/*
* private void InitConfig()
* {
* SYSTEM.configPath = MyUtil.FILE.AppFilePath(CONST.CONFIG_FOLDER);
* SYSTEM.systemConfigFile = Path.Combine(SYSTEM.configPath, CONST.SYSTEM_CONFIG);
*
* SYSTEM.sc = MyUtil.FILE.RestoreDataFile<SystemConfig>(SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
* if (Object.ReferenceEquals(SYSTEM.sc, null))
* {
* SYSTEM.sc = new SystemConfig()
* {
* robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE,
* blocklyPath = CONST.DEFAULT_CONFIG.BLOCKLY_PATH,
* autoCheckVersion = CONST.DEFAULT_CONFIG.AUTO_CHECK_VERSION,
* autoCheckFirmware = CONST.DEFAULT_CONFIG.AUTO_CHECK_FIRMWARE,
* developerMode = CONST.DEFAULT_CONFIG.DEVEOPER_MODE
* };
* } else
* {
* if (SYSTEM.sc.robotConfigFile == null) SYSTEM.sc.robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE;
* if (SYSTEM.sc.blocklyPath == null) SYSTEM.sc.blocklyPath = CONST.DEFAULT_CONFIG.BLOCKLY_PATH;
* }
*
#region "Version Config"
*
* SYSTEM.versionChecked = false;
* if (SYSTEM.sc.autoCheckVersion)
* {
*
* }
*
* if (SYSTEM.sc.autoCheckFirmware)
* {
* Util.CheckFirmware();
* }
* else
* {
* SYSTEM.firmwareChecked = false;
* }
*
#endregion
*
*
#region "Get Robot Config"
*
* if (!File.Exists(SYSTEM.systemConfigFile))
* {
* MyUtil.FILE.SaveDataFile(SYSTEM.sc, SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
* }
*
* bool robotConfigReady = false;
* string robotConfigFile = Path.Combine(SYSTEM.configPath, SYSTEM.sc.robotConfigFile);
* if (File.Exists(robotConfigFile))
* {
* try
* {
* SYSTEM.configObject = ConfigObject.FromFile(robotConfigFile);
* robotConfigReady = true;
* }
* catch { }
* }
*
* if ((!robotConfigReady) || (Object.ReferenceEquals(SYSTEM.configObject, null)))
* {
* SYSTEM.configObject = DefaultConfig();
* }
* CONST.MAX_SERVO = SYSTEM.configObject.max_servo;
*
#endregion
*
* if (!File.Exists(Path.Combine(SYSTEM.sc.blocklyPath, CONST.BLOCKLY.CHECK_FILE)))
* {
* SYSTEM.sc.blocklyPath = "";
* }
*
* Util.SaveSystemConfig();
*
* }
*
* public ConfigObject DefaultConfig()
* {
* int[,] servoPos = new int[20, 2] {
* {92,95},{48,95},{36,160},
* {174,95},{220,95},{232,160},
* {103,184},{97,223},{93,285},{87,343},{96,378},
* {163,184},{168,223},{173,285},{179,343},{170,378},
* {133,80},{30, 230},{236,230},{133,180}
* };
*
* ConfigObject co = new ConfigObject();
* co.max_servo = 16;
* co.servos = new List<Point>();
* for (int i = 0; i < co.max_servo; i++)
* {
* co.servos.Add(new Point(servoPos[i, 0], servoPos[i, 1]));
* }
* co.imagePath = "pack://application:,,,/images/alpha1s_300x450.png";
* co.appResource = true;
* return co;
* }
*/
public ImageBrush loadImage(ConfigObject co)
{
if (co.imagePath == "")
{
return(null);
}
/*
* ImageBrush image = new ImageBrush
* {
