// Disconnects from the Pololu Maestro servo controller.
// Based on the 'TryToDisconnect' method from MaestroAdvancedExample in the pololu-usb-sdk.
public void DisconnectFromHardware()
{
lock (uscLock)
{
if (uscDevice == null)
{
// Already disconnected
return;
}
try
{
uscDevice.Dispose(); // Disconnect
}
catch (Exception ex)
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Error, "DisconnectFromHardware failed to cleaning disconnect the servo hardware: " + ex.Message);
}
finally
{
// do this no matter what
uscDevice = null;
}
}
}
private void updateStatus()
{
if (owner == null)
{
return;
}
Device = null;
if (string.IsNullOrWhiteSpace(SerialNumber))
{
Error = null;
}
else
{
DeviceListItem availablePololuMaestro = PololuMaestroEnumerator.Singleton.AvailablePololuMaestroList.FirstOrDefault(item => item.serialNumber == SerialNumber);
if (availablePololuMaestro == null)
{
Error = Translations.Main.PololuMaestroNotFoundError;
}
else
{
try
{
Device = new Usc(availablePololuMaestro);
Error = null;
}
catch (Exception e)
{
Error = e.Message;
}
}
}
}
public void ConnectHardware()
{
if (usbdevice == null)
{
usbdevice = connectToDevice();
}
}
// function for evaluating a text file program for the motors
public static void runScript(Usc usc, string fileName)
{
//Getting program text from text file
string text = new StreamReader(fileName).ReadToEnd();
MessageBox.Show(text);
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program, fileName + ".lst");
// Stops any previous scripts that are running
usc.setScriptDone(1);
// ???
usc.eraseScript();
List <byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
MessageBox.Show("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
// Setting up subroutines
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
// Loading the bytes
usc.writeScript(byteList);
// Restarting
usc.reinitialize();
}
private void BtnEditarMoto_Click(object sender, RoutedEventArgs e)
{
try
{
Moto moto = new Moto();
if (ValidaCamposEmBranco())
{
moto.Placa = Parameter;
moto = (Moto)VeiculoDAO.Get(null, moto);
moto.Nome = txtNome.Text;
moto.Cor = txtCor.Text;
moto.Modelo = txtModelo.Text;
moto.Status = txtStatus.Text;
moto.ValorPorDia = Convert.ToDouble(txtValorPorDia.Text);
moto.ValorPorHora = Convert.ToDouble(txtValorPorHora.Text);
VeiculoDAO.AlterarDadosVeiculo(null, moto);
MessageBox.Show("Dados alterados com sucesso!!", "", MessageBoxButton.OK, MessageBoxImage.Information);
LimparCampos();
Usc.ListarMoto();
Close();
}
else
{
MessageBox.Show("Favor preencher as informações!", "Mensagem", MessageBoxButton.OK, MessageBoxImage.Error);
}
}
catch (Exception ex) { MessageBox.Show(ex.ToString(), "LocadoraWPF", MessageBoxButton.OK, MessageBoxImage.Error); }
}
/// <summary>
/// Attempts to disconnect
/// </summary>
public void TryToDisconnect()
{
if (usc == null)
{
//Log("Connecting stopped.");
return;
}
try
{
//Log("Disconnecting...");
usc.Dispose(); // Disconnect
}
catch (Exception e)
{
//Log(e);
//Log("Failed to disconnect cleanly.");
}
finally
{
// do this no matter what
usc = null;
//Log("Disconnected from #" + SerialNumberTextBox.Text + ".");
}
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
private Usc connectToDevice(int index)
{
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
connectedDevices.Sort(deviceComparer);
// we must have all three devices online, or we will be commanding a wrong device.
if (connectedDevices.Count() != 3)
{
throw new Exception("Not all Pololu devices are online - found " + connectedDevices.Count() + " expected 3");
}
DeviceListItem dli = connectedDevices[index];
//foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc device = new Usc(dli); // Connect to the device.
return(device); // Return the device.
