public MeasureLine(uint line, int process)
{
this.mLineBeginn = line;
this.mProcess = process;
this.mLineEnd = 0;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = MeasurePos.Left;
this.mCapStyle = CapStyle.Inner;
}
public MeasureEnd(uint fileLine, string name, uint line, int process, MeasurePos placement)
{
this.mName = name;
this.mLine = line;
this.mProcess = process;
this.mInitialHeight = 10;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = placement;
this.mCapStyle = CapStyle.Inner;
this.mFileLine = fileLine;
}
public MeasureEnd(uint fileLine, uint line, int process)
{
this.mName = "";
this.mLine = line;
this.mProcess = process;
this.mInitialHeight = 10;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = MeasurePos.Left;
this.mCapStyle = CapStyle.Inner;
this.mFileLine = fileLine;
}
public MeasureStop(uint fileLine, string gate, uint line, int process)
{
this.mName = "";
this.mLine = line;
this.mProcess = process;
this.mGate = gate;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = MeasurePos.Left;
this.mCapStyle = CapStyle.Inner;
this.mFileLine = fileLine;
}
public MeasureStart(uint fileLine, string name, string gate, uint line, int process, MeasurePos placement, CapStyle style)
{
this.mName = name;
this.mLine = line;
this.mProcess = process;
this.mGate = gate;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = placement;
this.mCapStyle = style;
this.mFileLine = fileLine;
}
public MeasureBeginn(uint fileLine, string name, uint line, int process)
{
this.mName = name;
this.mLine = line;
this.mProcess = process;
this.mInitialHeight = 10; //SDL layout
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = MeasurePos.Left;
this.mCapStyle = CapStyle.Inner;
this.mFileLine = fileLine;
}
public static void RepertoryImage(Graphics drawDestination, MeasurePos pos, CapStyle style)
{
float[] pattern = {4f,4f};
Pen rPen = new Pen(Color.Black);
PointF[] capPolygon = new PointF[3];
StringFormat itemStringFormat = new StringFormat();
rPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
rPen.DashPattern = pattern;
if (pos == MeasurePos.Left){
itemStringFormat.Alignment = StringAlignment.Near;
itemStringFormat.LineAlignment = StringAlignment.Far;
drawDestination.DrawLine(Pens.DarkGray,70,5,70,75);
if (style == CapStyle.Inner){
RectangleF itemBox = new RectangleF(21, 50, 49, 10);
drawDestination.DrawLine(rPen,10,60,70,60);
capPolygon[0] = new PointF(15, 59);
capPolygon[1] = new PointF(10, 54);
capPolygon[2] = new PointF(20, 54);
drawDestination.DrawPolygon(Pens.Black,capPolygon);
drawDestination.DrawLine(rPen,15,40,15,54);
drawDestination.DrawEllipse(Pens.Black, new RectangleF(10,30,10,10));
drawDestination.DrawString("Measure",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
itemBox = new RectangleF(22, 30, 48, 10);
drawDestination.DrawString("g",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
}
else{
RectangleF itemBox = new RectangleF(21, 50, 49, 10);
drawDestination.DrawLine(rPen,10,60,70,60);
capPolygon[0] = new PointF(15, 61);
capPolygon[1] = new PointF(10, 66);
capPolygon[2] = new PointF(20, 66);
drawDestination.DrawPolygon(Pens.Black,capPolygon);
drawDestination.DrawLine(rPen,15,40,15,60);
drawDestination.DrawEllipse(Pens.Black, new RectangleF(10,30,10,10));
drawDestination.DrawString("Measure",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
itemBox = new RectangleF(22, 30, 48, 10);
drawDestination.DrawString("g",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
}
}
else{
itemStringFormat.Alignment = StringAlignment.Near;
