/// <summary>
/// コンストラクタ(与えられた入出力情報で初期化)
/// </summary>
/// <param name="state">入出力情報</param>
/// <param name="hiragana">ひらがなフラグ</param>
public ConfigureLP(stRobotIOStatus state, bool hiragana = false)
: this(hiragana)
{
this.ioStatus = state;
// 引数でモータとセンサのチェックボックスを初期化
cbDCM1.Checked = state.fDCMotor1Used;
cbDCM2.Checked = state.fDCMotor2Used;
cbSVD5.Checked = state.fSvMotor1Used;
cbSVD6.Checked = state.fSvMotor2Used;
cbSVD9.Checked = state.fSvMotor3Used;
cbSVD10.Checked = state.fSvMotor4Used;
cbSVD11.Checked = state.fSvMotor5Used;
cbSIn1.Checked = state.fSns1Used;
cbSIn2.Checked = state.fSns2Used;
cbSIn3.Checked = state.fSns3Used;
cbSIn4.Checked = state.fSns4Used;
cbSIn5.Checked = state.fSns5Used;
cbSIn6.Checked = state.fSns6Used;
cbLEDD5.Checked = (state as stRobotIOStatusLP).fLED1Used;
cbLEDD6.Checked = (state as stRobotIOStatusLP).fLED2Used;
cbLEDD9.Checked = (state as stRobotIOStatusLP).fLED3Used;
cbClock.Checked = (state as stRobotIOStatusLP).fClockUsed;
// コンボボックスの選択を初期化
cbbSIn1.SelectedItem = si.strOptionParts[state.nSns1Kind];
cbbSIn2.SelectedItem = si.strOptionParts[state.nSns2Kind];
cbbSIn3.SelectedItem = si.strOptionParts[state.nSns3Kind];
cbbSIn4.SelectedItem = si.strOptionParts[state.nSns4Kind];
cbbSIn5.SelectedItem = si.strOptionParts[state.nSns5Kind];
cbbSIn6.SelectedItem = si.strOptionParts[state.nSns6Kind];
}
public CalibrationBase(ServoOffset offsetInfo, stRobotIOStatus io, bool hiragana = false)
: this()
{
this.offsetInfo = offsetInfo;
this.io = io;
if (hiragana)
{
this.Load += new EventHandler(CalibrationBase_Load);
}
// DCモーター校正メニュー初期化
byte m1Rate = offsetInfo.getDCCalibInfo().calibM1Rate;
byte m2Rate = offsetInfo.getDCCalibInfo().calibM2Rate;
Debug.Write("Pin: " + m1Rate);
tbM1.Value = (int)(255 * m1Rate / 100.0);
lbDCM1Value.Text = tbM1.Value.ToString();
tbM2.Value = (int)(255 * m2Rate / 100.0);
lbDCM2Value.Text = tbM2.Value.ToString();
// 初期化完了後にイベント登録
this.tbM1.ValueChanged += new EventHandler(tb_ValueChanged);
this.tbM2.ValueChanged += new EventHandler(tb_ValueChanged);
// M1/M2どちらかが未使用の場合は機能をオフにする
if (!(io.fDCMotor1Used && io.fDCMotor2Used))
{
gbDC.Enabled = false;
}
}
public CalibrationLP(ServoOffset svoff, stRobotIOStatus io, TestModeCommunication tcom, bool hiragana = false)
: base(svoff, io, hiragana)
{
InitializeComponent();
this.tcom = tcom;
saD5.nudAngle.Value = svoff.getValue(0);
saD6.nudAngle.Value = svoff.getValue(1);
saD9.nudAngle.Value = svoff.getValue(2);
saD10.nudAngle.Value = svoff.getValue(3);
saD11.nudAngle.Value = svoff.getValue(4);
saD5.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD6.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD9.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD10.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD11.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD5.Enabled = io.fSvMotor1Used;
saD6.Enabled = io.fSvMotor2Used;
saD9.Enabled = io.fSvMotor3Used;
saD10.Enabled = io.fSvMotor4Used;
saD11.Enabled = io.fSvMotor5Used;
// サーボモーターの初期設定
if (saD5.Enabled)
{
setServoMotor(PinID.D5, svoff.getValue(0));
}
if (saD6.Enabled)
{
setServoMotor(PinID.D6, svoff.getValue(1));
}
if (saD9.Enabled)
{
setServoMotor(PinID.D9, svoff.getValue(2));
}
if (saD10.Enabled)
{
setServoMotor(PinID.D10, svoff.getValue(3));
}
if (saD11.Enabled)
{
setServoMotor(PinID.D11, svoff.getValue(4));
}
// DCモーター速度設定(DCモーター2つが有効な時のみ)
if (io.fDCMotor1Used && io.fDCMotor2Used)
{
setDCMotorPower(0, (byte)tbM1.Value);
setDCMotorPower(1, (byte)tbM2.Value);
}
}
public ConfigureST(stRobotIOStatus state, bool hiragana = false)
: this(hiragana)
{
this.ioStatus = state;
// 引数でモータとセンサのチェックボックスを初期化
cbDCM1.Checked = state.fDCMotor1Used;
cbDCM2.Checked = state.fDCMotor2Used;
cbSVD9.Checked = state.fSvMotor1Used;
cbSVD10.Checked = state.fSvMotor2Used;
cbSVD11.Checked = state.fSvMotor3Used;
cbSVD12.Checked = state.fSvMotor4Used;
cbSVD2.Checked = state.fSvMotor5Used;
cbSVD4.Checked = state.fSvMotor6Used;
cbSVD7.Checked = state.fSvMotor7Used;
cbSVD8.Checked = state.fSvMotor8Used;
