void parseChMap(string[] parms)
{
if (!BuildingChannelMap)
{
return;
}
if (parms[1] == "done")
{
BuildingChannelMap = false;
}
else if (parms[1] == "ins")
{
ChannelMappingData chMapData = new ChannelMappingData();
int modeIndex = int.Parse(parms[2]);
chMapData.Type = (MappingType)int.Parse(parms[3]);
chMapData.ServoIndices = GetValueArrayFromString <int>(parms[4]);
chMapData.ChannelIndices = GetValueArrayFromString <int>(parms[5]);
chMapData.Positionning = (PositionningType)int.Parse(parms[6]);
chMapData.Params = new decimal[chMapData.Type == MappingType.IK ? 2 : 0];
chMapData.chMapIndex = chMapIndex++;
ucMappingBase ucMapping = null;
switch (chMapData.Type)
{
case MappingType.Direct:
ucMapping = new ucMappingDirect(inputCount, outputCount);
break;
case MappingType.TankMix:
ucMapping = new ucMappingTankMix(inputCount, outputCount);
break;
case MappingType.IK:
ucMapping = new ucMappingIK(inputCount, outputCount);
break;
}
ucMapping.chMapData = chMapData;
ucMapping.Top = buildHeight;
buildHeight += ucMapping.Height;
ucMapping.Width = panelChannelMap.Width - 20;
ucMapping.OnCommand += OnCommandReceived;
ucMapping.OnChMapTypeChanged += ucMapping_OnChMapTypeChanged;
AddControlToContainer(panelChannelMap, ucMapping);
}
else if (parms[1] == "setParams")
{
// chMap setParams <modeIndex> <chMapIndex> <param1>,<param2>...
int modeIndex = int.Parse(parms[2]);
int chMapIndex = int.Parse(parms[3]);
List <ucMappingBase> controlList = new List <ucMappingBase>(panelChannelMap.Controls.OfType <ucMappingBase>());
ucMappingIK uc = (ucMappingIK)controlList.Where(v => v.chMapData.chMapIndex == chMapIndex).FirstOrDefault();
ChannelMappingData chMapData = uc.chMapData;
chMapData.Params = GetValueArrayFromString <decimal>(parms[4]);
uc.SetControlValues();
}
}
void ucMapping_OnChMapTypeChanged(object sender, ChMapTypeChangedEventArgs e)
{
if (updating)
{
return;
}
updating = true;
ChannelMappingData chMapData = e.chMapData;
ucMappingBase ucMapping = null;
switch (chMapData.Type)
{
case MappingType.Direct:
ucMapping = new ucMappingDirect(inputCount, outputCount);
Array.Resize(ref chMapData.ChannelIndices, 1);
Array.Resize(ref chMapData.ServoIndices, 1);
break;
case MappingType.TankMix:
ucMapping = new ucMappingTankMix(inputCount, outputCount);
Array.Resize(ref chMapData.ChannelIndices, 2);
Array.Resize(ref chMapData.ServoIndices, 2);
break;
case MappingType.IK:
ucMapping = new ucMappingIK(inputCount, outputCount);
Array.Resize(ref chMapData.ChannelIndices, 3);
Array.Resize(ref chMapData.ServoIndices, 3);
Array.Resize(ref chMapData.Params, 2);
break;
}
ucMapping.chMapData = chMapData;
//ucMapping.Top = ucMapping.Height * chMapData.chMapIndex;
ucMapping.Width = panelChannelMap.Width - 20;
ucMapping.OnCommand += OnCommandReceived;
ucMapping.OnChMapTypeChanged += ucMapping_OnChMapTypeChanged;
panelChannelMap.Controls.RemoveAt(chMapData.chMapIndex);
AddControlToContainer(panelChannelMap, ucMapping);
RearrangeMappingControls();
updating = false;
}
void AddNewChMap()
{
ChannelMappingData chMapData = new ChannelMappingData();
chMapData.chMapIndex = panelChannelMap.Controls.Count;
chMapData.ServoIndices = new int[] { 0 };
chMapData.ChannelIndices = new int[] { 0 };
chMapData.Params = new decimal[0];