}
throw new Exception("Could not find Pololu device.\r\nMake sure it's plugged into USB\r\nCheck your Device Manager.\r\nPololu Mini Maestro 12 needed.");
}
private void TrySetTarget(List <ChannelValuePair> channelValues)
{
try
{
var groupedByDevice = from a in channelValues
group a by a.Channel / CHANNELS_PER_DEVICE into g
select new { deviceIndex = g.Key, deviceChannelValues = g };
foreach (var devGrp in groupedByDevice)
{
using (Usc device = connectToDevice(devGrp.deviceIndex)) // Find a device and temporarily connect.
{
foreach (ChannelValuePair cvp in devGrp.deviceChannelValues)
{
byte channel = (byte)(cvp.Channel % CHANNELS_PER_DEVICE);
//Console.WriteLine(" (m) device: {0} channel: {1} target: {2}", device.getSerialNumber(), channel, cvp.Target);
device.setTarget(channel, cvp.Target);
}
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
Console.WriteLine(exception);
}
}
private void outputShow()
{
//make textblocks visible
outempName.Visibility = Visibility.Visible;
outpayeeName.Visibility = Visibility.Visible;
outDate.Visibility = Visibility.Visible;
outAddress.Visibility = Visibility.Visible;
outWage.Visibility = Visibility.Visible;
outPaye.Visibility = Visibility.Visible;
outPrsi.Visibility = Visibility.Visible;
outUsc.Visibility = Visibility.Visible;
outNet.Visibility = Visibility.Visible;
savepayslip.Visibility = Visibility.Visible;
//output text to textblocks
outempName.Text = (Localization.Get("outempName")).ToString() + empname.ToString();
outpayeeName.Text = (Localization.Get("outpayeeName")) + payeename.ToString();
outDate.Text = (Localization.Get("outDate")) + date.ToString();
outAddress.Text = (Localization.Get("outAddress")) + payeeaddress.ToString();
outWage.Text = (Localization.Get("outWage")) + wage.ToString("$0.00");
outPaye.Text = (Localization.Get("outPaye")) + Paye.ToString("$0.00");
outPrsi.Text = (Localization.Get("outPrsi")) + Prsi.ToString("$0.00");
outUsc.Text = (Localization.Get("outUsc")) + Usc.ToString("$0.00");
outNet.Text = (Localization.Get("outNet")) + netpay.ToString("$0.00");
}
// Connects to the Pololu Maestro servo controller through USB. Only one controller is
// currently expected, so this method just connects to the first controller it sees.
// Based on the 'connectToDevice' method from MaestroEasyExample in the pololu-usb-sdk.
public void ConnectToHardware()
{
try
{
DisconnectFromHardware();
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
uscDevice = new Usc(dli); // Connect to the device.
break; // Use first device (should only be one, anyway).
}
if (uscDevice == null)
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Error, "ConnectToHardware() failed, no servo hardware found.");
}
else
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "ConnectToHardware() succeeded, connected to servo hardware.");
}
InitializeHardware();
}
catch (System.Exception ex)
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Error, "Caught exception in Initialize(): " + ex.Message);
}
}
/// <summary>
/// Update all Servo Positions
/// </summary>
public static void UpdateServos()
{
if (!PWM.ImmediateMode)
{
Usc.SetAllChannels(channels);
}
}
public int TryGetTarget(Byte channel)
{
int ret = 0;
try
{
int index = channel / ServoChannelMap.CHANNELS_PER_DEVICE;
channel = (byte)(channel % ServoChannelMap.CHANNELS_PER_DEVICE);
using (Usc device = connectToDevice(index)) // Find a device and temporarily connect.
