public static void UpdateTree(FrameGUI GUI, CommunicationManager controller)
{
// update tree
GUI.treeViewControllers.Nodes[controller.name].Text = controller.name + " (" + controller.GetConnectionStatus() + ")";
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Kp"].Text = "Kp: " + GUI.connection_selected.ControllerParameters.Kp.ToString();
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Ki"].Text = "Ki: " + GUI.connection_selected.ControllerParameters.Ki.ToString();
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Kd"].Text = "Kd: " + GUI.connection_selected.ControllerParameters.Kd.ToString();
}
public static void UpdateGuiControls(FrameGUI GUI, CommunicationManager connection_selected)
{
GUI.numUpDownKp.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Kp);
GUI.numUpDownKi.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Ki);
GUI.numUpDownKd.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Kd);
GUI.textBox_ip_send.Text = connection_selected.Controller_EP.IP;
GUI.numericUpDown_port_send.Text = connection_selected.Controller_EP.Port.ToString();
GUI.numericUpDown_port_receive.Text = connection_selected.Controller_EP.PortThis.ToString();
}
public static void UpdateTimeLabels(FrameGUI GUI, CommunicationManager connection, string FMT)
{
try
{
DateTime time_sent = DateTime.ParseExact(connection.received_packets["u1"].GetLastTime(), FMT, CultureInfo.InvariantCulture, DateTimeStyles.AssumeLocal);
TimeSpan timeDiff = connection.time_last_received_packet - time_sent;
GUI.label_time.Text = "Time now: " + DateTime.UtcNow.ToString("hh:mm:ss.fff tt") + "\n" +
"Last received packet: " + connection.time_last_received_packet.ToString("hh:mm:ss.fff tt") + "\n" +
"Last packet sent: " + time_sent.ToString("hh:mm:ss.fff tt") + "\n" +
"Transmission time [ms]: " + timeDiff.TotalMilliseconds;
}
catch
{
GUI.label_time.Text = "Time now: \n" +
"Last received packet:: \n" +
"Last packet sent: \n" +
"Transmission time [ms]: ";
}
}
private void listBoxControllers_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
// specify the new connection as the currently selected one
connection_selected = connections[listBoxModules.SelectedIndex];
// enable or disable reference track bars
Helpers.ManageTrackbars(this);
// update GUI values according to the connected controller
Helpers.UpdateGuiControls(this, connection_selected);
// clear charts
dataChart.Series.Clear();
residualChart.Series.Clear();
securityChart.Series.Clear();
// clear checkbox series
clbSeries.Items.Clear();
// refresh the chart, load all data points
UpdateChart(connection_selected.references, setting: DataPointSetting.LOAD_ALL); // reference
UpdateChart(connection_selected.received_packets, setting: DataPointSetting.LOAD_ALL); // states
UpdateChart(connection_selected.estimates, setting: DataPointSetting.LOAD_ALL); // kalman filter estimates
// scale y-axis for the charts
Charting.ChangeYScale(dataChart, treshold_interval: "one", grid_interval: "one");
Charting.ChangeYScale(residualChart, treshold_interval: "one", grid_interval: "one");
Charting.ChangeYScale(securityChart, treshold_interval: "one", grid_interval: "one");
// update treshold strip lines
updateThresholdStripLines();
// select the corresponding item in the treeview
treeViewControllers.SelectedNode = treeViewControllers.Nodes[connection_selected.name];
}
catch { }
}
private void btnAllowConnection_Click_1(object sender, EventArgs e)
{
// enable parameter settings
numUpDownKp.Enabled = true;
numUpDownKi.Enabled = true;
numUpDownKd.Enabled = true;
// control module name and corresponding ip:port pairs
string name = textBoxName.Text;
string IP_endpoint = textBox_ip_send.Text;
string IP_this = textBox_ip_receive.Text;
int port_endpoint = Convert.ToInt16(numericUpDown_port_send.Value);
int port_this = Convert.ToInt16(numericUpDown_port_receive.Value);
// look for name and port conflicts with present allowed traffics
bool connection_already_exists = false;
foreach (CommunicationManager controller in connections)
{
if ((controller.Controller_EP.PortThis == port_this && controller.Controller_EP.Port == port_endpoint) || controller.name == name)
{
connection_already_exists = true;
}
}
if (connection_already_exists == true)
{
log("Error: name or ip:port pair already in use");
}
else
{
// connection parameters
ConnectionParameters connectionParameters = new ConnectionParameters(IP_endpoint, port_endpoint, port_this);
// create and add controller
PIDparameters controllerParameters = new PIDparameters(Convert.ToDouble(numUpDownKp.Value), Convert.ToDouble(numUpDownKi.Value), Convert.ToDouble(numUpDownKd.Value));
CommunicationManager controller_connection = new CommunicationManager(this, name, controllerParameters, Channel_EP, connectionParameters);
connections.Add(controller_connection);
connection_selected = controller_connection;
listBoxModules.Items.Add(name);
// select the added module in the listbox
listBoxModules.SelectedIndex = listBoxModules.Items.Count - 1;
// start timers
timerCharts.Start();
