private void saveButton_Click(object sender, EventArgs e)
{
RobotSensor addedSensor;
try
{
addedSensor = new RobotSensor(sensorTypeOptions[typeBox.SelectedIndex]);
}
catch
{
MessageBox.Show("Please select a sensor type.");
return;
}
//Doesn't save if numbers aren't entered correctly.
addedSensor.portA = (int)this.PortANumericUpDown.Value;
addedSensor.portB = (int)this.PortBNumericUpDown.Value;
addedSensor.conversionFactor = (double)this.ConversionNumericUpDown.Value;
if (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count)
{
joint.attachedSensors[sourceIndex] = addedSensor;
}
else
{
joint.attachedSensors.Add(addedSensor);
}
Close();
}
public static RobotSensor ReadSensorFully(BinaryReader reader)
{
RobotSensor sensor = new RobotSensor(RobotSensorType.LIMIT);
sensor.ReadBinaryData(reader);
return(sensor);
}
private void saveButton_Click(object sender, EventArgs e)
{
RobotSensor addedSensor;
try
{
addedSensor = new RobotSensor(sensorTypeOptions[typeBox.SelectedIndex]);
}
catch
{
MessageBox.Show("Please select a sensor type.");
return;
}
//Doesn't save if numbers aren't entered correctly.
try
{
addedSensor.module = Convert.ToInt16(moduleTextBox.Text);
addedSensor.port = Convert.ToInt16(portTextBox.Text);
}
catch
{
MessageBox.Show("Enter an integer for the module and port numbers.");
return;
}
///Gets all of the entered polynomial coefficients, seperating by commas.
string[] coefficients = coefficentTextBox.Text.Split(',');
float[] polyCoeff = new float[coefficients.Length];
for (int i = 0; i < coefficients.Length; i++)
{
///Stores the coefficents from left to right. The coefficient of the lowest power is at index 0.
try
{
polyCoeff[coefficients.Length - 1 - i] = Convert.ToSingle(coefficients[i]);
}
catch
{
MessageBox.Show("For coefficients, enter only numbers followed by commas.");
return;
}
}
addedSensor.equation = new Polynomial(polyCoeff);
addedSensor.useSecondarySource = secondaryBox.Checked;
if (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count)
{
joint.attachedSensors[sourceIndex] = addedSensor;
}
else
{
joint.attachedSensors.Add(addedSensor);
}
Close();
}
public JointSensorEditorForm(SkeletalJoint_Base passJoint, int sourceIndex = -1)
{
InitializeComponent();
AnalyticsUtils.LogPage("Advanced Joint Editor / Sensor List", "Sensor Editor");
this.sourceIndex = sourceIndex;
joint = passJoint;
typeBox.Items.Clear();
sensorTypeOptions = RobotSensor.GetAllowedSensors(joint);
foreach (RobotSensorType sensorType in sensorTypeOptions)
{
typeBox.Items.Add(char.ToUpper(Enum.GetName(typeof(RobotSensorType), sensorType).Replace('_', ' ')[0])
+ Enum.GetName(typeof(RobotSensorType), sensorType).Replace('_', ' ').Substring(1).ToLower());
}
Console.WriteLine(sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count);
base.Text = (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count) ? ("Editing Sensor # " + sourceIndex) : "New Sensor";
if (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count)
{
RobotSensor sensor = joint.attachedSensors[sourceIndex];
typeBox.SelectedIndex = Array.IndexOf(sensorTypeOptions, sensor.type);
PortANumericUpDown.Value = (decimal)sensor.portA;
PortBNumericUpDown.Value = (decimal)sensor.portB;
ConversionNumericUpDown.Value = (decimal)sensor.conversionFactor;
}
switch (joint.GetJointType())
{
case SkeletalJointType.ROTATIONAL:
this.ConversionLbl.Text = "Counts Per Rev";
break;
case SkeletalJointType.LINEAR:
this.ConversionLbl.Text = "Counts Per Inch";
break;
case SkeletalJointType.CYLINDRICAL:
this.ConversionLbl.Text = "Counts Per Rev";
break;
}
if (typeBox.SelectedIndex == 0)
{
this.PortALbl.Enabled = true;
this.PortANumericUpDown.Enabled = true;
this.PortBLbl.Visible = true;
this.PortBNumericUpDown.Visible = true;
this.ConversionLbl.Visible = true;
this.ConversionNumericUpDown.Visible = true;
}
else
{
this.PortALbl.Enabled = false;
this.PortANumericUpDown.Enabled = false;
this.PortBLbl.Visible = false;
this.PortBNumericUpDown.Visible = false;
this.ConversionLbl.Visible = false;
this.ConversionNumericUpDown.Visible = false;
}
}
/// <summary>
/// Used for writing the data from a RobotSensor.