cbSIn1.Checked = state.fSns1Used;
cbSIn2.Checked = state.fSns2Used;
cbSIn3.Checked = state.fSns3Used;
cbSIn4.Checked = state.fSns4Used;
cbSIn5.Checked = state.fSns5Used;
cbSIn6.Checked = state.fSns6Used;
cbSIn7.Checked = state.fSns7Used;
cbSIn8.Checked = state.fSns8Used;
// TODO: ひらがな対応
cbbSIn1.SelectedItem = si.strOptionParts[state.nSns1Kind];
cbbSIn2.SelectedItem = si.strOptionParts[state.nSns2Kind];
cbbSIn3.SelectedItem = si.strOptionParts[state.nSns3Kind];
cbbSIn4.SelectedItem = si.strOptionParts[state.nSns4Kind];
cbbSIn5.SelectedItem = si.strOptionParts[state.nSns5Kind];
cbbSIn6.SelectedItem = si.strOptionParts[state.nSns6Kind];
cbbSIn7.SelectedItem = si.strOptionParts[state.nSns7Kind];
cbbSIn8.SelectedItem = si.strOptionParts[state.nSns8Kind];
cbBIn1.Checked = state.fBtn1Used;
cbBIn2.Checked = state.fBtn2Used;
cbBIn3.Checked = state.fBtn3Used;
cbBIn4.Checked = state.fBtn4Used;
}
public CalibrationST(ServoOffset offset, stRobotIOStatus io, ICommandSender com, bool hiragana = false)
: base(offset, io, hiragana)
{
InitializeComponent();
this.com = com;
comgen = new TestModeCommand();
saD9.nudAngle.Value = offset.getValue(0);
saD10.nudAngle.Value = offset.getValue(1);
saD11.nudAngle.Value = offset.getValue(2);
saD12.nudAngle.Value = offset.getValue(3);
saD2.nudAngle.Value = offset.getValue(4);
saD4.nudAngle.Value = offset.getValue(5);
saD7.nudAngle.Value = offset.getValue(6);
saD8.nudAngle.Value = offset.getValue(7);
saD9.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD10.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD11.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD12.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD2.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD4.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD7.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD8.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD9.Enabled = io.fSvMotor1Used;
saD10.Enabled = io.fSvMotor2Used;
saD11.Enabled = io.fSvMotor3Used;
saD12.Enabled = io.fSvMotor4Used;
saD2.Enabled = io.fSvMotor5Used;
saD4.Enabled = io.fSvMotor6Used;
saD7.Enabled = io.fSvMotor7Used;
saD8.Enabled = io.fSvMotor8Used;
com.Disconnected += new EventHandler(com_Disconnected);
}
// 0: Studuino 1: Studuino mini
void testConfigure(int boardtype = 0, bool hiragana = false)
{
int ionum = (boardtype == 0) ? 18 : 19;
//stRobotIOStatusLP io = new stRobotIOStatusLP();
stRobotIOStatus io = (boardtype == 0) ? new stRobotIOStatus() : new stRobotIOStatusLP();
try
{
BinaryReader br = (boardtype == 0) ? new BinaryReader(File.OpenRead(IOFILE)) : new BinaryReader(File.OpenRead(IOFILEMINI)); // ファイルオープン
byte[] scratchIO = new byte[ionum]; // I/O設定を保存する配列の確保
for (int i = 0; i < ionum; i++)
{
// 配列にI/O設定を読み込む
scratchIO[i] = br.ReadByte();
}
io.setStatusByte(scratchIO);
br.Close();
}
catch (FileNotFoundException)
{
io.initRobotIOConfiguration();
}
if (boardtype == 0)
{
using (ConfigureBase setting = new ConfigureST(io, hiragana))
{
if (setting.ShowDialog() == DialogResult.OK)
{
File.Delete(IOFILE); // ファイルを削除し、新しくファイルを作成する
BinaryWriter bw = new BinaryWriter(File.OpenWrite(IOFILE));
List <byte> lst = io.getStatusByte();
foreach (byte elm in lst)
{
Debug.WriteLine(elm.ToString());
bw.Write(elm);
}
bw.Close();
}
}
//using (Configure setting = hiragana ? new Configure(io, 3) : new Configure(io))
//{
// if (setting.ShowDialog() == DialogResult.OK)
// {
// io = setting.getConfiguration();
// File.Delete(IOFILE); // ファイルを削除し、新しくファイルを作成する
// BinaryWriter bw = new BinaryWriter(File.OpenWrite(IOFILE));
// List<byte> lst = io.getStatusByte();
// foreach (byte elm in lst)
// {
// bw.Write(elm);
// }
// bw.Close();
// }
//}
}
else
{
using (ConfigureBase setting = new ConfigureLP(io, hiragana))
{
if (setting.ShowDialog() == DialogResult.OK)
{
File.Delete(IOFILE); // ファイルを削除し、新しくファイルを作成する
BinaryWriter bw = new BinaryWriter(File.OpenWrite(IOFILE));
List <byte> lst = io.getStatusByte();
foreach (byte elm in lst)
{
Debug.WriteLine(elm.ToString());
bw.Write(elm);
}
bw.Close();
}
}
}
}
