Bug fix, finish motor control, add some comments
This commit is contained in:
103
TelemetryIO/MainForm.Designer.cs
generated
103
TelemetryIO/MainForm.Designer.cs
generated
@ -31,8 +31,11 @@
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
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this.InfoLabel = new System.Windows.Forms.Label();
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this.InfoLabel = new System.Windows.Forms.Label();
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this.tabControl1 = new System.Windows.Forms.TabControl();
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this.tabControl1 = new System.Windows.Forms.TabControl();
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this.tabPage1 = new System.Windows.Forms.TabPage();
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this.PIDs_tab = new System.Windows.Forms.TabPage();
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this.tabPage2 = new System.Windows.Forms.TabPage();
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this.ratePID_control = new TelemetryIO.RatePID();
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this.Motors_tab = new System.Windows.Forms.TabPage();
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this.motors1 = new TelemetryIO.Motors();
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this.Monitoring_tab = new System.Windows.Forms.TabPage();
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this.monitorVars1 = new TelemetryIO.MonitorVars();
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this.monitorVars1 = new TelemetryIO.MonitorVars();
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this.name_label = new System.Windows.Forms.Label();
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this.name_label = new System.Windows.Forms.Label();
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this.pictureBox1 = new System.Windows.Forms.PictureBox();
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this.pictureBox1 = new System.Windows.Forms.PictureBox();
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@ -43,10 +46,10 @@
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this.label1 = new System.Windows.Forms.Label();
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this.label1 = new System.Windows.Forms.Label();
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this.PortSelector = new System.Windows.Forms.ComboBox();
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this.PortSelector = new System.Windows.Forms.ComboBox();
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this.label3 = new System.Windows.Forms.Label();
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this.label3 = new System.Windows.Forms.Label();
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this.ratePID_control = new TelemetryIO.RatePID();
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this.tabControl1.SuspendLayout();
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this.tabControl1.SuspendLayout();
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this.tabPage1.SuspendLayout();
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this.PIDs_tab.SuspendLayout();
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this.tabPage2.SuspendLayout();
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this.Motors_tab.SuspendLayout();
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this.Monitoring_tab.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
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this.groupBox1.SuspendLayout();
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this.groupBox1.SuspendLayout();
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this.SuspendLayout();
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this.SuspendLayout();
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@ -62,8 +65,9 @@
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// tabControl1
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// tabControl1
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//
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//
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this.tabControl1.Alignment = System.Windows.Forms.TabAlignment.Bottom;
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this.tabControl1.Alignment = System.Windows.Forms.TabAlignment.Bottom;
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this.tabControl1.Controls.Add(this.tabPage1);
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this.tabControl1.Controls.Add(this.PIDs_tab);
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this.tabControl1.Controls.Add(this.tabPage2);
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this.tabControl1.Controls.Add(this.Motors_tab);
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this.tabControl1.Controls.Add(this.Monitoring_tab);
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this.tabControl1.Location = new System.Drawing.Point(12, 110);
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this.tabControl1.Location = new System.Drawing.Point(12, 110);
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this.tabControl1.Multiline = true;
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this.tabControl1.Multiline = true;
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this.tabControl1.Name = "tabControl1";
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this.tabControl1.Name = "tabControl1";
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@ -71,28 +75,56 @@
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this.tabControl1.Size = new System.Drawing.Size(1339, 680);
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this.tabControl1.Size = new System.Drawing.Size(1339, 680);
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this.tabControl1.TabIndex = 10;
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this.tabControl1.TabIndex = 10;
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this.tabControl1.Visible = false;
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this.tabControl1.Visible = false;
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this.tabControl1.SelectedIndexChanged += new System.EventHandler(this.tabControl1_SelectedIndexChanged);
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//
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//
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// tabPage1
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// PIDs_tab
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//
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//
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this.tabPage1.Controls.Add(this.ratePID_control);
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this.PIDs_tab.Controls.Add(this.ratePID_control);
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this.tabPage1.Location = new System.Drawing.Point(4, 4);
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this.PIDs_tab.Location = new System.Drawing.Point(4, 4);
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this.tabPage1.Name = "tabPage1";
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this.PIDs_tab.Name = "PIDs_tab";
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this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
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this.PIDs_tab.Padding = new System.Windows.Forms.Padding(3);
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this.tabPage1.Size = new System.Drawing.Size(1331, 654);
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this.PIDs_tab.Size = new System.Drawing.Size(1331, 654);
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this.tabPage1.TabIndex = 0;
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this.PIDs_tab.TabIndex = 0;
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this.tabPage1.Text = "PIDs";
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this.PIDs_tab.Text = "PIDs";
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this.tabPage1.UseVisualStyleBackColor = true;
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this.PIDs_tab.UseVisualStyleBackColor = true;
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//
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//
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// tabPage2
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// ratePID_control
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//
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//
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this.tabPage2.Controls.Add(this.monitorVars1);
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this.ratePID_control.BackColor = System.Drawing.Color.AntiqueWhite;
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this.tabPage2.Location = new System.Drawing.Point(4, 4);
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this.ratePID_control.bottom_label = null;
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this.tabPage2.Name = "tabPage2";
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this.ratePID_control.Location = new System.Drawing.Point(6, 6);
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this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
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this.ratePID_control.Name = "ratePID_control";
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this.tabPage2.Size = new System.Drawing.Size(1331, 654);
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this.ratePID_control.serial = null;
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this.tabPage2.TabIndex = 1;
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this.ratePID_control.Size = new System.Drawing.Size(1299, 642);
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this.tabPage2.Text = "Monitor";
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this.ratePID_control.TabIndex = 11;
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this.tabPage2.UseVisualStyleBackColor = true;
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//
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// Motors_tab
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//
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this.Motors_tab.Controls.Add(this.motors1);
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this.Motors_tab.Location = new System.Drawing.Point(4, 4);
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this.Motors_tab.Name = "Motors_tab";
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this.Motors_tab.Size = new System.Drawing.Size(1331, 654);
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this.Motors_tab.TabIndex = 2;
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this.Motors_tab.Text = "Моторы";
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this.Motors_tab.UseVisualStyleBackColor = true;
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//
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// motors1
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//
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this.motors1.Location = new System.Drawing.Point(0, 30);
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this.motors1.Name = "motors1";
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this.motors1.Size = new System.Drawing.Size(1240, 600);
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this.motors1.TabIndex = 0;
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//
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// Monitoring_tab
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//
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this.Monitoring_tab.Controls.Add(this.monitorVars1);
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this.Monitoring_tab.Location = new System.Drawing.Point(4, 4);
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this.Monitoring_tab.Name = "Monitoring_tab";
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this.Monitoring_tab.Padding = new System.Windows.Forms.Padding(3);
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this.Monitoring_tab.Size = new System.Drawing.Size(1331, 654);
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this.Monitoring_tab.TabIndex = 1;
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this.Monitoring_tab.Text = "Monitor";
