public MainForm()
{
this.InitializeComponent();
this.StatusLabel.Text = "";
this.device = new Device("device", 0);
this.downloadDevice = new Device("download device", 0);
this.digitalIo = new PeakDigitalIo("digital IO", 0);
this.digitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoChangeHandler);
this.analogIo = new PeakAnalogIo("analog IO", 0);
this.encoder = new KublerRotaryEncoder("encoder", 0);
this.motor = new ElmoWhistleMotor("motor", 0);
this.motor.OnInputChange = new ElmoWhistleMotor.InputChangeHandler(this.MotorInputChangeHandler);
this.camera = new UlcRoboticsCamera("camera", 0);
this.gps = new UlcRoboticsGps("gps", 0);
this.nicbotBody = new UlcRoboticsNicbotBody("nicbot body", 0);
this.nicbotWheel = new UlcRoboticsNicbotWheel("nicbot wheel", 0);
this.rs232 = new UlcRoboticsRs232("rs232", 0);
this.rs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(this.Rs232ReceiveHandler);
this.rs232RxQueue = new Queue();
this.busInterface = new BusInterface();
this.busInterface.AddDevice(this.device);
this.busInterface.AddDevice(this.downloadDevice);
this.busInterface.AddDevice(this.digitalIo);
this.busInterface.AddDevice(this.analogIo);
this.busInterface.AddDevice(this.encoder);
this.busInterface.AddDevice(this.motor);
this.busInterface.AddDevice(this.camera);
this.busInterface.AddDevice(this.gps);
this.busInterface.AddDevice(this.nicbotBody);
this.busInterface.AddDevice(this.nicbotWheel);
this.busInterface.AddDevice(this.rs232);
Array interfaces = Enum.GetValues(typeof(BusInterfaces));
this.BusInterfaceComboBox.Items.Clear();
for (IEnumerator i = interfaces.GetEnumerator(); i.MoveNext(); )
{
this.BusInterfaceComboBox.Items.Add(i.Current);
}
this.BusInterfaceComboBox.SelectedIndex = 0;
this.BaudComboBox.Items.Clear();
this.BaudComboBox.Items.Add("10000");
this.BaudComboBox.Items.Add("20000");
this.BaudComboBox.Items.Add("50000");
this.BaudComboBox.Items.Add("100000");
this.BaudComboBox.Items.Add("125000");
this.BaudComboBox.Items.Add("250000");
this.BaudComboBox.Items.Add("500000");
this.BaudComboBox.Items.Add("1000000");
this.BaudComboBox.SelectedIndex = 5;
this.DigitalIoBaudComboBox.Items.Clear();
this.DigitalIoBaudComboBox.Items.Add("1000000");
this.DigitalIoBaudComboBox.Items.Add("800000");
this.DigitalIoBaudComboBox.Items.Add("500000");
this.DigitalIoBaudComboBox.Items.Add("250000");
this.DigitalIoBaudComboBox.Items.Add("125000");
this.DigitalIoBaudComboBox.Items.Add("50000");
this.DigitalIoBaudComboBox.SelectedIndex = 5;
this.AnalogIoBaudComboBox.Items.Clear();
this.AnalogIoBaudComboBox.Items.Add("1000000");
this.AnalogIoBaudComboBox.Items.Add("800000");
this.AnalogIoBaudComboBox.Items.Add("500000");
this.AnalogIoBaudComboBox.Items.Add("250000");
this.AnalogIoBaudComboBox.Items.Add("125000");
this.AnalogIoBaudComboBox.Items.Add("50000");
this.AnalogIoBaudComboBox.SelectedIndex = 5;
this.EncoderBaudComboBox.Items.Clear();
this.EncoderBaudComboBox.Items.Add("10000");
this.EncoderBaudComboBox.Items.Add("20000");
this.EncoderBaudComboBox.Items.Add("50000");
this.EncoderBaudComboBox.Items.Add("100000");
this.EncoderBaudComboBox.Items.Add("125000");
this.EncoderBaudComboBox.Items.Add("250000");
this.EncoderBaudComboBox.Items.Add("500000");
this.EncoderBaudComboBox.Items.Add("1000000");
this.EncoderBaudComboBox.SelectedIndex = 6;
this.MotorModeComboBox.SelectedIndex = 0;
this.CameraBaudComboBox.Items.Clear();
this.CameraBaudComboBox.Items.Add("10000");
this.CameraBaudComboBox.Items.Add("20000");
this.CameraBaudComboBox.Items.Add("50000");
