/// <summary>
/// Reads information from the Jrk and displays it in the textboxes.
/// </summary>
void DisplayStatus()
{
jrkVariables vars = jrk.getVariables();
TargetTextBox.Text = vars.target.ToString();
ScaledFeedbackTextBox.Text = vars.scaledFeedback.ToString();
}
static void Main()
{
List<DeviceListItem> list = Jrk.getConnectedDevices();
while(true) {
string line;
while((line=Console.ReadLine())!=null) {
string[] p = line.Split();
if(p.Length==1) {
ushort id = Convert.ToUInt16(p[0]);
if(id>=list.Count){Console.WriteLine(-1);continue;};
jrk = new Jrk(list[id]);
double current = 0.0;
for(int i=0; i<100; i++)
current += jrk.getVariables().current;
Console.WriteLine(current);
jrk.disconnect();
}
if(p.Length==2) {
ushort id = Convert.ToUInt16(p[0]);
if(id>=list.Count)continue;
ushort v = Convert.ToUInt16(Convert.ToDouble(p[1])*40.95);
if(v>4095)v=4095;
jrk = new Jrk(list[id]);
jrk.setTarget(v);
jrk.disconnect();
}
}
}
}
// Starts the motor
public static void startMotors()
{
if (NumOfConnectedJrks > 0)
{
UInt16 target = Jrk1.getVariables().target;
Jrk1.setTarget(target);
}
if (NumOfConnectedJrks > 1)
{
UInt16 target = Jrk2.getVariables().target;
Jrk2.setTarget(target);
}
if (NumOfConnectedJrks > 2)
{
UInt16 target = Jrk3.getVariables().target;
Jrk3.setTarget(target);
}
if (NumOfConnectedJrks > 3)
{
UInt16 target = Jrk4.getVariables().target;
Jrk4.setTarget(target);
}
}
// Pulls data from the devices and places it in the table created earlier.
public static void updateTable(DataGridView dataTable)
{
DataTable flippedStatusValues = new DataTable();
string period;
//
// PULLING DATA FROM MAESTRO
//
statusValues.Clear();
if (NumOfConnectedMaestros > 0)
{
usc.getVariables(out maestroVars, out stack, out call_stack, out servos);
errors = "";
foreach (var error in Enum.GetValues(typeof(uscError)))
{
if ((maestroVars.errors & (1 << (int)(uscError)error)) != 0)
{
errors += (error.ToString() + ", ");
}
}
//
//
// Need to add data information for other values, if needed
//
//
statusValues.Rows.Add("Maestro", usc.getSerialNumber(), errors, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
}
// Case for when there are no connected Maestros
else
{
statusValues.Rows.Add("Maestro", "No Maestros Found", "", -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
}
//
// PULLING DATA FROM JRK 1
//
if (Program.NumOfConnectedJrks > 0 && usc.servoCount > 0)
{
// Preparing Jrk data input
jrkVars = Jrk1.getVariables();
// Reading Jrk current
// Easier to store in a variable before sending to the table.
currentCalibrationForward = (Byte)Jrk1.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_FORWARD);
currentCalibrationReverse = (Byte)Jrk1.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_REVERSE);
current = currentToMilliamps(Jrk1, jrkVars.current, jrkVars.dutyCycle);
// Reading Jrk errors
// It's easier to store them all in one variable before sending to the table.
errors = "";
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
errors += "Awaiting command, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
errors += "No power, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
errors += "Motor driver error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
errors += "Input invalid, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
errors += "Input disconnect";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
errors += "Feedback disconnect, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
errors += "Max. current exceeded, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
errors += "Serial signal error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
errors += "Serial overrun, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
errors += "Serial RX buffer full, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
errors += "Serial CRC error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
errors += "Serial protocol error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
errors += "Serial timeout error, ";
}
period = servos[0].position * 0.25 + " microseconds";
//Setting up the table with values
statusValues.Rows.Add("Jrk", Jrk1.getSerialNumber(), errors, servos[0].position, period, jrkVars.target, jrkVars.scaledFeedback, jrkVars.feedback,
jrkVars.errorSum, jrkVars.dutyCycleTarget, jrkVars.dutyCycle, servos[0].speed, servos[0].acceleration, current);
}
else
{
statusValues.Rows.Add("Jrk", "No Jrks Found");
}
//
// PULLING DATA FROM JRK 2
//
if (Program.NumOfConnectedJrks > 1)
{
//Preparing Jrk data input
jrkVars = Jrk2.getVariables();
//Reading Jrk current
// Easier to store in a variable before sending to the table.
currentCalibrationForward = (Byte)Jrk2.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_FORWARD);
currentCalibrationReverse = (Byte)Jrk2.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_REVERSE);
current = currentToMilliamps(Jrk2, jrkVars.current, jrkVars.dutyCycle);
//Reading Jrk errors
// It's easier to store them all in one variable before sending to the table.
