public string GetButtons(Sensors rsSensorPoll)
{
string value = null;
if (rsSensorPoll.Packet.Buttons.Clean)
{
value += " Clean";
}
if (rsSensorPoll.Packet.Buttons.Max)
{
value += " Max";
}
if (rsSensorPoll.Packet.Buttons.Home)
{
value += " Home";
}
if (rsSensorPoll.Packet.Buttons.Power)
{
value += " Power";
}
if (rsSensorPoll.Packet.Buttons.Spot)
{
value += " Spot";
}
return value;
}
public string GetOverCurrents(Sensors rsSensorPoll)
{
string value = null;
if (rsSensorPoll.Packet.OverCurrent.Left_Wheel)
{
value += " Left Wheel";
}
if (rsSensorPoll.Packet.OverCurrent.Right_Wheel)
{
value += " Right Wheel";
}
if (rsSensorPoll.Packet.OverCurrent.Side_Brush)
{
value += " Side Brush";
}
if (rsSensorPoll.Packet.OverCurrent.Main_Brush)
{
value += " Main Brush";
}
if (rsSensorPoll.Packet.OverCurrent.Vacuum)
{
value += " Vacuum";
}
return value;
}
public void ShowSyncBytes(Sensors rsCurrentSensorPoll)
{
if (this.chkShowSyncBytes.Checked)
{
try
{
this.lblSync0.Text = rsCurrentSensorPoll.Sync_Bytes[0].ToString();
this.lblSync1.Text = rsCurrentSensorPoll.Sync_Bytes[1].ToString();
this.lblSync2.Text = rsCurrentSensorPoll.Sync_Bytes[2].ToString();
this.lblSync3.Text = rsCurrentSensorPoll.Sync_Bytes[3].ToString();
this.lblSync4.Text = rsCurrentSensorPoll.Sync_Bytes[4].ToString();
this.lblSync5.Text = rsCurrentSensorPoll.Sync_Bytes[5].ToString();
this.lblSync6.Text = rsCurrentSensorPoll.Sync_Bytes[6].ToString();
this.lblSync7.Text = rsCurrentSensorPoll.Sync_Bytes[7].ToString();
this.lblSync8.Text = rsCurrentSensorPoll.Sync_Bytes[8].ToString();
this.lblSync9.Text = rsCurrentSensorPoll.Sync_Bytes[9].ToString();
this.lblSync10.Text = rsCurrentSensorPoll.Sync_Bytes[10].ToString();
this.lblSync11.Text = rsCurrentSensorPoll.Sync_Bytes[11].ToString();
this.lblSync12.Text = rsCurrentSensorPoll.Sync_Bytes[12].ToString();
this.lblSync13.Text = rsCurrentSensorPoll.Sync_Bytes[13].ToString();
this.lblSync14.Text = rsCurrentSensorPoll.Sync_Bytes[14].ToString();
this.lblSync15.Text = rsCurrentSensorPoll.Sync_Bytes[15].ToString();
this.lblSync16.Text = rsCurrentSensorPoll.Sync_Bytes[16].ToString();
this.lblSync17.Text = rsCurrentSensorPoll.Sync_Bytes[17].ToString();
this.lblSync18.Text = rsCurrentSensorPoll.Sync_Bytes[18].ToString();
this.lblSync19.Text = rsCurrentSensorPoll.Sync_Bytes[19].ToString();
this.lblSync20.Text = rsCurrentSensorPoll.Sync_Bytes[20].ToString();
this.lblSync21.Text = rsCurrentSensorPoll.Sync_Bytes[21].ToString();
this.lblSync22.Text = rsCurrentSensorPoll.Sync_Bytes[22].ToString();
this.lblSync23.Text = rsCurrentSensorPoll.Sync_Bytes[23].ToString();
this.lblSync24.Text = rsCurrentSensorPoll.Sync_Bytes[24].ToString();
this.lblSync25.Text = rsCurrentSensorPoll.Sync_Bytes[25].ToString();
}
catch
{
}
}
}
public string GetBumpsWheelDrops(Sensors rsSensorPoll)
{
string value = null;
if (rsSensorPoll.Packet.Bump.Left)
{
value += " B. Left";
}
if (rsSensorPoll.Packet.Bump.Right)
{
value += " B. Right";
}
if (rsSensorPoll.Packet.WheelDrop.Left)
{
value += " WD Left";
}
if (rsSensorPoll.Packet.WheelDrop.Right)
{
value += " WD Right";
}
if (rsSensorPoll.Packet.WheelDrop.Caster)
{
value += " WD Caster";
}
return value;
}
private void Check_If_Plugged_In(Sensors rsCurrentSensorPoll)
{
//Check sensors to see if current is negative.
