// todo move this into object, i.e. static Read(XmlReader reader), static Write(XmlWriter)
private TruckBusParameters ReadTruckBusParameters(XmlReader reader)
{
TruckBusParameters result = null;
bool readResult = true;
BusInterfaces busInterface = BusInterfaces.USBA;
int bitRate = 0; // todo use second object to contain value before assignment
int consumerHeartbeatRate = 0;
int producerHeartbeatRate = 0;
int controllerBusId = 0;
int reelMotorBusId = 0;
int reelDigitalBusId = 0;
int reelAnalogBusId = 0;
int reelEncoderBusId = 0;
int feederTopFrontMotorBusId = 0;
int feederTopRearMotorBusId = 0;
int feederBottomFrontMotorBusId = 0;
int feederBottomRearMotorBusId = 0;
int feederEncoderBusId = 0;
int guideLeftMotorBusId = 0;
int guideRightMotorBusId = 0;
int launchDigitalIoBusId = 0;
int launchAnalogIoBusId = 0;
int gpsBusId = 0;
int frontPumpBusId = 0;
int frontScaleRs232BusId = 0;
int rearPumpBusId = 0;
int rearScaleRs232BusId = 0;
int controllerTraceMask = 0;
int reelMotorTraceMask = 0;
int reelDigitalTraceMask = 0;
int reelAnalogTraceMask = 0;
int reelEncoderTraceMask = 0;
int feederTopFrontMotorTraceMask = 0;
int feederTopRearMotorTraceMask = 0;
int feederBottomFrontMotorTraceMask = 0;
int feederBottomRearMotorTraceMask = 0;
int feederEncoderTraceMask = 0;
int guideLeftMotorTraceMask = 0;
int guideRightMotorTraceMask = 0;
int launchDigitalIoTraceMask = 0;
int launchAnalogIoTraceMask = 0;
int gpsTraceMask = 0;
int frontPumpTraceMask = 0;
int frontScaleRs232TraceMask = 0;
int rearPumpTraceMask = 0;
int rearScaleRs232TraceMask = 0;
for (; readResult; )
{
readResult = reader.Read();
if (reader.IsStartElement())
{
switch (reader.Name)
{
case "BusInterface":
{
busInterface = this.ReadBusInterface(reader);
break;
}
case "BitRate":
{
bitRate = this.ReadInt(reader);
break;
}
case "ConsumerHeartbeatRate":
{
consumerHeartbeatRate = this.ReadInt(reader);
break;
}
case "ProducerHeartbeatRate":
{
producerHeartbeatRate = this.ReadInt(reader);
break;
}
case "ControllerBusId":
{
controllerBusId = this.ReadInt(reader);
break;
}
case "ReelMotorBusId":
{
reelMotorBusId = this.ReadInt(reader);
break;
}
case "ReelDigitalBusId":
{
reelDigitalBusId = this.ReadInt(reader);
break;
}
case "ReelAnalogBusId":
{
reelAnalogBusId = this.ReadInt(reader);
break;
}
case "ReelEncoderBusId":
{
reelEncoderBusId = this.ReadInt(reader);
break;
}
case "FeederTopFrontMotorBusId":
{
feederTopFrontMotorBusId = this.ReadInt(reader);
break;
}
case "FeederTopRearMotorBusId":
{
feederTopRearMotorBusId = this.ReadInt(reader);
break;
}
case "FeederBottomFrontMotorBusId":
{
feederBottomFrontMotorBusId = this.ReadInt(reader);
break;
}
case "FeederBottomRearMotorBusId":
{
feederBottomRearMotorBusId = this.ReadInt(reader);
break;
}
case "FeederEncoderBusId":
{
feederEncoderBusId = this.ReadInt(reader);
break;
}
case "GuideLeftMotorBusId":
{
guideLeftMotorBusId = this.ReadInt(reader);
break;
}
case "GuideRightMotorBusId":
{
guideRightMotorBusId = this.ReadInt(reader);
break;
}
case "LaunchDigitalIoBusId":
{
launchDigitalIoBusId = this.ReadInt(reader);
break;
}
case "LaunchAnalogIoBusId":
{
launchAnalogIoBusId = this.ReadInt(reader);
break;
}
case "GpsBusId":
{
gpsBusId = this.ReadInt(reader);
break;
}
case "FrontPumpBusId":
{
frontPumpBusId = this.ReadInt(reader);
break;
}
case "FrontScaleRs232BusId":
{
frontScaleRs232BusId = this.ReadInt(reader);
break;
}
case "RearPumpBusId":
{
rearPumpBusId = this.ReadInt(reader);
break;
}
case "RearScaleRs232BusId":
{
rearScaleRs232BusId = this.ReadInt(reader);
break;
}
case "ControllerTraceMask":
{