* ImageSource = (co.appResource ? new BitmapImage(new Uri(co.imagePath)) : new BitmapImage(new Uri(co.imagePath, UriKind.Relative))),
* Stretch = Stretch.Uniform
* };
* return image;
*/
if (co.appResource)
{
ImageBrush image = new ImageBrush
{
ImageSource = new BitmapImage(new Uri(co.imagePath)),
Stretch = Stretch.Uniform
};
return(image);
}
return(co.getImageBrush());
}
public void SetConfig(ConfigObject config)
{
this.config = config.Clone();
servos = null;
servos = new List <UcServoMain>();
gridPanel.Children.Clear();
LoadImage();
for (int i = 0; i < config.max_servo; i++)
{
AddServo(config.servos[i].X, config.servos[i].Y);
}
SetStatus();
}
private void btnSaveConfig_Click(object sender, RoutedEventArgs e)
{
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.InitialDirectory = UTIL.FILE.GetConfigFilePath();
saveFileDialog.Filter = CONST.ROBOT_CONFIG_FILTER;
saveFileDialog.FileName = CONST.DEFAULT_ROBOT_CONFIG;
if (saveFileDialog.ShowDialog() == true)
{
string fileName = saveFileDialog.FileName.Trim();
ConfigObject co = ucRobotMaintenance.GetConfigObject();
UTIL.FILE.SaveDataFile(co, fileName);
}
}
public ImageBrush loadImage(ConfigObject co)
{
if (co.imagePath == "")
{
return(null);
}
ImageBrush image = new ImageBrush
{
ImageSource = (co.appResource ? new BitmapImage(new Uri(co.imagePath)) : new BitmapImage(new Uri(co.imagePath, UriKind.Relative))),
Stretch = Stretch.Uniform
};
return(image);
}
private void btnLoadConfig_Click(object sender, RoutedEventArgs e)
{
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.InitialDirectory = UTIL.FILE.GetConfigFilePath();
openFileDialog.Filter = CONST.ROBOT_CONFIG_FILTER;
if (openFileDialog.ShowDialog() == true)
{
string fileName = openFileDialog.FileName.Trim();
ConfigObject co = UTIL.FILE.RestoreDataFile <ConfigObject>(fileName);
if (!Object.ReferenceEquals(co, null))
{
ucRobotMaintenance.SetConfig(co);
}
}
}
private void InitServo()
{
ConfigObject CONFIG = SYSTEM.configObject;
gridRobot.Background = loadImage(CONFIG);
for (byte i = 1; i <= CONFIG.max_servo; i++)
{
uc.UcServo us = new uc.UcServo(UBT.GetServo(i));
us.Width = 38;
us.Height = 38;
us.HorizontalAlignment = HorizontalAlignment.Left;
us.VerticalAlignment = VerticalAlignment.Top;
// us.Margin = new Thickness(servoPos[i, 0], servoPos[i, 1], 0, 0);
us.Margin = new Thickness(CONFIG.servos[i - 1].X, CONFIG.servos[i - 1].Y, 0, 0);
us.Show();
us.MouseDownEventHandler += Servo_MouseDown;
servo[i] = us;
gridRobot.Children.Add(us);
}
}
public ConfigObject DefaultConfig()
{
int[,] servoPos = new int[20, 2] {
{ 92, 95 }, { 48, 95 }, { 36, 160 },
{ 174, 95 }, { 220, 95 }, { 232, 160 },
{ 103, 184 }, { 97, 223 }, { 93, 285 }, { 87, 343 }, { 96, 378 },
{ 163, 184 }, { 168, 223 }, { 173, 285 }, { 179, 343 }, { 170, 378 },
{ 133, 80 }, { 30, 230 }, { 236, 230 }, { 133, 180 }
