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;
}
}
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(); };
}