controllerTraceMask = this.ReadInt(reader);
break;
}
case "ReelMotorTraceMask":
{
reelMotorTraceMask = this.ReadInt(reader);
break;
}
case "ReelDigitalTraceMask":
{
reelDigitalTraceMask = this.ReadInt(reader);
break;
}
case "ReelAnalogTraceMask":
{
reelAnalogTraceMask = this.ReadInt(reader);
break;
}
case "ReelEncoderTraceMask":
{
reelEncoderTraceMask = this.ReadInt(reader);
break;
}
case "FeederTopFrontMotorTraceMask":
{
feederTopFrontMotorTraceMask = this.ReadInt(reader);
break;
}
case "FeederTopRearMotorTraceMask":
{
feederTopRearMotorTraceMask = this.ReadInt(reader);
break;
}
case "FeederBottomFrontMotorTraceMask":
{
feederBottomFrontMotorTraceMask = this.ReadInt(reader);
break;
}
case "FeederBottomRearMotorTraceMask":
{
feederBottomRearMotorTraceMask = this.ReadInt(reader);
break;
}
case "FeederEncoderTraceMask":
{
feederEncoderTraceMask = this.ReadInt(reader);
break;
}
case "GuideLeftMotorTraceMask":
{
guideLeftMotorTraceMask = this.ReadInt(reader);
break;
}
case "GuideRightMotorTraceMask":
{
guideRightMotorTraceMask = this.ReadInt(reader);
break;
}
case "LaunchDigitalIoTraceMask":
{
launchDigitalIoTraceMask = this.ReadInt(reader);
break;
}
case "LaunchAnalogIoTraceMask":
{
launchAnalogIoTraceMask = this.ReadInt(reader);
break;
}
case "GpsTraceMask":
{
gpsTraceMask = this.ReadInt(reader);
break;
}
case "FrontPumpTraceMask":
{
frontPumpTraceMask = this.ReadInt(reader);
break;
}
case "FrontScaleRs232TraceMask":
{
frontScaleRs232TraceMask = this.ReadInt(reader);
break;
}
case "RearPumpTraceMask":
{
rearPumpTraceMask = this.ReadInt(reader);
break;
}
case "RearScaleRs232TraceMask":
{
rearScaleRs232TraceMask = this.ReadInt(reader);
break;
}
}
}
else
{
if ("TruckBus" == reader.Name)
{
result = new TruckBusParameters();
result.BusInterface = busInterface;
result.BitRate = bitRate;
result.ConsumerHeartbeatRate = consumerHeartbeatRate;
result.ProducerHeartbeatRate = producerHeartbeatRate;
result.ControllerBusId = controllerBusId;
result.ReelMotorBusId = reelMotorBusId;
result.ReelDigitalBusId = reelDigitalBusId;
result.ReelAnalogBusId = reelAnalogBusId;
result.ReelEncoderBusId = reelEncoderBusId;
result.FeederTopFrontMotorBusId = feederTopFrontMotorBusId;
result.FeederTopRearMotorBusId = feederTopRearMotorBusId;
result.FeederBottomFrontMotorBusId = feederBottomFrontMotorBusId;
result.FeederBottomRearMotorBusId = feederBottomRearMotorBusId;
result.FeederEncoderBusId = feederEncoderBusId;
result.GuideLeftMotorBusId = guideLeftMotorBusId;
result.GuideRightMotorBusId = guideRightMotorBusId;
result.LaunchDigitalIoBusId = launchDigitalIoBusId;
result.LaunchAnalogIoBusId = launchAnalogIoBusId;
result.GpsBusId = gpsBusId;
result.FrontPumpBusId = frontPumpBusId;
result.FrontScaleRs232BusId = frontScaleRs232BusId;
result.RearPumpBusId = rearPumpBusId;
result.RearScaleRs232BusId = rearScaleRs232BusId;
result.ControllerTraceMask = controllerTraceMask;
result.ReelMotorTraceMask = reelMotorTraceMask;
result.ReelDigitalTraceMask = reelDigitalTraceMask;
result.ReelAnalogTraceMask = reelAnalogTraceMask;
result.ReelEncoderTraceMask = reelEncoderTraceMask;
result.FeederTopFrontMotorTraceMask = feederTopFrontMotorTraceMask;
result.FeederTopRearMotorTraceMask = feederTopRearMotorTraceMask;
result.FeederBottomFrontMotorTraceMask = feederBottomFrontMotorTraceMask;
result.FeederBottomRearMotorTraceMask = feederBottomRearMotorTraceMask;
result.FeederEncoderTraceMask = feederEncoderTraceMask;
result.GuideLeftMotorTraceMask = guideLeftMotorTraceMask;
result.GuideRightMotorTraceMask = guideRightMotorTraceMask;