/// </summary>
/// <param name="sensor"></param>
/// <param name="writer"></param>
private static void WriteRobotSensor(RobotSensor sensor, XmlWriter writer)
{
writer.WriteStartElement("RobotSensor");
writer.WriteElementString("SensorType", sensor.type.ToString());
writer.WriteElementString("SensorModule", sensor.module.ToString());
writer.WriteElementString("SensorPort", sensor.port.ToString());
WritePolynomial(sensor.equation, writer);
writer.WriteElementString("UseSecondarySource", sensor.useSecondarySource.ToString().ToLower());
writer.WriteEndElement();
}
/// <summary>
/// Used for writing the data from a RobotSensor.
/// </summary>
/// <param name="sensor"></param>
/// <param name="writer"></param>
private static void WriteRobotSensor(RobotSensor sensor, XmlWriter writer)
{
writer.WriteStartElement("RobotSensor");
writer.WriteElementString("SensorType", sensor.type.ToString());
writer.WriteElementString("SensorPortNumberA", sensor.portA.ToString());
writer.WriteElementString("SensorSignalTypeA", sensor.conTypePortA.ToString());
writer.WriteElementString("SensorPortNumberB", sensor.portB.ToString());
writer.WriteElementString("SensorSignalTypeB", sensor.conTypePortB.ToString());
writer.WriteElementString("SensorConversionFactor", sensor.conversionFactor.ToString());
writer.WriteEndElement();
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_4_2(XmlReader reader)
{
RobotSensor robotSensor = null;
//throw (new Exception("Reading thing"));
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorPortNumberA":
// Assign a value to the 1st port.
robotSensor.portA = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeA":
// Assign a value to the 2nd port.
robotSensor.conTypePortA = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorPortNumberB":
// Assign a port type to the 1st port
robotSensor.portB = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeB":
// Assign a port type to the 1st port
robotSensor.conTypePortB = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorConversionFactor":
// assings the generic conversion facter, this is a different type/ unit for every robot (CPR in encoders)
robotSensor.conversionFactor = double.Parse(reader.ReadElementContentAsString());
if (robotSensor.conversionFactor == 0)
{
robotSensor.conversionFactor = 1;
}
break;
}
}
return(robotSensor);
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_5_0(XmlReader reader)
{
RobotSensor robotSensor = null;
//throw (new Exception("Reading thing"));
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorPortNumberA":
// Assign a value to the port.
robotSensor.portA = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeA":
// Assign a value to the port.
robotSensor.conTypePortA = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorPortNumberB":
// Assign a value to the port.
robotSensor.portB = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeB":
// Assign a value to the port.
robotSensor.conTypePortB = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorConversionFactor":
// Assign a value to useSecondarySource.