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this.Monitoring_tab.UseVisualStyleBackColor = true;
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//
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//
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// monitorVars1
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// monitorVars1
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//
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//
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@ -192,16 +224,6 @@
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this.label3.TabIndex = 14;
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this.label3.TabIndex = 14;
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this.label3.Text = "Имя устройства";
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this.label3.Text = "Имя устройства";
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//
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//
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// ratePID_control
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//
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this.ratePID_control.BackColor = System.Drawing.Color.AntiqueWhite;
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this.ratePID_control.bottom_label = null;
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this.ratePID_control.Location = new System.Drawing.Point(6, 6);
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this.ratePID_control.Name = "ratePID_control";
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this.ratePID_control.serial = null;
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this.ratePID_control.Size = new System.Drawing.Size(1299, 642);
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this.ratePID_control.TabIndex = 11;
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//
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// MainForm
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// MainForm
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//
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
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this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
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@ -217,8 +239,9 @@
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this.Name = "MainForm";
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this.Name = "MainForm";
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this.Text = "TelemetryIO";
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this.Text = "TelemetryIO";
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this.tabControl1.ResumeLayout(false);
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this.tabControl1.ResumeLayout(false);
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this.tabPage1.ResumeLayout(false);
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this.PIDs_tab.ResumeLayout(false);
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this.tabPage2.ResumeLayout(false);
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this.Motors_tab.ResumeLayout(false);
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this.Monitoring_tab.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
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this.groupBox1.ResumeLayout(false);
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this.groupBox1.ResumeLayout(false);
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this.groupBox1.PerformLayout();
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this.groupBox1.PerformLayout();
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@ -230,8 +253,8 @@
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#endregion
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#endregion
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private System.Windows.Forms.Label InfoLabel;
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private System.Windows.Forms.Label InfoLabel;
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private System.Windows.Forms.TabControl tabControl1;
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private System.Windows.Forms.TabControl tabControl1;
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private System.Windows.Forms.TabPage tabPage1;
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private System.Windows.Forms.TabPage PIDs_tab;
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private System.Windows.Forms.TabPage tabPage2;
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private System.Windows.Forms.TabPage Monitoring_tab;
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private MonitorVars monitorVars1;
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private MonitorVars monitorVars1;
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private System.Windows.Forms.Label name_label;
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private System.Windows.Forms.Label name_label;
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private System.Windows.Forms.PictureBox pictureBox1;
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private System.Windows.Forms.PictureBox pictureBox1;
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@ -243,6 +266,8 @@
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private System.Windows.Forms.ComboBox PortSelector;
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private System.Windows.Forms.ComboBox PortSelector;
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private System.Windows.Forms.Label label3;
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private System.Windows.Forms.Label label3;
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private RatePID ratePID_control;
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private RatePID ratePID_control;
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private System.Windows.Forms.TabPage Motors_tab;
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private Motors motors1;
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}
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}
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}
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}
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@ -24,6 +24,7 @@ namespace TelemetryIO
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private System.Windows.Forms.Timer timer = new System.Windows.Forms.Timer();
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private System.Windows.Forms.Timer timer = new System.Windows.Forms.Timer();
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private System.Timers.Timer packageTransferTimer = new System.Timers.Timer(50);
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private System.Timers.Timer packageTransferTimer = new System.Timers.Timer(50);
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private FormClosingEventArgs formArgs;
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private FormClosingEventArgs formArgs;
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public string zhopa = "ZHOPA!!!";
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public MainForm()
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public MainForm()
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{
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{
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InitializeComponent();
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InitializeComponent();
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@ -39,6 +40,7 @@ namespace TelemetryIO
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timer.Tick += Timer_Tick;
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timer.Tick += Timer_Tick;
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ratePID_control.SubscribeOnEvent(serial);
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ratePID_control.SubscribeOnEvent(serial);
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monitorVars1.subscribeOnMonitoringItemsReceived(serial);
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monitorVars1.subscribeOnMonitoringItemsReceived(serial);
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motors1.SubscribeAnswerReceived(serial);
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ratePID_control.bottom_label = InfoLabel;
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ratePID_control.bottom_label = InfoLabel;
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serial.HandShakeOccurred += Serial_HandShakeOccurred;
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serial.HandShakeOccurred += Serial_HandShakeOccurred;
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serial.AnswerReceived += Serial_AnswerReceived;
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serial.AnswerReceived += Serial_AnswerReceived;
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@ -46,7 +48,31 @@ namespace TelemetryIO
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private void Serial_AnswerReceived(object sender, SerialEventArgs e)
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private void Serial_AnswerReceived(object sender, SerialEventArgs e)
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{
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{
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if(e.Answer == "EXITAPP") base.OnFormClosing(formArgs);
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if(e.Answer == "EXITAPP")
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{
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serial.Close();
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base.OnFormClosing(formArgs);
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}
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else if(e.Answer == "TIMEOUT")
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{
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serial.Close();
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if (Connect_btn.InvokeRequired)
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{
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Connect_btn.BeginInvoke(new Action(() =>
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{
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Connect_btn.Text = "Подключить";
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Connect_btn.Enabled = true;
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}));
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}
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else
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{
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Connect_btn.Text = "Подключить";
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Connect_btn.Enabled = true;
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}
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ResetTabControl();
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}
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}
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}
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private void Serial_HandShakeOccurred(object sender, EventArgs e)
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private void Serial_HandShakeOccurred(object sender, EventArgs e)
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@ -59,7 +85,21 @@ namespace TelemetryIO
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{
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{
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tabControl1.Visible = true;
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tabControl1.Visible = true;
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}
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}
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if (Connect_btn.InvokeRequired)
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{
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Connect_btn.BeginInvoke(new Action(() =>
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{
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Connect_btn.Text = "Отключить";
