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some fix

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This commit is contained in:
dr-i-boleet
2025-04-04 17:47:53 +11:00
parent 5c85a024c2
commit 4cffa68ac8
8 changed files with 149 additions and 29 deletions
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13
TelemetryIO/MainForm.Designer.cs generated
View File

@ -46,6 +46,7 @@
this.label1 = new System.Windows.Forms.Label(); this.label1 = new System.Windows.Forms.Label();
this.PortSelector = new System.Windows.Forms.ComboBox(); this.PortSelector = new System.Windows.Forms.ComboBox();
this.label3 = new System.Windows.Forms.Label(); this.label3 = new System.Windows.Forms.Label();
this.TestQ_button = new System.Windows.Forms.Button();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.PIDs_tab.SuspendLayout(); this.PIDs_tab.SuspendLayout();
this.Motors_tab.SuspendLayout(); this.Motors_tab.SuspendLayout();
@ -224,11 +225,22 @@
this.label3.TabIndex = 14; this.label3.TabIndex = 14;
this.label3.Text = "Имя устройства"; this.label3.Text = "Имя устройства";
// //
// TestQ_button
//
this.TestQ_button.Location = new System.Drawing.Point(1194, 12);
this.TestQ_button.Name = "TestQ_button";
this.TestQ_button.Size = new System.Drawing.Size(75, 23);
this.TestQ_button.TabIndex = 15;
this.TestQ_button.Text = "Test Q";
this.TestQ_button.UseVisualStyleBackColor = true;
this.TestQ_button.Click += new System.EventHandler(this.TestQ_button_Click);
//
// MainForm // MainForm
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1363, 820); this.ClientSize = new System.Drawing.Size(1363, 820);
this.Controls.Add(this.TestQ_button);
this.Controls.Add(this.label3); this.Controls.Add(this.label3);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
this.Controls.Add(this.pictureBox1); this.Controls.Add(this.pictureBox1);
@ -268,6 +280,7 @@
private RatePID ratePID_control; private RatePID ratePID_control;
private System.Windows.Forms.TabPage Motors_tab; private System.Windows.Forms.TabPage Motors_tab;
private Motors motors1; private Motors motors1;
private System.Windows.Forms.Button TestQ_button;
} }
} }

28
TelemetryIO/MainForm.cs
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@ -48,12 +48,12 @@ namespace TelemetryIO
private void Serial_AnswerReceived(object sender, SerialEventArgs e) private void Serial_AnswerReceived(object sender, SerialEventArgs e)
{ {
if(e.Answer == "EXITAPP") if (e.Answer == "EXITAPP")
{ {
serial.Close(); serial.Close();
base.OnFormClosing(formArgs); base.OnFormClosing(formArgs);
} }
else if(e.Answer == "TIMEOUT") else if (e.Answer == "TIMEOUT")
{ {
serial.Close(); serial.Close();
if (Connect_btn.InvokeRequired) if (Connect_btn.InvokeRequired)
@ -72,6 +72,20 @@ namespace TelemetryIO
ResetTabControl(); ResetTabControl();
} }
else if (e.Answer.StartsWith("EXCEPTION"))
{
if (InfoLabel.InvokeRequired)
{
InfoLabel.BeginInvoke(new Action(() =>
{
InfoLabel.Text = e.Answer.Substring(9);
}));
}
else
{
InfoLabel.Text = e.Answer.Substring(9);
}
}
} }
@ -201,6 +215,16 @@ namespace TelemetryIO
serial.stopMonitoring(); serial.stopMonitoring();
motors1.StopMotorsControl(); motors1.StopMotorsControl();
} }
private void TestQ_button_Click(object sender, EventArgs e)
{
Form form = new Form();
form.Size = new Size(640, 480);
TestQuaternion tq = new TestQuaternion();
tq.Location = new Point(10, 10);
form.Controls.Add(tq);
form.Show();
}
} }
public class PopupForm : Form public class PopupForm : Form

