServoInfo>();
lsi.Add(new data.ServoInfo(id));
UBT.LockServo(lsi, goLock);
// servo[id].Show();
if (activeServo == id)
{
UpdateActiveServoInfo();
}
}