{
ServoStatus[] servos;
device.getVariables(out servos);
ret = servos[channel].position;
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
Console.WriteLine(exception);
}
return(ret);
}
static void program(Usc usc, string filename)
{
string text = (new StreamReader(filename)).ReadToEnd();
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program, filename + ".lst");
usc.setScriptDone(1);
usc.eraseScript();
List <byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
throw new Exception("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
System.Console.WriteLine("Setting up subroutines...");
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
System.Console.WriteLine("Loading " + byteList.Count + " bytes...");
usc.writeScript(byteList);
System.Console.WriteLine("Restarting...");
usc.reinitialize();
}
static unsafe void displayStatus(Usc usc)
{
MaestroVariables variables;
ServoStatus[] servos;
short[] stack;
ushort[] call_stack;
usc.getVariables(out variables, out stack, out call_stack, out servos);
Console.WriteLine(" # target speed accel pos");
for (int i = 0; i < usc.servoCount; i++)
{
Console.WriteLine("{0,2}{1,8}{2,8}{3,8}{4,8}", i,
servos[i].target, servos[i].speed,
servos[i].acceleration, servos[i].position);
}
Console.Write("errors: 0x"+variables.errors.ToString("X4"));
foreach (var error in Enum.GetValues(typeof(uscError)))
{
if((variables.errors & (1<<(int)(uscError)error)) != 0)
{
Console.Write(" "+error.ToString());
}
}
usc.clearErrors();
Console.WriteLine(); // end the line
if(variables.scriptDone == 0)
Console.WriteLine("SCRIPT RUNNING");
else
Console.WriteLine("SCRIPT DONE");
Console.WriteLine("program counter: "+variables.programCounter.ToString());
Console.Write("stack: ");
for (int i = 0; i < variables.stackPointer; i++)
{
if(i > stack.Length)
{
Console.Write(" OVERFLOW (stack pointer = "+variables.stackPointer+")");
break;
}
Console.Write(stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
Console.Write("call stack: ");
for (int i = 0; i < variables.callStackPointer; i++)
{
if(i > call_stack.Length)
{
Console.Write(" OVERFLOW (call stack pointer = "+variables.callStackPointer+")");
break;
}
Console.Write(call_stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
}
static void getConf(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Create);
StreamWriter sw = new StreamWriter(file);
ConfigurationFile.save(usc.getUscSettings(), sw);
sw.Close();
file.Close();
}
public static void Main(string[] args)
{
LCM.LCM.LCM myLCM = null;
try
{
Console.WriteLine("Starting Maestro driver...");
myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1");
Console.WriteLine("LCM Connected!");
}
catch (Exception ex)
{
Console.Error.WriteLine("Ex: " + ex);
Environment.Exit(1);
}
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
Console.WriteLine("Number of MicroMaestros detected=" + connectedDevices.Count);
GoalFlags[] goals = new GoalFlags[4];
Dictionary <string, int> goalIDs = new Dictionary <string, int>();
goalIDs.Add("00032615", 3); //D
goalIDs.Add("00031531", 2); //C
goalIDs.Add("00032614", 1); //B
goalIDs.Add("00032598", 0); //A
foreach (DeviceListItem dli in connectedDevices)
{
Console.WriteLine(
"Detected Maestro: {serialNumber=" + dli.serialNumber +
", text=" + dli.text + "}");
goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli));
}
CubeRouteField field = new CubeRouteField(goals);
foreach (GoalFlags flags in goals)
{
for (int i = 0; i < 5; i++)
{
flags.setFlagPosition(i, 0);
}
}
// GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000);
GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field);
Console.WriteLine("Running...");
conn.Run();
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List<String> warnings = new List<string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
/// <summary>
/// Connects to the device if it is found in the device list.
/// </summary>
public void TryToReconnect()
{
foreach (DeviceListItem d in Usc.getConnectedDevices())
{
if (d.serialNumber == serialNumber)
{
usc = new Usc(d);
//Log("Connected to #" + SerialNumberTextBox.Text + ".");
return;
}
}
}
// This function is called when the device connections need to be updated.
public static void UpdateDeviceConnections()
{
// Start by removing any previous connections.
disconnectDevices();
// Preparing a list of all of the currently connected devices.