itemStringFormat.LineAlignment = StringAlignment.Far;
drawDestination.DrawLine(Pens.DarkGray,10,5,10,75);
if (style == CapStyle.Inner){
RectangleF itemBox = new RectangleF(10, 50, 50, 10);
drawDestination.DrawLine(rPen,10,60,70,60);
capPolygon[0] = new PointF(65, 59);
capPolygon[1] = new PointF(70, 54);
capPolygon[2] = new PointF(60, 54);
drawDestination.DrawPolygon(Pens.Black,capPolygon);
drawDestination.DrawLine(rPen,65,40,65,54);
drawDestination.DrawEllipse(Pens.Black, new RectangleF(60,30,10,10));
drawDestination.DrawString("Measure",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
itemStringFormat.Alignment = StringAlignment.Far;
itemBox = new RectangleF(20, 30, 40, 10);
drawDestination.DrawString("g",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
}
else{
RectangleF itemBox = new RectangleF(10, 50, 50, 10);
drawDestination.DrawLine(rPen,10,60,70,60);
capPolygon[0] = new PointF(65, 61);
capPolygon[1] = new PointF(70, 66);
capPolygon[2] = new PointF(60, 66);
drawDestination.DrawPolygon(Pens.Black,capPolygon);
drawDestination.DrawLine(rPen,65,40,65,60);
drawDestination.DrawEllipse(Pens.Black, new RectangleF(60,30,10,10));
drawDestination.DrawString("Measure",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
itemStringFormat.Alignment = StringAlignment.Far;
itemBox = new RectangleF(20, 30, 40, 10);
drawDestination.DrawString("g",new Font("Arial",8),Brushes.Black,itemBox,itemStringFormat);
}
}
rPen.Dispose();
itemStringFormat.Dispose();
}
public InterpretResult addMeasureStop(uint fileLine, string processName, uint line, string gate, string name, MeasurePos placement)
{
Process process;
IEnumerator enumerator = processes.GetEnumerator();
bool instanceFound = false;
for(int i=0;i<processes.Count;i++){
enumerator.MoveNext();
process = (Process) enumerator.Current;
if(process.ProcessName == processName){
items.Add(new MeasureStop(fileLine, name, gate, line, i,placement));
instanceFound = true;
break;
}
}
if (instanceFound==false)
return InterpretResult.InstanceNotFound;
mLines = Math.Max(mLines, line);
return InterpretResult.Ok;
}
public InterpretResult addMeasureLineBeginn(uint fileLine, uint line, int process, MeasurePos placement, CapStyle style)
{
if (process >= processes.Count)
return InterpretResult.InstanceNotFound;
IEnumerator enumerator = lines.GetEnumerator();
for(uint i=0;i<lines.Count;i++){
enumerator.MoveNext();
if ( enumerator.Current is MeasureLine)
if((((MeasureLine) enumerator.Current).LineEnd==0)&&(((MeasureLine) enumerator.Current).Process == process)) return InterpretResult.LineAllreadyExists;
}
lines.Add(new MeasureLine(line+1, style, process, placement));
return InterpretResult.Ok;
}
public MainWindow()
{
InitializeComponent();
log = new LogWindow();
motor = new MotorDriver[2];
motor[0] = new MotorDriver();
motor[1] = new MotorDriver();
sensor = new SensorBoard();
joystick = new Joystick();
controller = new Controller();
light = new Light();
camera = new CameraUsb[2];
camera[0] = new CameraUsb();
camera[1] = new CameraUsb();
ranking = new RankingControl();
ranking.SetLog(log);
// パラメータ読み込み ------------------------------------------------------------
BtnLoadParam_Click(null, null);
// --------------------------------------------------
// カメラ画像にダミーを表示
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.GetEntryAssembly();
string[] SplPath = myAssembly.Location.Split('\\');
SplPath[SplPath.Length - 1] = "bird3.jpg";
string path = string.Join("\\", SplPath);