result.LaunchDigitalIoTraceMask = launchDigitalIoTraceMask;
result.LaunchAnalogIoTraceMask = launchAnalogIoTraceMask;
result.GpsTraceMask = gpsTraceMask;
result.FrontPumpTraceMask = frontPumpTraceMask;
result.FrontScaleRs232TraceMask = frontScaleRs232TraceMask;
result.RearPumpTraceMask = rearPumpTraceMask;
result.RearScaleRs232TraceMask = rearScaleRs232TraceMask;
break;
}
}
}
return (result);
}
private void AssignDefaults(RobotApplications robotApplication = RobotApplications.repair)
{
this.RobotApplication = robotApplication;
this.TruckBus = new TruckBusParameters();
this.TruckBus.BusInterface = BusInterfaces.PCIA;
this.TruckBus.BitRate = 50000;
this.TruckBus.ConsumerHeartbeatRate = 3000;
this.TruckBus.ProducerHeartbeatRate = 1000;
this.TruckBus.ControllerBusId = 80;
this.TruckBus.ReelMotorBusId = 70;
this.TruckBus.ReelDigitalBusId = 17;
this.TruckBus.ReelAnalogBusId = 19;
this.TruckBus.ReelEncoderBusId = 21;
this.TruckBus.FeederTopFrontMotorBusId = 64;
this.TruckBus.FeederTopRearMotorBusId = 65;
this.TruckBus.FeederBottomFrontMotorBusId = 66;
this.TruckBus.FeederBottomRearMotorBusId = 67;
this.TruckBus.FeederEncoderBusId = 22;
this.TruckBus.GuideLeftMotorBusId = 68;
this.TruckBus.GuideRightMotorBusId = 69;
this.TruckBus.LaunchDigitalIoBusId = 16;
this.TruckBus.LaunchAnalogIoBusId = 18;
this.TruckBus.GpsBusId = 20;
this.TruckBus.FrontPumpBusId = 71;
this.TruckBus.FrontScaleRs232BusId = 96;
this.TruckBus.RearPumpBusId = 72;
this.TruckBus.RearScaleRs232BusId = 97;
this.TruckBus.ControllerTraceMask = 0;
this.TruckBus.ReelMotorTraceMask = 1;
this.TruckBus.ReelDigitalTraceMask = 1;
this.TruckBus.ReelAnalogTraceMask = 1;
this.TruckBus.ReelEncoderTraceMask = 1;
this.TruckBus.FeederTopFrontMotorTraceMask = 1;
this.TruckBus.FeederTopRearMotorTraceMask = 1;
this.TruckBus.FeederBottomFrontMotorTraceMask = 1;
this.TruckBus.FeederBottomRearMotorTraceMask = 1;
this.TruckBus.FeederEncoderTraceMask = 1;
this.TruckBus.GuideLeftMotorTraceMask = 1;
this.TruckBus.GuideRightMotorTraceMask = 1;
this.TruckBus.LaunchDigitalIoTraceMask = 1;
this.TruckBus.LaunchAnalogIoTraceMask = 1;
this.TruckBus.GpsTraceMask = 1;
this.TruckBus.FrontPumpTraceMask = 1;
this.TruckBus.FrontScaleRs232TraceMask = 1;
this.TruckBus.RearPumpTraceMask = 1;
this.TruckBus.RearScaleRs232TraceMask = 1;
this.JoystickDeadband = 5000;
this.Latitude = double.NaN;
this.Longitude = double.NaN;
this.RobotBus = new RobotBusParameters();
this.RobotBus.BusInterface = BusInterfaces.PCIB;
this.RobotBus.BitRate = 50000;
this.RobotBus.ConsumerHeartbeatRate = 3000;
this.RobotBus.ProducerHeartbeatRate = 1000;
this.RobotBus.ControllerBusId = 80;
this.RobotBus.RobotBodyBusId = 32;
this.RobotBus.RobotTopFrontWheelBusId = 49;
this.RobotBus.RobotTopRearWheelBusId = 50;
this.RobotBus.RobotBottomFrontWheelBusId = 51;
this.RobotBus.RobotBottomRearWheelBusId = 52;
this.RobotBus.ControllerTraceMask = 0;
this.RobotBus.RobotBodyTraceMask = 1;
this.RobotBus.RobotTopFrontWheelTraceMask = 1;
this.RobotBus.RobotTopRearWheelTraceMask = 1;
this.RobotBus.RobotBottomFrontWheelTraceMask = 1;
this.RobotBus.RobotBottomRearWheelTraceMask = 1;
this.EnableRobotBus = true;
this.FrontScale = new DigitalScaleParameters("FrontScale", 1, 9600);
this.RearScale = new DigitalScaleParameters("RearScale", 2, 9600);
this.Trace = new IpEndpointParameters("Trace", "127.0.0.1", 10000);
this.LocationServer = new IpEndpointParameters("LocationServer", "0.0.0.0", 5050);
this.ThicknessSensor = new IpEndpointParameters("ThicknessSensor", "192.168.1.101", 0);
this.ThicknessConversionUnit = new ValueParameter("ThicknessConversionUnit", "mm", 3, 0, 100, 1, 1, 1);