};
ConfigObject co = new ConfigObject();
co.max_servo = 20;
co.servos = new List <Point>();
for (int i = 0; i < co.max_servo; i++)
{
co.servos.Add(new Point(servoPos[i, 0], servoPos[i, 1]));
}
co.imagePath = "pack://application:,,,/images/alpha1s_300x450.png";
co.appResource = true;
return(co);
}
private void InitConfig()
{
SystemConfig sc = UTIL.FILE.RestoreConfig <SystemConfig>(CONST.CONFIG_FILE, false);
if (Object.ReferenceEquals(sc, null))
{
sc = new SystemConfig()
{
robotConfig = CONST.DEFAULT_ROBOT_CONFIG
};
}
if (!File.Exists(UTIL.FILE.GetConfigFileFullName(CONST.CONFIG_FILE)))
{
UTIL.FILE.SaveConfig(sc, CONST.CONFIG_FILE, false);
}
bool configReady = false;
string fullName = UTIL.FILE.GetConfigFileFullName(sc.robotConfig);
if (File.Exists(fullName))
{
try
{
SYSTEM.configObject = ConfigObject.FromFile(fullName);
configReady = true;
SYSTEM.robotConfig = sc.robotConfig;
}
catch { }
}
if ((!configReady) || (Object.ReferenceEquals(SYSTEM.configObject, null)))
{
SYSTEM.robotConfig = "";
SYSTEM.configObject = DefaultConfig();
}
CONST.MAX_SERVO = SYSTEM.configObject.max_servo;
}
private void InitConfig()
{
SYSTEM.configPath = MyUtil.FILE.AppFilePath(CONST.CONFIG_FOLDER);
SYSTEM.systemConfigFile = Path.Combine(SYSTEM.configPath, CONST.SYSTEM_CONFIG);
SYSTEM.sc = MyUtil.FILE.RestoreDataFile <SystemConfig>(SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
if (Object.ReferenceEquals(SYSTEM.sc, null))
{
SYSTEM.sc = new SystemConfig()
{
robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE,
blocklyPath = MyUtil.FILE.AppFilePath(CONST.DEFAULT_CONFIG.BLOCKLY_PATH),
autoCheckVersion = CONST.DEFAULT_CONFIG.AUTO_CHECK_VERSION,
autoCheckFirmware = CONST.DEFAULT_CONFIG.AUTO_CHECK_FIRMWARE,
waitRebootSec = CONST.DEFAULT_CONFIG.WAIT_REBOOT_SEC,
disableBatteryUpdate = CONST.DEFAULT_CONFIG.DISABLE_BATTERY_UPDATE,
disableMpuUpdate = CONST.DEFAULT_CONFIG.DISABLE_MPU_UPDATE,
developerMode = CONST.DEFAULT_CONFIG.DEVEOPER_MODE
};
}
else
{
if (SYSTEM.sc.robotConfigFile == null)
{
SYSTEM.sc.robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE;
}
if (String.IsNullOrWhiteSpace(SYSTEM.sc.blocklyPath))
{
SYSTEM.sc.blocklyPath = MyUtil.FILE.AppFilePath(CONST.DEFAULT_CONFIG.BLOCKLY_PATH);
}
}
// fill default for invalid value, to handle for reading from old config files
if ((SYSTEM.sc.waitRebootSec == 0) || (SYSTEM.sc.waitRebootSec > 99))
{
SYSTEM.sc.waitRebootSec = CONST.DEFAULT_CONFIG.WAIT_REBOOT_SEC;
}
// Check blockly path
if (!Util.IsBlocklyPath(SYSTEM.sc.blocklyPath))
{
if (!Util.IsBlocklyPath(MyUtil.FILE.AppFilePath(CONST.DEFAULT_CONFIG.BLOCKLY_PATH)))
{
SYSTEM.sc.blocklyPath = MyUtil.FILE.AppFilePath(CONST.DEFAULT_CONFIG.BLOCKLY_PATH);
}
}
#region "Version Config"
if (SYSTEM.sc.autoCheckFirmware)
{