//If it is, then disable the motor buttons & flash "Plugged In" in Bold Red in time with the sensor polls.
//If Roomba is charging, then flash that in Red as well, in time with the sensor polls.
//Program.UI.Started = false;
byte chargeState = rsCurrentSensorPoll.Packet.Charging_State;
this.PopulateChargeState(chargeState, rsCurrentSensorPoll);
Log.This(c_sChargeState + this.lblChargeState.Text + c_sVoltage + rsCurrentSensorPoll.Packet.Voltage.ToString() + c_sCurrent + rsCurrentSensorPoll.Packet.Current.ToString(),
this.Name, Program.UI.Config.Log.StartForm_Charging);
}
public void ShowRawBytes(Sensors rsCurrentSensorPoll)
{
if (rsCurrentSensorPoll.IsCurrent || this.chkIgnore_IsCurrent.Checked)
{
if (this.chkShowRawBytes.Checked)
{
try
{
if (rsCurrentSensorPoll.Raw_Bytes != null)
{
this.lblRaw0.Text = rsCurrentSensorPoll.Raw_Bytes[0].ToString();
this.lblRaw1.Text = rsCurrentSensorPoll.Raw_Bytes[1].ToString();
this.lblRaw2.Text = rsCurrentSensorPoll.Raw_Bytes[2].ToString();
this.lblRaw3.Text = rsCurrentSensorPoll.Raw_Bytes[3].ToString();
this.lblRaw4.Text = rsCurrentSensorPoll.Raw_Bytes[4].ToString();
this.lblRaw5.Text = rsCurrentSensorPoll.Raw_Bytes[5].ToString();
this.lblRaw6.Text = rsCurrentSensorPoll.Raw_Bytes[6].ToString();
this.lblRaw7.Text = rsCurrentSensorPoll.Raw_Bytes[7].ToString();
this.lblRaw8.Text = rsCurrentSensorPoll.Raw_Bytes[8].ToString();
this.lblRaw9.Text = rsCurrentSensorPoll.Raw_Bytes[9].ToString();
this.lblRaw10.Text = rsCurrentSensorPoll.Raw_Bytes[10].ToString();
this.lblRaw11.Text = rsCurrentSensorPoll.Raw_Bytes[11].ToString();
this.lblRaw12.Text = rsCurrentSensorPoll.Raw_Bytes[12].ToString();
this.lblRaw13.Text = rsCurrentSensorPoll.Raw_Bytes[13].ToString();
this.lblRaw14.Text = rsCurrentSensorPoll.Raw_Bytes[14].ToString();
this.lblRaw15.Text = rsCurrentSensorPoll.Raw_Bytes[15].ToString();
this.lblRaw16.Text = rsCurrentSensorPoll.Raw_Bytes[16].ToString();
this.lblRaw17.Text = rsCurrentSensorPoll.Raw_Bytes[17].ToString();
this.lblRaw18.Text = rsCurrentSensorPoll.Raw_Bytes[18].ToString();
this.lblRaw19.Text = rsCurrentSensorPoll.Raw_Bytes[19].ToString();
this.lblRaw20.Text = rsCurrentSensorPoll.Raw_Bytes[20].ToString();
this.lblRaw21.Text = rsCurrentSensorPoll.Raw_Bytes[21].ToString();
this.lblRaw22.Text = rsCurrentSensorPoll.Raw_Bytes[22].ToString();
this.lblRaw23.Text = rsCurrentSensorPoll.Raw_Bytes[23].ToString();
this.lblRaw24.Text = rsCurrentSensorPoll.Raw_Bytes[24].ToString();
this.lblRaw25.Text = rsCurrentSensorPoll.Raw_Bytes[25].ToString();
lblError.Text = null;
}
else
{
lblError.Text = "No Data";
}
}
catch (Exception ex)
{
lblError.Text = ex.Message;
}
}
}
else
{
lblError.Text = "No Data";
}
}
public void PopulateChargeState(byte byChargingState, Sensors rsCurrentSensorPoll)
{
bool bPluggedIn = false;
Application.DoEvents();
if (byChargingState == Charging_State.Not_Charging)
{
this.lblChargeState.Text = Charge_State_Description.Not_Charging;
bPluggedIn = false;
}
else if (byChargingState == Charging_State.Charging_Recovery)
{
this.lblChargeState.Text = Charge_State_Description.Charging_Recovery;
bPluggedIn = true;
}
else if (byChargingState == Charging_State.Charging)
{
//After you unplug Roomba, Roomba's OS still thinks it is charging, so you will continue to get this indicator.