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Connect_btn.Enabled = true;
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}));
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}
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else
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{
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Connect_btn.Text = "Отключить";
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Connect_btn.Enabled = true;
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}
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serial.getPIDs();
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}
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}
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private void Timer_Tick(object sender, EventArgs e)
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private void Timer_Tick(object sender, EventArgs e)
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@ -106,16 +146,35 @@ namespace TelemetryIO
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InfoLabel.Text = ex.Message;
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InfoLabel.Text = ex.Message;
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return;
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return;
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}
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}
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b.Text = "Отключить";
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b.Enabled = false;
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}
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}
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}
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}
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else
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else
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{
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{
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tabControl1.Visible = false;
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serial.Close();
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serial.Close();
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b.Text = "Подключить";
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b.Text = "Подключить";
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}
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}
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}
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}
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private void ResetTabControl()
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{
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if (tabControl1.InvokeRequired)
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{
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tabControl1.BeginInvoke(new Action(() =>
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{
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tabControl1.Visible = false;
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tabControl1.SelectedIndex = 0;
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}));
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}
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else
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{
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tabControl1.Visible = false;
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tabControl1.SelectedIndex = 0;
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}
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motors1.StopMotorsControl();
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}
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private void PortSelector_RefreshItems(object sender, MouseEventArgs e)
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private void PortSelector_RefreshItems(object sender, MouseEventArgs e)
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{
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{
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PortSelector.Items.Clear();
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PortSelector.Items.Clear();
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@ -128,5 +187,72 @@ namespace TelemetryIO
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formArgs = e;
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formArgs = e;
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if(serial.isOpen)serial.requestExit();
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if(serial.isOpen)serial.requestExit();
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}
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}
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private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
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{
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TabControl tb = sender as TabControl;
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Debug.WriteLine(tb.SelectedTab.Name);
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switch (tb.SelectedTab.Name)
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{
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case "PIDs_tab":
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serial.getPIDs();
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break;
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}
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serial.stopMonitoring();
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motors1.StopMotorsControl();
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}
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}
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public class PopupForm : Form
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{
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public PopupForm(string message)
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{
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// 1. Настройки формы
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this.Text = "Уведомление";
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this.Size = new Size(300, 150);
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this.FormBorderStyle = FormBorderStyle.FixedDialog; // Стандартная рамка
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this.StartPosition = FormStartPosition.Manual;
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this.ShowInTaskbar = false;
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this.BackColor = Color.White;
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this.ControlBox = false; // Убираем стандартные кнопки
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this.MinimizeBox = false;
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this.MaximizeBox = false;
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// 2. Содержимое формы
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System.Windows.Forms.Label label = new System.Windows.Forms.Label()
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{
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Text = message,
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Dock = DockStyle.Fill,
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TextAlign = ContentAlignment.MiddleCenter,
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Font = new Font("Segoe UI", 10),
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Padding = new Padding(20)
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};
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Button closeButton = new Button()
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{
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Text = "OK",
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Size = new Size(80, 30),
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Anchor = AnchorStyles.Bottom | AnchorStyles.Right
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};
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closeButton.Click += (s, e) => this.Close();
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// 3. Добавление элементов
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this.Controls.Add(label);
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this.Controls.Add(closeButton);
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// 4. Позиционирование кнопки
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closeButton.Location = new Point(
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this.ClientSize.Width - closeButton.Width - 20,
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this.ClientSize.Height - closeButton.Height - 10);
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}
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// 5. Правильное отображение (без блокировки главной формы)
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public new void Show()
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||||||
|
{
|
||||||
|
base.Show(); // Немодальное отображение
|
||||||
|
this.Location = new Point(
|
||||||
|
Cursor.Position.X - this.Width / 2,
|
||||||
|
Cursor.Position.Y - this.Height / 2);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -10,15 +10,16 @@ namespace TelemetryIO.Models
|
|||||||
{
|
{
|
||||||
public sealed class Telemetry
|
public sealed class Telemetry
|
||||||
{
|
{
|
||||||
|
//Класс синглтон для хранения данных телеметрии
|
||||||
private static volatile Telemetry instance;
|
private static volatile Telemetry instance;
|
||||||
private static readonly object _lock = new object();
|
private static readonly object _lock = new object();
|
||||||
private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();
|
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[] 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[4];
|
public float[] motor_act = new float[8];
|
||||||
public float[] motor_sp = new float[4];
|
public float[] motor_sp = new float[8];
|
||||||
public float[] pid0 = new float[9];
|
public float[] pid0 = new float[9];
|
||||||
public float[] pid1 = new float[9];
|
public float[] pid1 = new float[9];
|
||||||
public float[] pid2 = new float[9];
|
public float[] pid2 = new float[9];
|
||||||
@ -81,7 +82,6 @@ namespace TelemetryIO.Models
|
|||||||
|
|
||||||
public void setSlot(int slot, byte[] data, int offset, int len)
|
public void setSlot(int slot, byte[] data, int offset, int len)
|
||||||
{
|
{
|
||||||
if (slot != 9999) Debug.WriteLine(slot);
|
|
||||||
switch (slot)
|
switch (slot)
|
||||||
{
|
{
|
||||||
case RAW_IMU_ADDRESS://RAW IMU
|
case RAW_IMU_ADDRESS://RAW IMU
|
||||||
|
|||||||
@ -18,13 +18,8 @@ namespace TelemetryIO
|
|||||||
{
|
{
|
||||||
public SerialHandler serial { get; set; }
|
public SerialHandler serial { get; set; }
|
||||||
public float[][] monitoringBuffer = new float[32][];
|
public float[][] monitoringBuffer = new float[32][];
|
||||||
private List<double[]> monitorList = new List<double[]>();
|
|
||||||
private List<string> monitorNames = new List<string>();
|
|
||||||
private List<ScottPlot.Plottables.Signal> signals = new List<ScottPlot.Plottables.Signal>();
|
|
||||||
|
|
||||||
private List<MonitorItem> monItems = new List<MonitorItem>();
|
private List<MonitorItem> monItems = new List<MonitorItem>();
|
||||||
|
|
||||||
private List<int[]>[] plotContent = new List<int[]>[32];
|
|
||||||
|
|
||||||
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];
|
||||||
@ -60,7 +55,9 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void S_AnswerReceived(object sender, SerialEventArgs e)
|
private void S_AnswerReceived(object sender, SerialEventArgs e)
|
||||||
{
|
{
|
||||||
if(e.Answer == "ADD")
|
//Получили подтверждение о выполнении операции
|
||||||
|
//вносим изменения в monItems(массив элементов для мониторинга)
|
||||||
|
if (e.Answer == "ADD")
|
||||||
{
|
{
|
||||||
MonitorItem item = new MonitorItem(processingName, processingIndex);
|
MonitorItem item = new MonitorItem(processingName, processingIndex);
|
||||||
processingIndex++;
|
processingIndex++;
|
||||||
@ -146,6 +143,7 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void Serial_MonitoringItemsReceived(object sender, MonitoringEventArgs e)