35
TelemetryIO/Models/Telemetry.cs
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@ -16,6 +16,9 @@ namespace TelemetryIO.Models
private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();//Словарь адресов, для целей мониторинга private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();//Словарь адресов, для целей мониторинга
public string name = ""; public string name = "";
public float[] raw_imu = new float[6]; public float[] raw_imu = new float[6];
public float[] imu = new float[6];
public float[] g_integration = new float[3];
public float[] euler = new float[3];
public float[] quaternion = new float[4]; public float[] quaternion = new float[4];
public float[] battery = new float[4]; public float[] battery = new float[4];
public float[] motor_act = new float[8]; public float[] motor_act = new float[8];
@ -33,6 +36,21 @@ namespace TelemetryIO.Models
dictMonitor.Add("rawGy", new VarAddress(RAW_IMU_ADDRESS, 4)); dictMonitor.Add("rawGy", new VarAddress(RAW_IMU_ADDRESS, 4));
dictMonitor.Add("rawGz", new VarAddress(RAW_IMU_ADDRESS, 5)); dictMonitor.Add("rawGz", new VarAddress(RAW_IMU_ADDRESS, 5));
dictMonitor.Add("Ax", new VarAddress(IMU_ADDRESS, 0));
dictMonitor.Add("Ay", new VarAddress(IMU_ADDRESS, 1));
dictMonitor.Add("Az", new VarAddress(IMU_ADDRESS, 2));
dictMonitor.Add("Gx", new VarAddress(IMU_ADDRESS, 3));
dictMonitor.Add("Gy", new VarAddress(IMU_ADDRESS, 4));
dictMonitor.Add("Gz", new VarAddress(IMU_ADDRESS, 5));
dictMonitor.Add("Gx_int", new VarAddress(G_INTEGRATION_ADDRESS, 0));
dictMonitor.Add("Gy_int", new VarAddress(G_INTEGRATION_ADDRESS, 1));
dictMonitor.Add("Gz_int", new VarAddress(G_INTEGRATION_ADDRESS, 2));
dictMonitor.Add("Euler.Phi", new VarAddress(EULER_ADDRESS, 0));
dictMonitor.Add("Euler.Theta", new VarAddress(EULER_ADDRESS, 1));
dictMonitor.Add("Euler.Psi", new VarAddress(EULER_ADDRESS, 2));
dictMonitor.Add("Qw", new VarAddress(Q_ADDRESS, 0)); dictMonitor.Add("Qw", new VarAddress(Q_ADDRESS, 0));
dictMonitor.Add("Qx", new VarAddress(Q_ADDRESS, 1)); dictMonitor.Add("Qx", new VarAddress(Q_ADDRESS, 1));
dictMonitor.Add("Qy", new VarAddress(Q_ADDRESS, 2)); dictMonitor.Add("Qy", new VarAddress(Q_ADDRESS, 2));
@ -88,10 +106,22 @@ namespace TelemetryIO.Models
set_float(raw_imu, data, offset, len); set_float(raw_imu, data, offset, len);
break; break;
case IMU_ADDRESS://IMU
set_float(imu, data, offset, len);
break;
case Q_ADDRESS://quaternion case Q_ADDRESS://quaternion
set_float(quaternion, data, offset, len); set_float(quaternion, data, offset, len);
break; break;
case G_INTEGRATION_ADDRESS://quaternion
set_float(g_integration, data, offset, len);
break;
case EULER_ADDRESS://quaternion
set_float(euler, data, offset, len);
break;
case BAT_ADDRESS://battery case BAT_ADDRESS://battery
set_float(battery, data, offset, len); set_float(battery, data, offset, len);
break; break;
@ -144,7 +174,10 @@ namespace TelemetryIO.Models
} }
public const int RAW_IMU_ADDRESS = 0; public const int RAW_IMU_ADDRESS = 0;
public const int Q_ADDRESS = 1; public const int IMU_ADDRESS = 1;
public const int Q_ADDRESS = 2;
public const int G_INTEGRATION_ADDRESS = 3;
public const int EULER_ADDRESS = 4;
public const int BAT_ADDRESS = 50; public const int BAT_ADDRESS = 50;