BitmapImage bi = new BitmapImage();
bi.BeginInit();
bi.UriSource = new Uri(path, UriKind.Absolute);
bi.EndInit();
image1.Source = bi;
image2.Source = bi;
// --------------------------------------------------
// メーター表示
//meters.Background = System.Windows.Media.Brushes.Black.Clone();
//meters.Background.Opacity = 0.5;
float PwmVal(int n)
{
int i = meter_select[n];
int k = i / 3;
int j = i % 3;
return((float)((motor[k].mode[j] == 0) ? motor[k].pwm_ref[j] : motor[k].pwm[j]) / (float)(motor[k].pwmMax));
}
float VelVal(int n)
{
int i = meter_select[n];
int k = i / 3;
int j = i % 3;
return((float)((motor[k].mode[j] == 0) ? vel[i] : motor[k].vel_ref[j]) / (float)(motor[k].velMax));
}
float PosVal(int n)
{
int i = meter_select[n];
int k = i / 3;
int j = i % 3;
return(motor[k].pos[j]);
}
meters.UpdateDisplayLayout(
new MeasureObj[] {
new MeasurePercent(new GetRealValue(delegate() { return(PwmVal(0)); })),
new MeasurePercent(new GetRealValue(delegate() { return(PwmVal(1)); })),
new MeasurePercent(new GetRealValue(delegate() { return(PwmVal(2)); })),
new MeasurePercent(new GetRealValue(delegate() { return(VelVal(0)); })),
new MeasurePercent(new GetRealValue(delegate() { return(VelVal(1)); })),
new MeasurePercent(new GetRealValue(delegate() { return(VelVal(2)); })),
mpos1 = new MeasurePos(new GetRealValue(delegate() { return(PosVal(0)); })),
mpos2 = new MeasurePos(new GetRealValue(delegate() { return(PosVal(1)); })),
mpos3 = new MeasurePos(new GetRealValue(delegate() { return(PosVal(2)); })),
new MeasurePercent(new GetRealValue(delegate() { return((float)(sensor.pot[0] / (float)(sensor.potMax))); })),
null,
null
});
for (int i = 0; i < meters.meter_controls.Length; i++)
{
if (meters.meter_controls[i] != null)
{
meters.meter_controls[i].ThresholdScaleLen = 0.0f; // スケールは表示しない
if (i < 6)
{
SetMeterLimitsSigned(i, true, -0.85f, true, 0.85f);
}
else
{
SetMeterLimitsUnsigned(i, true, 0.10f, true, 0.90f);
}
}
}
#if false
string[] titles = new string[] { "+ X", "- X", "+ Y", "- Y", "+ Z", "- Z" };
for (int i = 0; i < titles.Length; i++)
{
meters.labels[i].Content = titles[i];
}
#endif
foreach (Label label in meters.labels)
{
label.Visibility = Visibility.Hidden;
}
// --------------------------------------------------
//// 操作卓のLEDボタン機能の割り当てはここで行う
controller.PushButtons = new EnableButton[] { BtnRegister };
controller.SyncButtons = new EnableButton[] { null, BtnPause, null, BtnStart, null, null, BtnHalt, null, null, null };
OnMotorChanged();
// 初期自動接続
BtnJoystick.Enabled = true;
BtnMotor1.Enabled = true;
BtnMotor2.Enabled = true;
BtnSensor.Enabled = true;
//BtnCtrl.Enabled = true;
BtnLight.Enabled = true;
BtnDispRank.Enabled = true;
BtnDispAzim.Enabled = true;
// インターバルタイマ
DispatcherTimer dispatcherTimer = new DispatcherTimer(DispatcherPriority.Normal);
dispatcherTimer.Interval = new TimeSpan(0, 0, 0, 0, param.UpdateInterval); // in milliseconds
dispatcherTimer.Tick += new EventHandler(dispatcherTimer_Tick);
dispatcherTimer.Start();
}
public MeasureLine(uint line, CapStyle style, int process, MeasurePos placement)
{
this.mLineBeginn = line;
this.mProcess = process;
this.mLineEnd = 0;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = placement;
this.mCapStyle = style;
}
public MeasureEnd(uint fileLine, uint line, int process, MeasurePos placement, CapStyle style)
{
this.mName = "";
this.mLine = line;
this.mProcess = process;
this.mInitialHeight = 10;
this.mItemPen = new Pen(Color.Black, 1);
this.mPos = placement;
this.mCapStyle = style;
this.mFileLine = fileLine;
}