|
private void Serial_MonitoringItemsReceived(object sender, MonitoringEventArgs e)
|
||||||
{
|
{
|
||||||
|
//заполнение массивов данными
|
||||||
for(int i = 0; i < monItems.Count; i++)
|
for(int i = 0; i < monItems.Count; i++)
|
||||||
{
|
{
|
||||||
monItems[i].Insert(e.Data[i]);
|
monItems[i].Insert(e.Data[i]);
|
||||||
@ -160,6 +158,7 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void UpdateTimer_Tick(object sender, EventArgs e)
|
private void UpdateTimer_Tick(object sender, EventArgs e)
|
||||||
{
|
{
|
||||||
|
//обновление трендов
|
||||||
if (monItems.Count > 0)
|
if (monItems.Count > 0)
|
||||||
{
|
{
|
||||||
MainFormPlot.Plot.Clear();
|
MainFormPlot.Plot.Clear();
|
||||||
@ -181,7 +180,6 @@ namespace TelemetryIO
|
|||||||
MainFormPlot.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal;
|
MainFormPlot.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal;
|
||||||
if(isAutoScale) MainFormPlot.Plot.Axes.AutoScale();
|
if(isAutoScale) MainFormPlot.Plot.Axes.AutoScale();
|
||||||
MainFormPlot.Refresh();
|
MainFormPlot.Refresh();
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -197,10 +195,6 @@ namespace TelemetryIO
|
|||||||
{
|
{
|
||||||
processingName = (string)monitorItems_cb.SelectedItem;
|
processingName = (string)monitorItems_cb.SelectedItem;
|
||||||
serial.AddMonitoringItem(processingName);
|
serial.AddMonitoringItem(processingName);
|
||||||
/*serial.AddMonitoringItem(0, test_index);
|
|
||||||
processingName = "item." + test_index;
|
|
||||||
if (test_index < 5) test_index++;
|
|
||||||
else test_index = 0;*/
|
|
||||||
}
|
}
|
||||||
|
|
||||||
private void del_btn_Click(object sender, EventArgs e)
|
private void del_btn_Click(object sender, EventArgs e)
|
||||||
@ -231,6 +225,7 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
public class MonitorItem
|
public class MonitorItem
|
||||||
{
|
{
|
||||||
|
//Вспомогательный класс для хранения данных сигналов мониторинга
|
||||||
public double[] data = new double[2048];
|
public double[] data = new double[2048];
|
||||||
public System.Drawing.Color color = System.Drawing.Color.Red;
|
public System.Drawing.Color color = System.Drawing.Color.Red;
|
||||||
public string name = "";
|
public string name = "";
|
||||||
|
|||||||
357
TelemetryIO/Motors.Designer.cs
generated
Normal file
357
TelemetryIO/Motors.Designer.cs
generated
Normal file
@ -0,0 +1,357 @@
|
|||||||
|
namespace TelemetryIO
|
||||||
|
{
|
||||||
|
partial class Motors
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// Обязательная переменная конструктора.
|
||||||
|
/// </summary>
|
||||||
|
private System.ComponentModel.IContainer components = null;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Освободить все используемые ресурсы.
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="disposing">истинно, если управляемый ресурс должен быть удален; иначе ложно.</param>
|
||||||
|
protected override void Dispose(bool disposing)
|
||||||
|
{
|
||||||
|
if (disposing && (components != null))
|
||||||
|
{
|
||||||
|
components.Dispose();
|
||||||
|
}
|
||||||
|
base.Dispose(disposing);
|
||||||
|
}
|
||||||
|
|
||||||
|
#region Код, автоматически созданный конструктором компонентов
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Требуемый метод для поддержки конструктора — не изменяйте
|
||||||
|
/// содержимое этого метода с помощью редактора кода.
|
||||||
|
/// </summary>
|
||||||
|
private void InitializeComponent()
|
||||||
|
{
|
||||||
|
this.MotorsPlotForm = new ScottPlot.WinForms.FormsPlot();
|
||||||
|
this.Motor1SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label1 = new System.Windows.Forms.Label();
|
||||||
|
this.label2 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor2SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label3 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor3SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label4 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor4SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label5 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor8SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label6 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor7SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label7 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor6SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label8 = new System.Windows.Forms.Label();
|
||||||
|
this.Motor5SP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.MotorMSP_track = new System.Windows.Forms.TrackBar();
|
||||||
|
this.label9 = new System.Windows.Forms.Label();
|
||||||
|
this.EnableMotors_cb = new System.Windows.Forms.CheckBox();
|
||||||
|
this.label10 = new System.Windows.Forms.Label();
|
||||||
|
this.label11 = new System.Windows.Forms.Label();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor1SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor2SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor3SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor4SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor8SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor7SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor6SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor5SP_track)).BeginInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.MotorMSP_track)).BeginInit();
|
||||||
|
this.SuspendLayout();
|
||||||
|
//
|
||||||
|
// MotorsPlotForm
|
||||||
|
//
|
||||||
|
this.MotorsPlotForm.DisplayScale = 0F;
|
||||||
|
this.MotorsPlotForm.Location = new System.Drawing.Point(294, 3);
|
||||||
|
this.MotorsPlotForm.Name = "MotorsPlotForm";
|
||||||
|
this.MotorsPlotForm.Size = new System.Drawing.Size(916, 594);
|
||||||
|
this.MotorsPlotForm.TabIndex = 0;
|
||||||
|
//
|
||||||
|
// Motor1SP_track
|
||||||
|
//
|
||||||
|
this.Motor1SP_track.Location = new System.Drawing.Point(39, 162);
|
||||||
|
this.Motor1SP_track.Maximum = 100000;
|
||||||
|
this.Motor1SP_track.Name = "Motor1SP_track";
|
||||||
|
this.Motor1SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor1SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor1SP_track.TabIndex = 1;
|
||||||
|
this.Motor1SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor1SP_track.Scroll += new System.EventHandler(this.Motor1SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label1
|
||||||
|
//
|
||||||
|
this.label1.AutoSize = true;
|
||||||
|
this.label1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label1.Location = new System.Drawing.Point(48, 273);
|
||||||
|
this.label1.Name = "label1";
|
||||||
|
this.label1.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label1.TabIndex = 2;
|
||||||
|
this.label1.Text = "M1";
|
||||||
|
//
|
||||||
|
// label2
|
||||||
|
//
|
||||||
|
this.label2.AutoSize = true;
|
||||||
|
this.label2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label2.Location = new System.Drawing.Point(99, 273);
|
||||||
|
this.label2.Name = "label2";
|
||||||
|
this.label2.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label2.TabIndex = 4;
|
||||||
|
this.label2.Text = "M2";
|
||||||
|
//
|
||||||
|
// Motor2SP_track
|
||||||
|
//
|
||||||
|
this.Motor2SP_track.Location = new System.Drawing.Point(90, 162);
|
||||||
|
this.Motor2SP_track.Maximum = 100000;
|
||||||
|
this.Motor2SP_track.Name = "Motor2SP_track";
|
||||||
|
this.Motor2SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor2SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor2SP_track.TabIndex = 3;
|
||||||
|
this.Motor2SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor2SP_track.Scroll += new System.EventHandler(this.Motor2SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label3
|
||||||
|
//
|
||||||
|
this.label3.AutoSize = true;
|
||||||
|
this.label3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label3.Location = new System.Drawing.Point(150, 273);
|
||||||
|
this.label3.Name = "label3";
|
||||||
|
this.label3.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label3.TabIndex = 6;
|
||||||
|
this.label3.Text = "M3";
|
||||||
|
//
|
||||||
|
// Motor3SP_track
|
||||||
|
//
|
||||||
|
this.Motor3SP_track.Location = new System.Drawing.Point(141, 162);
|
||||||
|
this.Motor3SP_track.Maximum = 100000;
|
||||||
|
this.Motor3SP_track.Name = "Motor3SP_track";
|
||||||
|
this.Motor3SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor3SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor3SP_track.TabIndex = 5;
|
||||||
|
this.Motor3SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor3SP_track.Scroll += new System.EventHandler(this.Motor3SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label4
|
||||||
|
//
|
||||||
|
this.label4.AutoSize = true;
|
||||||
|
this.label4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label4.Location = new System.Drawing.Point(201, 273);
|
||||||
|
this.label4.Name = "label4";
|
||||||
|
this.label4.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label4.TabIndex = 8;
|
||||||
|
this.label4.Text = "M4";
|
||||||
|
//
|
||||||
|
// Motor4SP_track
|
||||||
|
//
|
||||||
|
this.Motor4SP_track.Location = new System.Drawing.Point(192, 162);
|
||||||
|
this.Motor4SP_track.Maximum = 100000;
|
||||||
|
this.Motor4SP_track.Name = "Motor4SP_track";
|
||||||
|
this.Motor4SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor4SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor4SP_track.TabIndex = 7;
|
||||||
|
this.Motor4SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor4SP_track.Scroll += new System.EventHandler(this.Motor4SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label5
|
||||||
|
//
|
||||||
|
this.label5.AutoSize = true;
|
||||||
|
this.label5.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label5.Location = new System.Drawing.Point(201, 444);
|
||||||
|
this.label5.Name = "label5";
|
||||||
|
this.label5.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label5.TabIndex = 16;
|
||||||
|
this.label5.Text = "M8";
|
||||||
|
//
|
||||||
|
// Motor8SP_track
|
||||||
|
//
|
||||||
|
this.Motor8SP_track.Location = new System.Drawing.Point(192, 333);
|
||||||
|
this.Motor8SP_track.Maximum = 100000;
|
||||||
|
this.Motor8SP_track.Name = "Motor8SP_track";
|
||||||
|
this.Motor8SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor8SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor8SP_track.TabIndex = 15;
|
||||||
|
this.Motor8SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor8SP_track.Scroll += new System.EventHandler(this.Motor8SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label6
|
||||||
|
//
|
||||||
|
this.label6.AutoSize = true;
|
||||||
|
this.label6.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label6.Location = new System.Drawing.Point(150, 444);
|
||||||
|
this.label6.Name = "label6";
|
||||||
|
this.label6.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label6.TabIndex = 14;
|
||||||
|
this.label6.Text = "M7";
|
||||||
|
//
|
||||||
|
// Motor7SP_track
|
||||||
|
//
|
||||||
|
this.Motor7SP_track.Location = new System.Drawing.Point(141, 333);
|
||||||
|
this.Motor7SP_track.Maximum = 100000;
|
||||||
|
this.Motor7SP_track.Name = "Motor7SP_track";
|
||||||
|
this.Motor7SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor7SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor7SP_track.TabIndex = 13;
|
||||||
|
this.Motor7SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor7SP_track.Scroll += new System.EventHandler(this.Motor7SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label7
|
||||||
|
//
|
||||||
|
this.label7.AutoSize = true;
|
||||||
|
this.label7.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label7.Location = new System.Drawing.Point(99, 444);
|
||||||
|
this.label7.Name = "label7";
|
||||||
|
this.label7.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label7.TabIndex = 12;
|
||||||
|
this.label7.Text = "M6";
|
||||||
|
//
|
||||||
|
// Motor6SP_track
|
||||||
|
//
|
||||||
|
this.Motor6SP_track.Location = new System.Drawing.Point(90, 333);
|
||||||
|
this.Motor6SP_track.Maximum = 100000;
|
||||||
|
this.Motor6SP_track.Name = "Motor6SP_track";
|
||||||
|
this.Motor6SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor6SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor6SP_track.TabIndex = 11;
|
||||||
|
