private void Hand_ReceiveMessageHandler(object sender, MessageReceiveEventArgs e)
{
int[] values = Array.ConvertAll(e.Message.Split(','), int.Parse);
if (hand.RFIDEnabled)
{
if (values[15] != 0)
{
hand.HandRFID = (HandRFIDs)values[15];
Console.WriteLine(SendMessageConfig.SendRFIDFeedback((HandRFIDs)values[15]));
}
}
Invoke(new Action(() =>
{
try
{
// How to run these codes as parallel
hand.Thumb.Position = values[0];
hand.Index.Position = values[1];
hand.Middle.Position = values[2];
hand.Ring.Position = values[3];
hand.Pinky.Position = values[4];
if (!handManualState)
{
trThumb.Value = values[0] > trThumb.Maximum ? trThumb.Maximum : (values[0] < trThumb.Minimum ? trThumb.Minimum : values[0]);
trIndex.Value = values[1] > trIndex.Maximum ? trIndex.Maximum : (values[1] < trIndex.Minimum ? trIndex.Minimum : values[1]);
trMiddle.Value = values[2] > trMiddle.Maximum ? trIndex.Maximum : (values[2] < trMiddle.Minimum ? trMiddle.Minimum : values[2]);
trRing.Value = values[3] > trRing.Maximum ? trRing.Maximum : (values[3] < trRing.Minimum ? trRing.Minimum : values[3]);
trPinky.Value = values[4] > trPinky.Maximum ? trPinky.Maximum : (values[4] < trPinky.Minimum ? trPinky.Minimum : values[4]);
txtThumbPos.Text = trThumb.Value.ToString();
txtIndexPos.Text = trIndex.Value.ToString();
txtMiddlePos.Text = trMiddle.Value.ToString();
txtRingPos.Text = trRing.Value.ToString();
txtPinkyPos.Text = trPinky.Value.ToString();
SelectAllTextBoxes();
}
thumbCur.Text = values[5].ToString();
indexCur.Text = values[6].ToString();
middleCur.Text = values[7].ToString();
ringCur.Text = values[8].ToString();
pinkyCur.Text = values[9].ToString();
lblThumbFsr.Text = values[10].ToString();
lblIndexFsr.Text = values[11].ToString();
lblMiddleFsr.Text = values[12].ToString();
lblRingFsr.Text = values[13].ToString();
lblTemppinky.Text = $"Temperature: {values[14]}";
panelTemp.BackColor = setTempColor(values[14]);
lblRfid.Text = $"RFID : {values[15]}";
}
catch (Exception ex)
{
MessageBox.Show(ex.GetBaseException().ToString() + "\n\n" + "Receiving from hand");
}
}));
}
private void Emg1c_MessageReceived(object sender, MessageReceiveEventArgs e)
{
//string[] values = e.Message.Split(new[] {':','#'}, StringSplitOptions.None);
Match[] values = Regex.Matches(e.Message, @":+[0-9]+#").Cast <Match>().ToArray();
try
{
for (int i = 0; i < values.Length; i++)
{
string temp1 = values[i].Value;
string temp = temp1.Substring(1, temp1.IndexOf('#') - 1);
// threshold
if (emg1cThresholdCheck.Checked)
{
if (int.Parse(temp) > numEmg1cThreshold.Value && !emg1cThresholdReach)
{
Console.WriteLine(SendMessageConfig.HandFist());
hand.SendMessage(SendMessageConfig.HandFist());
emg1cThresholdReach = true;
}
else if (int.Parse(temp) < numEmg1cThreshold.Value && emg1cThresholdReach)
{
Console.WriteLine(SendMessageConfig.HandOpen());
hand.SendMessage(SendMessageConfig.HandOpen());
emg1cThresholdReach = false;
}
}
//Thread.Sleep(emg1c.Delay);
if (int.TryParse(temp, out int j))
{
emg1cChartValue.Add(new ChartModel()
{
Data = double.Parse(temp),
Time = DateTime.Now
});
Invoke(new Action(() =>
{
emg1cChart.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(2).Ticks;
emg1cChart.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(10).Ticks;
}));
if (emg1cChartValue.Count > 100)
{
emg1cChartValue.RemoveAt(0);
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.GetBaseException().ToString() + "\n\nFROM EMG1C RECEIVE");
}
}
private void Emg1c_ConnectionFailed(object sender, MessageReceiveEventArgs e)
{
Invoke(new Action(() =>
{
switch (e.Message)
{
case "Reconnect":
btnConnect1ChannelEmg.Text = "Connect";
break;
default:
break;
}
}));
}
private void EMG_ReceiveMessageHandler(object sender, MessageReceiveEventArgs e)
{
MessageBox.Show(e.Message);
}
private void Emg_ReceiveMessageHandler(object sender, MessageReceiveEventArgs e)
{
double SumOfChannels = 0;
if (e.Parameter == "EMG")
{
double[] values = Array.ConvertAll(e.Message.Split(','), double.Parse);
try
{
for (int i = 0; i < 3; i++)
{
EmgChartValues[i].Add(new ChartModel
{
Data = (values[i]),
Time = DateTime.Now
});
//SumOfChannels += (values[i] * 100);
}
//double Threshold = (SumOfChannels / 3);
//if (checkBox1.Checked)
//{
// if ((decimal)Threshold > numMax.Value)
// {
// Console.WriteLine(SendMessageConfig.SendFromEmg8ToHand(emg.EmgGesture));
// hand.SendMessage(SendMessageConfig.SendFromEmg8ToHand(emg.EmgGesture));
// //Emg8ThresholdReach = true;
// }
// else if ((decimal)Threshold < numMax.Value)
// {
// Console.WriteLine(SendMessageConfig.SendFromEmg8ToHand(emg.EmgGesture));
// hand.SendMessage(SendMessageConfig.SendFromEmg8ToHand(emg.EmgGesture));
// //Emg8ThresholdReach = false;
// }
//}
Invoke(new Action(() =>
{
lblEMGgesture.Text = emg.EmgGesture.ToString();
EmgChart.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
EmgChart.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
EmgChart1.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
EmgChart1.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
EmgChart2.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
EmgChart2.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
// EmgChart3.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
// EmgChart3.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
// EmgChart4.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
// EmgChart4.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
// EmgChart5.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
// EmgChart5.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
// EmgChart6.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
// EmgChart6.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
// EmgChart7.AxisX[0].MaxValue = DateTime.Now.Ticks + TimeSpan.FromSeconds(1).Ticks;
// EmgChart7.AxisX[0].MinValue = DateTime.Now.Ticks - TimeSpan.FromSeconds(3).Ticks;
if (EmgChartValues[0].Count > 100)
{
EmgChartValues[0].RemoveAt(0);
}
if (EmgChartValues[1].Count > 100)
{
EmgChartValues[1].RemoveAt(0);
}
if (EmgChartValues[2].Count > 100)
{
EmgChartValues[2].RemoveAt(0);
}
}));
}
catch (Exception ex)
{
MessageBox.Show(ex.GetBaseException().ToString());
}
}
}
private void Rfid_ReceiveMessageHandler(object sender, MessageReceiveEventArgs e)
{
throw new NotImplementedException();
}
protected virtual void OnMessageReceived(MessageReceiveEventArgs args)
{
ReceiveMessageHandler?.Invoke(this, args);
}