errors = "";
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
errors += "Awaiting command, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
errors += "No power, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
errors += "Motor driver error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
errors += "Input invalid, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
errors += "Input disconnect";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
errors += "Feedback disconnect, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
errors += "Max. current exceeded, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
errors += "Serial signal error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
errors += "Serial overrun, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
errors += "Serial RX buffer full, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
errors += "Serial CRC error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
errors += "Serial protocol error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
errors += "Serial timeout error, ";
}
period = servos[1].position * 0.25 + " microseconds";
//Setting up the table with values
statusValues.Rows.Add("Jrk", Jrk1.getSerialNumber(), errors, servos[1].position, period, jrkVars.target, jrkVars.scaledFeedback, jrkVars.feedback,
jrkVars.errorSum, jrkVars.dutyCycleTarget, jrkVars.dutyCycle, servos[1].speed, servos[1].acceleration, current);
}
//Future extension to more devices
/*
* if (Program.NumOfConnectedJrks > 2)
* {
* }
* if (Program.NumOfConnectedJrks > 3)
* {
* }
*/
flippedStatusValues.Columns.Add("");
string deviceTrack = "";
for (int i = 0; i < statusValues.Rows.Count; i++)
{
deviceTrack = "Device " + i;
flippedStatusValues.Columns.Add(deviceTrack);
}
for (int i = 0; i < statusValues.Columns.Count; i++)
{
DataRow newRow = flippedStatusValues.NewRow();
newRow[0] = statusValues.Columns[i].Caption;
for (int j = 0; j < statusValues.Rows.Count; j++)
{
newRow[j + 1] = statusValues.Rows[j][i];
}
flippedStatusValues.Rows.Add(newRow);
}
// Configuring the table to show the data
dataTable.DataSource = flippedStatusValues;
}
static void MainWithExceptions(string[] args)
{
// If no arguments are given, just show the help message.
if (args.Length == 0)
{
Console.Write(helpMessage());
Environment.Exit(2);
}
// Parse the arguments.
Dictionary <String, String> opts = new Dictionary <string, string>();
string name = null;
foreach (string rawArg in args)
{
string arg = rawArg;
// Transform the short names in to the long names.
switch (arg)
{
case "-l": arg = "--list"; break;
case "-d": arg = "--device"; break;
case "-s": arg = "--status"; break;
}
Match m = Regex.Match(arg, "^--(.*)");
if (m.Success)
{
name = m.Groups[1].ToString();
opts[name] = ""; // start it off with no string value
}
else if (name != null)
{
// This argument is right after a -- argument, so this argument
// is its value.
opts[name] = arg;
name = null;
}
else
{
throw new ArgumentException("Unexpected argument \"" + arg + "\".");
}
}
if (opts.ContainsKey("list"))
{
if (args.Length > 1)
{
throw new ArgumentException("If --list is present, it must be the only option.");
}
listDevices();
return;
}
// Otherwise, we have to connect to a device.
List <DeviceListItem> list = Jrk.getConnectedDevices();
// Make sure there is a device available..
if (list.Count == 0)
{
throw new Exception("No jrks found.");
}
DeviceListItem item = null;
if (!opts.ContainsKey("device"))
{
// No serial number specified: connect to the first item in the list.
item = list[0];
}
else
{
// Serial number specified.
// Remove the leading # sign. It is not standard to put it there,
// but if someone writes it, this program should still work.
string check_serial_number = opts["device"].TrimStart('#');
// Find the device with the specified serial number.
foreach (DeviceListItem check_item in list)
{
if (check_item.serialNumber == check_serial_number)
{
item = check_item;
break;
}
}
if (item == null)
{
throw new Exception("Could not find a jrk with serial number " + opts["device"] + ".\n" +
"To list devices, use the --list option.");
}
}
// Connect to the device.
