void Start()
{
isMouseUp = true;
dropped = false;
tw = FindObjectOfType <TypeWriter> ();
tc = FindObjectOfType <ToolLocations> ();
lastCollisionEnter = new Collision();
}
public bool GetPumpActivity(ToolLocations toolLocation)
{
bool result = false;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
result = pumpControl.GetActivity();
}
return (result);
}
public double GetPumpVolumeMeasure(ToolLocations toolLocation)
{
double result = 0;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
result = pumpControl.GetMeasuredVolume();
}
return (result);
}
public PumpDirections GetPumpDirection(ToolLocations toolLocation)
{
PumpDirections result = PumpDirections.forward;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
result = pumpControl.GetDirection();
}
return (result);
}
public void RelievePumpPressure(ToolLocations toolLocation)
{
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
pumpControl.RelievePressure();
}
}
public void SetPumpPressure(ToolLocations toolLocation, double pressure)
{
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
pumpControl.SetPressure(pressure);
}
}
public void SetPumpDirection(ToolLocations toolLocation, PumpDirections direction)
{
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
pumpControl.SetDirection(direction);
}
}
private void SealantSetupButton_HoldTimeout(object sender, HoldTimeoutEventArgs e)
{
SealantSetupForm sealantSetupForm = new SealantSetupForm();
this.SetDialogLocation(this.SealantSetupButton, sealantSetupForm);
sealantSetupForm.Pump = (ToolLocations.front == this.toolLocation) ? ParameterAccessor.Instance.FrontPump : ParameterAccessor.Instance.RearPump;
sealantSetupForm.ToolLocation = this.toolLocation;
this.DimBackground();
sealantSetupForm.ShowDialog();
this.LightBackground();
this.toolLocation = sealantSetupForm.ToolLocation;
this.UpdateSealantControls();
e.Handled = true;
}
public void SetLaserSight(ToolLocations location, bool sightOn)
{
if (ToolLocations.front == location)
{
this.drillFrontLaserSetPoint = sightOn;
}
else
{
this.drillRearLaserSetPoint = sightOn;
}
}
public void SetDrillOriginOffset(ToolLocations location)
{
if (ToolLocations.front == location)
{
this.drillFrontOriginOffset = this.robotBody.FrontDrillIndex;
this.drillFrontIndexSetPoint = this.drillFrontOriginOffset;
}
else
{
this.drillRearOriginOffset = this.robotBody.RearDrillIndex;
this.drillRearIndexSetPoint = this.drillRearOriginOffset;
}
}
public void SetDrillIndexSetPoint(ToolLocations location, double setPoint)
{
if (ToolLocations.front == location)
{
this.drillFrontIndexSetPoint = setPoint;
}
else
{
this.drillRearIndexSetPoint = setPoint;
}
}
public void StopDrill(ToolLocations location)
{
if (ToolLocations.front == location)
{
this.drillFrontStop = true;
}
else
{
this.drillRearStop = true;
}
}
public void RetractDrillToLimit(ToolLocations location)
{
if (ToolLocations.front == location)
{
this.drillFrontRetractToLimit = true;
}
else
{
this.drillRearRetractToLimit = true;
}
}
public void SetDrillRotationSpeed(ToolLocations location, double setPoint)
{
if (ToolLocations.front == location)
{
this.drillFrontRotationSetPoint = setPoint;
}
else
{
this.drillRearRotationSetPoint = setPoint;
}
}
public void ConfigureDrillServo(ToolLocations location)
{
if (ToolLocations.front == location)
{
this.drillFrontConfigurationNeeded = true;
}
else
{
this.drillRearConfigurationNeeded = true;
}
}
private void DrillSetupButton_HoldTimeout(object sender, HoldTimeoutEventArgs e)
{
DrillSetupForm drillSetupForm = new DrillSetupForm();
this.SetDialogLocation(this.DrillSetupButton, drillSetupForm);
drillSetupForm.FrontDrillParameters = ParameterAccessor.Instance.FrontDrill;
drillSetupForm.RearDrillParameters = ParameterAccessor.Instance.RearDrill;
drillSetupForm.DrillLocation = this.toolLocation;
this.DimBackground();
drillSetupForm.ShowDialog();
this.LightBackground();
this.toolLocation = drillSetupForm.DrillLocation;
this.SetDrillSelection(this.toolLocation);
