private void armsMan_StatusChanged(ArmControlStatus status)
{
if (this.InvokeRequired)
{
this.BeginInvoke(this.dlgStatusChanged, status);
return;
}
if (status.IsSystemReady)
{
this.lblGeneralStatus.ForeColor = Color.Black;
}
else
{
this.lblGeneralStatus.ForeColor = Color.Red;
}
this.lblGeneralStatus.Text = status.SystemStatus;
this.lblCnnStatus.Text = "| BB: " + status.CnnToBBStatus + " |";
this.lblLeftArmStatus.Text = "LA: " + status.LeftArmStatus + " |";
this.lblRightArmStatus.Text = "RA: " + status.RightArmStatus + " |";
this.lblLeftComPort.Text = "LA: " + status.LeftComPort + " |";
this.lblRightComPort.Text = "RA: " + status.RightComPort + " |";
}
private void OnFilesLoaded(ArmControlStatus status)
{
if (this.FilesLoaded != null)
{
this.FilesLoaded(status);
}
}
private void OnStatusChanged(ArmControlStatus status)
{
if (this.StatusChanged != null)
{
this.StatusChanged(status);
}
}
private void armsMan_FilesLoaded(ArmControlStatus status)
{
if (this.InvokeRequired)
{
this.BeginInvoke(this.dlgFilesLoaded, status);
return;
}
UpdatePosAndMovs();
}
public ManipulatorManager(string leftPortName, string rightPortName)
{
this.status = new ArmControlStatus();
if (leftPortName == "disable")
{
this.status.LeftArmEnable = false;
}
if (rightPortName == "disable")
{
this.status.RightArmEnabled = false;
}
if (string.IsNullOrEmpty(leftPortName))
{
leftPortName = "COM5";
}
if (string.IsNullOrEmpty(rightPortName))
{
rightPortName = "COM9";
}
this.leftArmSerialPort = new SerialPort(leftPortName, 57600, Parity.None, 8, StopBits.One);
this.rightArmSerialPort = new SerialPort(rightPortName, 57600, Parity.None, 8, StopBits.One);
this.status.LeftComPort = leftPortName;
this.status.RightComPort = rightPortName;
this.leftArm = new Manipulator(this.leftArmSerialPort, ArmType.LeftArm);
this.rightArm = new Manipulator(this.rightArmSerialPort, ArmType.RightArm);
this.leftArm.ArmPositionChanged += new ArmPositionChangedEH(leftArm_ArmPositionChanged);
this.rightArm.ArmPositionChanged += new ArmPositionChangedEH(rightArm_ArmPositionChanged);
this.laEndEffectorType = TypeOfEndEffector.gripper;
this.raEndEffectorType = TypeOfEndEffector.hand;
this.mapObstacles = new SortedList <string, MapObstacle>();
this.mapNodes = new SortedList <string, MapNode>();
this.leftPredefPos = new SortedList <string, PredefPosition>();
this.leftPredefMovs = new SortedList <string, PredefMovement>();
this.rightPredefPos = new SortedList <string, PredefPosition>();
this.rightPredefMovs = new SortedList <string, PredefMovement>();
this.optLeftPath = new MapOptimalPath();
this.optRightPath = new MapOptimalPath();
this.leftGoal = new MapGoalPoint();
this.rightGoal = new MapGoalPoint();
this.lowBat = new SharedVariable <bool>("bat_alert");
this.sharedVarLeftArmPos = new DoubleArraySharedVariable("leftArmPos");
this.sharedVarRightArmPos = new DoubleArraySharedVariable("rightArmPos");
this.sharedVarEndEffectorType = new StringSharedVariable("endEffectorType");
this.cmdMan = new CommandManager();
this.cnnMan = new ConnectionManager("ARMS", 2080, this.cmdMan);
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
this.cnnMan.ClientDisconnected += new System.Net.Sockets.TcpClientDisconnectedEventHandler(cnnMan_ClientDisconnected);
this.status.Running = true;
this.checkSystemThread = new Thread(new ThreadStart(this.CheckSystemThreadTask));
this.checkSystemThread.IsBackground = true;
this.checkSystemThread.Start();
}
