private void PeriodicGetInfo()
{
try
{
if (!Connected)
{
return;
}
var values = _connection.ReadVariables(_variablesToRead);
using (var state = GlobalState.GetState())
{
for (int i = 0; i < NB_MOTOR; i++)
{
var position = (int)values[2 * i].Value;
var enabled = (bool)values[2 * i + 1].Value;
var m = state.Motors.Motors.FirstOrDefault((x) => x.Board == _index && x.Index == i);
if (m != null)
{
m.SetState(enabled, position);
}
}
}
}
catch (Exception ex)
{
Logger.Log(ex);
}
}
/// <summary>
/// Read a variable once
/// </summary>
private void btnRead_Click(object sender, EventArgs e)
{
try
{
Cursor = Cursors.WaitCursor;
if (_connection != null && _connection.Connected)
{
var names = new List <string>();
var txts = new List <TextBox>();
foreach (var pnl in this.pnlVariables.Controls.OfType <FlowLayoutPanel>())
{
var chk = pnl.Controls.OfType <CheckBox>().First();
if (chk.Checked)
{
names.Add(chk.Name);
txts.Add(pnl.Controls.OfType <TextBox>().First());
}
}
var values = _connection.ReadVariables(names.ToArray());
for (int i = 0; i < values.Count; i++)
{
txts[i].Text = values[i].ToString();
txts[i].ForeColor = values[i].Status == Command.SharerReadVariableStatus.OK ? Color.Black : Color.Red;
tt.SetToolTip(txts[i], values[i].Status.ToString());
if (startRecord)
{
_record.Append(txts[i].Text);
_record.Append(";");
}
}
}
if (startRecord)
{
_record.AppendLine();
}
}
catch (Exception ex)
{
handleException(ex);
}
finally
{
Cursor = Cursors.Default;
}
}
private void Arduino_Tick(object sender, EventArgs e)
{
try
{
var values = connection.ReadVariables(new string[] { "encoder", "Loadcell_Mass", "Srdy", });
SharedVariables.EncoderRaw = Convert.ToDouble(values[0].Value);
SharedVariables.LoadcellScaled = Convert.ToDouble(values[1].Value);
SharedVariables.Servo_Rdy = Convert.ToBoolean(values[2].Value);
}
catch (Exception ex)
{
MessageBox.Show("Connection Lost, Please check and Press Connect" + ex);
connection.Disconnect();
Arduino.Stop();
}
}