this.StressSensor = new IpEndpointParameters("StressSensor", "192.168.1.102", 0);
this.StressConversionUnit = new ValueParameter("StressConversionUnit", "MPa", 3, 0, 100, 1, 1, 1);
this.NitrogenPressureConversionUnit = new ValueParameter("NitrogenPressureConversionUnit", "PSI", 3, 0, 1000, 1, 100, 100);
this.NitrogenPressureCaution = new CautionParameter("NitrogenPressureCaution", 450, 425, 375, 350);
this.RobotTotalCurrentConversionUnit = new ValueParameter("RobotTotalCurrentConversionUnit", "A", 2, 0, 1000, 1, 100, 100);
this.LaunchTotalCurrentConversionUnit = new ValueParameter("LaunchTotalCurrentConversionUnit", "A", 2, 0, 1000, 1, 100, 100);
this.GuideExtensionSpeed = new ValueParameter("GuideExtensionSpeed", "RPM", 0, 1, 4500, 1, 1500, 1500);
this.GuideRetractionSpeed = new ValueParameter("GuideRetractionSpeed", "RPM", 0, 1, 4500, 1, 1500, 1500);
this.GuideMomentaryButtonAction = true;
this.ReelDistance = new ValueParameter("ReelDistance", "m", 0, 0, 0, 0, 0, 0);
this.ReelDistanceScale = new ValueParameter("ReelDistanceScale", "m", 6, 0, 1000, 0, 1, 1);
this.ReelMotionMode = MovementForwardControls.current;
this.ReelReverseCurrent = new ValueParameter("ReelReverseCurrent", "A", 1, 0.0, 6.5, 0.1, 5.0, 5.0);
this.ReelLockCurrent = new ValueParameter("ReelLockCurrent", "A", 1, 0.0, 6.5, 0.1, 2.0, 2.0);
this.ReelCalibrationDistance = new ValueParameter("ReelCalibrationDistance", "m", 0, 1, 100, 1, 1, 1);
this.ReelManualCurrent = new ValueParameter("ReelManualCurrent", "A", 1, 0.0, 6.5, 0.1, 5.0, 5.0);
this.ReelReverseSpeed = new ValueParameter("ReelReverseSpeed", "m/MIN", 1, 0.0, 40.0, 0.1, 20.0, 20.0);
this.ReelManualSpeed = new ValueParameter("ReelManualSpeed", "m/MIN", 1, 0.0, 40.0, 0.1, 20, 20);
this.ReelVelocityToRpm = (1000 / 40.0); // 40.0 m/MIN at 1000 RPM
this.FeederAutomaticTracking = false;
this.FeederVelocityToRpm = (4000 / 12.05992); // 12.05992 m/MIN at 4000 RPM
this.FeederTrackingCalibration = new ValueParameter("FeederTrackingCalibration", "%", 1, -100, 100, 0.1, 50, 50);
this.FeederMaxSpeed = new ValueParameter("FeederMaxSpeed", "m/MIN", 2, 0, 12.05992, 1, 12, 12);
this.FeederLowSpeedScale = new ValueParameter("FeederLowSpeedScale", "%", 0, 1, 100, 1, 30, 30);
this.FeederLockCurrent = new ValueParameter("FeederLockCurrent", "A", 1, 0.0, 6.5, 0.1, 2.0, 2.0);
this.FeederCurrentPer1kRPM = new ValueParameter("FeederCurrentPer1kRPM", "A", 1, 0.1, 3.0, 0.1, 0.8, 0.8);
this.FeederManualSpeed = new ValueParameter("FeederManualSpeed", "m/MIN", 2, 0, 12.05992, 1, 7, 7);
this.FeederCurrentCaution = new CautionParameter("FeederCurrentCaution", 6.0, 5.0, 0.0, 0.0);
this.TopFrontFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.TopFrontFeederMotor, "TopFront", false, false);
this.TopRearFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.TopRearFeederMotor, "TopRear", false, false);
this.BottomFrontFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.BottomFrontFeederMotor, "BottomFront", true, true);
this.BottomRearFeederMotor = new FeederMotorParameters();
this.SetFeederMotorDefaults(ref this.BottomRearFeederMotor, "BottomRear", true, true);
this.MovementMotorLockCurrent = new ValueParameter("MovementMotorLockCurrent", "A", 1, 0.1, 3.0, 0.1, 1.0, 1.0);
this.MovementMotorMaxCurrent = new ValueParameter("MovementMotorMaxCurrent", "A", 1, 0.1, 3.0, 0.1, 3.0, 3.0);
this.MovementMotorMaxSpeed = new ValueParameter("MovementMotorMaxSpeed", "m/MIN", 2, 0, 10, 1, 3.5, 3.5);
this.MovementMotorCurrentPer1kRPM = new ValueParameter("MovementMotorCurrentPer1kRPM", "A", 1, 0.1, 3.0, 0.1, 1.0, 1.0);