NicBotComm.Instance.ConfigureDrillServo(this.toolLocation);
e.Handled = true;
}
public double GetDrillIndexSetPoint(ToolLocations location)
{
double result = 0;
if (ToolLocations.front == location)
{
result = this.drillFrontIndexSetPoint;
}
else
{
result = this.drillRearIndexSetPoint;
}
return (result);
}
private void SetDrillSelection(ToolLocations location)
{
if (ToolLocations.front == location)
{
this.selectedDrill = ParameterAccessor.Instance.FrontDrill;
}
else
{
this.selectedDrill = ParameterAccessor.Instance.RearDrill;
}
this.DrillSelectionLabel.Text = (ToolLocations.front == location) ? "FRONT DRILL SELECTED" : "REAR DRILL SELECTED";
if (false != this.selectedDrill.PeckMode)
{
this.DrillModeLabel.Text = "PECK";
this.DrillModeLabel.Font = new Font(this.DrillModeLabel.Font.Name, 12f, this.DrillModeLabel.Font.Style);
}
else
{
this.DrillModeLabel.Text = "CONTINUOUS";
this.DrillModeLabel.Font = new Font(this.DrillModeLabel.Font.Name, 8.25f, this.DrillModeLabel.Font.Style);
}
this.DrillLaserLightButton.OptionASelected = NicBotComm.Instance.GetLaserSight(location);
//this.DrillExtendedSetPointValuePanel.ValueText = this.GetValueText(this.selectedDrill.ExtendedDistance);
this.DrillRotaionSetPointSpeedValuePanel.ValueText = this.GetValueText(this.selectedDrill.RotationSpeed);
}
public double GetDrillIndexPosition(ToolLocations location)
{
double result = 0;
if (ToolLocations.front == location)
{
result = this.robotBody.FrontDrillIndex;
}
else
{
result = this.robotBody.RearDrillIndex;
}
return (result);
}
public void SetPumpSpeed(ToolLocations toolLocation, double speed)
{
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
pumpControl.SetSpeed(speed);
}
}
public double GetDrillOriginOffset(ToolLocations location)
{
double result = 0;
if (ToolLocations.front == location)
{
result = this.drillFrontOriginOffset;
}
else
{
result = this.drillRearOriginOffset;
}
return (result);
}
public void StopPump(ToolLocations toolLocation)
{
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
pumpControl.Stop();
}
}
public double GetDrillRotationSpeed(ToolLocations location)
{
double result = 0;
if (ToolLocations.front == location)
{
result = this.robotBody.FrontDrillSpeed;
}
else
{
result = this.robotBody.RearDrillSpeed;
}
return (result);
}
public PumpModes GetPumpMode(ToolLocations toolLocation)
{
PumpModes result = PumpModes.speed;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
PumpControl pumpControl = (ToolLocations.front == toolLocation) ? PumpControl.Front : PumpControl.Rear;
result = pumpControl.GetMode();
}
return (result);
}
public bool GetDrillError(ToolLocations location)
{
bool result = false;
if (ToolLocations.front == location)
{
result = this.robotBody.FrontDrillError;
}
else
{
result = this.robotBody.RearDrillError;
}
return (result);
}
public double GetReserviorWeightReading(ToolLocations toolLocation)
{
double result = 0;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
FgDigitalScale digitalScale = (ToolLocations.front == toolLocation) ? FgDigitalScale.Front : FgDigitalScale.Rear;
result = digitalScale.GetReading();
}
return (result);
}
public bool GetLaserSight(ToolLocations location)
{
bool result = false;
if (ToolLocations.front == location)
{
result = this.drillFrontLaserSetPoint;
}
else
{
result = this.drillRearLaserSetPoint;
}
return (result);
}
public double GetPumpSpeedReading(ToolLocations toolLocation)
{
double result = 0;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
result = (ToolLocations.front == toolLocation) ? this.frontPumpSpeedReading : this.rearPumpSpeedReading;
}
return (result);
}
private SimulatedPumpSpeed(ToolLocations location)
{
this.location = location;
}
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 bool GetNozzleExtended(ToolLocations location)
{
Solenoids solenoid = (ToolLocations.front == location) ? Solenoids.frontNozzleExtend : Solenoids.rearNozzleExtend;
bool result = this.GetSolenoidActive(solenoid);
return (result);
}