jrk = new Jrk(item);
if (opts.ContainsKey("bootloader"))
{
jrk.startBootloader();
return;
}
if (opts.ContainsKey("restoredefaults"))
{
jrk.setJrkParameter(jrkParameter.PARAMETER_INITIALIZED, 0xFF);
jrk.reinitialize();
Thread.Sleep(1000);
}
if (opts.ContainsKey("configure"))
{
string filename = opts["configure"];
Stream stream = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(stream);
ConfigurationFile.load(sr, jrk);
sr.Close();
stream.Close();
jrk.reinitialize();
}
if (opts.ContainsKey("getconf"))
{
string filename = opts["getconf"];
Stream stream = File.Open(filename, FileMode.Create);
StreamWriter sw = new StreamWriter(stream);
ConfigurationFile.save(sw, jrk);
sw.Close();
stream.Close();
}
if (opts.ContainsKey("clearerrors"))
{
jrk.clearErrors();
}
if (opts.ContainsKey("target"))
{
UInt16 target = stringToU12(opts["target"]);
jrk.setTarget(target);
}
if (opts.ContainsKey("run"))
{
UInt16 target = jrk.getVariables().target;
jrk.setTarget(target);
}
if (opts.ContainsKey("stop"))
{
jrk.motorOff();
}
if (opts.ContainsKey("status"))
{
displayStatus(jrk);
}
if (opts.ContainsKey("stream"))
{
streamVariables(jrk, opts);
}
jrk.disconnect();
}
static void displayStatus(Jrk jrk)
{
Console.Write(
"Serial number: " + jrk.getSerialNumber() + "\n" +
"Firmware version: " + jrk.firmwareVersionString + "\n"
);
storeCurrentCalibration();
jrkVariables vars = jrk.getVariables();
Console.Write(
"Variables:\n" +
" Input: " + vars.input + "\n" +
" Target: " + vars.target + "\n" +
" Feedback: " + vars.feedback + "\n" +
" Scaled feedback: " + vars.scaledFeedback + "\n" +
" Error: " + (vars.scaledFeedback - vars.target) + "\n" +
" Integral: " + vars.errorSum + "\n" +
" Duty cycle target: " + vars.dutyCycleTarget + "\n" +
" Duty cycle: " + vars.dutyCycle + "\n" +
" Current (mA): " + currentToMilliamps(vars.current, vars.dutyCycle) + "\n"
);
if (vars.errorFlagBits == 0)
{
Console.WriteLine("No errors.");
}
else
{
Console.WriteLine("Errors:");
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
Console.WriteLine(" Awaiting command");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
Console.WriteLine(" No power");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
Console.WriteLine(" Motor driver error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
Console.WriteLine(" Input invalid");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
Console.WriteLine(" Input disconnect");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
Console.WriteLine(" Feedback disconnect");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
Console.WriteLine(" Max. current exceeded");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
Console.WriteLine(" Serial signal error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
Console.WriteLine(" Serial overrun");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
Console.WriteLine(" Serial RX buffer full");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
Console.WriteLine(" Serial CRC error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
Console.WriteLine(" Serial protocol error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
Console.WriteLine(" Serial timeout error");
}
};
}
static void streamVariables(Jrk jrk, Dictionary <String, String> opts)
{
// Determine what interval to use (the time between each reading).
int interval = 20;
if (opts.ContainsKey("interval"))
{
try
{
interval = int.Parse(opts["interval"]);
if (interval < 0)
{
throw new Exception("Value must be a non-negative whole number.");
}
}
catch (Exception exception)
{
throw new Exception("Invalid interval parameter \"" + opts["interval"] + "\".", exception);
}
}
// Determine the output format.
if (opts.ContainsKey("format"))
{
// The user specified the format string completely.
streamFormat = opts["format"].Replace("\\t", "\t");
}
else
{
string separator = ",";
if (opts.ContainsKey("separator"))
{
// The user just specified the separator
separator = opts["separator"];
switch (separator)
{
case "space": separator = " "; break;
case "\\t":
case "tab": separator = "\t"; break;
case "comma": separator = ","; break;
}
}
if (separator == "\t")
{
// If the separator is a tab, then we don't need to have padding spaced.
streamFormat = "{0}\t{1}\t{2}\t{3}\t{4}\t{5}\t{6}\t{7}\t{8}\t{9}\t{10}";
}
else
{
// If the separator is something else, then we want padding to make each
// field be a fixed width.
streamFormat = "{0,6}" + separator +
"{1,6}" + separator +
"{2,4}" + separator +
"{3,4}" + separator +
"{4,4}" + separator +
"{5,4}" + separator +
"{6,6}" + separator +
"{7,6}" + separator +
"{8,4}" + separator +
"{9,6}" + separator +
"{10,4}";
}
}
// Determine the limit.
if (opts.ContainsKey("limit"))
{
try
{
streamLineCountLimit = UInt32.Parse(opts["limit"]);
}
catch (Exception exception)
{
throw new Exception("Invalid limit parameter \"" + opts["limit"] + "\".", exception);
}
}
// Print the header line if the user wanted it
if (!opts.ContainsKey("noheader"))
{
Console.WriteLine(streamFormat,
"Time (ms)",
"PID Period Count",
"Input",
"Target",
"Feedback",
"Scaled feedback",
"Integral",
"Duty cycle target",
"Duty cycle",
"Current (mA)",
"Error code",
"PID period exceeded");
}
// Prepare to process the current readings the Jrk will be sending us.
storeCurrentCalibration();
if (interval == 0)
{
// Interval is zero so the user just wants the data as fast as possible.
while (true)
{
streamPrintReading(DateTime.Now, jrk.getVariables());
}
}
else
{
// The three timer classes provided by the .NET framework do not
// provide accurate timing so instead we poll DateTime.Now.
// This takes more CPU power than the timer method, but we try
// to minimize the CPU use by sleeping between readings.
DateTime now = DateTime.Now;
DateTime nextUpdateTime = now;
while (true)
{
if (nextUpdateTime <= now)
{
// Get the reading from the Jrk over USB (should take about .2 ms).
jrkVariables vars = jrk.getVariables();
streamPrintReading(now, vars);
while (nextUpdateTime <= DateTime.Now)
{
nextUpdateTime = nextUpdateTime.AddMilliseconds(interval);
}
// Conserve CPU power by sleeping
if (interval > 4 && !opts.ContainsKey("nosleep"))
{
Thread.Sleep(interval - 4);
}
}
now = DateTime.Now;
}
}
}