this.MovementMotorLowSpeedScale = new ValueParameter("MovementMotorLowSpeedScale", "%", 0, 1, 100, 1, 30, 30);
this.MovementMotorManualJogDistance = new ValueParameter("MovementMotorManualJogDistance", "mm", 0, 1, 100, 1, 1, 1);
this.MovementMotorManualMoveSpeed = new ValueParameter("MovementMotorManualMoveSpeed", "m/MIN", 2, 0, 10, 1, 2, 2);
this.MovementMotorVelocityToRpm = (40000.0/19.04); // 19.04m/MIN at 40000 RPM, (0.476mm/(motor revolution)
this.TopFrontMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.TopFrontMovementMotor, "TopFront", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current);
this.TopRearMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.TopRearMovementMotor, "TopRear", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current);
this.BottomFrontMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.BottomFrontMovementMotor, "BottomFront", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current, MovementForwardControls.current);
this.BottomRearMovementMotor = new MovementMotorParameters();
this.SetMovementMotorDefaults(ref this.BottomRearMovementMotor, "BottomRear", MovementForwardControls.velocity, MovementForwardControls.velocity, MovementForwardControls.current, MovementForwardControls.current);
this.MovementCurrentCaution = new CautionParameter("MovementCurrentCaution", 15.0, 10.0, 0.0, 0.0);
this.MovementTemperatureCaution = new CautionParameter("MovementTemperatureCaution", 130.0, 100.0, 0.0, 0.0);
this.FrontToolSelected = true;
this.FrontDrill = new DrillParameters();
this.SetDrillDefaults(ref this.FrontDrill, "Front");
this.RearDrill = new DrillParameters();
this.SetDrillDefaults(ref this.RearDrill, "Rear");
this.FrontPump = new PumpParameters();
this.SetPumpDefaults(ref this.FrontPump);
this.RearPump = new PumpParameters();
this.SetPumpDefaults(ref this.RearPump);
this.Osd = new OsdParameters();
this.SetOsdDefaults(ref this.Osd);
this.robotLightLevels = new ValueParameter[12];
for (int i = 0; i < this.robotLightLevels.Length; i++)
{
ValueParameter value = new ValueParameter();
this.SetLightDefaults(ref value);
value.Name = "RobotLightLevel_" + (i + 1).ToString();
this.robotLightLevels[i] = value;
}
this.launchLightLevels = new ValueParameter[4];
for (int i = 0; i < this.launchLightLevels.Length; i++)
{
ValueParameter value = new ValueParameter();
this.SetLightDefaults(ref value);
value.Name = "LaunchLightLevel_" + (i + 1).ToString();
this.launchLightLevels[i] = value;
}
}
private void WriteTruckBusParameters(XmlWriter writer, TruckBusParameters truckBusParameters)
{
writer.WriteStartElement("TruckBus");
writer.WriteComment("BusInterface from {USBA, USBB, PCIA, PCIB}");
this.WriteElement(writer, "BusInterface", truckBusParameters.BusInterface.ToString());
this.WriteElement(writer, "BitRate", truckBusParameters.BitRate);
writer.WriteComment("Set heartbeat rates to 0 to disable while debugging");
this.WriteElement(writer, "ConsumerHeartbeatRate", truckBusParameters.ConsumerHeartbeatRate);
this.WriteElement(writer, "ProducerHeartbeatRate", truckBusParameters.ProducerHeartbeatRate);
this.WriteElement(writer, "ControllerBusId", truckBusParameters.ControllerBusId);
this.WriteElement(writer, "ReelMotorBusId", truckBusParameters.ReelMotorBusId);
this.WriteElement(writer, "ReelDigitalBusId", truckBusParameters.ReelDigitalBusId);
this.WriteElement(writer, "ReelAnalogBusId", truckBusParameters.ReelAnalogBusId);
this.WriteElement(writer, "ReelEncoderBusId", truckBusParameters.ReelEncoderBusId);