44
TelemetryIO/MonitorVars.Designer.cs generated
View File

@ -28,15 +28,19 @@
/// </summary> /// </summary>
private void InitializeComponent() private void InitializeComponent()
{ {
this.components = new System.ComponentModel.Container();
this.MainFormPlot = new ScottPlot.WinForms.FormsPlot(); this.MainFormPlot = new ScottPlot.WinForms.FormsPlot();
this.add_btn = new System.Windows.Forms.Button(); this.add_btn = new System.Windows.Forms.Button();
this.del_btn = new System.Windows.Forms.Button();
this.monitorItems_cb = new System.Windows.Forms.ComboBox(); this.monitorItems_cb = new System.Windows.Forms.ComboBox();
this.monitorItems_lb = new System.Windows.Forms.ListBox(); this.monitorItems_lb = new System.Windows.Forms.ListBox();
this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox();
this.AutoScale_check = new System.Windows.Forms.CheckBox(); this.AutoScale_check = new System.Windows.Forms.CheckBox();
this.StartStop_btn = new System.Windows.Forms.Button(); this.StartStop_btn = new System.Windows.Forms.Button();
this.ListBoxMenu = new System.Windows.Forms.ContextMenuStrip(this.components);
this.DeleteElement_menu = new System.Windows.Forms.ToolStripMenuItem();
this.MoveElementToPlot1 = new System.Windows.Forms.ToolStripMenuItem();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.ListBoxMenu.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// MainFormPlot // MainFormPlot
@ -58,17 +62,6 @@
this.add_btn.UseVisualStyleBackColor = true; this.add_btn.UseVisualStyleBackColor = true;
this.add_btn.Click += new System.EventHandler(this.add_btn_Click); this.add_btn.Click += new System.EventHandler(this.add_btn_Click);
// //
// del_btn
//
this.del_btn.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.del_btn.Location = new System.Drawing.Point(67, 439);
this.del_btn.Name = "del_btn";
this.del_btn.Size = new System.Drawing.Size(75, 23);
this.del_btn.TabIndex = 4;
this.del_btn.Text = "Удалить";
this.del_btn.UseVisualStyleBackColor = true;
this.del_btn.Click += new System.EventHandler(this.del_btn_Click);
//
// monitorItems_cb // monitorItems_cb
// //
this.monitorItems_cb.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.monitorItems_cb.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@ -88,6 +81,7 @@
this.monitorItems_lb.Name = "monitorItems_lb"; this.monitorItems_lb.Name = "monitorItems_lb";
this.monitorItems_lb.Size = new System.Drawing.Size(214, 372); this.monitorItems_lb.Size = new System.Drawing.Size(214, 372);
this.monitorItems_lb.TabIndex = 8; this.monitorItems_lb.TabIndex = 8;
this.monitorItems_lb.MouseUp += new System.Windows.Forms.MouseEventHandler(this.monitorItems_lb_MouseUp);
// //
// groupBox1 // groupBox1
// //
@ -123,6 +117,26 @@
this.StartStop_btn.UseVisualStyleBackColor = true; this.StartStop_btn.UseVisualStyleBackColor = true;
this.StartStop_btn.Click += new System.EventHandler(this.StartStop_btn_Click); this.StartStop_btn.Click += new System.EventHandler(this.StartStop_btn_Click);
// //
// ListBoxMenu
//
this.ListBoxMenu.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.DeleteElement_menu,
this.MoveElementToPlot1});
this.ListBoxMenu.Name = "ListBoxMenu";
this.ListBoxMenu.Size = new System.Drawing.Size(208, 48);
//
// DeleteElement_menu
//
this.DeleteElement_menu.Name = "DeleteElement_menu";
this.DeleteElement_menu.Size = new System.Drawing.Size(207, 22);
this.DeleteElement_menu.Text = "Удалить";
//
// MoveElementToPlot1
//
this.MoveElementToPlot1.Name = "MoveElementToPlot1";
this.MoveElementToPlot1.Size = new System.Drawing.Size(207, 22);
this.MoveElementToPlot1.Text = "Перекинуть на график 1";
//
// MonitorVars // MonitorVars
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -130,13 +144,13 @@
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
this.Controls.Add(this.monitorItems_lb); this.Controls.Add(this.monitorItems_lb);
this.Controls.Add(this.monitorItems_cb); this.Controls.Add(this.monitorItems_cb);
this.Controls.Add(this.del_btn);
this.Controls.Add(this.add_btn); this.Controls.Add(this.add_btn);
this.Controls.Add(this.MainFormPlot); this.Controls.Add(this.MainFormPlot);
this.Name = "MonitorVars"; this.Name = "MonitorVars";
this.Size = new System.Drawing.Size(1240, 600); this.Size = new System.Drawing.Size(1240, 600);
this.groupBox1.ResumeLayout(false); this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout(); this.groupBox1.PerformLayout();
this.ListBoxMenu.ResumeLayout(false);
this.ResumeLayout(false); this.ResumeLayout(false);
} }
@ -145,11 +159,13 @@
private ScottPlot.WinForms.FormsPlot MainFormPlot; private ScottPlot.WinForms.FormsPlot MainFormPlot;
private System.Windows.Forms.Button add_btn; private System.Windows.Forms.Button add_btn;
private System.Windows.Forms.Button del_btn;
private System.Windows.Forms.ComboBox monitorItems_cb; private System.Windows.Forms.ComboBox monitorItems_cb;
private System.Windows.Forms.ListBox monitorItems_lb; private System.Windows.Forms.ListBox monitorItems_lb;
private System.Windows.Forms.GroupBox groupBox1; private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.CheckBox AutoScale_check; private System.Windows.Forms.CheckBox AutoScale_check;
private System.Windows.Forms.Button StartStop_btn; private System.Windows.Forms.Button StartStop_btn;
private System.Windows.Forms.ContextMenuStrip ListBoxMenu;
private System.Windows.Forms.ToolStripMenuItem DeleteElement_menu;
private System.Windows.Forms.ToolStripMenuItem MoveElementToPlot1;
} }
} }