this.CameraBaudComboBox.Items.Add("125000");
this.CameraBaudComboBox.Items.Add("250000");
this.CameraBaudComboBox.Items.Add("500000");
this.CameraBaudComboBox.Items.Add("1000000");
this.CameraBaudComboBox.SelectedIndex = 5;
this.GpsBaudComboBox.Items.Clear();
this.GpsBaudComboBox.Items.Add("10000");
this.GpsBaudComboBox.Items.Add("20000");
this.GpsBaudComboBox.Items.Add("50000");
this.GpsBaudComboBox.Items.Add("125000");
this.GpsBaudComboBox.Items.Add("250000");
this.GpsBaudComboBox.Items.Add("500000");
this.GpsBaudComboBox.Items.Add("1000000");
this.GpsBaudComboBox.SelectedIndex = 5;
this.NicbotBodyBaudComboBox.Items.Clear();
this.NicbotBodyBaudComboBox.Items.Add("10000");
this.NicbotBodyBaudComboBox.Items.Add("20000");
this.NicbotBodyBaudComboBox.Items.Add("50000");
this.NicbotBodyBaudComboBox.Items.Add("100000");
this.NicbotBodyBaudComboBox.Items.Add("125000");
this.NicbotBodyBaudComboBox.Items.Add("250000");
this.NicbotBodyBaudComboBox.Items.Add("500000");
this.NicbotBodyBaudComboBox.Items.Add("1000000");
this.NicbotBodyBaudComboBox.SelectedIndex = 5;
this.NicbotWheelModeComboBox.SelectedIndex = 0;
this.NicbotWheelBaudComboBox.Items.Clear();
this.NicbotWheelBaudComboBox.Items.Add("10000");
this.NicbotWheelBaudComboBox.Items.Add("20000");
this.NicbotWheelBaudComboBox.Items.Add("50000");
this.NicbotWheelBaudComboBox.Items.Add("100000");
this.NicbotWheelBaudComboBox.Items.Add("125000");
this.NicbotWheelBaudComboBox.Items.Add("250000");
this.NicbotWheelBaudComboBox.Items.Add("500000");
this.NicbotWheelBaudComboBox.Items.Add("1000000");
this.NicbotWheelBaudComboBox.SelectedIndex = 5;
this.Rs232BaudComboBox.Items.Clear();
this.Rs232BaudComboBox.Items.Add("10000");
this.Rs232BaudComboBox.Items.Add("20000");
this.Rs232BaudComboBox.Items.Add("50000");
this.Rs232BaudComboBox.Items.Add("125000");
this.Rs232BaudComboBox.Items.Add("250000");
this.Rs232BaudComboBox.Items.Add("500000");
this.Rs232BaudComboBox.Items.Add("1000000");
this.Rs232BaudComboBox.SelectedIndex = 5;
this.NicbotAutoDrillOriginCheckBox.Checked = false;
this.NicbotAutoDrillContinuousModeRadioButton.Checked = true;
this.NicbotAutoDrillDistanceRetractionRadioButton.Checked = true;
this.traceQueue = new Queue();
QueuedTraceListener queuedTraceListener = new QueuedTraceListener(this.traceQueue);
Trace.Listeners.Add(queuedTraceListener);
Tracer.MaskString = "FFFFFFFF";
this.ActivityButton.Text = "Start";
this.active = false;
this.DownloadProgressLabel.Text = "";
this.DownloadActivityButton.Text = "Start";
this.downloadActive = false;
this.HeartbeatActivityButton.Text = "Start";
this.heartbeatActive = false;
this.GpsDegreesRadioButton.Checked = true;
}
private void Initialize()
{
this.busReceiveQueue = new Queue();
this.deviceResetQueue = new Queue();
this.reelMotor = new ElmoWhistleMotor("reel motor", (byte)ParameterAccessor.Instance.TruckBus.ReelMotorBusId);
this.reelDigitalIo = new PeakDigitalIo("reel digital IO", (byte)ParameterAccessor.Instance.TruckBus.ReelDigitalBusId);
this.reelAnalogIo = new PeakAnalogIo("reel analog IO", (byte)ParameterAccessor.Instance.TruckBus.ReelAnalogBusId);
this.reelEncoder = new KublerRotaryEncoder("reel encoder", (byte)ParameterAccessor.Instance.TruckBus.ReelEncoderBusId);
this.feederTopFrontMotor = new ElmoWhistleMotor("feeder tf-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederTopFrontMotorBusId);
this.feederTopRearMotor = new ElmoWhistleMotor("feeder tr-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederTopRearMotorBusId);