this.WriteElement(writer, "FeederTopFrontMotorBusId", truckBusParameters.FeederTopFrontMotorBusId);
this.WriteElement(writer, "FeederTopRearMotorBusId", truckBusParameters.FeederTopRearMotorBusId);
this.WriteElement(writer, "FeederBottomFrontMotorBusId", truckBusParameters.FeederBottomFrontMotorBusId);
this.WriteElement(writer, "FeederBottomRearMotorBusId", truckBusParameters.FeederBottomRearMotorBusId);
this.WriteElement(writer, "FeederEncoderBusId", truckBusParameters.FeederEncoderBusId);
this.WriteElement(writer, "GuideLeftMotorBusId", truckBusParameters.GuideLeftMotorBusId);
this.WriteElement(writer, "GuideRightMotorBusId", truckBusParameters.GuideRightMotorBusId);
this.WriteElement(writer, "LaunchDigitalIoBusId", truckBusParameters.LaunchDigitalIoBusId);
this.WriteElement(writer, "LaunchAnalogIoBusId", truckBusParameters.LaunchAnalogIoBusId);
this.WriteElement(writer, "GpsBusId", truckBusParameters.GpsBusId);
this.WriteElement(writer, "FrontPumpBusId", truckBusParameters.FrontPumpBusId);
this.WriteElement(writer, "FrontScaleRs232BusId", truckBusParameters.FrontScaleRs232BusId);
this.WriteElement(writer, "RearPumpBusId", truckBusParameters.RearPumpBusId);
this.WriteElement(writer, "RearScaleRs232BusId", truckBusParameters.RearScaleRs232BusId);
this.WriteElement(writer, "ControllerTraceMask", truckBusParameters.ControllerTraceMask);
this.WriteElement(writer, "ReelMotorTraceMask", truckBusParameters.ReelMotorTraceMask);
this.WriteElement(writer, "ReelDigitalTraceMask", truckBusParameters.ReelDigitalTraceMask);
this.WriteElement(writer, "ReelAnalogTraceMask", truckBusParameters.ReelAnalogTraceMask);
this.WriteElement(writer, "ReelEncoderTraceMask", truckBusParameters.ReelEncoderTraceMask);
this.WriteElement(writer, "FeederTopFrontMotorTraceMask", truckBusParameters.FeederTopFrontMotorTraceMask);
this.WriteElement(writer, "FeederTopRearMotorTraceMask", truckBusParameters.FeederTopRearMotorTraceMask);
this.WriteElement(writer, "FeederBottomFrontMotorTraceMask", truckBusParameters.FeederBottomFrontMotorTraceMask);
this.WriteElement(writer, "FeederBottomRearMotorTraceMask", truckBusParameters.FeederBottomRearMotorTraceMask);
this.WriteElement(writer, "FeederEncoderTraceMask", truckBusParameters.FeederEncoderTraceMask);
this.WriteElement(writer, "GuideLeftMotorTraceMask", truckBusParameters.GuideLeftMotorTraceMask);
this.WriteElement(writer, "GuideRightMotorTraceMask", truckBusParameters.GuideRightMotorTraceMask);
this.WriteElement(writer, "LaunchDigitalIoTraceMask", truckBusParameters.LaunchDigitalIoTraceMask);
this.WriteElement(writer, "LaunchAnalogIoTraceMask", truckBusParameters.LaunchAnalogIoTraceMask);
this.WriteElement(writer, "GpsTraceMask", truckBusParameters.GpsTraceMask);
this.WriteElement(writer, "FrontPumpTraceMask", truckBusParameters.FrontPumpTraceMask);
this.WriteElement(writer, "FrontScaleRs232TraceMask", truckBusParameters.FrontScaleRs232TraceMask);
this.WriteElement(writer, "RearPumpTraceMask", truckBusParameters.RearPumpTraceMask);
this.WriteElement(writer, "RearScaleRs232TraceMask", truckBusParameters.RearScaleRs232TraceMask);
writer.WriteEndElement();
}
private void ReadData(string filePath)
{
try
{
using (XmlReader reader = XmlReader.Create(filePath))
{
bool result = true;
#region Drill Read
{
for (; result;)
{
result = reader.Read();
if (reader.IsStartElement())
{
switch (reader.Name)
{
case "TruckBus":
{
TruckBusParameters truckBusParameters = this.ReadTruckBusParameters(reader);
if (null != truckBusParameters)
{
this.TruckBus = truckBusParameters;
}
break;
}
case "RobotBus":
{