39
TelemetryIO/MonitorVars.cs
View File

@ -23,7 +23,6 @@ namespace TelemetryIO
private System.Windows.Forms.Timer updateTimer = new System.Windows.Forms.Timer(); private System.Windows.Forms.Timer updateTimer = new System.Windows.Forms.Timer();
private float[] monitoring = new float[32]; private float[] monitoring = new float[32];
private int test_index = 0;
private bool isSubscribed = false; private bool isSubscribed = false;
private bool isMonitoring = true; private bool isMonitoring = true;
private bool isAutoScale = true; private bool isAutoScale = true;
@ -37,7 +36,17 @@ namespace TelemetryIO
updateTimer.Interval = 100; updateTimer.Interval = 100;
AutoScale_check.Checked = isAutoScale; AutoScale_check.Checked = isAutoScale;
DeleteElement_menu.Click += (s, e) =>
{
if(monitorItems_lb.SelectedIndex != ListBox.NoMatches)
{
processingIndex = monitorItems_lb.SelectedIndex;
serial.RemoveMonitoringItem(processingIndex);
}
};
monitorItems_cb.Items.AddRange(Telemetry.Instance.getKeys()); monitorItems_cb.Items.AddRange(Telemetry.Instance.getKeys());
monitorItems_cb.SelectedIndex = 0; monitorItems_cb.SelectedIndex = 0;
updateTimer.Tick += UpdateTimer_Tick; updateTimer.Tick += UpdateTimer_Tick;
@ -84,9 +93,11 @@ namespace TelemetryIO
else if(e.Answer == "REMOVE") else if(e.Answer == "REMOVE")
{ {
monItems.RemoveAt(processingIndex); monItems.RemoveAt(processingIndex);
if (monitorItems_lb.InvokeRequired) if (monitorItems_lb.InvokeRequired)
{ {
monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.RemoveAt(processingIndex))); monitorItems_lb.Invoke(new Action(() =>
monitorItems_lb.Items.RemoveAt(processingIndex)));
} }
else else
{ {
@ -173,7 +184,7 @@ namespace TelemetryIO
} }
else else
{ {
monitorItems_lb.Items[i] = monItems[i].name + "\t" + monItems[i].Last; monitorItems_lb.Items[i] = monItems[i].name + "\t" + monItems[i].Last.ToString("0.000");
} }
} }
MainFormPlot.Plot.Legend.IsVisible = true; MainFormPlot.Plot.Legend.IsVisible = true;
@ -197,12 +208,6 @@ namespace TelemetryIO
serial.AddMonitoringItem(processingName); serial.AddMonitoringItem(processingName);
} }
private void del_btn_Click(object sender, EventArgs e)
{
processingIndex = monitorItems_lb.SelectedIndex;
serial.RemoveMonitoringItem(processingIndex);
}
private void StartStop_btn_Click(object sender, EventArgs e) private void StartStop_btn_Click(object sender, EventArgs e)
{ {
if(isMonitoring) if(isMonitoring)
@ -221,6 +226,19 @@ namespace TelemetryIO
if (cb.Checked) isAutoScale = true; if (cb.Checked) isAutoScale = true;
else isAutoScale = false; else isAutoScale = false;
} }
private void monitorItems_lb_MouseUp(object sender, MouseEventArgs e)
{
if(e.Button == MouseButtons.Right)
{
int index = monitorItems_lb.IndexFromPoint(e.Location);
if(index != ListBox.NoMatches)
{
monitorItems_lb.SelectedIndex = index;
ListBoxMenu.Show(monitorItems_lb, e.Location);
}
}
}
} }
public class MonitorItem public class MonitorItem
@ -259,6 +277,7 @@ namespace TelemetryIO
System.Drawing.Color.LightGreen, System.Drawing.Color.LightGreen,
System.Drawing.Color.YellowGreen, System.Drawing.Color.YellowGreen,
System.Drawing.Color.DarkRed, System.Drawing.Color.DarkRed,
System.Drawing.Color.Olive
}; };
private void init() private void init()