this.Motor6SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor6SP_track.Scroll += new System.EventHandler(this.Motor6SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label8
|
||||||
|
//
|
||||||
|
this.label8.AutoSize = true;
|
||||||
|
this.label8.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label8.Location = new System.Drawing.Point(48, 444);
|
||||||
|
this.label8.Name = "label8";
|
||||||
|
this.label8.Size = new System.Drawing.Size(27, 17);
|
||||||
|
this.label8.TabIndex = 10;
|
||||||
|
this.label8.Text = "M5";
|
||||||
|
//
|
||||||
|
// Motor5SP_track
|
||||||
|
//
|
||||||
|
this.Motor5SP_track.Location = new System.Drawing.Point(39, 333);
|
||||||
|
this.Motor5SP_track.Maximum = 100000;
|
||||||
|
this.Motor5SP_track.Name = "Motor5SP_track";
|
||||||
|
this.Motor5SP_track.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||||
|
this.Motor5SP_track.Size = new System.Drawing.Size(45, 104);
|
||||||
|
this.Motor5SP_track.TabIndex = 9;
|
||||||
|
this.Motor5SP_track.TickStyle = System.Windows.Forms.TickStyle.TopLeft;
|
||||||
|
this.Motor5SP_track.Scroll += new System.EventHandler(this.Motor5SP_track_Scroll);
|
||||||
|
//
|
||||||
|
// MotorMSP_track
|
||||||
|
//
|
||||||
|
this.MotorMSP_track.Location = new System.Drawing.Point(51, 518);
|
||||||
|
this.MotorMSP_track.Maximum = 100000;
|
||||||
|
this.MotorMSP_track.Name = "MotorMSP_track";
|
||||||
|
this.MotorMSP_track.Size = new System.Drawing.Size(177, 45);
|
||||||
|
this.MotorMSP_track.TabIndex = 17;
|
||||||
|
this.MotorMSP_track.Scroll += new System.EventHandler(this.MotorMSP_track_Scroll);
|
||||||
|
//
|
||||||
|
// label9
|
||||||
|
//
|
||||||
|
this.label9.AutoSize = true;
|
||||||
|
this.label9.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label9.Location = new System.Drawing.Point(111, 570);
|
||||||
|
this.label9.Name = "label9";
|
||||||
|
this.label9.Size = new System.Drawing.Size(57, 17);
|
||||||
|
this.label9.TabIndex = 18;
|
||||||
|
this.label9.Text = "Мастер";
|
||||||
|
//
|
||||||
|
// EnableMotors_cb
|
||||||
|
//
|
||||||
|
this.EnableMotors_cb.AutoSize = true;
|
||||||
|
this.EnableMotors_cb.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.EnableMotors_cb.Location = new System.Drawing.Point(48, 60);
|
||||||
|
this.EnableMotors_cb.Name = "EnableMotors_cb";
|
||||||
|
this.EnableMotors_cb.Size = new System.Drawing.Size(15, 14);
|
||||||
|
this.EnableMotors_cb.TabIndex = 19;
|
||||||
|
this.EnableMotors_cb.UseVisualStyleBackColor = true;
|
||||||
|
this.EnableMotors_cb.CheckedChanged += new System.EventHandler(this.EnableMotors_cb_CheckedChanged);
|
||||||
|
//
|
||||||
|
// label10
|
||||||
|
//
|
||||||
|
this.label10.AutoSize = true;
|
||||||
|
this.label10.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label10.Location = new System.Drawing.Point(69, 43);
|
||||||
|
this.label10.Name = "label10";
|
||||||
|
this.label10.Size = new System.Drawing.Size(142, 17);
|
||||||
|
this.label10.TabIndex = 21;
|
||||||
|
this.label10.Text = "Я подтверждаю, что";
|
||||||
|
//
|
||||||
|
// label11
|
||||||
|
//
|
||||||
|
this.label11.AutoSize = true;
|
||||||
|
this.label11.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
|
||||||
|
this.label11.Location = new System.Drawing.Point(71, 71);
|
||||||
|
this.label11.Name = "label11";
|
||||||
|
this.label11.Size = new System.Drawing.Size(138, 17);
|
||||||
|
this.label11.TabIndex = 22;
|
||||||
|
this.label11.Text = "пропеллеры сняты.";
|
||||||
|
//
|
||||||
|
// Motors
|
||||||
|
//
|
||||||
|
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||||
|
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||||
|
this.Controls.Add(this.label11);
|
||||||
|
this.Controls.Add(this.label10);
|
||||||
|
this.Controls.Add(this.EnableMotors_cb);
|
||||||
|
this.Controls.Add(this.label9);
|
||||||
|
this.Controls.Add(this.MotorMSP_track);
|
||||||
|
this.Controls.Add(this.label5);
|
||||||
|
this.Controls.Add(this.Motor8SP_track);
|
||||||
|
this.Controls.Add(this.label6);
|
||||||
|
this.Controls.Add(this.Motor7SP_track);
|
||||||
|
this.Controls.Add(this.label7);
|
||||||
|
this.Controls.Add(this.Motor6SP_track);
|
||||||
|
this.Controls.Add(this.label8);
|
||||||
|
this.Controls.Add(this.Motor5SP_track);
|
||||||
|
this.Controls.Add(this.label4);
|
||||||
|
this.Controls.Add(this.Motor4SP_track);
|
||||||
|
this.Controls.Add(this.label3);
|
||||||
|
this.Controls.Add(this.Motor3SP_track);
|
||||||
|
this.Controls.Add(this.label2);
|
||||||
|
this.Controls.Add(this.Motor2SP_track);
|
||||||
|
this.Controls.Add(this.label1);
|
||||||
|
this.Controls.Add(this.Motor1SP_track);
|
||||||
|
this.Controls.Add(this.MotorsPlotForm);
|
||||||
|
this.Name = "Motors";
|
||||||
|
this.Size = new System.Drawing.Size(1240, 600);
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor1SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor2SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor3SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor4SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor8SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor7SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor6SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.Motor5SP_track)).EndInit();
|
||||||
|
((System.ComponentModel.ISupportInitialize)(this.MotorMSP_track)).EndInit();
|
||||||
|
this.ResumeLayout(false);
|
||||||
|
this.PerformLayout();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
private ScottPlot.WinForms.FormsPlot MotorsPlotForm;
|
||||||
|
private System.Windows.Forms.TrackBar Motor1SP_track;
|
||||||
|
private System.Windows.Forms.Label label1;
|
||||||
|
private System.Windows.Forms.Label label2;
|
||||||
|
private System.Windows.Forms.TrackBar Motor2SP_track;
|
||||||
|
private System.Windows.Forms.Label label3;
|
||||||
|
private System.Windows.Forms.TrackBar Motor3SP_track;
|
||||||
|
private System.Windows.Forms.Label label4;
|
||||||
|
private System.Windows.Forms.TrackBar Motor4SP_track;
|
||||||
|
private System.Windows.Forms.Label label5;
|
||||||
|
private System.Windows.Forms.TrackBar Motor8SP_track;
|
||||||
|
private System.Windows.Forms.Label label6;
|
||||||
|
private System.Windows.Forms.TrackBar Motor7SP_track;
|
||||||
|
private System.Windows.Forms.Label label7;
|
||||||
|
private System.Windows.Forms.TrackBar Motor6SP_track;
|
||||||
|
private System.Windows.Forms.Label label8;
|
||||||
|
private System.Windows.Forms.TrackBar Motor5SP_track;
|
||||||
|
private System.Windows.Forms.TrackBar MotorMSP_track;
|
||||||
|
private System.Windows.Forms.Label label9;
|
||||||
|
private System.Windows.Forms.CheckBox EnableMotors_cb;
|
||||||
|
private System.Windows.Forms.Label label10;
|
||||||
|
private System.Windows.Forms.Label label11;
|
||||||
|
}
|
||||||
|
}
|
||||||
187
TelemetryIO/Motors.cs
Normal file
187
TelemetryIO/Motors.cs
Normal file
@ -0,0 +1,187 @@
|
|||||||
|
using ScottPlot;
|
||||||
|
using System;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using System.ComponentModel;
|
||||||
|
using System.Data;
|
||||||
|
using System.Data.SqlTypes;
|
||||||
|
using System.Diagnostics;
|
||||||
|
using System.Drawing;
|
||||||
|
using System.Linq;
|
||||||
|
using System.Text;
|
||||||
|
using System.Threading.Tasks;
|
||||||
|
using System.Windows.Forms;
|
||||||
|
using TelemetryIO.Models;
|
||||||
|
|
||||||
|
namespace TelemetryIO
|
||||||
|
{
|
||||||
|
public partial class Motors : UserControl
|
||||||
|
{
|
||||||
|
private float motorsMasterSP = 0f;
|
||||||
|
private SerialHandler serial { get; set; }
|
||||||
|
private System.Windows.Forms.Timer updateTimer = new System.Windows.Forms.Timer();
|
||||||
|
private List<MonitorItem> monItems = new List<MonitorItem>();
|
||||||
|
private bool requestNewData = false;
|
||||||
|
public Motors()
|
||||||
|
{
|
||||||
|
InitializeComponent();
|
||||||
|
for(int i = 0; i < 8; i++)
|
||||||
|
{
|
||||||
|
monItems.Add(new MonitorItem());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Serial_AnswerReceived(object sender, SerialEventArgs e)
|
||||||
|
{
|
||||||
|
if(e.Answer == "MOTORSACT")
|
||||||
|
{
|
||||||
|
Debug.WriteLine(string.Join(", ", Telemetry.Instance.motor_act));
|
||||||
|
for (int i = 0; i < monItems.Count; i++)
|
||||||
|
{
|
||||||
|
monItems[i].Insert(Telemetry.Instance.motor_act[i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (requestNewData)
|
||||||
|
{
|
||||||
|
if (serial.isOpen) serial.sendMotorsControl();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public void SubscribeAnswerReceived(SerialHandler serial)
|
||||||
|
{
|
||||||
|
this.serial = serial;
|
||||||
|
this.serial.AnswerReceived += Serial_AnswerReceived;
|
||||||
|
updateTimer.Tick += UpdateTimer_Tick;
|
||||||
|
updateTimer.Interval = 100;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void UpdateTimer_Tick(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
if (monItems.Count > 0)
|
||||||
|
{
|
||||||
|
MotorsPlotForm.Plot.Clear();
|
||||||
|
for (int i = 0; i < monItems.Count; i++)
|
||||||
|
{
|
||||||
|
var sig = MotorsPlotForm.Plot.Add.Signal(monItems[i].data);
|
||||||
|
sig.LegendText = monItems[i].name;
|
||||||
|
sig.Color = ScottPlot.Color.FromColor(monItems[i].color);
|
||||||
|
}
|
||||||
|
MotorsPlotForm.Plot.Legend.IsVisible = true;
|
||||||
|
MotorsPlotForm.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal;
|
||||||
|
MotorsPlotForm.Plot.Axes.AutoScale();
|
||||||
|
MotorsPlotForm.Refresh();
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void MotorMSP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
motorsMasterSP = tb.Value/100000f;
|
||||||
|
if (tb.Value == 0) motorsMasterSP = 0f;
|
||||||
|
Debug.WriteLine(motorsMasterSP);
|
||||||
|
if(motorsMasterSP > 0)
|
||||||
|
{
|
||||||
|
float[] floats = new float[8];
|
||||||
|
for(int i = 0; i < floats.Length; i++)
|
||||||
|
{
|
||||||
|
floats[i] = motorsMasterSP;
|
||||||
|
}
|
||||||
|
Telemetry.Instance.motor_sp = floats;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void EnableMotors_cb_CheckedChanged(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
CheckBox cb = sender as CheckBox;
|
||||||
|
if(cb.Checked)
|
||||||
|
{
|
||||||
|
updateTimer.Start();
|
||||||
|
requestNewData = true;
|
||||||
|
serial.sendMotorsControl();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
requestNewData = false;
|
||||||
|
updateTimer.Stop();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public void StopMotorsControl()
|
||||||
|
{
|
||||||
|
updateTimer.Stop();
|
||||||
|
if (EnableMotors_cb.InvokeRequired)
|
||||||
|
{
|
||||||
|
EnableMotors_cb.Invoke(new Action(() => EnableMotors_cb.Checked = false));
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
EnableMotors_cb.Checked = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor1SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[0] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor2SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[1] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor3SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[2] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor4SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[3] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor8SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[7] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor7SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[6] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor6SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[5] = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void Motor5SP_track_Scroll(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
TrackBar tb = sender as TrackBar;
|
||||||
|
float v = tb.Value / 100000f;
|
||||||
|
if (tb.Value == 0) v = 0f;
|
||||||
|
Telemetry.Instance.motor_sp[4] = v;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
120
TelemetryIO/Motors.resx
Normal file
120
TelemetryIO/Motors.resx
Normal file
@ -0,0 +1,120 @@
|
|||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<root>
|
||||||
|
<!--
|
||||||
|
Microsoft ResX Schema
|
||||||
|
|
||||||
|
Version 2.0
|
||||||
|
|
||||||
|
The primary goals of this format is to allow a simple XML format
|
||||||
|
that is mostly human readable. The generation and parsing of the
|
||||||
|
various data types are done through the TypeConverter classes
|
||||||
|
associated with the data types.