RobotBusParameters robotBusParameters = this.ReadRobotBusParameters(reader);
if (null != robotBusParameters)
{
this.RobotBus = robotBusParameters;
}
break;
}
case "IpEndpoint":
{
IpEndpointParameters ipEndpointParameters = this.ReadIpEndpoint(reader);
if (null != ipEndpointParameters)
{
switch (ipEndpointParameters.Name)
{
case "Trace":
{
this.Trace = ipEndpointParameters;
break;
}
case "LocationServer":
{
this.LocationServer = ipEndpointParameters;
break;
}
case "ThicknessSensor":
{
this.ThicknessSensor = ipEndpointParameters;
break;
}
case "StressSensor":
{
this.StressSensor = ipEndpointParameters;
break;
}
}
}
break;
}
case "DigitalScale":
{
DigitalScaleParameters digitalScaleParameters = this.ReadDigitalScaleParameters(reader);
if (null != digitalScaleParameters)
{
switch (digitalScaleParameters.Location)
{
case "FrontScale":
{
this.FrontScale = digitalScaleParameters;
break;
}
case "RearScale":
{
this.RearScale = digitalScaleParameters;
break;
}
}
}
break;
}
case "Caution":
{
CautionParameter cautionParameter = this.ReadCautionParameters(reader);
if (null != cautionParameter)
{
switch (cautionParameter.Name)
{
case "NitrogenPressureCaution":
{
this.NitrogenPressureCaution = cautionParameter;
break;
}
case "FeederCurrentCaution":
{
this.FeederCurrentCaution = cautionParameter;
break;
}
case "MovementCurrentCaution":
{
this.MovementCurrentCaution = cautionParameter;
break;
}
case "MovementTemperatureCaution":
{
this.MovementTemperatureCaution = cautionParameter;
break;
}
}
}
break;
}
case "Value":
{
ValueParameter valueParameter = this.ReadValueParameters(reader);
if (null != valueParameter)
{
switch (valueParameter.Name)
{
case "ThicknessConversionUnit":
{
this.ThicknessConversionUnit = valueParameter;
break;
}
case "StressConversionUnit":
{
this.StressConversionUnit = valueParameter;
break;
}
case "NitrogenPressureConversionUnit":
{
this.NitrogenPressureConversionUnit = valueParameter;
break;
}
case "RobotTotalCurrentConversionUnit":
{
this.RobotTotalCurrentConversionUnit = valueParameter;
break;
}
case "LaunchTotalCurrentConversionUnit":
{
this.LaunchTotalCurrentConversionUnit = valueParameter;
break;
}
case "GuideExtensionSpeed":
{
this.GuideExtensionSpeed = valueParameter;
break;
}
case "GuideRetractionSpeed":
{
this.GuideRetractionSpeed = valueParameter;
break;
}
case "ReelDistance":
{
this.ReelDistance = valueParameter;
break;
}
case "ReelDistanceScale":
{
this.ReelDistanceScale = valueParameter;
break;
}
case "ReelReverseCurrent":
{
this.ReelReverseCurrent = valueParameter;
break;
}
case "ReelLockCurrent":
{
this.ReelLockCurrent = valueParameter;
break;
}
case "ReelCalibrationDistance":
{
this.ReelCalibrationDistance = valueParameter;
break;
}
case "ReelManualCurrent":
{
this.ReelManualCurrent = valueParameter;
break;
}
case "ReelReverseSpeed":
{
this.ReelReverseSpeed = valueParameter;
break;
}
case "ReelManualSpeed":
{
this.ReelManualSpeed = valueParameter;
break;
}
case "FeederTrackingCalibration":
{
this.FeederTrackingCalibration = valueParameter;
break;
}
case "FeederMaxSpeed":
{
this.FeederMaxSpeed = valueParameter;
break;
}
case "FeederLowSpeedScale":
{
this.FeederLowSpeedScale = valueParameter;
break;
}
case "FeederLockCurrent":
{
this.FeederLockCurrent = valueParameter;
break;
}
case "FeederCurrentPer1kRPM":
{
this.FeederCurrentPer1kRPM = valueParameter;
break;
}
case "FeederManualSpeed":
{
this.FeederManualSpeed = valueParameter;
break;
}
case "MovementMotorLockCurrent":
{
this.MovementMotorLockCurrent = valueParameter;
break;
}
case "MovementMotorMaxCurrent":
{
this.MovementMotorMaxCurrent = valueParameter;