List <DeviceListItem> listOfJrks = Jrk.getConnectedDevices();
List <DeviceListItem> listOfMaestros = Usc.getConnectedDevices();
// Store the number of connected devices in these public
// variables for use throughout all classes.
NumOfConnectedJrks = listOfJrks.Count;
NumOfConnectedMaestros = listOfMaestros.Count;
// Attempting to connect to all available devices.
if (NumOfConnectedMaestros > 0)
{
item1 = listOfMaestros[0];
usc = new Usc(item1);
}
else
{
MessageBox.Show("There are no Maestros connected, so no operations can be done. Please connect to a Maestro and try again.");
return;
}
if (NumOfConnectedJrks > 0)
{
item = listOfJrks[0];
Jrk1 = new Jrk(item);
}
else
{
MessageBox.Show("There are no Jrks connected, so no operations can be done. Please connect to a Jrk and try again.");
return;
}
if (NumOfConnectedJrks > 1)
{
item = listOfJrks[1];
Jrk2 = new Jrk(item);
}
if (NumOfConnectedJrks > 2)
{
item = listOfJrks[2];
Jrk3 = new Jrk(item);
}
if (NumOfConnectedJrks > 3)
{
item = listOfJrks[3];
Jrk4 = new Jrk(item);
}
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List <String> warnings = new List <string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
/// <summary>
/// Get the serial number of the first connected Maestro, since this is
/// probably what you want to connect to.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MainWindow_Shown(object sender, EventArgs e)
{
var device_list = Usc.getConnectedDevices();
if (device_list.Count > 0)
{
SerialNumberTextBox.Text = device_list[0].serialNumber;
ConnectButton.Focus();
}
else
{
SerialNumberTextBox.Focus();
}
}
/// <summary>
/// Attempts to set the target (width of pulses sent) of a channel.
/// </summary>
/// <param name="channel">Channel number from 0 to 23.</param>
/// <param name="target">
/// Target, in units of quarter microseconds. For typical servos,
/// 6000 is neutral and the acceptable range is 4000-8000.
/// </param>
void TrySetTarget(Byte channel, UInt16 target)
{
try
{
using (Usc device = connectToDevice()) // Find a device and temporarily connect.
{
device.setTarget(channel, target);
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
displayException(exception);
}
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
Usc connectToDevice()
{
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc device = new Usc(dli); // Connect to the device.
return(device); // Return the device.
}
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
/// <summary>
/// Attempts to set the target (width of pulses sent) of a channel.
/// </summary>
/// <param name="channel">Channel number from 0 to 23.</param>
/// <param name="target">
/// Target, in units of quarter microseconds. For typical servos,
/// 6000 is neutral and the acceptable range is 4000-8000.
/// </param>
void TrySetTarget(Byte channel, int target)
{
try
{
// using () // Find a device and temporarily connect.
{
try{
//Console.WriteLine(this.Name+" Target :"+target*4);
if ((target * 4) < UInt16.MaxValue)
{
//Console.WriteLine("Servo:"+channel+" target:"+target)
channels[channel] = Convert.ToUInt16(target * 4);
//usbdevice.SetAllChannels(channels);
if (ImmediateMode)
{
if (usbdevice == null)
{
connectToDevice();
}
Console.WriteLine("immediate Set");
usbdevice.setTarget(channel, Convert.ToUInt16(target * 4));
}
}
else
{
Console.WriteLine("Invalid Target: " + target + " for Channel: " + this.channel);
}
}catch (Exception ex) {
Console.WriteLine("Invalid Target " + target + ex.Message + ex.StackTrace.ToString());
usbdevice.disconnect();
usbdevice = null;
connectToDevice();
}
// Console.WriteLine("Servo: "+channel+" mit wert "+target);
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
Console.WriteLine(exception.Message + "\n" + exception.StackTrace.ToString());
// displayException(exception);
}
}
static void listDevices()
{
List <DeviceListItem> list = Usc.getConnectedDevices();
if (list.Count == 1)
{
Console.WriteLine("1 " + Usc.englishName + " device found:");
}
else
{
Console.WriteLine(list.Count + " " + Usc.englishName + " devices found:");
}
foreach (DeviceListItem item in list)
{
Console.WriteLine(item.text);
}
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
void connectToDevice()
{
try{
// Get a list of all connected devices of this type.
if (usbdevice == null)
{
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
if ((device == null))//|| (this.device == dli.serialNumber)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc uscdevice = new Usc(dli); // Connect to the device.
usbdevice = uscdevice;
// Return the device.