|
||||||
|
|
||||||
|
Example:
|
||||||
|
|
||||||
|
... ado.net/XML headers & schema ...
|
||||||
|
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||||
|
<resheader name="version">2.0</resheader>
|
||||||
|
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||||
|
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||||
|
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||||
|
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||||
|
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||||
|
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||||
|
</data>
|
||||||
|
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||||
|
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||||
|
<comment>This is a comment</comment>
|
||||||
|
</data>
|
||||||
|
|
||||||
|
There are any number of "resheader" rows that contain simple
|
||||||
|
name/value pairs.
|
||||||
|
|
||||||
|
Each data row contains a name, and value. The row also contains a
|
||||||
|
type or mimetype. Type corresponds to a .NET class that support
|
||||||
|
text/value conversion through the TypeConverter architecture.
|
||||||
|
Classes that don't support this are serialized and stored with the
|
||||||
|
mimetype set.
|
||||||
|
|
||||||
|
The mimetype is used for serialized objects, and tells the
|
||||||
|
ResXResourceReader how to depersist the object. This is currently not
|
||||||
|
extensible. For a given mimetype the value must be set accordingly:
|
||||||
|
|
||||||
|
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||||
|
that the ResXResourceWriter will generate, however the reader can
|
||||||
|
read any of the formats listed below.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.binary.base64
|
||||||
|
value : The object must be serialized with
|
||||||
|
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.soap.base64
|
||||||
|
value : The object must be serialized with
|
||||||
|
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||||
|
value : The object must be serialized into a byte array
|
||||||
|
: using a System.ComponentModel.TypeConverter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
-->
|
||||||
|
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||||
|
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||||
|
<xsd:element name="root" msdata:IsDataSet="true">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:choice maxOccurs="unbounded">
|
||||||
|
<xsd:element name="metadata">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||||
|
<xsd:attribute name="type" type="xsd:string" />
|
||||||
|
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||||
|
<xsd:attribute ref="xml:space" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="assembly">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:attribute name="alias" type="xsd:string" />
|
||||||
|
<xsd:attribute name="name" type="xsd:string" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="data">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||||
|
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||||
|
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||||
|
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||||
|
<xsd:attribute ref="xml:space" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="resheader">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
</xsd:choice>
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
</xsd:schema>
|
||||||
|
<resheader name="resmimetype">
|
||||||
|
<value>text/microsoft-resx</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="version">
|
||||||
|
<value>2.0</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="reader">
|
||||||
|
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="writer">
|
||||||
|
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||||
|
</resheader>
|
||||||
|
</root>
|
||||||
@ -27,7 +27,6 @@ namespace TelemetryIO
|
|||||||
public RatePID()
|
public RatePID()
|
||||||
{
|
{
|
||||||
InitializeComponent();
|
InitializeComponent();
|
||||||
Debug.Write("tab elements = " + tabControl1.TabPages[0].Controls[0].Controls);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
private void Serial_AnswerReceived(object sender, SerialEventArgs e)
|
private void Serial_AnswerReceived(object sender, SerialEventArgs e)
|
||||||
@ -84,16 +83,49 @@ namespace TelemetryIO
|
|||||||
private void Save_btn_Click(object sender, EventArgs e)
|
private void Save_btn_Click(object sender, EventArgs e)
|
||||||
{
|
{
|
||||||
|
|
||||||
float[] floats = new float[9];
|
float[] floats0 = new float[9];
|
||||||
for(int i = 0; i < pid0_panel.Controls.Count; i++)
|
for(int i = 0; i < pid0_panel.Controls.Count; i++)
|
||||||
{
|
{
|
||||||
if (pid0_panel.Controls[i] is NumericUpDown)
|
if (pid0_panel.Controls[i] is NumericUpDown)
|
||||||
{
|
{
|
||||||
NumericUpDown c = pid0_panel.Controls[i] as NumericUpDown;
|
NumericUpDown c = pid0_panel.Controls[i] as NumericUpDown;
|
||||||
floats[c.TabIndex - 1] = (float)c.Value;
|
floats0[c.TabIndex - 1] = (float)c.Value;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
serial.sendTestWrite(floats);
|
serial.sendFloats(Telemetry.PID0_ADDRESS, floats0);
|
||||||
|
|
||||||
|
float[] floats1 = new float[9];
|
||||||
|
for (int i = 0; i < pid1_panel.Controls.Count; i++)
|
||||||
|
{
|
||||||
|
if (pid1_panel.Controls[i] is NumericUpDown)
|
||||||
|
{
|
||||||
|
NumericUpDown c = pid1_panel.Controls[i] as NumericUpDown;
|
||||||
|
floats1[c.TabIndex - 1] = (float)c.Value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
serial.sendFloats(Telemetry.PID1_ADDRESS, floats1);
|
||||||
|
|
||||||
|
float[] floats2 = new float[9];
|
||||||
|
for (int i = 0; i < pid2_panel.Controls.Count; i++)
|
||||||
|
{
|
||||||
|
if (pid2_panel.Controls[i] is NumericUpDown)
|
||||||
|
{
|
||||||
|
NumericUpDown c = pid2_panel.Controls[i] as NumericUpDown;
|
||||||
|
floats2[c.TabIndex - 1] = (float)c.Value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
serial.sendFloats(Telemetry.PID2_ADDRESS, floats2);
|
||||||
|
|
||||||
|
float[] floats3 = new float[9];
|
||||||
|
for (int i = 0; i < pid3_panel.Controls.Count; i++)
|
||||||
|
{
|
||||||
|
if (pid3_panel.Controls[i] is NumericUpDown)
|
||||||
|
{
|
||||||
|
NumericUpDown c = pid3_panel.Controls[i] as NumericUpDown;
|
||||||
|
floats3[c.TabIndex - 1] = (float)c.Value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
serial.sendFloats(Telemetry.PID3_ADDRESS, floats3);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -21,6 +21,7 @@ namespace TelemetryIO
|
|||||||
private const int TELE_CMD_RD_MON_REMOVE = 5;
|
private const int TELE_CMD_RD_MON_REMOVE = 5;
|
||||||
private const int TELE_CMD_RD_MON_REMOVEALL = 6;
|
private const int TELE_CMD_RD_MON_REMOVEALL = 6;
|
||||||
private const int TELE_CMD_WR = 10;
|
private const int TELE_CMD_WR = 10;
|
||||||
|
private const int TELE_CMD_MOTORS_CTRL = 100;
|
||||||
private const int TELE_CMD_ABORT = 999;
|
private const int TELE_CMD_ABORT = 999;
|
||||||
private const int TELE_CMD_HELLO = 9999;
|
private const int TELE_CMD_HELLO = 9999;
|
||||||
private const byte CRC8_POLYNOMIAL = 0x07;
|
private const byte CRC8_POLYNOMIAL = 0x07;
|
||||||
@ -30,27 +31,30 @@ namespace TelemetryIO
|
|||||||
private const byte ESCAPE_CHAR = 0x0E;
|
private const byte ESCAPE_CHAR = 0x0E;
|
||||||
private SerialPort com_port;
|
private SerialPort com_port;
|
||||||
static private List<byte> rx_buf = new List<byte>();
|
static private List<byte> rx_buf = new List<byte>();
|
||||||
static private byte[] data;
|
private byte[] saving_request = new byte[128];
|
||||||
|
|
||||||
//Generate event when answer is received
|
//Generate event when answer is received
|
||||||
public delegate void AnswerEventHandler<SerialEventArgs>(object sender, SerialEventArgs e);
|
public delegate void AnswerEventHandler<SerialEventArgs>(object sender, SerialEventArgs e);
|
||||||
public event AnswerEventHandler<SerialEventArgs> AnswerReceived;
