/// <summary>
/// Apply command received client to vy446
/// </summary>
/// <param name="_harvester_command"></param>
private void ApplyCmdReceivedClientToVy446(Communication.File.CmdFromClient _harvester_command)
{
if (_harvester_command.flag == 0)
{
this.ServerControlFlagTxtBox.Text = "Initialize";
}
else if (_harvester_command.flag == 1)
{
this.ServerControlFlagTxtBox.Text = "Receiving";
}
if (this.BodyAvailableCheckBox.Checked == true && this.BodyReadCheckBox.Checked == false)
{
this.CombineVy446DefaultCommand();
this.vy446_usCmdHst = Convert.ToUInt16(_harvester_command.hst);
this.vy446_usCmdSteer = Convert.ToUInt16(_harvester_command.steer);
// karitori on
this.vy446_KaritoriRadio = true;
// karitakasa on
this.vy446_m_ucFgKaritakaPosCtrl = true;
this.vy446_usCmdKaritaka = Convert.ToUInt16(_harvester_command.header);
if (_harvester_command.buzzer == 1)
{
this.vy446_m_ucFgBuzzer = true;
}
else
{
this.vy446_m_ucFgBuzzer = false;
}
if (_harvester_command.red_lamp == 1)
{
this.vy446_RedLampChk = true;
}
else
{
this.vy446_RedLampChk = false;
}
this.CombineVy446CmdSend();
}
this.ServerHstDebugTxtBox.Text = Convert.ToString(_harvester_command.hst);
this.ServerSteerDebugTxtBox.Text = Convert.ToString(_harvester_command.steer);
this.ServerHeaderDebugTxtBox.Text = Convert.ToString(_harvester_command.header);
if (_harvester_command.buzzer == 1)
{
this.ServerBuzzerTxtBox.Text = "on";
}
else
{
this.ServerBuzzerTxtBox.Text = "off";
}
if (_harvester_command.red_lamp == 1)
{
this.ServerRedLampTxtBox.Text = "on";
}
else
{
this.ServerRedLampTxtBox.Text = "off";
}
}
/// <summary>
/// Communication Play
/// </summary>
private void CommunicationPlay()
{
if (this.TcpIpServerCheckBox.Checked == true)
{
if (this.connect.client.Connected == true)
{
// Server - send command data to client.
this.MergeSensorsDataOfServer();
string send_time = this.MillisecondDisplay();
this.connect.ServerSendDataToClient(this.tcpFile.sendCmdToClient);
// Server - received data from client.
this.connect.ServerReceivedDataFromClient();
string received_time = this.MillisecondDisplay();
//this.RemoteReceivedReadCntTxtBox.Text = this.connect.received_data_from_client;
Communication.File.CmdFromClient harvester_command =
this.tcpFile.DivideCmdDataReceivedFromClient(this.connect.received_data_from_client);
this.ApplyCmdReceivedClientToVy446(harvester_command);
// log data = readcount + send time to client + received time from client + received data from client
string log_data = null;
if (this.server_log_flag == true)
{
log_data =
Convert.ToString(this.readCount) + " " +
send_time + " " +
received_time + " " +
this.connect.received_data_from_client;
this.tcpFile.AddLogData(log_data);
}
}
}
if (this.TcpIpClientCheckBox.Checked == true)
{
if (this.connect.server.Connected == true)
{
// client - received data from server.
this.connect.ClientReceiveDataFromServer();
string received_time = this.MillisecondDisplay();
this.tcpFile.DivideStringData(
this.connect.received_data_from_server,
this.sickLidar.dataLength,
this.BodyModelComboBox.SelectedIndex
);
// client - client debug message received server
this.ClientDebugMessageFromServer();
// client - send command data to server.
string harvester_command = this.CreateCommandForVy446(this.TcpIpWheelControlCheckBox.Checked);
string send_time = this.MillisecondDisplay();
this.connect.ClientSendDataToServer(harvester_command);
// log data = readcount + received time to server + send time to server + send data to server
string log_data = null;
if (this.client_log_flag == true)
{
log_data =
Convert.ToString(this.tcpFile.read_count_from_server) + " " +
received_time + " " +
send_time + " " +
harvester_command;
this.tcpFile.AddLogData(log_data);
}
}
}
}
/// <summary>
/// Create command data for control of vy446
/// </summary>
/// <returns></returns>
private string CreateCommandForVy446(bool _is_wheel)
{
int buzzer = 0;
int red_lamp = 0;
if (_is_wheel == true)
{
// vy446
if (this.BodyModelComboBox.SelectedIndex == 1)
{
this.tcpFile.set_forward_HST = this._vy446.SetHstCmd(Convert.ToDouble(this.ClientSetForwardSpeedTxtBox.Text));
this.tcpFile.set_backward_HST = this._vy446.SetHstCmd(Convert.ToDouble(this.ClientSetBackwardSpeedTxtBox.Text));
}
Communication.File.CmdFromClient wheel_command =
this.tcpFile.DivideWheelData(
this.g27.Controller().ToString(),
this.remote_client_flag,
Convert.ToInt32(this.ClientHstNumericUpDown.Value),
Convert.ToInt32(this.ClientSteerNumericUpDown.Value),
Convert.ToInt32(this.ClientHeaderNumericUpDown.Value)
);
this.remote_client_flag = wheel_command.flag;
this.ClientHstNumericUpDown.Value = wheel_command.hst;
this.ClientSteerNumericUpDown.Value = wheel_command.steer;
this.ClientHeaderNumericUpDown.Value = wheel_command.header;
buzzer = wheel_command.buzzer;
red_lamp = wheel_command.red_lamp;
if (wheel_command.buzzer == 1)
{
this.ClientBuzzerTxtBox.Text = "on";
}
else
{
this.ClientBuzzerTxtBox.Text = "off";
}
if (wheel_command.red_lamp == 1)
{
this.ClientRedLampTxtBox.Text = "on";
}
else
{
this.ClientRedLampTxtBox.Text = "off";
}
if (this.remote_client_flag == 0)
{
this.ClientControlFlagTxtBox.Text = "Initialize";
this.remote_client_flag = 0;
this.ClientHstNumericUpDown.Value = 1405;
this.ClientSteerNumericUpDown.Value = 430;
this.ClientHeaderNumericUpDown.Value = 650;
this.ClientBuzzerTxtBox.Text = "off";
this.ClientRedLampTxtBox.Text = "off";
}
else
{
this.ClientControlFlagTxtBox.Text = "Sending";
}
// display steering gauge value
this.G27Gauge.Value = this.tcpFile.steer_gauge;
}
string command = null;
command =
Convert.ToString(this.remote_client_flag) + " " +
Convert.ToString(this.ClientHstNumericUpDown.Value) + " " +
Convert.ToString(this.ClientSteerNumericUpDown.Value) + " " +
Convert.ToString(this.ClientHeaderNumericUpDown.Value) + " " +
Convert.ToString(buzzer) + " " +
Convert.ToString(red_lamp);
return(command);
}