robotSensor.conversionFactor = double.Parse(reader.ReadElementContentAsString());
if (robotSensor.conversionFactor == 0)
{
robotSensor.conversionFactor = 1;
}
break;
}
}
return(robotSensor);
}
public EditSensorForm(SkeletalJoint_Base passJoint, int sourceIndex = -1)
{
InitializeComponent();
this.sourceIndex = sourceIndex;
joint = passJoint;
typeBox.Items.Clear();
sensorTypeOptions = RobotSensor.GetAllowedSensors(joint);
foreach (RobotSensorType sensorType in sensorTypeOptions)
{
typeBox.Items.Add(Enum.GetName(typeof(RobotSensorType), sensorType).Replace('_', ' ').ToLowerInvariant());
}
Console.WriteLine(sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count);
base.Text = (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count) ? ("Editing Sensor # " + sourceIndex) : "New Sensor";
if (sourceIndex >= 0 && sourceIndex < joint.attachedSensors.Count)
{
RobotSensor sensor = joint.attachedSensors[sourceIndex];
typeBox.SelectedIndex = Array.IndexOf(sensorTypeOptions, sensor.type);
portTextBox.Text = Convert.ToString(sensor.port);
moduleTextBox.Text = Convert.ToString(sensor.module);
secondaryBox.Checked = sensor.useSecondarySource;
{
StringBuilder coeffTxt = new StringBuilder();
for (int i = sensor.equation.coeff.Length - 1; i >= 0; i--)
{
coeffTxt.Append(sensor.equation.coeff[i]);
if (i > 0)
{
coeffTxt.Append(",");
}
}
coefficentTextBox.Text = coeffTxt.ToString();
coefficentTextBox_TextChanged(null, null);
}
}
///Only applies to cylindrical joints. True use secondary means to use the linear component rather than rotation.
if (joint.GetJointType() == SkeletalJointType.CYLINDRICAL)
{
secondaryBox.Visible = true;
}
FormClosing += delegate(object sender, FormClosingEventArgs e) { LegacyInterchange.LegacyEvents.OnRobotModified(); };
}
/// <summary>
/// Reads the backing information for this joint from the input stream.
/// </summary>
/// <param name="reader">Input stream</param>
public void ReadBinaryJoint(System.IO.BinaryReader reader)
{
// ID is already read
ReadBinaryJointInternal(reader);
if (reader.ReadBoolean())
{
cDriver = new JointDriver(JointDriverType.MOTOR);
cDriver.ReadBinaryData(reader);
}
else
{
cDriver = null;
}
int sensorCount = reader.ReadInt32();
attachedSensors = new List <RobotSensor>(sensorCount);
for (int i = 0; i < sensorCount; i++)
{
attachedSensors.Add(RobotSensor.ReadSensorFully(reader));
}
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_3_0(XmlReader reader)
{
RobotSensor robotSensor = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorModule":
// Assign a value to the module.
short m = (short)reader.ReadElementContentAsInt();
break;
case "SensorPort":
// Assign a value to the port.
short s = (short)reader.ReadElementContentAsInt();
break;
case "Polynomial":
// Create a polynomial and assign it to the equation.
Polynomial e = ReadPolynomial_3_0(reader.ReadSubtree());
break;
case "UseSecondarySource":
// Assign a value to useSecondarySource.
reader.ReadElementContentAsBoolean();
break;
}
}
return(robotSensor);
}
/// <summary>
/// Compares two sensors, returns true if all fields are identical.
/// </summary>
/// <param name="otherSensor"></param>
public bool Equals(RobotSensor otherSensor)
{
return(module == otherSensor.module && port == otherSensor.port); // Other fields are not important for equivalancy
}
/// <summary>
/// Recursive utility for JointDataLoad.
/// </summary>
/// <param name="propertySets">Group of property sets to add any new property sets to.</param>
/// <param name="currentNode">Current node to save joint data of.</param>
/// <returns>True if all data was loaded successfully.</returns>
private static bool LoadJointData(PropertySets propertySets, RigidNode_Base currentNode)
{
var allSuccessful = true;
foreach (var connection in currentNode.Children)
{
var joint = connection.Key;
var child = connection.Value;
// Name of the property set in inventor
var setName = "bxd-jointdata-" + child.GetModelID();
// Attempt to open the property set
var propertySet = InventorDocumentIOUtils.GetPropertySet(propertySets, setName, false);
// If the property set does not exist, stop loading data
if (propertySet == null)
{
return(false);
}
joint.weight = InventorDocumentIOUtils.GetProperty(propertySet, "weight", 10);
// Get joint properties from set
// Get driver information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-driver", false))