chMapData.Type = MappingType.Direct;
chMapData.Positionning = PositionningType.Absolute;
chMapData.IsNew = true;
ucMappingBase ucMapping = new ucMappingDirect(inputCount, outputCount);;
ucMapping.chMapData = chMapData;
ucMapping.Width = panelChannelMap.Width - 20;
ucMapping.Anchor |= AnchorStyles.Right;
ucMapping.Top = buildHeight;
buildHeight += ucMapping.Height;
ucMapping.OnCommand += OnCommandReceived;
ucMapping.OnChMapTypeChanged += new EventHandler <ChMapTypeChangedEventArgs>(ucMapping_OnChMapTypeChanged);
AddControlToContainer(panelChannelMap, ucMapping);
CreatingChMap = true;
}
void OnCommandReceived(object sender, CommandEventArgs e)
{
switch (e.CommandName)
{
case "calibrate":
sendData("servo calibrate " + e.Param[0].ToString() + " " + e.Param[1].ToString() + " " + e.Param[2].ToString());
break;
case "reverse":
sendData("servo reverse " + e.Param[0].ToString() + " " + e.Param[1].ToString());
break;
case "trim":
sendData("servo subtrim " + e.Param[0].ToString() + " " + e.Param[1].ToString());
break;
case "servoAngle":
sendData("servo angle " + e.Param[0].ToString() + " " + e.Param[1].ToString());
break;
case "servoPWM":
sendData("servo pwm " + e.Param[0].ToString() + " " + e.Param[1].ToString());
break;
case "input":
sendData("input " + e.Param[0].ToString() + " " + (((float)(int)e.Param[1]) / 100).ToString());
break;
case "chMap":
ChannelMappingData chMapData = (ChannelMappingData)e.Param[1];
string dataStr = "chMap " + e.Param[0] + " ";
// modeIndex
dataStr += cboMappingMode.SelectedIndex.ToString() + " ";
if ((string)e.Param[0] == "upd" || (string)e.Param[0] == "ins")
{
// chMap ins <modeIndex> <ChMapType> <servo1>,<servo2>... <ch1>,<ch2>... <positionning>
// chMap upd <modeIndex> <ChMapType> <servo1>,<servo2>... <ch1>,<ch2>... <positionning> <chMapIndex>
// chMapType
dataStr += ((int)chMapData.Type).ToString() + " ";
// Servos
for (int i = 0; i < chMapData.ServoIndices.Length; i++)
{
if (i > 0)
{
dataStr += ",";
}
dataStr += chMapData.ServoIndices[i].ToString();
}
dataStr += " ";
// Channels
for (int i = 0; i < chMapData.ChannelIndices.Length; i++)
{
if (i > 0)
{
dataStr += ",";
}
dataStr += chMapData.ChannelIndices[i].ToString();
}
dataStr += " ";
//Positionning
dataStr += ((int)chMapData.Positionning).ToString() + " ";
// chMapIndex
if ((string)e.Param[0] == "upd")
{
dataStr += chMapData.chMapIndex.ToString();
}
// Build params string
if (chMapData.Type == MappingType.IK)
{
// chMap setParams <modeIndex> <chMapIndex> <param1>,<param2>...
string paramsStr = "chMap setParams ";
// modeIndex
paramsStr += cboMappingMode.SelectedIndex.ToString() + " ";
// chMapIndex
paramsStr += chMapData.chMapIndex.ToString() + " ";
// Params
for (int i = 0; i < chMapData.Params.Length; i++)
{
if (i > 0)
{
paramsStr += ",";
}
paramsStr += chMapData.Params[i].ToString();
}
commandList.Add(paramsStr);
}
sendData(dataStr);
CreatingChMap = false;
}
else if ((string)e.Param[0] == "del")
{
if (!chMapData.IsNew)
{
BuildchannelMapControls(false);
dataStr += chMapData.chMapIndex.ToString();
sendData(dataStr);
}
//panelChannelMap.Controls.RemoveAt(chMapData.chMapIndex);
}
break;
}
}
public ChMapTypeChangedEventArgs(ChannelMappingData chMapData)
{
this.chMapData = chMapData;
}