private void SetTiltServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 1;
data.cen = (short)(numTiltCen.Value);
data.max = (short)(numTiltMax.Value);
data.min = (short)(numTiltMin.Value);
data.nty = (short)(numTiltNinty.Value);
data.acc = (short)(numTiltAcc.Value);
//data.rev = (sbyte)(cbTiltRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testTiltCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.max);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltMin.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.min);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltNinty.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
angle.angle = 90;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltAcc.Checked)
{
}
}
}
public void ResetSetting(SetServoParamMsgData d)
{
if (d.idx == 0)
{
numPanCen.Value = d.cen;
numPanMax.Value = d.max;
numPanAcc.Value = d.acc;
}
else if (d.idx == 0)
{
numTiltCen.Value = d.cen;
numTiltMin.Value = d.min;
numTiltMax.Value = d.max;
numTiltAcc.Value = d.acc;
numTiltNinty.Value = d.nty;
}
}
/*
* public void OnMessageReceived(object sender, ControlLink.MessageReceivedEventArgs arg)
* {
* switch ((CommandType)arg.msg.cmd)
* {
* case CommandType:
* {
* SetServoParamMsgData d = link.FromBytes<SetServoParamMsgData>(arg.msg.data);
* if (d.idx == 0)
* {
* panSetting = d;
* }
* else if (d.idx == 1)
* {
* tiltSetting = d;
* }
*
* fromuser = false;
* Invoke(new MethodInvoker(delegate
* {
* ResetSetting(d);
* }));
* fromuser = true;
*
* link.SendAck();
* if (tiltSetting.cen == 0)
* LoadSetting(1);
* }
* break;
* }
* }*/
public void LoadSetting()
{
var msg = link.Call(CommandType.SERVO_GET_SETTING, new byte[] { 0 }, CommandType.SERVO_SET_SETTING);
if (msg != null && msg.cmd == (byte)CommandType.SERVO_SET_SETTING)
{
fromuser = false;
panSetting = link.FromBytes <SetServoParamMsgData>(msg.data);
ResetSetting(panSetting);
msg = link.Call(CommandType.SERVO_GET_SETTING, new byte[] { 1 }, CommandType.SERVO_SET_SETTING);
if (msg.cmd == (byte)CommandType.SERVO_SET_SETTING)
{
tiltSetting = link.FromBytes <SetServoParamMsgData>(msg.data);
ResetSetting(tiltSetting);
}
fromuser = true;
}
if (msg == null || msg.cmd != (byte)CommandType.SERVO_SET_SETTING)
{
MessageBox.Show("获取设置失败");
}
}
private bool SetPanServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 0;
data.cen = (short)(numPanCen.Value);
data.max = (short)(numPanMax.Value);
data.min = (short)(2 * data.cen - data.max);
data.nty = cbPanRev.Checked ? data.max : data.min;
//data.nty = data.max;
data.acc = (short)(numPanAcc.Value);
//data.rev = (sbyte)(cbPanRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testPanCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testPanMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.pwm = (short)(data.max / 2);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testPanAcc.Checked)
{
}
}
return(msg.cmd == (byte)CommandType.CMD_ACK);
}
/*
public void OnMessageReceived(object sender, ControlLink.MessageReceivedEventArgs arg)
{
switch ((CommandType)arg.msg.cmd)
{
case CommandType:
{
SetServoParamMsgData d = link.FromBytes<SetServoParamMsgData>(arg.msg.data);
if (d.idx == 0)
{
panSetting = d;
}
else if (d.idx == 1)
{
tiltSetting = d;
}
fromuser = false;
Invoke(new MethodInvoker(delegate
{
ResetSetting(d);
}));
fromuser = true;
link.SendAck();
if (tiltSetting.cen == 0)
LoadSetting(1);
}
break;
}
}*/
public void LoadSetting()
{
var msg = link.Call(CommandType.SERVO_GET_SETTING, new byte[] { 0 }, CommandType.SERVO_SET_SETTING);
if (msg != null && msg.cmd == (byte)CommandType.SERVO_SET_SETTING)
{
fromuser = false;
panSetting = link.FromBytes<SetServoParamMsgData>(msg.data);
ResetSetting(panSetting);
msg = link.Call(CommandType.SERVO_GET_SETTING, new byte[] { 1 }, CommandType.SERVO_SET_SETTING);
if (msg.cmd == (byte)CommandType.SERVO_SET_SETTING)
{
tiltSetting = link.FromBytes<SetServoParamMsgData>(msg.data);
ResetSetting(tiltSetting);
}
fromuser = true;
}
if (msg == null || msg.cmd != (byte)CommandType.SERVO_SET_SETTING)
MessageBox.Show("获取设置失败");
}
private void SetTiltServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 1;
data.cen = (short)(numTiltCen.Value);
data.max = (short)(numTiltMax.Value);
data.min = (short)(numTiltMin.Value);
data.nty = (short)(numTiltNinty.Value);
data.acc = (short)(numTiltAcc.Value);
//data.rev = (sbyte)(cbTiltRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testTiltCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.max);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltMin.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.min);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltNinty.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
angle.angle = 90;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltAcc.Checked)
{
}
}
}
private bool SetPanServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 0;
data.cen = (short)(numPanCen.Value);
data.max = (short)(numPanMax.Value);
data.min = (short)(2 * data.cen - data.max);
data.nty = cbPanRev.Checked ? data.max : data.min;
//data.nty = data.max;
data.acc = (short)(numPanAcc.Value);
//data.rev = (sbyte)(cbPanRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testPanCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testPanMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.pwm = (short)(data.max / 2);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testPanAcc.Checked)
{
}
}
return msg.cmd == (byte)CommandType.CMD_ACK;
}
public void ResetSetting(SetServoParamMsgData d)
{
if (d.idx == 0)
{
numPanCen.Value = d.cen;
numPanMax.Value = d.max;
numPanAcc.Value = d.acc;
}
else if (d.idx == 0)
{
numTiltCen.Value = d.cen;
numTiltMin.Value = d.min;
numTiltMax.Value = d.max;
numTiltAcc.Value = d.acc;
numTiltNinty.Value = d.nty;
}
}