timerUpdateGUI.Start();
// update tree
treeViewControllers.Nodes.Add(name, name);
treeViewControllers.Nodes[name].Nodes.Add("Communication", "Communication");
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("ip", "IP (endpoint): " + IP_endpoint.ToString());
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("port", "Port (endpoint): " + port_endpoint.ToString());
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("port_gui", "Port (this): " + port_this.ToString());
treeViewControllers.Nodes[name].Nodes.Add("Controller", "Controller settings");
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Kp", "Kp: " + controllerParameters.Kp.ToString());
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Ki", "Ki: " + controllerParameters.Ki.ToString());
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Kd", "Ks: " + controllerParameters.Kd.ToString());
treeViewControllers.ExpandAll();
// update counter
n_connections += 1;
textBoxName.Text = "Module" + (n_connections + 1);
log("Communication to a control module enabled");
numericUpDown_port_receive.Value += 1;
numericUpDown_port_send.Value += 1;
}
}
public static void DrawTanks(FrameGUI GUI, CommunicationManager connection)
{
g = Graphics.FromImage(bm);
g.Clear(Color.White);
// map tank height in cm to pixels
double max_height_p = GUI.pictureBox1.Height / 2.5; // max height [pixels]
double max_inflow_width = 10;
double max_height_r = 20; // real max height [cm]
double cm2pix = max_height_p / max_height_r;
// if there are no estimates, there is nothing to animate
if (connection.estimates.ContainsKey("yo1_hat") == false || connection.estimates.ContainsKey("yc1_hat") == false)
{
GUI.pictureBox1.Image = bm;
return;
}
// extract signals
int u = Convert.ToInt16(Convert.ToDouble(connection.received_packets["u1"].GetLastValue()));
int y1 = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.estimates["yo1_hat"].GetLastValue()));
int y2 = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.estimates["yc1_hat"].GetLastValue()));
int reference = 0;
try { reference = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.references["r1"].GetLastValue())); }
catch { }
// dimensions
double A1 = GUI.config.kalmanDoubleWatertankModel.A1;
double a1 = GUI.config.kalmanDoubleWatertankModel.a1;
double A2 = GUI.config.kalmanDoubleWatertankModel.A2;
double a2 = GUI.config.kalmanDoubleWatertankModel.a2;
// TANK 1 ----------------------------------------------------------------
Point T1 = new Point(GUI.pictureBox1.Width / 2, Convert.ToInt16(GUI.pictureBox1.Height / 2));
Point T2 = new Point(T1.X, Convert.ToInt16(GUI.pictureBox1.Height - 20));
// tank dimensions
double R1_ = Math.Sqrt(A1 / Math.PI); int R1 = Convert.ToInt16(R1_ * cm2pix);
double r1_ = Math.Sqrt(a1 / Math.PI); int r1 = Convert.ToInt16(r1_ * cm2pix);
double h1_ = 20; int h1 = Convert.ToInt16(h1_ * cm2pix);
// inlet
if (u > 0)
{
Rectangle water_in = new Rectangle(T1.X - R1 + 5, T1.Y - h1 - 50, Convert.ToInt16(max_inflow_width * (u / 7.5)), h1 + 50);
g.FillRectangle(brush_b, water_in);
}
// water
Rectangle water1 = new Rectangle(T1.X - R1, T1.Y - y1, 2 * R1, y1);
g.FillRectangle(brush_b, water1);
if (y1 > 5)
{
Rectangle water_fall = new Rectangle(T1.X - r1, T1.Y, 2 * r1, T2.Y - T1.Y);
g.FillRectangle(brush_b, water_fall);
}
// walls
Point w1_top = new Point(T1.X - R1, T1.Y - h1); Point w1_bot = new Point(T1.X - R1, T1.Y);
Point w2_top = new Point(T1.X + R1, T1.Y - h1); Point w2_bot = new Point(T1.X + R1, T1.Y);
Point wb1_l = new Point(T1.X - R1, T1.Y); Point wb1_r = new Point(T1.X - r1, T1.Y);
Point wb2_l = new Point(T1.X + r1, T1.Y); Point wb2_r = new Point(T1.X + R1, T1.Y);
g.DrawLine(pen_b, w1_top, w1_bot);
g.DrawLine(pen_b, w2_top, w2_bot);
g.DrawLine(pen_b, wb1_l, wb1_r);
g.DrawLine(pen_b, wb2_l, wb2_r);
// TANK 2 ---------------------------------------------------------------
// tank dimensions
double R2_ = Math.Sqrt(A2 / Math.PI); int R2 = Convert.ToInt16(R2_ * cm2pix);
double r2_ = Math.Sqrt(a2 / Math.PI); int r2 = Convert.ToInt16(r2_ * cm2pix);
double h2_ = 20; int h2 = Convert.ToInt16(h2_ * cm2pix);
// water
Rectangle water2 = new Rectangle(T2.X - R2, T2.Y - y2, 2 * R2, y2);
g.FillRectangle(brush_b, water2);
if (y2 > 5)
{
Rectangle water_fall = new Rectangle(T2.X - r2, T2.Y, 2 * r2, 200);
g.FillRectangle(brush_b, water_fall);
}
// walls
w1_top = new Point(T2.X - R2, T2.Y - h2); w1_bot = new Point(T2.X - R2, T2.Y);
w2_top = new Point(T2.X + R2, T2.Y - h2); w2_bot = new Point(T2.X + R2, T2.Y);
wb1_l = new Point(T2.X - R2, T2.Y); wb1_r = new Point(T2.X - r2, T2.Y);
wb2_l = new Point(T2.X + r2, T2.Y); wb2_r = new Point(T2.X + R2, T2.Y);
g.DrawLine(pen_b, w1_top, w1_bot);
g.DrawLine(pen_b, w2_top, w2_bot);
g.DrawLine(pen_b, wb1_l, wb1_r);
g.DrawLine(pen_b, wb2_l, wb2_r);
// draw reference
Point reference_l = new Point(T2.X - R2 - 15, T2.Y - reference); Point reference_r = new Point(T2.X - R2 - 3, T2.Y - reference);
g.DrawLine(pen_r, reference_l, reference_r);
GUI.pictureBox1.Image = bm;
}