}
}
}
if (usbdevice != null)
{
usbdevice.clearErrors();
var settings = usbdevice.getUscSettings();
settings.channelSettings[channel].mode = ChannelMode.Servo;
Console.WriteLine("Set Startup Position Servo " + channel + " to " + settings.channelSettings[channel].home);
settings.servoPeriod = 20;
usbdevice.setUscSettings(settings, false);
// usbdevice.setAcceleration(channel, 0);
usbdevice.setSpeed(channel, 0);
}
else
{
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
}catch (Exception ex) {
Console.WriteLine("Fehler beim Verbinden mit dem Servo " + ex.Message + ex.StackTrace.ToString());
}
}
public static void Main(string[] args)
{
Usched req = new Usc();
UschedEntry[] result;
req.SetHostname("192.168.1.1");
req.SetPort("7600");
req.SetUsername("win32user");
req.SetPassword("win32password");
req.Request("show all");
result = req.ResultShow();
/* Print some results */
for (int i = 0; i < result.Length; i ++) {
Console.WriteLine("ID: " + result[i].Id.ToString("X") + ", Command: " + result[i].Command);
}
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
public Usc connectToDevice(int index)
{
// Get a list of all connected devices of this type.
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
connectedDevices.Sort(deviceComparer);
DeviceListItem dli = connectedDevices[index];
//foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc device = new Usc(dli); // Connect to the device.
return(device); // Return the device.
}
throw new Exception("Could not find Pololu device.\r\nMake sure it's plugged into USB\r\nCheck your Device Manager.\r\nPololu Mini Maestro 12 needed.");
}
public static void Main(string[] args)
{
Usched req = new Usc();
UschedEntry[] result;
req.SetHostname("192.168.1.1");
req.SetPort("7600");
req.SetUsername("win32user");
req.SetPassword("win32password");
req.Request("show all");
result = req.ResultShow();
/* Print some results */
for (int i = 0; i < result.Length; i++)
{
Console.WriteLine("ID: " + result[i].Id.ToString("X") + ", Command: " + result[i].Command);
}
}
/// <summary>
/// This function will be called once every 100 ms to do an update.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UpdateTimer_Tick(object sender, EventArgs e)
{
if (usc == null)
{
// Display a message in the position box
PositionTextBox.Text = "(disconnected)";
// Try connecting to a device.
try
{
TryToReconnect();
}
catch (Exception e2)
{
Log(e2);
Log("Failed connecting to #" + SerialNumberTextBox.Text + ".");
usc = null;
}
}
else
{
// Update the GUI and the device.
try
{
DisplayPosition();
if (ActivateCheckBox.Checked)
{
RunSequence();
}
}
catch (Exception e2)
{
// If any exception occurs, log it, set usc to null, and keep trying..
Log(e2);
Log("Disconnected from #" + SerialNumberTextBox.Text + ".");
usc = null;
}
}
}
/// <summary>
/// Attempts to set the target (width of pulses sent) of a channel.
/// </summary>
/// <param name="channel">Channel number - from 0 to 23.</param>
/// <param name="target">
/// Target, in units of quarter microseconds. For typical servos,
/// 6000 is neutral and the acceptable range is 4000-8000.
