private void tbtActiveReadPresentPosition_Click(object sender, RoutedEventArgs e)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
timMotorDataRead.IsEnabled = (bool)tbtActiveReadPresentPosition.IsChecked;
}
}
private void slActiveReadingTimerInterval_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
timMotorDataRead.Interval = new TimeSpan(0, 0, 0, 0, (int)slActiveReadingTimerInterval.Value);
}
}
public void KILL_allNotNeededGui()
{
if (C_State.FURTHER(e_stateWebCam.ready))
{
timCam.Stop();
}
timMotorDataRead.Stop();
timSim.Stop();
// unload Basler camera gui elements not to interfere with the telepresence ones
//guiImageViewer.Visibility = System.Windows.Visibility.Hidden;
//guiImageViewer.IsEnabled = false;
//guiStreamController.Visibility = System.Windows.Visibility.Hidden;
//guiStreamController.IsEnabled = false;
if (guiCameraLister.Camera != null)
{
guiCameraLister.Camera.Close();
}
//if (camTry != null)
//{
// camTry.StopGrabbing();
// camTry.CloseCamera();
//}
}
//private void UPDATE_motorsFromSliders()
//{
// //foreach(e_rot
//}
private void UPDATE_motorFromSlider(e_rot rot) //nn
{
if (C_State.FURTHER(e_stateMotor.ready))
{
Ms[rot].angleWanted.Dec = GET_slAngle(rot).Value;
Ms[rot].speedWanted.Dec = GET_slSpeed(rot).Value;
}
}
private void UPDATE_slidersFromMotor(e_rot rot) //nn
{
if (C_State.FURTHER(e_stateMotor.ready))
{
GET_slSpeed(rot).Value = Ms[rot].speedWanted.Dec;
GET_slAngle(rot).Value = Ms[rot].angleWanted.Dec;
//LOG_logger(string.Format("{0} = angle[{1}], speed[{2}]", rot, M(rot).angle.Dec, M(rot).speed.Dec));
}
}
public void DISPOSE_cameraData()
{
if (C_State.FURTHER(e_stateProg.initialized))
{
if (Cs.Count > 0)
{
foreach (C_WebCamera cam in Cs)
{
cam.ReleaseData();
}
}
}
}
private void cbLogSetMaximum_ValueChanged(object sender, RoutedEventArgs e)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
if (cbLogSetMaximum.IsChecked == true)
{
C_Logger.Instance.START_trimming(Convert.ToInt64(txLogBufferCount.Text));
}
else
{
C_Logger.Instance.TrimMsgBuffer = false;
}
}
}
private void tcMain_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
if (tiBaslerCamera.IsSelected == true)
{
dpBaslerCamera.Visibility = Visibility.Visible;
}
else
{
dpBaslerCamera.Visibility = Visibility.Hidden;
}
}
}
private void txRawBytes_TextChanged(object sender, TextChangedEventArgs e)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
try
{
raw = new C_Packet(C_CONV.strHex2byteArray(txRawBytes.Text, " "));
}
finally
{
btnSendRawBytes.IsEnabled = raw.IsConsistent;
}
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion Initialization
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region Open close
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public static bool OPEN_connection()
{
lock (spiSent_locker)
{
//UPDATE_SPI_Settings();
//UPDATE_baudRate();
if (UPDATE_portName() == false)
{
return(false);
}
/*
* if (C_State.FURTHER(e_stateSPI.notConnected))
* else
*/
if (C_State.FURTHER(e_stateSPI.connected))
{
// we need to close it first
CLOSE_connection();
}
C_State.Spi = e_stateSPI.connecting;
try
{
timeWaitBeforeRtsEnable_ms = REFRESH_timeWaitBeforeRtsEnable_ms();
spi.Open();
//SET_state(E_GUI_MainState.error);
}
catch (Exception ex)
{
LOG("Port could not be opened");
LOG(GET_exInfo(ex));
//SET_state(E_GUI_MainState.error);
C_State.Spi = e_stateSPI.disconnected;
return(false);
}
C_State.Spi = e_stateSPI.connected;
LOG(String.Format("Port {0} opened successfuly with {1} bps",
spi.PortName, spi.BaudRate.ToString())
);
if (spi.IsOpen == true)
{
spi.DiscardInBuffer();
spi.DiscardOutBuffer();
}
}
return(spi.IsOpen);
}
private void slider_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
if (C_State.FURTHER(e_stateMotor.ready))
{
Slider sl = sender as Slider;
if (sl != null)
{
sl.Value = Math.Round(e.NewValue, 2);
e_rot rot = GET_rot(sl);
UPDATE_motorFromSlider(rot);
UPDATE_slidersFromMotor(rot);
ORDER_moveIfChecked(rot);
}
REFRESH_motorData();
}
}
private void READ_selectedData()
{
if (C_State.FURTHER(e_stateProg.initialized))
{
foreach (int index in lsReadPresentPositionMotors.SelectedItems)
{
if (lsiWholeRegister.IsSelected == true)
{
Ms[index].READ_wholeRegister();
}
if (lsiActualPostionEtc.IsSelected == true)
{
Ms[index].READ_positionSpeedLoadVoltageTemperatureRegisteredInstructionMoving();
}
}
}
}
private void cbSetValues_ValueChanged(object sender, RoutedEventArgs e)
{
if (C_State.FURTHER(e_stateMotor.ready))
{
CheckBox cb = sender as CheckBox;
if (cb == cbSendValuesToMotorYaw)
{
ORDER_moveIfChecked(e_rot.yaw);
}
else if (cb == cbSendValuesToMotorPitch)
{
ORDER_moveIfChecked(e_rot.pitch);
}
else if (cb == cbSendValuesToMotorRoll)
{
ORDER_moveIfChecked(e_rot.roll);
}
}
}
void timCam_Tick(object sender, EventArgs e)
{
if (tbtActivePreviewList.IsChecked == true)
{
PLOT_listPreviewImages();
}
if (tbtActivePreviewActual.IsChecked == true)
{
PLOT_activePreviewImage();
}
if (C_State.FURTHER(e_stateProg.closing))
{
timCam.Stop();
DISPOSE_cameraData();
}
if (tbtActivePreviewList.IsChecked == false && tbtActivePreviewActual.IsChecked == false)
{
timCam.Stop();
DISPOSE_cameraData();
}
}
//private void OnWindowKeyUp(object source, KeyEventArgs e)
//{
// if (e.Key == Key.T && (Keyboard.Modifiers & Key.LeftCtrl) == Key.LeftCtrl)
// {
// }
// //Do whatever you like with e.Key and Keyboard.Modifiers
//}
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region prog status
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
C_State.CLOSE_program();
}