3
TelemetryIO/MonitorVars.resx
View File

@ -117,4 +117,7 @@
<resheader name="writer"> <resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader> </resheader>
<metadata name="ListBoxMenu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root> </root>

7
TelemetryIO/SerialHandler.cs
View File

@ -133,8 +133,9 @@ namespace TelemetryIO
int offset = DataSlots.bytes_to_int(unscape, 12); int offset = DataSlots.bytes_to_int(unscape, 12);
byte[] data = new byte[len]; byte[] data = new byte[len];
Array.Copy(unscape, 16, data, 0, len); Array.Copy(unscape, 16, data, 0, len);
Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** len = {len}");
if (cmd == TELE_CMD_RD_ONCE) if (cmd == TELE_CMD_RD_ONCE)
{ {
telemetry.setSlot(slot, data, offset, len); telemetry.setSlot(slot, data, offset, len);
OnAnswerReceived(slot.ToString()); OnAnswerReceived(slot.ToString());
@ -171,11 +172,13 @@ namespace TelemetryIO
else if (cmd == TELE_CMD_RD_MON_ADD) else if (cmd == TELE_CMD_RD_MON_ADD)
{ {
OnAnswerReceived("ADD"); OnAnswerReceived("ADD");
Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** len = {len}");
isMonitorEmpty = false; isMonitorEmpty = false;
} }
else if (cmd == TELE_CMD_RD_MON_REMOVE) else if (cmd == TELE_CMD_RD_MON_REMOVE)
{ {
OnAnswerReceived("REMOVE"); OnAnswerReceived("REMOVE");
Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** len = {len}");
} }
else if (cmd == TELE_CMD_RD_MON_REMOVEALL) else if (cmd == TELE_CMD_RD_MON_REMOVEALL)
{ {
@ -207,7 +210,7 @@ namespace TelemetryIO
} }
}catch(Exception ex) }catch(Exception ex)
{ {
Debug.WriteLine(ex.Message); OnAnswerReceived("EXCEPTION" + ex.Message);
} }
} }

9
TelemetryIO/TelemetryIO.csproj
View File

@ -123,6 +123,12 @@
<DependentUpon>RatePID.cs</DependentUpon> <DependentUpon>RatePID.cs</DependentUpon>
</Compile> </Compile>
<Compile Include="SerialHandler.cs" /> <Compile Include="SerialHandler.cs" />
<Compile Include="TestQuaternion.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="TestQuaternion.Designer.cs">
<DependentUpon>TestQuaternion.cs</DependentUpon>
</Compile>
<EmbeddedResource Include="MainForm.resx"> <EmbeddedResource Include="MainForm.resx">
<DependentUpon>MainForm.cs</DependentUpon> <DependentUpon>MainForm.cs</DependentUpon>
<SubType>Designer</SubType> <SubType>Designer</SubType>
@ -145,6 +151,9 @@
<EmbeddedResource Include="RatePID.resx"> <EmbeddedResource Include="RatePID.resx">
<DependentUpon>RatePID.cs</DependentUpon> <DependentUpon>RatePID.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
<EmbeddedResource Include="TestQuaternion.resx">
<DependentUpon>TestQuaternion.cs</DependentUpon>
</EmbeddedResource>
<None Include="OpenTK.dll.config" /> <None Include="OpenTK.dll.config" />
<None Include="packages.config" /> <None Include="packages.config" />
<None Include="Properties\Settings.settings"> <None Include="Properties\Settings.settings">