/// A good servo will take 880 to 2200 us (3520 to 8800 in quarters)
/// </param>
private void TrySetTarget(Byte channel, UInt16 target)
{
try
{
int index = channel / CHANNELS_PER_DEVICE;
channel = (byte)(channel % CHANNELS_PER_DEVICE);
using (Usc device = connectToDevice(index)) // Find a device and temporarily connect.
{
//Console.WriteLine(" (s) device: {0} channel: {1} target: {2}", device.getSerialNumber(), channel, target);
device.setTarget(channel, target);
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
Console.WriteLine(exception);
}
}
static void getConf(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Create);
StreamWriter sw = new StreamWriter(file);
ConfigurationFile.save(usc.getUscSettings(), sw);
sw.Close();
file.Close();
}
public GoalFlags(Usc maestro)
{
this.maestro = maestro;
}
static void Main(string[] args)
{
CommandOptions opts = new CommandOptions(Assembly.GetExecutingAssembly().GetName()+"\n"+
"Select one of the following actions:\n"+
" --list list available devices\n"+
" --configure FILE load configuration file into device\n"+
" --getconf FILE read device settings and write configuration file\n"+
" --restoredefaults restore factory settings\n"+
" --program FILE compile and load bytecode program\n"+
" --status display complete device status\n"+
" --bootloader put device into bootloader (firmware upgrade) mode\n"+
" --stop stops the script running on the device\n"+
" --start starts the script running on the device\n"+
" --restart restarts the script at the beginning\n"+
" --step runs a single instruction of the script\n"+
" --sub NUM calls subroutine n (can be hex or decimal)\n"+
" --sub NUM,PARAMETER calls subroutine n with a parameter (hex or decimal)\n"+
" placed on the stack\n"+
" --servo NUM,TARGET sets the target of servo NUM in units of\n" +
" 1/4 microsecond\n"+
" --speed NUM,SPEED sets the speed limit of servo NUM\n"+
" --accel NUM,ACCEL sets the acceleration of servo NUM to a value 0-255\n"+
"Select which device to perform the action on (optional):\n"+
" --device 00001430 (optional) select device #00001430\n",
args);
if (opts["list"] != null)
{
if (opts.Count > 1)
opts.error();
listDevices();
return;
}
if (opts.Count == 0)
opts.error();
// otherwise, they must connect to a device
List<DeviceListItem> list = Usc.getConnectedDevices();
if (list.Count == 0)
{
System.Console.WriteLine("No " + Usc.englishName + " devices found.");
return;
}
DeviceListItem item = null;
// see if the device they specified was in the list
if (opts["device"] == null)
{
// Conenct to the first item in the list.
item = list[0];
}
else
{
// Remove the leading # sign. It is not standard to put it there,
// but if someone writes it, the program should still work.
string check_serial_number = opts["device"].TrimStart('#');
// Find the device with the specified serial number.
foreach (DeviceListItem check_item in list)
{
if (check_item.serialNumber == check_serial_number)
{
item = check_item;
break;
}
}
if (item == null)
{
Console.WriteLine("Could not find a " + Usc.englishName + " device with serial number " + opts["device"] + ".");
Console.WriteLine("To list devices, use the --list option.");
return;
}
}
Usc usc = new Usc(item);
if (opts["bootloader"] != null)
{
if (opts.Count > 2)
opts.error();
usc.startBootloader();
return;
}
else if (opts["status"] != null)
{
if (opts["status"] != "")
opts.error();
displayStatus(usc);
}
else if (opts["getconf"] != null)
{
getConf(usc, opts["getconf"]);
}
else if (opts["configure"] != null)
{
configure(usc, opts["configure"]);
}
else if (opts["restoredefaults"] != null)
{
if (opts["restoredefaults"] != "")
opts.error();
restoreDefaultConfiguration(usc);
}
else if (opts["program"] != null)
{
program(usc, opts["program"]);
}
