public static void ManageTrackbars(FrameGUI GUI)
{
// enable or disable trackbars
if (GUI.connection_selected.n_controlled_states == 1)
{
GUI.trackBarReference1.Enabled = true;
GUI.numUpDownRef1.Enabled = true;
GUI.trackBarReference1.Value = Convert.ToInt16(GUI.connection_selected.references["r1"].GetLastValue());
GUI.numUpDownRef1.Value = Convert.ToInt16(GUI.connection_selected.references["r1"].GetLastValue());
}
else if (GUI.connection_selected.n_controlled_states == 2)
{
GUI.trackBarReference1.Enabled = true;
GUI.trackBarReference2.Visible = true;
GUI.numUpDownRef1.Enabled = true;
GUI.numUpDownRef2.Visible = true;
GUI.trackBarReference2.Value = Convert.ToInt16(GUI.connection_selected.references["r2"].GetLastValue());
GUI.numUpDownRef2.Value = Convert.ToInt16(GUI.connection_selected.references["r2"].GetLastValue());
}
else
{
GUI.trackBarReference1.Enabled = false;
GUI.trackBarReference2.Visible = false;
GUI.numUpDownRef1.Enabled = false;
GUI.numUpDownRef2.Visible = false;
}
}
public static void UpdateTree(FrameGUI GUI, CommunicationManager controller)
{
// update tree
GUI.treeViewControllers.Nodes[controller.name].Text = controller.name + " (" + controller.GetConnectionStatus() + ")";
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Kp"].Text = "Kp: " + GUI.connection_selected.ControllerParameters.Kp.ToString();
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Ki"].Text = "Ki: " + GUI.connection_selected.ControllerParameters.Ki.ToString();
GUI.treeViewControllers.Nodes[controller.name].Nodes["Controller"].Nodes["Kd"].Text = "Kd: " + GUI.connection_selected.ControllerParameters.Kd.ToString();
}
public static void UpdateGuiControls(FrameGUI GUI, CommunicationManager connection_selected)
{
GUI.numUpDownKp.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Kp);
GUI.numUpDownKi.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Ki);
GUI.numUpDownKd.Value = Convert.ToDecimal(connection_selected.ControllerParameters.Kd);
GUI.textBox_ip_send.Text = connection_selected.Controller_EP.IP;
GUI.numericUpDown_port_send.Text = connection_selected.Controller_EP.Port.ToString();
GUI.numericUpDown_port_receive.Text = connection_selected.Controller_EP.PortThis.ToString();
}
public static void ManageReferenceSeries(FrameGUI Main)
{
for (int i = 0; i < Main.connection_selected.n_controlled_states; i++)
{
if (Main.dataChart.Series.IndexOf("r" + (i + 1).ToString()) == -1)
{
AddChartSeries(Main, "r" + (i + 1).ToString(), Main.dataChart);
}
}
}
public static void ManageChartSize(FrameGUI Main)
{
try
{
int y_start = Main.residualChart.Location.Y;
int height_total = Main.tabControl1.Height - y_start;
Main.residualChart.Height = height_total / 2 - y_start;
Main.securityChart.Location = new Point(6, +y_start + height_total / 2);
Main.securityChart.Height = height_total / 2 - y_start;
}
catch { }
}
public static void UpdateTimeLabels(FrameGUI GUI, CommunicationManager connection, string FMT)
{
try
{
DateTime time_sent = DateTime.ParseExact(connection.received_packets["u1"].GetLastTime(), FMT, CultureInfo.InvariantCulture, DateTimeStyles.AssumeLocal);
TimeSpan timeDiff = connection.time_last_received_packet - time_sent;
GUI.label_time.Text = "Time now: " + DateTime.UtcNow.ToString("hh:mm:ss.fff tt") + "\n" +
"Last received packet: " + connection.time_last_received_packet.ToString("hh:mm:ss.fff tt") + "\n" +
"Last packet sent: " + time_sent.ToString("hh:mm:ss.fff tt") + "\n" +
"Transmission time [ms]: " + timeDiff.TotalMilliseconds;
}
catch
{
GUI.label_time.Text = "Time now: \n" +
"Last received packet:: \n" +
"Last packet sent: \n" +
"Transmission time [ms]: ";
