/******************************************************************************/
public MainForm()
{
_app_ver = Assembly.GetExecutingAssembly().GetName().Version;
_dll_ver = Master.Version;
InitializeComponent();
// Hide settings menus and controls until servo network is detected
tabControl1.Hide();
_servo_ht = new SortedDictionary<byte, Servo>();
_active_servo = null;
// Drill down to locate containers where programatically constructed elements located (yuck!)
GroupBox _rules_container = null;
// Unfocus label required to remove focus from rules comboboxes after selection - hide under another control (yuck!)
Label _unfocus_lbl = null;
foreach(Control c_0 in this.Controls)
{
if(c_0.Name == "tabControl1")
{
TabControl tab_ctl_0 = (TabControl)c_0;
foreach(Control c_1 in tab_ctl_0.Controls)
{
if(c_1.Name == "tabPageSetup")
{
TabPage tab_page_0 = (TabPage)c_1;
foreach(Control c_2 in tab_page_0.Controls)
{
if(c_2.Name == "tabServoSettings")
{
TabControl tab_ctl_1 = (TabControl)c_2;
foreach(Control c_3 in tab_ctl_1.Controls)
{
if(c_3.Name == "tabPageSetupFuzzy")
{
TabPage tab_page_1 = (TabPage)c_3;
foreach(Control c_4 in tab_page_1.Controls)
{
if(c_4.Name == "gbSetFuzzyRules")
{
GroupBox gbx = (GroupBox)c_4;
_rules_container = gbx;
foreach(Control c_5 in gbx.Controls)
{
if(c_5.Name == "lblUnfocus")
{
_unfocus_lbl = (Label)c_5;
}
}
/*foreach(Control c_5 in gbx.Controls)
{
if(c_5.Name == "pnlFuzzyRules")
{
_rules_container = (Panel)c_5;
}
if(c_5.Name == "lblUnfocus")
{
_unfocus_lbl = (Label)c_5;
}
}*/
}
if(c_4.Name == "gbSetFuzzyMF")
{
_fuzzy_mem_funcs_obj = new FuzzyMemFuncs((GroupBox)c_4);
}
}
if(_rules_container != null && _unfocus_lbl != null)
{
_fuzzy_rules_obj = new FuzzyRules(_rules_container, _unfocus_lbl);
}
else
{
_fuzzy_rules_obj = null;
MsgBox.Show("Fuzzy Rules Panel not found");
}
if(_fuzzy_mem_funcs_obj == null)
{
MsgBox.Show("Fuzzy Mem Func groupbox not found");
}
}
if(c_3.Name == "tabPageSetupControl")
{
// Set top level groupboxes in "Servo Control" tab to have bold text
TabPage tab_page_2 = (TabPage)c_3;
foreach(Control c_5 in tab_page_2.Controls)
{
if(c_5 is GroupBox)
{
c_5.Font = new Font(c_5.Font, FontStyle.Bold);
foreach(Control c_5_ctl in c_5.Controls)
{
c_5_ctl.Font = new Font(c_5.Font, FontStyle.Regular);
}
}
}
}
}
}
}
}
}
}
}
// Populate comboboxes
InitializeControls();
// Disable symmetric control points.
cbxMemFuncCtlPts.Checked = false;
CtlPtsActive(false);
}
/// <summary>
/// Callback function to update _spd_mf_array from speed FuzzyMemFunc
/// </summary>
private void UpdateSpdFuncs(int index, FuzzyMemFuncs.TrapezoidalFunc func)
{
_spd_mf_array[0 + (index * 4)] = func.p0;
_spd_mf_array[1 + (index * 4)] = func.p1;
_spd_mf_array[2 + (index * 4)] = func.s0;
_spd_mf_array[3 + (index * 4)] = func.s1;
if(_picBxSpd != null)
{
//_picBxSpd.Image = DrawSpdGraph();
_picBxSpd.Image = ResizeImage(DrawSpdGraph(), BM_WIDTH, BM_HEIGHT);
}
}
private bool SetText(FuzzyMemFuncs.TrapezoidalFunc func)
{
int pt0_top, pt1_top;
if((int)func.p0 >= (int)func.p1)
{
return false;
}
pt0_top = (int)func.p0;
if(func.s0 != 0)
{
pt0_top += (0xFF / (int)func.s0);
}
pt1_top = (int)func.p1;
if(func.s1 != 0)
{
pt1_top -= (0xFF / (int)func.s1);
}
if(pt0_top > pt1_top)
{
return false;
}
_text_box_list[0].TextChanged -= new EventHandler(p0_TextChanged);
_text_box_list[0].Text = func.p0.ToString("X2");
_text_box_list[0].SelectionStart = _text_box_list[0].Text.Length;
_text_box_list[0].TextChanged += new EventHandler(p0_TextChanged);
_text_box_list[0].LostFocus += new EventHandler(p0_LostFocus);
_text_box_list[0].Enabled = _enabled;
_text_box_list[1].TextChanged -= new EventHandler(p1_TextChanged);
_text_box_list[1].Text = func.p1.ToString("X2");
_text_box_list[1].SelectionStart = _text_box_list[1].Text.Length;
_text_box_list[1].TextChanged += new EventHandler(p1_TextChanged);
_text_box_list[1].LostFocus += new EventHandler(p1_LostFocus);
_text_box_list[1].Enabled = _enabled;
_text_box_list[2].TextChanged -= new EventHandler(s0_TextChanged);
_text_box_list[2].Text = func.s0.ToString("X2");
_text_box_list[2].SelectionStart = _text_box_list[2].Text.Length;
_text_box_list[2].TextChanged += new EventHandler(s0_TextChanged);
_text_box_list[2].LostFocus += new EventHandler(s0_LostFocus);
_text_box_list[2].Enabled = _enabled;
_text_box_list[3].TextChanged -= new EventHandler(s1_TextChanged);
_text_box_list[3].Text = func.s1.ToString("X2");
_text_box_list[3].SelectionStart = _text_box_list[3].Text.Length;
_text_box_list[3].TextChanged += new EventHandler(s1_TextChanged);
_text_box_list[3].LostFocus += new EventHandler(s1_LostFocus);
_text_box_list[3].Enabled = _enabled;
return true;
}
/// <summary>
/// Callback function to update _pos_mf_array from position FuzzyMemFunc
/// </summary>
private void UpdatePosFuncs(int index, FuzzyMemFuncs.TrapezoidalFunc func)
{
_pos_mf_array[0 + (index * 4)] = func.p0;
_pos_mf_array[1 + (index * 4)] = func.p1;
_pos_mf_array[2 + (index * 4)] = func.s0;
_pos_mf_array[3 + (index * 4)] = func.s1;
if(_picBxPosErr != null)
{
//_picBxPosErr.Image = DrawPosGraph();
_picBxPosErr.Image = ResizeImage(DrawPosGraph(), BM_WIDTH, BM_HEIGHT);
}
}