|
public event AnswerEventHandler<SerialEventArgs> AnswerReceived;//событие получены данные в ответ на запрос
|
||||||
|
|
||||||
//Generate event when handshake is occurred
|
//Generate event when handshake is occurred
|
||||||
public delegate void HandShakeHandler(object sender, EventArgs e);
|
public delegate void HandShakeHandler(object sender, EventArgs e);
|
||||||
public event HandShakeHandler HandShakeOccurred;
|
public event HandShakeHandler HandShakeOccurred;//событие полетник ответил на запрос HELLO
|
||||||
|
|
||||||
//Generate event when monitoring telegram is received
|
//Generate event when monitoring telegram is received
|
||||||
public delegate void MonitoringEventHandler<MonitoringEventArgs>(object sender, MonitoringEventArgs e);
|
public delegate void MonitoringEventHandler<MonitoringEventArgs>(object sender, MonitoringEventArgs e);
|
||||||
public event MonitoringEventHandler<MonitoringEventArgs> MonitoringItemsReceived;
|
public event MonitoringEventHandler<MonitoringEventArgs> MonitoringItemsReceived;//событие получены данные мониторинга
|
||||||
|
|
||||||
private int int_test = 0;
|
private int int_test = 0;
|
||||||
private float[] monitor = new float[32];
|
private float[] monitor = new float[32];
|
||||||
public string view_str = "";
|
public string view_str = "";
|
||||||
Telemetry telemetry = Telemetry.Instance;
|
Telemetry telemetry = Telemetry.Instance;
|
||||||
|
|
||||||
|
private int currentCmd = 0;
|
||||||
|
|
||||||
private Queue<byte[]> req_buffer = new Queue<byte[]>();
|
private Queue<byte[]> req_buffer = new Queue<byte[]>();
|
||||||
private object lock_obj = new object();
|
private object lock_obj = new object();
|
||||||
|
private object lock_obj_put = new object();
|
||||||
private bool waitingForResponse = false;
|
private bool waitingForResponse = false;
|
||||||
private bool isMonitorEmpty = false;
|
private bool isMonitorEmpty = false;
|
||||||
private bool isTimeout = false;
|
private bool isTimeout = false;
|
||||||
@ -102,6 +106,10 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e)
|
private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e)
|
||||||
{
|
{
|
||||||
|
//Прием данных при получении ESCAPE_END считаем, что пакет полностью получен
|
||||||
|
//и его можно парсить
|
||||||
|
//СТРУКТУРА ПАКЕТА
|
||||||
|
//КОМАНДА[4 байта], АДРЕСС ЯЧЕЙКИ[4 байта], ДЛИНА ДАННЫХ[4 байта], СМЕЩЕНИЕ[4 байта], ДАННЫЕ[в пределах размера буффера], CRC32[4 байта]
|
||||||
SerialPort sp = (SerialPort)sender;
|
SerialPort sp = (SerialPort)sender;
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
@ -112,7 +120,6 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
if (b == ESCAPE_END)
|
if (b == ESCAPE_END)
|
||||||
{//END BYTE IS RECEIVED
|
{//END BYTE IS RECEIVED
|
||||||
timeout.Stop();
|
|
||||||
isTimeout = false;
|
isTimeout = false;
|
||||||
byte[] unscape = EscapeSeqToBytes(rx_buf.ToArray());
|
byte[] unscape = EscapeSeqToBytes(rx_buf.ToArray());
|
||||||
uint checksum = crc32(unscape, unscape.Length - 4);
|
uint checksum = crc32(unscape, unscape.Length - 4);
|
||||||
@ -145,11 +152,14 @@ namespace TelemetryIO
|
|||||||
}
|
}
|
||||||
else if (cmd == TELE_CMD_WR)
|
else if (cmd == TELE_CMD_WR)
|
||||||
{//WRITTING OPERATION IS DONE WITH SUCCESS
|
{//WRITTING OPERATION IS DONE WITH SUCCESS
|
||||||
if (data[0] == 'O' && data[1] == 'k')
|
OnAnswerReceived("Data is written");
|
||||||
{
|
}
|
||||||
Debug.Write("Data is written\n");
|
else if (cmd == TELE_CMD_MOTORS_CTRL)
|
||||||
OnAnswerReceived("Data is written");
|
{//WRITTING OPERATION IS DONE WITH SUCCESS
|
||||||
}
|
//Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** len = {len}");
|
||||||
|
telemetry.setSlot(Telemetry.MOTORS_ACT_ADDRESS, data, offset, len);
|
||||||
|
OnAnswerReceived("MOTORSACT");
|
||||||
|
|
||||||
}
|
}
|
||||||
else if (cmd == TELE_CMD_HELLO)
|
else if (cmd == TELE_CMD_HELLO)
|
||||||
{//HANDSHAKING ANSWER
|
{//HANDSHAKING ANSWER
|
||||||
@ -157,7 +167,6 @@ namespace TelemetryIO
|
|||||||
view_str = Encoding.ASCII.GetString(data);
|
view_str = Encoding.ASCII.GetString(data);
|
||||||
req_buffer.Clear();
|
req_buffer.Clear();
|
||||||
OnHandShakeOccurred();
|
OnHandShakeOccurred();
|
||||||
getPIDs();
|
|
||||||
}
|
}
|
||||||
else if (cmd == TELE_CMD_RD_MON_ADD)
|
else if (cmd == TELE_CMD_RD_MON_ADD)
|
||||||
{
|
{
|
||||||
@ -181,8 +190,9 @@ namespace TelemetryIO
|
|||||||
{
|
{
|
||||||
OnAnswerReceived("MONITOROFF");
|
OnAnswerReceived("MONITOROFF");
|
||||||
}
|
}
|
||||||
Debug.WriteLine($"cmd = {cmd}");
|
|
||||||
waitingForResponse = false;
|
waitingForResponse = false;
|
||||||
|
timeout.Stop();
|
||||||
sendNextRequest();
|
sendNextRequest();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -211,17 +221,21 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void Timeout_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
|
private void Timeout_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
|
||||||
{
|
{
|
||||||
|
//Таймаут коммуникации. Без проверки на правильность ответа
|
||||||
|
System.Timers.Timer t = sender as System.Timers.Timer;
|
||||||
|
|
||||||
lock(lock_obj)
|
lock(lock_obj)
|
||||||
{
|
{
|
||||||
if(waitingForResponse)
|
if (waitingForResponse)
|
||||||
{
|
{
|
||||||
//generate timeout event
|
//generate timeout event
|
||||||
Debug.WriteLine("Timeout!!!!!");
|
Debug.WriteLine("Timeout!!!!!");
|
||||||
waitingForResponse = false;
|
waitingForResponse = false;
|
||||||
isTimeout = true;
|
isTimeout = true;
|
||||||
req_buffer.Clear();
|
|
||||||
this.Close();
|
|
||||||
if(exitPending) OnAnswerReceived("EXITAPP");
|
if(exitPending) OnAnswerReceived("EXITAPP");
|
||||||
|
else OnAnswerReceived("TIMEOUT");
|
||||||
|
req_buffer.Clear();
|
||||||
|
//this.Close();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -235,13 +249,16 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
public void requestExit()
|
public void requestExit()
|
||||||
{
|
{
|
||||||
|
//запрос на закрытие приложения, отправляем команду на очистку массива мониторинга и ждем ответ, либо таймаут,
|
||||||
|
//после чего приложение закрывается
|
||||||
RemoveMonitoringItems();
|
RemoveMonitoringItems();
|
||||||
exitPending = true;
|
exitPending = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
public void putRequest(byte[] request)
|
public void putRequest(byte[] request)
|
||||||
{
|
{
|
||||||
lock(lock_obj)
|
//добавить в очередь или отправить(если очередь пуста) пакет в порт
|
||||||
|
lock(lock_obj_put)
|
||||||
{
|
{
|
||||||
if (waitingForResponse)
|
if (waitingForResponse)
|
||||||
{
|
{
|
||||||
@ -255,14 +272,16 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
private void sendRequest(byte[] request)
|
private void sendRequest(byte[] request)
|
||||||
{
|
{
|
||||||
|
//отправка пакета
|
||||||
waitingForResponse = true;
|
waitingForResponse = true;
|
||||||
com_port.Write(request, 0, request.Length);
|
if(com_port.IsOpen)com_port.Write(request, 0, request.Length);
|
||||||
timeout.Stop();
|
timeout.Stop();
|
||||||
timeout.Start();
|
timeout.Start();
|
||||||
}
|
}
|
||||||
|
|
||||||
private void sendNextRequest()
|
private void sendNextRequest()
|
||||||
{
|
{
|
||||||
|
//вытащить из очереди пакет и отправить в порт
|
||||||
waitingForResponse = false;
|
waitingForResponse = false;
|
||||||
if (req_buffer.Count > 0)
|
if (req_buffer.Count > 0)
|
||||||
{
|
{
|
||||||
@ -270,47 +289,72 @@ namespace TelemetryIO
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
//**********************************************************************************************
|
||||||
|
//*************************************** REQUESTS BLOCK ***************************************
|
||||||
|
//**********************************************************************************************
|
||||||
public void getPIDs()
|
public void getPIDs()
|
||||||
{
|
{
|
||||||
|
//отправить наборы ПИДов