}
}
static int T_Controller = 100; // [ms]
public CommunicationManager(FrameGUI Main, string name, PIDparameters ControllerParameters, AddressEndPoint Channel_EP, ConnectionParameters Controller_EP)
{
// main form access
this.Main = Main;
// channel endpoint
this.Channel_EP = Channel_EP;
// identity parameters
this.name = name;
this.Controller_EP = Controller_EP;
// specify the endpoint (either channel or directly the controller)
AddressEndPoint EP = new AddressEndPoint();
if (Main.using_channel == true)
{
EP = new AddressEndPoint(Channel_EP.IP, Channel_EP.Port);
}
else
{
EP = new AddressEndPoint(Controller_EP.IP, Controller_EP.Port);
}
// controller parameters
this.ControllerParameters = ControllerParameters;
// create a new thread for the sender
Thread thread_sender = new Thread(() => Sender(EP.IP, EP.Port));
thread_sender.Start();
// create a new thread for the listener
Thread thread_listener = new Thread(() => Listener(EP.IP, Controller_EP.PortThis));
thread_listener.Start();
// load kalman settings
kalman_filter.updateKalmanFilter(Main.config.kalmanDoubleWatertankModel.A1, Main.config.kalmanDoubleWatertankModel.a1, Main.config.kalmanDoubleWatertankModel.A2, Main.config.kalmanDoubleWatertankModel.a2, Main.config.kalmanDoubleWatertankModel.k);
kalman_filter.setAnomalyDetectorSettings(Main.config.anomalyDetector.cusumDelta);
}
public static void DrawTanks(FrameGUI GUI, CommunicationManager connection)
{
g = Graphics.FromImage(bm);
g.Clear(Color.White);
// map tank height in cm to pixels
double max_height_p = GUI.pictureBox1.Height / 2.5; // max height [pixels]
double max_inflow_width = 10;
double max_height_r = 20; // real max height [cm]
double cm2pix = max_height_p / max_height_r;
// if there are no estimates, there is nothing to animate
if (connection.estimates.ContainsKey("yo1_hat") == false || connection.estimates.ContainsKey("yc1_hat") == false)
{
GUI.pictureBox1.Image = bm;
return;
}
// extract signals
int u = Convert.ToInt16(Convert.ToDouble(connection.received_packets["u1"].GetLastValue()));
int y1 = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.estimates["yo1_hat"].GetLastValue()));
int y2 = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.estimates["yc1_hat"].GetLastValue()));
int reference = 0;
try { reference = Convert.ToInt16(cm2pix * Convert.ToDouble(connection.references["r1"].GetLastValue())); }
catch { }
// dimensions
double A1 = GUI.config.kalmanDoubleWatertankModel.A1;
double a1 = GUI.config.kalmanDoubleWatertankModel.a1;
double A2 = GUI.config.kalmanDoubleWatertankModel.A2;
double a2 = GUI.config.kalmanDoubleWatertankModel.a2;
// TANK 1 ----------------------------------------------------------------
Point T1 = new Point(GUI.pictureBox1.Width / 2, Convert.ToInt16(GUI.pictureBox1.Height / 2));
Point T2 = new Point(T1.X, Convert.ToInt16(GUI.pictureBox1.Height - 20));
// tank dimensions
double R1_ = Math.Sqrt(A1 / Math.PI); int R1 = Convert.ToInt16(R1_ * cm2pix);
double r1_ = Math.Sqrt(a1 / Math.PI); int r1 = Convert.ToInt16(r1_ * cm2pix);
double h1_ = 20; int h1 = Convert.ToInt16(h1_ * cm2pix);
// inlet
if (u > 0)
{
Rectangle water_in = new Rectangle(T1.X - R1 + 5, T1.Y - h1 - 50, Convert.ToInt16(max_inflow_width * (u / 7.5)), h1 + 50);
g.FillRectangle(brush_b, water_in);
}
// water
Rectangle water1 = new Rectangle(T1.X - R1, T1.Y - y1, 2 * R1, y1);
g.FillRectangle(brush_b, water1);
if (y1 > 5)
{
Rectangle water_fall = new Rectangle(T1.X - r1, T1.Y, 2 * r1, T2.Y - T1.Y);
g.FillRectangle(brush_b, water_fall);
}
// walls
Point w1_top = new Point(T1.X - R1, T1.Y - h1); Point w1_bot = new Point(T1.X - R1, T1.Y);
