private void ParseControllerConfig(XmlNode configRoot)
{
int temp_mapping = 0;
for (int i = 0; i < (int)ChannelNumber.NUM_CHANNELS; i++)
{
channel_config[i] = new ChannelConfigValues();
inputMapping[i] = new ControllerProperty();
temp_mapping = int.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["map"].Value);
inputMapping[i] = (ControllerProperty)Math.Abs(temp_mapping);
if (temp_mapping < 0)
{
inputInverted[i] = true;
}
channel_config[i].MIN = double.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["min"].Value);
channel_config[i].MAX = double.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["max"].Value);
channel_config[i].CENTER = double.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["default"].Value);
precisionFormat[i] = configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["precision"].Value;
channelGain[i] = double.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).Attributes["gain"].Value);
channelPrefix[i] = configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue((ChannelNumber)i))).Item(0).InnerXml;
}
z_persist = Boolean.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue(ChannelNumber.CH1))).Item(0).Attributes["persist"].Value);
z_accumulating = Boolean.Parse(configRoot.SelectNodes(String.Format(".//Channel[@param='{0}']", StringEnum.GetStringValue(ChannelNumber.CH1))).Item(0).Attributes["accum"].Value);
chanSeparator = configRoot.SelectNodes(".//ChannelSeparator").Item(0).InnerXml;
stopCommand = configRoot.SelectNodes(".//StopCommand").Item(0).InnerXml;
cmdPrefixAbsolute = configRoot.SelectNodes(".//StartOfFrame[@type='absolute']").Item(0).InnerXml;
cmdPrefixRelative = configRoot.SelectNodes(".//StartOfFrame[@type='relative']").Item(0).InnerXml;
}
static public void DeselectPropertyPanel()
{
if (activeProperty != null)
{
activeProperty.Hide();
activeProperty = null;
}
}
private void InitArrays()
{
channel_config = new ChannelConfigValues[(int)ChannelNumber.NUM_CHANNELS];
inputMapping = new ControllerProperty[(int)ChannelNumber.NUM_CHANNELS];
precisionFormat = Enumerable.Repeat <String>("", (int)ChannelNumber.NUM_CHANNELS).ToArray();
channelPrefix = Enumerable.Repeat <String>("", (int)ChannelNumber.NUM_CHANNELS).ToArray();
channelGain = Enumerable.Repeat <double>(0.0, (int)ChannelNumber.NUM_CHANNELS).ToArray();
inputInverted = Enumerable.Repeat <bool>(false, (int)ChannelNumber.NUM_CHANNELS).ToArray();
}
protected virtual void dragDrop(object sender, DragEventArgs e)
{
TreeNode node = (TreeNode)e.Data.GetData("System.Windows.Forms.TreeNode");
TagProperties properties = (TagProperties)node.Tag;
property = (ControllerProperty)Activator.CreateInstance(properties.PropertyType);
property.userController = this;
property.SetPropertyName(node.FullPath.Replace("\\", " - "));
PropertyPanelManager.SetPropertyPanel(property);
UserControllerManager.Select(this);
PropertyPanelManager.SetPropertyName();
Refresh();
}
/* Allows to change the property panel of which button active */
static public void SetPropertyPanel(object sender)
{
if (activeProperty != null)
{
activeProperty.Hide();
}
if (sender == null)
{
defaultProperty.SetParents(propertyPanel);
defaultProperty.Show();
activeProperty = defaultProperty;
return;
}
ControllerProperty property = (ControllerProperty)sender;
property.SetParents(propertyPanel);
property.Show();
activeProperty = property;
}
set => this.SetValue(ControllerProperty, value);
get => (ShortcutController)GetValue(ControllerProperty); set => SetValue(ControllerProperty, value);
set => SetValue(ControllerProperty, value);
/********************************************************************************
* FUNCTION: checkActiveInput
* Description:
* Parameters: N/A
********************************************************************************/
private void checkActiveInput()