this.feederBottomFrontMotor = new ElmoWhistleMotor("feeder bf-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederBottomFrontMotorBusId);
this.feederBottomRearMotor = new ElmoWhistleMotor("feeder br-motor", (byte)ParameterAccessor.Instance.TruckBus.FeederBottomRearMotorBusId);
this.feederEncoder = new KublerRotaryEncoder("feeder encoder", (byte)ParameterAccessor.Instance.TruckBus.FeederEncoderBusId);
this.guideLeftMotor = new ElmoWhistleMotor("guide l-motor", (byte)ParameterAccessor.Instance.TruckBus.GuideLeftMotorBusId);
this.guideRightMotor = new ElmoWhistleMotor("guide r-motor", (byte)ParameterAccessor.Instance.TruckBus.GuideRightMotorBusId);
this.launchDigitalIo = new PeakDigitalIo("launch digital IO", (byte)ParameterAccessor.Instance.TruckBus.LaunchDigitalIoBusId);
this.launchAnalogIo = new PeakAnalogIo("launch analog IO", (byte)ParameterAccessor.Instance.TruckBus.LaunchAnalogIoBusId);
this.gps = new UlcRoboticsGps("gps", (byte)ParameterAccessor.Instance.TruckBus.GpsBusId);
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.frontPumpMotor = new ElmoWhistleMotor("front pump motor", (byte)ParameterAccessor.Instance.TruckBus.FrontPumpBusId);
this.frontScaleRs232 = new UlcRoboticsRs232("front scale rs232", (byte)ParameterAccessor.Instance.TruckBus.FrontScaleRs232BusId);
this.frontScaleRs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(FgDigitalScale.Front.Receive);
this.rearPumpMotor = new ElmoWhistleMotor("rear pump motor", (byte)ParameterAccessor.Instance.TruckBus.RearPumpBusId);
this.rearScaleRs232 = new UlcRoboticsRs232("rear scale rs232", (byte)ParameterAccessor.Instance.TruckBus.RearScaleRs232BusId);
this.rearScaleRs232.OnSerialReceive = new UlcRoboticsRs232.SerialReceiveHandler(FgDigitalScale.Rear.Receive);
}
this.deviceList = new ArrayList();
this.deviceList.Add(this.reelMotor);
this.deviceList.Add(this.reelEncoder);
this.deviceList.Add(this.feederTopFrontMotor);
this.deviceList.Add(this.feederTopRearMotor);
this.deviceList.Add(this.feederBottomFrontMotor);
this.deviceList.Add(this.feederBottomRearMotor);
this.deviceList.Add(this.feederEncoder);
this.deviceList.Add(this.guideLeftMotor);
this.deviceList.Add(this.guideRightMotor);
this.deviceList.Add(this.reelDigitalIo);
this.deviceList.Add(this.launchDigitalIo);
this.deviceList.Add(this.reelAnalogIo);
this.deviceList.Add(this.launchAnalogIo);
this.deviceList.Add(this.gps);
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.deviceList.Add(this.frontPumpMotor);
this.deviceList.Add(this.frontScaleRs232);
this.deviceList.Add(this.rearPumpMotor);
this.deviceList.Add(this.rearScaleRs232);
}
foreach (Device device in this.deviceList)
{
device.OnReceiveTrace = new Device.ReceiveTraceHandler(this.DeviceTraceReceive);
device.OnTransmitTrace = new Device.TransmitTraceHandler(this.DeviceTraceTransmit);
device.OnTransmit = new Device.TransmitHandler(this.DeviceTransmit);
device.OnCommError = new Device.CommErrorHandler(this.DeviceError);
}
this.reelDigitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoInputChangeHandler);
this.launchDigitalIo.OnInputChange = new PeakDigitalIo.InputChangeHandler(this.DigitalIoInputChangeHandler);
this.feederTopFrontStatus = new FeederMotorStatus();
this.feederTopRearStatus = new FeederMotorStatus();
this.feederBottomFrontStatus = new FeederMotorStatus();
this.feederBottomRearStatus = new FeederMotorStatus();
this.guideLeftStatus = new GuideMotorStatus();
this.guideRightStatus = new GuideMotorStatus();
}