Point w2_top = new Point(T1.X + R1, T1.Y - h1); Point w2_bot = new Point(T1.X + R1, T1.Y);
Point wb1_l = new Point(T1.X - R1, T1.Y); Point wb1_r = new Point(T1.X - r1, T1.Y);
Point wb2_l = new Point(T1.X + r1, T1.Y); Point wb2_r = new Point(T1.X + R1, T1.Y);
g.DrawLine(pen_b, w1_top, w1_bot);
g.DrawLine(pen_b, w2_top, w2_bot);
g.DrawLine(pen_b, wb1_l, wb1_r);
g.DrawLine(pen_b, wb2_l, wb2_r);
// TANK 2 ---------------------------------------------------------------
// tank dimensions
double R2_ = Math.Sqrt(A2 / Math.PI); int R2 = Convert.ToInt16(R2_ * cm2pix);
double r2_ = Math.Sqrt(a2 / Math.PI); int r2 = Convert.ToInt16(r2_ * cm2pix);
double h2_ = 20; int h2 = Convert.ToInt16(h2_ * cm2pix);
// water
Rectangle water2 = new Rectangle(T2.X - R2, T2.Y - y2, 2 * R2, y2);
g.FillRectangle(brush_b, water2);
if (y2 > 5)
{
Rectangle water_fall = new Rectangle(T2.X - r2, T2.Y, 2 * r2, 200);
g.FillRectangle(brush_b, water_fall);
}
// walls
w1_top = new Point(T2.X - R2, T2.Y - h2); w1_bot = new Point(T2.X - R2, T2.Y);
w2_top = new Point(T2.X + R2, T2.Y - h2); w2_bot = new Point(T2.X + R2, T2.Y);
wb1_l = new Point(T2.X - R2, T2.Y); wb1_r = new Point(T2.X - r2, T2.Y);
wb2_l = new Point(T2.X + r2, T2.Y); wb2_r = new Point(T2.X + R2, T2.Y);
g.DrawLine(pen_b, w1_top, w1_bot);
g.DrawLine(pen_b, w2_top, w2_bot);
g.DrawLine(pen_b, wb1_l, wb1_r);
g.DrawLine(pen_b, wb2_l, wb2_r);
// draw reference
Point reference_l = new Point(T2.X - R2 - 15, T2.Y - reference); Point reference_r = new Point(T2.X - R2 - 3, T2.Y - reference);
g.DrawLine(pen_r, reference_l, reference_r);
GUI.pictureBox1.Image = bm;
}
public static void AddChartSeries(FrameGUI Main, string key, object chart)
{
//string[] unchecked_keys = new string[] { "yo1", "yo2" };
string[] unchecked_keys = new string[] { "" };
Chart chart_ = (Chart)chart;
// add a new time series
if (chart_.Series.IndexOf(key) == -1)
{
// add to the checked list box
if (chart_.Name == "dataChart")
{
Main.clbSeries.Items.Add(key);
if (unchecked_keys.Contains(key) == false)
{
Main.clbSeries.SetItemChecked(Main.clbSeries.Items.Count - 1, true);
}
else
{
Main.clbSeries.SetItemChecked(Main.clbSeries.Items.Count - 1, false);
}
}
// add the to the chart
chart_.Series.Add(key);
chart_.Series[key].ChartType = SeriesChartType.Line;
chart_.Series[key].BorderWidth = 1;
switch (key)
{
case "r1":
chart_.Series[key].Color = Color.Red;
chart_.Series[key].BorderWidth = 1;
break;
case "r2":
chart_.Series[key].Color = Color.OrangeRed;
chart_.Series[key].BorderWidth = 1;
break;
case "u1":
chart_.Series[key].Color = Color.Orange;
chart_.Series[key].BorderWidth = 1;
break;
case "u2":
chart_.Series[key].Color = Color.Magenta;
chart_.Series[key].BorderWidth = 1;
break;
case "yo1":
chart_.Series[key].Color = Color.Gray;
chart_.Series[key].BorderWidth = 2;
break;
case "yo1_hat":
chart_.Series[key].Color = Color.Black;
chart_.Series[key].BorderWidth = 2;
break;
case "yo2":
chart_.Series[key].Color = Color.Gray;
chart_.Series[key].BorderWidth = 2;
break;
case "yc1":
chart_.Series[key].Color = Color.Blue;
chart_.Series[key].BorderWidth = 2;
break;
case "yc1_hat":
chart_.Series[key].Color = Color.Magenta;
chart_.Series[key].BorderWidth = 2;
break;
case "yc2":
chart_.Series[key].Color = Color.Green;
chart_.Series[key].BorderWidth = 2;
break;
case "Res_yc1":
chart_.Series[key].Color = Color.Blue;
chart_.Series[key].BorderWidth = 2;
break;
case "Sec_yc1":
chart_.Series[key].Color = Color.Blue;
chart_.Series[key].BorderWidth = 2;
break;
default:
break;
}
// set the x-axis type to DateTime
chart_.Series[key].XValueType = ChartValueType.DateTime;
}
}
