private void connect()
{
controller = JeromeController.create(currentConnection.jeromeParams);
if (currentTemplate.uartEncoder)
{
controller.usartBytesReceived += usartBytesReceived;
}
controller.onDisconnected += onDisconnect;
controller.onConnected += onConnect;
controller.usartBinaryMode = true;
if (currentConnection.hwLimits)
{
controller.lineStateChanged += lineStateChanged;
}
controller.asyncConnect();
updateGUI(
delegate()
{
connectionsDropdown = new ToolStripMenuItem[miConnections.DropDownItems.Count];
miConnections.Text = "Отключиться";
miConnections.DropDownItems.CopyTo(connectionsDropdown, 0);
miConnections.DropDownItems.Clear();
Text = currentConnection.name + " идет соединение";
lCaption.Text = Text;
Icon = (Icon)Resources.ResourceManager.GetObject(CommonInf.icons[currentConnection.icon]);
});
}
private void rotate(int newTarget)
{
System.Diagnostics.Debug.WriteLine("Rotate to " + newTarget.ToString());
target = newTarget;
if (activeConnection.controller == null || !activeConnection.controller.connected || position == newTarget)
{
return;
}
if (rotateTask == null)
{
rotateTask = TaskEx.Run(async() =>
{
JeromeController controller = activeConnection.controller;
System.Diagnostics.Debug.WriteLine("start rotate to " + target.ToString());
blinkTimer.Change(1000, 1000);
controller.switchLine(controllerTemplate.enable, 0);
controller.switchLine(controllerTemplate.ptt, 1);
while (target != position && controller.connected)
{
int dir;
if (position == -1)
{
dir = target == buttonPositions[buttonPositions.Length - 1] ? 1 : -1;
}
else
{
dir = target < position ? -1 : 1;
}
controller.switchLine(controllerTemplate.dir, dir == -1 ? 0 : 1);
controller.switchLine(controllerTemplate.pulse, 1);
await TaskEx.Delay(5);
controller.switchLine(controllerTemplate.pulse, 0);
await TaskEx.Delay(5);
if (position != -1)
{
position += dir;
}
/*if (position == 0 || position == buttonPositions[buttonPositions.Count() - 1])
* {
* System.Diagnostics.Debug.WriteLine("Limit reached " + position.ToString());
* break;
* }*/
}
System.Diagnostics.Debug.WriteLine("Rotated to " + position.ToString());
controller.switchLine(controllerTemplate.pulse, 0);
controller.switchLine(controllerTemplate.enable, 1);
controller.switchLine(controllerTemplate.ptt, 0);
blinkTimer.Change(Timeout.Infinite, Timeout.Infinite);
clearRotateTask();
Invoke((MethodInvoker) delegate { lRotation.Visible = false; });
if (position != target)
{
rotate(target);
}
});
}
}
protected void connect(JeromeConnectionParams cp)
{
connections[cp].active = true;
connections[cp].controller = JeromeController.create(cp);
connections[cp].controller.onDisconnected += controllerDisconnected;
connections[cp].controller.onConnected += controllerConnected;
writeConfig();
connections[cp].controller.asyncConnect();
}
public FWX0B(JCAppContext _appContext, int __idx) : base(_appContext, __idx)
{
appContext = _appContext;
_idx = __idx;
InitializeComponent();
fStatus = new FWX0BStatus(this);
foreach (WX0BTerminalSwitchTemplate st in TerminalTemplate.switches)
{
switches[st] = new WX0BTerminalSwitch(st);
if (st.isDefault)
{
defaultSwitch = switches[st];
activeSwitch = switches[st];
}
}
defForeColor = cbConnectTerminal.ForeColor;
if (config.terminalConnectionParams == null)
{
config.terminalConnectionParams = new JeromeConnectionParams();
}
updateTerminalConnectionParamsCaption();
terminalJConnection = JeromeController.create(config.terminalConnectionParams);
terminalJConnection.onConnected += TerminalJControllerConnected;
terminalJConnection.onDisconnected += TerminalJControllerDisconnected;
terminalJConnection.lineStateChanged += TerminalJConnectionLineStateChanged;
foreach (WX0BControllerConfigEntry cConfig in config.controllers)
{
createController(cConfig);
}
if (config.terminalConnectionParams != null)
{
cbConnectTerminal.Enabled = true;
if (config.terminalActive)
{
//new System.Threading.Timer(new TimerCallback(x => connectTerminal()), null, 5000, Timeout.Infinite);*/
connectTerminal();
}
}
else
{
cbConnectTerminal.Enabled = false;
}
if (config.activeController != -1 && config.activeController < controllers.Count)
{
controllers[config.activeController].jConnection.asyncConnect();
}
else
{
setActiveController(-1);
}
if (config.statusOnly)
{
WindowState = FormWindowState.Minimized;
}
}
public void switchLine(JeromeController controller, int line, int state)
{
controller.switchLine(enLine, 0);
controller.switchLine(line, state);
//Thread.Sleep(1);
controller.switchLine(clkLine, 1);
//Thread.Sleep(1);
controller.switchLine(clkLine, 0);
controller.switchLine(enLine, 1);
}
protected void controllerConnected(object sender, EventArgs e)
{
bool senderFound = false;