Util.CheckFirmware();
}
else
{
SYSTEM.firmwareChecked = false;
}
#endregion
#region "Get Robot Config"
if (!File.Exists(SYSTEM.systemConfigFile))
{
MyUtil.FILE.SaveDataFile(SYSTEM.sc, SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
}
bool robotConfigReady = false;
string robotConfigFile = Path.Combine(SYSTEM.configPath, SYSTEM.sc.robotConfigFile);
if (File.Exists(robotConfigFile))
{
try
{
SYSTEM.configObject = ConfigObject.FromFile(robotConfigFile);
robotConfigReady = true;
}
catch { }
}
if ((!robotConfigReady) || (Object.ReferenceEquals(SYSTEM.configObject, null)))
{
SYSTEM.configObject = DefaultConfig();
}
CONST.MAX_SERVO = SYSTEM.configObject.max_servo;
#endregion
if (!File.Exists(Path.Combine(SYSTEM.sc.blocklyPath, CONST.BLOCKLY.CHECK_FILE)))
{
SYSTEM.sc.blocklyPath = "";
}
Util.SaveSystemConfig();
}
private void InitConfig()
{
SYSTEM.configPath = MyUtil.FILE.AppFilePath(CONST.CONFIG_FOLDER);
SYSTEM.systemConfigFile = Path.Combine(SYSTEM.configPath, CONST.SYSTEM_CONFIG);
SYSTEM.sc = MyUtil.FILE.RestoreDataFile <SystemConfig>(SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
if (Object.ReferenceEquals(SYSTEM.sc, null))
{
SYSTEM.sc = new SystemConfig()
{
robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE,
blocklyPath = CONST.DEFAULT_CONFIG.BLOCKLY_PATH,
autoCheckVersion = CONST.DEFAULT_CONFIG.AUTO_CHECK_VERSION,
autoCheckFirmware = CONST.DEFAULT_CONFIG.AUTO_CHECK_FIRMWARE,
disableBatteryUpdate = CONST.DEFAULT_CONFIG.DISABLE_BATTERY_UPDATE,
disableMpuUpdate = CONST.DEFAULT_CONFIG.DISABLE_MPU_UPDATE,
developerMode = CONST.DEFAULT_CONFIG.DEVEOPER_MODE
};
}
else
{
if (SYSTEM.sc.robotConfigFile == null)
{
SYSTEM.sc.robotConfigFile = CONST.DEFAULT_CONFIG.ROBOT_CONFIG_FILE;
}
if (SYSTEM.sc.blocklyPath == null)
{
SYSTEM.sc.blocklyPath = CONST.DEFAULT_CONFIG.BLOCKLY_PATH;
}
}
#region "Version Config"
SYSTEM.versionChecked = false;
if (SYSTEM.sc.autoCheckVersion)
{
}
if (SYSTEM.sc.autoCheckFirmware)
{
Util.CheckFirmware();
}
else
{
SYSTEM.firmwareChecked = false;
}
#endregion
#region "Get Robot Config"
if (!File.Exists(SYSTEM.systemConfigFile))
{
MyUtil.FILE.SaveDataFile(SYSTEM.sc, SYSTEM.systemConfigFile, CONST.SYSTEM_CONFIG_ZIP);
}
bool robotConfigReady = false;
string robotConfigFile = Path.Combine(SYSTEM.configPath, SYSTEM.sc.robotConfigFile);
if (File.Exists(robotConfigFile))
{
try
{
SYSTEM.configObject = ConfigObject.FromFile(robotConfigFile);
robotConfigReady = true;
}
catch { }
}
if ((!robotConfigReady) || (Object.ReferenceEquals(SYSTEM.configObject, null)))
{
SYSTEM.configObject = DefaultConfig();
}
CONST.MAX_SERVO = SYSTEM.configObject.max_servo;
#endregion
if (!File.Exists(Path.Combine(SYSTEM.sc.blocklyPath, CONST.BLOCKLY.CHECK_FILE)))
{
SYSTEM.sc.blocklyPath = "";
}
Util.SaveSystemConfig();
}