//The best thing to do to reset things os to start & stop Roomba
this.lblChargeState.Text = Charge_State_Description.Charging;
bPluggedIn = true;
}
else if (byChargingState == Charging_State.Trickle_Charging)
{
this.lblChargeState.Text = Charge_State_Description.Trickle_Charging;
bPluggedIn = true;
}
else if (byChargingState == Charging_State.Waiting)
{
this.lblChargeState.Text = Charge_State_Description.Waiting;
bPluggedIn = true;
}
else if (byChargingState == Charging_State.Charging_Error)
{
this.lblChargeState.Text = Charge_State_Description.Charging_Error;
bPluggedIn = true;
}
else
{
this.lblChargeState.Text = "Error";
bPluggedIn = false;
}
this.PluggedIn(bPluggedIn);
if (rsCurrentSensorPoll.Packet.Current < 0)
{
this.lblChargeState.Text = Charge_State_Description.Plugged_In;
this.PluggedIn(true, true);
}
}
private void SetIsCurrentConnected(Sensors snRoomba)
{
this.toolTip1.SetToolTip(lblIsCurrent, null);
this.lblIsCurrent.Text = snRoomba.ParseTime.Ticks.ToString();
if (Program.UI.CurrentRoomba.New_State)
{
this.lblIsCurrent.BackColor = Color.Green;
}
else
{
this.lblIsCurrent.BackColor = Color.LightGreen;
}
this.toolTip1.SetToolTip(lblIsCurrent, snRoomba.LastUpdated.ToString());
this.lblLastCurrent.Text = snRoomba.LastUpdated.ToString();
}
//Populates all sensor indicators on the form from Roomba's Sensor structure
private void Show_SensorData(Sensors rsCurrentSensorPoll)
{
try
{
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Power, this.pPower);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Spot, this.pSpot);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Clean, this.pClean);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Max, this.pMax);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Home, this.pHome);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Cliff.Left, this.pCliffLeft);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Cliff.Right, this.pCliffRight);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Cliff.FrontLeft, this.pCliffFrontLeft);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Cliff.FrontRight, this.pCliffFrontRight);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Bump.Left, this.pBump_Left);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Bump.Right, this.pBump_Right);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.WheelDrop.Left, this.pWheelDrop_Left);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.WheelDrop.Right, this.pWheelDrop_Right);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.WheelDrop.Caster, this.pWheelDrop_Caster);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.OverCurrent.Left_Wheel, this.pDriveLeft_Overcurrent);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.OverCurrent.Right_Wheel, this.pDriveRight_OverCurrent);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.OverCurrent.Main_Brush, this.pMainBrush_Overcurrent);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.OverCurrent.Side_Brush, this.pSideBrush_Overcurrent);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.OverCurrent.Vacuum, this.pVacuum_OverCurrent);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Virtual_Wall, this.pVirtual_Wall);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Wall, this.pWallDetect);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Power, this.pPower);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Spot, this.pSpot);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Clean, this.pClean);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Max, this.pMax);
Program.UI.SetPictureBox(rsCurrentSensorPoll.Packet.Buttons.Home, this.pHome);
}
catch (Exception ex)
{
this.lblError.Text = ex.Message;
//Log.This(ex.Message + " " + MethodBase.GetCurrentMethod().ToString());
}
}
public void EnforceSafeMode(Sensors rsCurrentSensorPoll)
{
if ((rsCurrentSensorPoll.Packet.WheelDrop.Left ||
rsCurrentSensorPoll.Packet.WheelDrop.Caster ||
rsCurrentSensorPoll.Packet.WheelDrop.Right ||
rsCurrentSensorPoll.Packet.Cliff.Left ||
rsCurrentSensorPoll.Packet.Cliff.FrontLeft ||
rsCurrentSensorPoll.Packet.Cliff.FrontRight ||
rsCurrentSensorPoll.Packet.Cliff.Right) && (!(this.Current_Mode == SCI_Mode.Full)))
{
this.SetMode(SCI_Mode.Passive);
}
}
public void Check_Battery(Sensors sSensorPollToCheck)
{
//Changes a property on this form if things get too bad
//rsCurrentSensorPoll.Packet.Voltage.ToString();
//rsCurrentSensorPoll.Packet.Current.ToString();
//rsCurrentSensorPoll.Packet.Temperature.ToString();
//Convert.ToString(Convert.ToInt32(this.lblTemp.Text) * 9 / 5 + 32);
//rsCurrentSensorPoll.Packet.Charge.ToString();
//rsCurrentSensorPoll.Packet.Capacity.ToString();
}