{
JoystickState state;
double max_diff = 0.25;
double temp_diff = 0.0;
bool[] buttons;
state = activeController.getState();
buttons = state.GetButtons().ToArray();
inputInverted = false;
for (int i = 0; i < (int)ControllerProperty.NUM_BUTTONS; i++)
{
if (buttons[i] == true)
{
activeInput = (ControllerProperty)(ControllerProperty.Button_1 + i);
inputSelected = true;
return;
}
}
//Check JoystickState X axis
temp_diff = (double)Math.Abs(state.X - prev_x) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.X;
if ((state.X - prev_x) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
//Check JoystickState Y axis
temp_diff = (double)Math.Abs(state.Y - prev_y) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.Y;
if ((state.Y - prev_y) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
//Check JoystickState Z axis
temp_diff = (double)Math.Abs(state.Z - prev_z) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.Z;
if ((state.Z - prev_z) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
//Check JoystickState X rotation
temp_diff = (double)Math.Abs(state.RotationX - prev_rotation_x) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.RotationX;
if ((state.RotationX - prev_rotation_x) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
//Check JoystickState Y rotation
temp_diff = (double)Math.Abs(state.RotationY - prev_rotation_y) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.RotationY;
if ((state.RotationY - prev_rotation_y) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
//Check JoystickState Z rotation
temp_diff = (double)Math.Abs(state.RotationZ - prev_rotation_z) / (double)full_scale;
if (temp_diff > max_diff)
{
max_diff = temp_diff;
activeInput = ControllerProperty.RotationZ;
if ((state.RotationZ - prev_rotation_z) < 0)
{
inputInverted = true;
}
inputSelected = true;
}
}
/// <summary>
/// Loads the configuration for the system.
/// </summary>
private void Load()
{
foreach (string resourceName in Assembly.GetExecutingAssembly().GetManifestResourceNames())
{
if (resourceName.EndsWith(".SystemConfiguration.xml"))
{
using (Stream istrm = Assembly.GetExecutingAssembly().GetManifestResourceStream(resourceName))
{
XmlSerializer serializer = new XmlSerializer(typeof(Configuration));
m_configuration = (Configuration)serializer.Deserialize(istrm);
}
}
}
if (m_configuration.Controllers != null)
{
for (int ii = 0; ii < m_configuration.Controllers.Length; ii++)
{
ControllerConfiguration controller = m_configuration.Controllers[ii];
int blockAddress = m_position;
int offset = m_position - blockAddress;
BlockConfiguration data = new BlockConfiguration()
{
Address = blockAddress,
Name = controller.Name,
Type = controller.Type,
Properties = new List <BlockProperty>()
};
if (controller.Properties != null)
{
for (int jj = 0; jj < controller.Properties.Length; jj++)
{
ControllerProperty property = controller.Properties[jj];
NodeId dataTypeId = NodeId.Parse(property.DataType);
string value = property.Value;
Range range = null;
if (!String.IsNullOrEmpty(property.Range))
{
try
{
NumericRange nr = NumericRange.Parse(property.Range);
range = new Range()
{
High = nr.End, Low = nr.Begin
};
}
catch (Exception)
{
range = null;
}
}
data.Properties.Add(new BlockProperty()
{
Offset = offset,
Name = controller.Properties[jj].Name,
DataType = dataTypeId,
Writeable = controller.Properties[jj].Writeable,
Range = range
});
switch ((uint)dataTypeId.Identifier)
{
case DataTypes.Int32:
{
Write(blockAddress, offset, (int)TypeUtils.Cast(value, BuiltInType.Int32));
offset += 4;
break;
}
case DataTypes.Double:
{
Write(blockAddress, offset, (double)TypeUtils.Cast(value, BuiltInType.Double));
offset += 4;
break;
}
}
}
}
m_position += offset;
m_blocks[blockAddress] = data;
}
}
}