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1000, new byte[0], 0, 4 * 9));
|
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1000, new byte[0], 0, 4 * 9));
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1001, new byte[0], 0, 4 * 9));
|
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1001, new byte[0], 0, 4 * 9));
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1002, new byte[0], 0, 4 * 9));
|
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1002, new byte[0], 0, 4 * 9));
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1003, new byte[0], 0, 4 * 9));
|
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1003, new byte[0], 0, 4 * 9));
|
||||||
}
|
}
|
||||||
|
|
||||||
//**********************************************************************************************
|
|
||||||
//*************************************** REQUESTS BLOCK ***************************************
|
|
||||||
//**********************************************************************************************
|
|
||||||
public void stopMonitoring()
|
public void stopMonitoring()
|
||||||
{
|
{
|
||||||
|
//остановить мониторинг
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_OFF, 0, new byte[0], 0, 0));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_OFF, 0, new byte[0], 0, 0));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void startMonitoring()
|
public void startMonitoring()
|
||||||
{
|
{
|
||||||
|
//начать мониторинг
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ON, 0, new byte[0], 0, 0));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_ON, 0, new byte[0], 0, 0));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void AddMonitoringItem(int slot, int offset)
|
public void AddMonitoringItem(int slot, int offset)
|
||||||
{
|
{
|
||||||
|
//добавить элемент из массива мониторинга по адресу
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, slot, new byte[0], offset));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, slot, new byte[0], offset));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void AddMonitoringItem(string name)
|
public void AddMonitoringItem(string name)
|
||||||
{
|
{
|
||||||
|
//добавить элемент из массива мониторинга по имени
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, new byte[0], name));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, new byte[0], name));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void RemoveMonitoringItem(int position)
|
public void RemoveMonitoringItem(int position)
|
||||||
{
|
{
|
||||||
|
//удалить элемент из массива мониторинга
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVE, position, new byte[0], 0));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVE, position, new byte[0], 0));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void RemoveMonitoringItems()
|
public void RemoveMonitoringItems()
|
||||||
{
|
{
|
||||||
|
//удалить все элементы из массива мониторинга
|
||||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVEALL, 0, new byte[0], 0));
|
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVEALL, 0, new byte[0], 0));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void sendFloats(int slot, float[] sp)
|
||||||
|
{
|
||||||
|
//Записать массив чисел с плавающей точкой
|
||||||
|
putRequest(prepareTelegram(TELE_CMD_WR, slot, sp, 0, sp.Length*4));
|
||||||
|
}
|
||||||
|
|
||||||
|
public void sendMotorsControl()
|
||||||
|
{
|
||||||
|
//Отправляет задание на моторы в полетник. Тот в ответ посылает актуальные скорости на моторах
|
||||||
|
//В offset передается количество моторов
|
||||||
|
putRequest(prepareTelegram(TELE_CMD_MOTORS_CTRL, Telemetry.MOTORS_SP_ADDRESS, telemetry.motor_sp, 8));
|
||||||
|
}
|
||||||
|
|
||||||
|
//**********************************************************************************************
|
||||||
|
//**********************************************************************************************
|
||||||
|
//**********************************************************************************************
|
||||||
|
|
||||||
|
|
||||||
public void saveFloats(float[] data)
|
public void saveFloats(float[] data)
|
||||||
{
|
{
|
||||||
prepareTelegram(TELE_CMD_WR, 1000, data, 0);
|
prepareTelegram(TELE_CMD_WR, 1000, data, 0);
|
||||||
@ -363,28 +407,6 @@ namespace TelemetryIO
|
|||||||
|
|
||||||
return crc;
|
return crc;
|
||||||
}
|
}
|
||||||
|
|
||||||
public void sendTest()
|
|
||||||
{
|
|
||||||
//data - index in monitor
|
|
||||||
byte[] to = prepareTelegram(TELE_CMD_RD_MON_ADD, 0, BitConverter.GetBytes(int_test), int_test, 4);
|
|
||||||
com_port.Write(to, 0, to.Length);
|
|
||||||
int_test++;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sendTestCont()
|
|
||||||
{
|
|
||||||
byte[] b = new byte[0];
|
|
||||||
byte[] to = prepareTelegram(TELE_CMD_RD_MON_ON, 0, b, 0, 24);
|
|
||||||
com_port.Write(to, 0, to.Length);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sendTestWrite(float[] f)
|
|
||||||
{
|
|
||||||
byte[] b = prepareTelegram(TELE_CMD_WR, 1000, f, 0);
|
|
||||||
com_port.Write(b, 0, b.Length);
|
|
||||||
}
|
|
||||||
|
|
||||||
byte[] prepareTelegram<T>(int cmd, T[] load, string var_name)
|
byte[] prepareTelegram<T>(int cmd, T[] load, string var_name)
|
||||||
{
|
{
|
||||||
VarAddress va = telemetry.getVarAdress(var_name);
|
VarAddress va = telemetry.getVarAdress(var_name);
|
||||||
@ -439,6 +461,7 @@ namespace TelemetryIO
|
|||||||
Array.Copy(escape, 0, ret, 1, escape.Length);
|
Array.Copy(escape, 0, ret, 1, escape.Length);
|
||||||
ret[0] = ESCAPE_BEGIN;
|
ret[0] = ESCAPE_BEGIN;
|
||||||
ret[ret.Length - 1] = ESCAPE_END;
|
ret[ret.Length - 1] = ESCAPE_END;
|
||||||
|
Array.Copy(ret, saving_request, ret.Length);
|
||||||
return ret;
|
return ret;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -491,7 +514,8 @@ namespace TelemetryIO
|
|||||||
List<byte> ret = new List<byte>();
|
List<byte> ret = new List<byte>();
|
||||||
for (int i = 0; i < EscSeq.Length; i++)
|
for (int i = 0; i < EscSeq.Length; i++)
|
||||||
{
|
{
|
||||||
if ((EscSeq[i] == ESCAPE_BEGIN) || (EscSeq[i] == ESCAPE_CHAR) || (EscSeq[i] == ESCAPE_END))
|
//if ((EscSeq[i] == ESCAPE_BEGIN) || (EscSeq[i] == ESCAPE_CHAR) || (EscSeq[i] == ESCAPE_END))
|
||||||
|
if (EscSeq[i] == ESCAPE_CHAR)
|
||||||
{
|
{
|
||||||
i++;
|
i++;
|
||||||
ret.Add((byte)(EscSeq[i] + 0x0E));
|
ret.Add((byte)(EscSeq[i] + 0x0E));
|
||||||
|
|||||||
@ -108,6 +108,12 @@
|
|||||||
<Compile Include="MonitorVars.Designer.cs">
|
<Compile Include="MonitorVars.Designer.cs">
|
||||||
<DependentUpon>MonitorVars.cs</DependentUpon>
|
<DependentUpon>MonitorVars.cs</DependentUpon>
|
||||||
</Compile>
|
</Compile>
|
||||||
|
<Compile Include="Motors.cs">
|
||||||
|
<SubType>UserControl</SubType>
|
||||||
|
</Compile>
|
||||||
|
<Compile Include="Motors.Designer.cs">
|
||||||
|
<DependentUpon>Motors.cs</DependentUpon>
|
||||||
|
</Compile>
|
||||||
<Compile Include="Program.cs" />
|
<Compile Include="Program.cs" />
|
||||||
<Compile Include="Properties\AssemblyInfo.cs" />
|
<Compile Include="Properties\AssemblyInfo.cs" />
|
||||||
<Compile Include="RatePID.cs">
|
<Compile Include="RatePID.cs">
|
||||||
@ -124,6 +130,9 @@
|
|||||||
<EmbeddedResource Include="MonitorVars.resx">
|
<EmbeddedResource Include="MonitorVars.resx">
|
||||||
<DependentUpon>MonitorVars.cs</DependentUpon>
|
<DependentUpon>MonitorVars.cs</DependentUpon>
|
||||||
</EmbeddedResource>
|
</EmbeddedResource>
|
||||||
|
<EmbeddedResource Include="Motors.resx">
|
||||||
|
<DependentUpon>Motors.cs</DependentUpon>
|
||||||
|
</EmbeddedResource>
|
||||||
<EmbeddedResource Include="Properties\Resources.resx">
|
<EmbeddedResource Include="Properties\Resources.resx">
|
||||||
<Generator>ResXFileCodeGenerator</Generator>
|
<Generator>ResXFileCodeGenerator</Generator>
|
||||||
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
|
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
|
||||||
|
|||||||
Reference in New Issue
Block a user