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.robotBody = new UlcRoboticsNicbotBody("nicbot body", (byte)ParameterAccessor.Instance.RobotBus.RobotBodyBusId); this.robotTopFrontWheel = new UlcRoboticsNicbotWheel("nicbot tf-wheel", (byte)ParameterAccessor.Instance.RobotBus.RobotTopFrontWheelBusId); this.robotTopRearWheel = new UlcRoboticsNicbotWheel("nicbot tr-wheel", (byte)ParameterAccessor.Instance.RobotBus.RobotTopRearWheelBusId); this.robotBottomFrontWheel = new UlcRoboticsNicbotWheel("nicbot bf-wheel", (byte)ParameterAccessor.Instance.RobotBus.RobotBottomFrontWheelBusId); this.robotBottomRearWheel = new UlcRoboticsNicbotWheel("nicbot br-wheel", (byte)ParameterAccessor.Instance.RobotBus.RobotBottomRearWheelBusId); this.deviceList = new ArrayList(); this.deviceList.Add(this.robotBody); this.deviceList.Add(this.robotTopFrontWheel); this.deviceList.Add(this.robotTopRearWheel); this.deviceList.Add(this.robotBottomFrontWheel); this.deviceList.Add(this.robotBottomRearWheel); 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.movementTopFrontWheelStatus = new MovementMotorStatus(); this.movementTopRearWheelStatus = new MovementMotorStatus(); this.movementBottomFrontWheelStatus = new MovementMotorStatus(); this.movementBottomRearWheelStatus = new MovementMotorStatus(); this.cameraLightLevelSetPoints = new int[12]; this.cameraLightLevelRequests = new int[12]; }