break;
}
case "MovementMotorMaxSpeed":
{
this.MovementMotorMaxSpeed = valueParameter;
break;
}
case "MovementMotorCurrentPer1kRPM":
{
this.MovementMotorCurrentPer1kRPM = valueParameter;
break;
}
case "MovementMotorLowSpeedScale":
{
this.MovementMotorLowSpeedScale = valueParameter;
break;
}
case "MovementMotorManualJogDistance":
{
this.MovementMotorManualJogDistance = valueParameter;
break;
}
case "MovementMotorManualMoveSpeed":
{
this.MovementMotorManualMoveSpeed = valueParameter;
break;
}
}
}
break;
}
case "RobotApplication":
{
this.RobotApplication = ReadRobotApplication(reader);
break;
}
case "EnableRobotBus":
{
this.EnableRobotBus = this.ReadBool(reader);
break;
}
case "JoystickDeadband":
{
this.JoystickDeadband = this.ReadInt(reader);
break;
}
case "Latitude":
{
this.Latitude = this.ReadDouble(reader);
break;
}
case "Longitude":
{
this.Longitude = this.ReadDouble(reader);
break;
}
case "GuideMomentaryButtonAction":
{
this.ReadElement(reader, ref this.GuideMomentaryButtonAction);
break;
}
case "ReelMotionMode":
{
this.ReelMotionMode = this.ReadMotorForwardControl(reader);
break;
}
case "ReelVelocityToRpm":
{
this.ReelVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FeederAutomaticTracking":
{
this.ReadElement(reader, ref this.FeederAutomaticTracking);
break;
}
case "FeederVelocityToRpm":
{
this.FeederVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FeederMotor":
{
FeederMotorParameters feederMotorParameters = this.ReadFeederMotorParameters(reader);
if (null != feederMotorParameters)
{
switch (feederMotorParameters.Location)
{
case "TopFront":
{
this.TopFrontFeederMotor = feederMotorParameters;
break;
}
case "TopRear":
{
this.TopRearFeederMotor = feederMotorParameters;
break;
}
case "BottomFront":
{
this.BottomFrontFeederMotor = feederMotorParameters;
break;
}
case "BottomRear":
{
this.BottomRearFeederMotor = feederMotorParameters;
break;
}
}
}
break;
}
case "MovementMotor":
{
MovementMotorParameters movementMotorParameters = this.ReadMovementMotorParameters(reader);
if (null != movementMotorParameters)
{
switch (movementMotorParameters.Location)
{
case "TopFront":
{
this.TopFrontMovementMotor = movementMotorParameters;
break;
}
case "TopRear":
{
this.TopRearMovementMotor = movementMotorParameters;
break;
}
case "BottomFront":
{
this.BottomFrontMovementMotor = movementMotorParameters;
break;
}
case "BottomRear":
{
this.BottomRearMovementMotor = movementMotorParameters;
break;
}
}
}
break;
}
case "MovementMotorVelocityToRpm":
{
this.MovementMotorVelocityToRpm = this.ReadDouble(reader);
break;
}
case "FrontToolSelected":
{
this.FrontToolSelected = this.ReadBool(reader);
break;
}
case "Drill":
{
DrillParameters drillParameters = this.ReadDrillParameters(reader);
if (null != drillParameters)
{
switch (drillParameters.Location)
{
case "Front":
{
this.FrontDrill = drillParameters;
break;
}
case "Rear":
{
this.RearDrill = drillParameters;
break;
}
}
}
break;
}
case "Pump":
{
PumpParameters pumpParameters = this.ReadPumpParameters(reader);
if (null != pumpParameters)
{
switch (pumpParameters.Location)
{
case "Front":
{
this.FrontPump = pumpParameters;
break;
}
case "Rear":
{
this.RearPump = pumpParameters;
break;
}
}
}
break;
}
case "Osd":
{
OsdParameters osdParameters = this.ReadOsdParameters(reader);
if (null != osdParameters)
{
this.Osd = osdParameters;
}
break;
}
case "Lights":
{
this.ReadLightParameters(reader);
break;
}
}
}
else
{
#if false
switch (reader.Name)
{
case "Drills":
{
break;
}
case "Drill":
{
break;
}
}
#endif
}
}
}
#endregion
reader.Close();
reader.Dispose();
}
}
catch { }
}