KeyValuePair <JeromeConnectionParams, JeromeConnectionState> senderEntry =
connections.FirstOrDefault(x => x.Value.controller == sender && (senderFound = true));
if (!senderFound)
{
return;
}
JeromeConnectionParams cp = senderEntry.Key;
this.Invoke((MethodInvoker) delegate
{
connections[cp].watch = false;
menuControl[cp].Checked = true;
this.Text = cp.name;
updateButtonsMode();
});
JeromeController controller = connections[cp].controller;
string linesState = controller.readlines();
controller.setLineMode(controllerTemplate.dir, 0);
controller.setLineMode(controllerTemplate.pulse, 0);
controller.setLineMode(controllerTemplate.enable, 0);
controller.setLineMode(controllerTemplate.ptt, 0);
controller.switchLine(controllerTemplate.enable, 1);
controller.switchLine(controllerTemplate.pulse, 0);
controller.switchLine(controllerTemplate.ptt, 0);
for (int co = 0; co < controllerTemplate.relays.Length; co++)
{
controller.setLineMode(controllerTemplate.relays[co], 0);
controller.switchLine(controllerTemplate.relays[co], 0);
}
foreach (int line in controllerTemplate.limits.Values)
{
controller.setLineMode(line, 1);
}
controller.lineStateChanged += controllerLineStateChanged;
if (linesState[controllerTemplate.limits[-1] - 1] == '0')
{
limit = -1;
}
else if (linesState[controllerTemplate.limits[1] - 1] == '0')
{
limit = 1;
}
if (position == -1)
{
rotate(0);
}
}
private async void disconnect()
{
if (timeoutTimer != null)
{
timeoutTimer.Dispose();
timeoutTimer = null;
}
if (adcTimer != null)
{
adcTimer.Dispose();
adcTimer = null;
}
if (controller != null)
{
if (engineStatus != 0)
{
engine(0);
}
if (engineTask != null)
{
await engineTask;
engineTask.Dispose();
engineTask = null;
}
if (engineTaskActive)
{
clearEngineTask();
}
if (currentTemplate.ledLine != 0)
{
toggleLine(currentTemplate.ledLine, 0);
}
if (currentTemplate.uartEncoder)
{
controller.usartBytesReceived -= usartBytesReceived;
}
if (closingFl)
{
controller.onDisconnected -= onDisconnect;
}
controller.onConnected -= onConnect;
if (currentConnection.hwLimits)
{
controller.lineStateChanged -= lineStateChanged;
}
controller.disconnect();
controller = null;
}
}
protected void connect(JeromeConnectionParams cp)
{
foreach (JeromeConnectionParams c in connections.Keys)
{
if (connections[c].active)
{
disconnect(c);
menuControl[c].Checked = false;
}
}
connections[cp].active = true;
connections[cp].controller = JeromeController.create(cp);
connections[cp].controller.onDisconnected += controllerDisconnected;
connections[cp].controller.onConnected += controllerConnected;
writeConfig();
connections[cp].controller.asyncConnect();
activeConnection = connections[cp];
}
private void connect()
{
miConnections.Enabled = false;
if (controller == null)
{
controller = JeromeController.create(currentConnection.jeromeParams);
}
UseWaitCursor = true;
if (controller.connect())
{
miConnections.Text = "Отключиться";
controller.usartBinaryMode = true;
if (currentConnection.hwLimits)
{
controller.lineStateChanged += lineStateChanged;
}
controller.usartBytesReceived += usartBytesReceived;
controller.disconnected += onDisconnect;
connectionsDropdown = new ToolStripMenuItem[miConnections.DropDownItems.Count];
miConnections.DropDownItems.CopyTo(connectionsDropdown, 0);
miConnections.DropDownItems.Clear();
miConnectionGroups.Visible = false;
//miConnectionParams.Enabled = false;
setLine(currentTemplate.ledLine, 0);
foreach (int[] dir in currentTemplate.engineLines.Values)
{
foreach (int line in dir)
{
setLine(line, 0);
toggleLine(line, 0);
}
}
setLine(currentTemplate.uartTRLine, 0);
foreach (int line in currentTemplate.limitsLines.Values)
{
setLine(line, 1);
}
timer.Enabled = true;
miSetNorth.Visible = true;
miSetNorth.Enabled = true;
Text = currentConnection.name;
lCaption.Text = currentConnection.name;
if (currentConnectionGroup != null)
{
Text += " (" + currentConnectionGroup.name + ")";
}
Icon = (Icon)Resources.ResourceManager.GetObject(CommonInf.icons[currentConnection.icon]);
if (currentConnection.hwLimits)
{
string lines = controller.readlines();
foreach (KeyValuePair <int, int> kv in currentTemplate.limitsLines)
{
if (lines[kv.Value - 1] == '0')
{
onLimit(kv.Key);
}
}
}
else if (currentConnection.northAngle != -1)
{
currentConnection.limits = new Dictionary <int, int> {
{ 1, currentConnection.northAngle + 180 }, { -1, currentConnection.northAngle + 180 }
}
}
;
scheduleTimeoutTimer();
}
else
{
showMessage("Подключение не удалось", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
miConnections.Enabled = true;
UseWaitCursor = false;
}
public WX0BController(WX0BControllerConfigEntry _config)
{
config = _config;
jConnection = JeromeController.create(config.connectionParams);
}