else if (opts["stop"] != null)
{
setScriptDone(usc, 1);
}
else if (opts["start"] != null)
{
setScriptDone(usc, 0);
}
else if (opts["restart"] != null)
{
System.Console.Write("Restarting script...");
usc.restartScript();
usc.setScriptDone(0);
System.Console.WriteLine("");
}
else if (opts["step"] != null)
{
setScriptDone(usc, 2);
}
else if (opts["servo"] != null)
{
string[] parts = opts["servo"].Split(',');
if(parts.Length != 2)
opts.error("Wrong number of commas in the argument to servo.");
byte servo=0;
ushort target=0;
try
{
servo = byte.Parse(parts[0]);
target = ushort.Parse(parts[1]);
}
catch(FormatException)
{
opts.error();
}
Console.Write("Setting target of servo "+servo+" to "+target+"...");
usc.setTarget(servo, target);
Console.WriteLine("");
}
else if (opts["speed"] != null)
{
string[] parts = opts["speed"].Split(',');
if(parts.Length != 2)
opts.error("Wrong number of commas in the argument to speed.");
byte servo=0;
ushort speed=0;
try
{
servo = byte.Parse(parts[0]);
speed = ushort.Parse(parts[1]);
}
catch(FormatException)
{
opts.error();
}
Console.Write("Setting speed of servo "+servo+" to "+speed+"...");
usc.setSpeed(servo, speed);
Console.WriteLine("");
}
else if (opts["accel"] != null)
{
string[] parts = opts["accel"].Split(',');
if(parts.Length != 2)
opts.error("Wrong number of commas in the argument to accel.");
byte servo=0;
byte acceleration=0;
try
{
servo = byte.Parse(parts[0]);
acceleration = byte.Parse(parts[1]);
}
catch(FormatException)
{
opts.error();
}
Console.Write("Setting acceleration of servo "+servo+" to "+acceleration+"...");
usc.setAcceleration(servo, acceleration);
Console.WriteLine("");
}
else if (opts["sub"] != null)
{
string[] parts = opts["sub"].Split(new char[] {','});
if(parts.Length > 2)
opts.error("Too many commas in the argument to sub.");
byte address=0;
short parameter=0;
try
{
if(parts[0].StartsWith("0x"))
address = byte.Parse(parts[0].Substring(2),System.Globalization.NumberStyles.AllowHexSpecifier);
else
address = byte.Parse(parts[0]);
}
catch(FormatException)
{
opts.error();
}
if(parts.Length == 2)
{
try
{
if(parts[1].StartsWith("0x"))
parameter = short.Parse(parts[1].Substring(2),System.Globalization.NumberStyles.AllowHexSpecifier);
else
parameter = short.Parse(parts[1]);
}
catch(FormatException)
{
opts.error();
}
Console.Write("Restarting at subroutine "+address+" with parameter "+parameter+"...");
usc.restartScriptAtSubroutineWithParameter(address, parameter);
usc.setScriptDone(0);
}
else
{
Console.Write("Restarting at subroutine "+address+"...");
usc.restartScriptAtSubroutine(address);
usc.setScriptDone(0);
}
Console.WriteLine("");
}
else opts.error();
}
static void program(Usc usc, string filename)
{
string text = (new StreamReader(filename)).ReadToEnd();
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program,filename+".lst");
usc.setScriptDone(1);
usc.eraseScript();
List<byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
throw new Exception("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
System.Console.WriteLine("Setting up subroutines...");
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
System.Console.WriteLine("Loading "+byteList.Count+" bytes...");
usc.writeScript(byteList);
System.Console.WriteLine("Restarting...");
usc.reinitialize();
}
static void restoreDefaultConfiguration(Usc usc)
{
Console.Write("Restoring default settings...");
usc.restoreDefaultConfiguration();
Console.WriteLine("");
}
static void setScriptDone(Usc usc, byte value)
{
Console.Write("Setting script state to "+value+"...");
usc.setScriptDone(value);
Console.WriteLine("");
}
private void refreshAvailablePololuMaestroList()
{
AvailablePololuMaestroList.Clear();
AvailablePololuMaestroList.AddRange(Usc.getConnectedDevices());
}