{
if (joint.cDriver == null)
{
joint.cDriver = new JointDriver((JointDriverType)InventorDocumentIOUtils.GetProperty(propertySet, "driver-type", (int)JointDriverType.MOTOR));
}
var driver = joint.cDriver;
joint.cDriver.motor = (MotorType)InventorDocumentIOUtils.GetProperty(propertySet, "motor-type", (int)MotorType.GENERIC);
joint.cDriver.port1 = InventorDocumentIOUtils.GetProperty(propertySet, "driver-port1", 0);
joint.cDriver.port2 = InventorDocumentIOUtils.GetProperty(propertySet, "driver-port2", -1);
joint.cDriver.isCan = InventorDocumentIOUtils.GetProperty(propertySet, "driver-isCan", false);
joint.cDriver.lowerLimit = InventorDocumentIOUtils.GetProperty(propertySet, "driver-lowerLimit", 0.0f);
joint.cDriver.upperLimit = InventorDocumentIOUtils.GetProperty(propertySet, "driver-upperLimit", 0.0f);
joint.cDriver.InputGear = InventorDocumentIOUtils.GetProperty(propertySet, "driver-inputGear", 0.0f); // writes the gearing that the user last had in the exporter to the current gearing value
joint.cDriver.OutputGear = InventorDocumentIOUtils.GetProperty(propertySet, "driver-outputGear", 0.0f); // writes the gearing that the user last had in the exporter to the current gearing value
joint.cDriver.hasBrake = InventorDocumentIOUtils.GetProperty(propertySet, "driver-hasBrake", false);
// Get other properties stored in meta
// Wheel information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-wheel", false))
{
if (driver.GetInfo <WheelDriverMeta>() == null)
{
driver.AddInfo(new WheelDriverMeta());
}
var wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
wheel.type = (WheelType)InventorDocumentIOUtils.GetProperty(propertySet, "wheel-type", (int)WheelType.NORMAL);
wheel.isDriveWheel = InventorDocumentIOUtils.GetProperty(propertySet, "wheel-isDriveWheel", false);
wheel.SetFrictionLevel((FrictionLevel)InventorDocumentIOUtils.GetProperty(propertySet, "wheel-frictionLevel", (int)FrictionLevel.MEDIUM));
}
// Pneumatic information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-pneumatic", false))
{
if (driver.GetInfo <PneumaticDriverMeta>() == null)
{
driver.AddInfo(new PneumaticDriverMeta());
}
var pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
pneumatic.width = InventorDocumentIOUtils.GetProperty(propertySet, "pneumatic-diameter", (double)0.5);
pneumatic.pressureEnum = (PneumaticPressure)InventorDocumentIOUtils.GetProperty(propertySet, "pneumatic-pressure", (int)PneumaticPressure.MEDIUM);
}
// Elevator information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-elevator", false))
{
if (driver.GetInfo <ElevatorDriverMeta>() == null)
{
driver.AddInfo(new ElevatorDriverMeta());
}
var elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
elevator.type = (ElevatorType)InventorDocumentIOUtils.GetProperty(propertySet, "elevator-type", (int)ElevatorType.NOT_MULTI);
if (((int)elevator.type) > 7)
{
elevator.type = ElevatorType.NOT_MULTI;
}
}
for (var i = 0; i < InventorDocumentIOUtils.GetProperty(propertySet, "num-sensors", 0); i++)
{
RobotSensor addedSensor;
addedSensor = new RobotSensor((RobotSensorType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorType" + i, (int)RobotSensorType.ENCODER));
addedSensor.portA = ((int)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortA" + i, 0));
addedSensor.portB = ((int)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortB" + i, 0));
addedSensor.conTypePortA = ((SensorConnectionType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortConA" + i, (int)SensorConnectionType.DIO));
addedSensor.conTypePortB = ((SensorConnectionType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortConB" + i, (int)SensorConnectionType.DIO));
addedSensor.conversionFactor = InventorDocumentIOUtils.GetProperty(propertySet, "sensorConversion" + i, 0.0);
joint.attachedSensors.Add(addedSensor);
}
}
// Recur along this child
if (!LoadJointData(propertySets, child))
{
allSuccessful = false;
}
}
// Save was successful
return(allSuccessful);
}
/// <summary>
/// Compares two sensors, returns true if all fields are identical.
/// </summary>
/// <param name="otherSensor"></param>
public bool Equals(RobotSensor otherSensor)
{
return(portA == otherSensor.portA && portB == otherSensor.portB && conversionFactor == otherSensor.conversionFactor); // Other fields are not important for equivalancy
}
