Добавлена вкладка monitor, отладка протокола
This commit is contained in:
1
TelemetryIO/MainForm.Designer.cs
generated
1
TelemetryIO/MainForm.Designer.cs
generated
@ -153,6 +153,7 @@
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this.tabControl1.SelectedIndex = 0;
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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.Visible = false;
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//
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// tabPage1
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//
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@ -23,19 +23,15 @@ namespace TelemetryIO
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private System.Timers.Timer packageReceivingTimeout = new System.Timers.Timer(5);
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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 List<byte> rx_buf = new List<byte>();
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private List<byte[]> send_queue = new List<byte[]>();
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private bool sendContinuousFlag = false;
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private float test_f = 0;
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public MainForm()
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{
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InitializeComponent();
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PortSelector.Items.AddRange(SerialPort.GetPortNames());
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PortSelector.SelectedIndex = 0;
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PortSelector.SelectedIndex = PortSelector.Items.Count - 1;
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SpeedSelector.Items.AddRange(speedItems);
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SpeedSelector.SelectedIndex = 0;
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SpeedSelector.SelectedIndex = 3;
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Send_btn.Enabled = false;
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@ -45,7 +41,22 @@ namespace TelemetryIO
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timer.Tick += Timer_Tick;
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ratePID_control.SubscribeOnEvent(serial);
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monitorVars1.subscribeOnMonitoringItemsReceived(serial);
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ratePID_control.bottom_label = InfoLabel;
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serial.HandShakeOccurred += Serial_HandShakeOccurred;
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}
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private void Serial_HandShakeOccurred(object sender, EventArgs e)
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{
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if (tabControl1.InvokeRequired)
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{
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tabControl1.BeginInvoke(new Action(() => tabControl1.Visible = true));
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}
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else
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{
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tabControl1.Visible = true;
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}
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}
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private void Timer_Tick(object sender, EventArgs e)
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@ -144,6 +155,12 @@ namespace TelemetryIO
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}*/
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}
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protected override void OnFormClosing(FormClosingEventArgs e)
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{
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serial.Exit();
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base.OnFormClosing(e);
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}
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public void UpdateLabel(string newText)
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{
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@ -1,5 +1,7 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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@ -10,9 +12,10 @@ namespace TelemetryIO.Models
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{
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private static volatile Telemetry instance;
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private static readonly object _lock = new object();
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private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();
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public string name = "";
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public float[] raw_imu = new float[6];
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public float[] quaternion = new float[4];
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public float[] motor_act = new float[4];
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public float[] motor_sp = new float[4];
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public float[] pid0 = new float[9];
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@ -20,7 +23,40 @@ namespace TelemetryIO.Models
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public float[] pid2 = new float[9];
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public float[] pid3 = new float[9];
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private Telemetry() { }
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private Telemetry() {
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dictMonitor.Add("rawAx", new VarAddress(0, 0));
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dictMonitor.Add("rawAy", new VarAddress(0, 1));
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dictMonitor.Add("rawAz", new VarAddress(0, 2));
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dictMonitor.Add("rawGx", new VarAddress(0, 3));
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dictMonitor.Add("rawGy", new VarAddress(0, 4));
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dictMonitor.Add("rawGz", new VarAddress(0, 5));
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dictMonitor.Add("Qw", new VarAddress(1, 0));
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dictMonitor.Add("Qx", new VarAddress(1, 1));
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dictMonitor.Add("Qy", new VarAddress(1, 2));
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dictMonitor.Add("Qz", new VarAddress(1, 3));
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dictMonitor.Add("motor0_Act", new VarAddress(100, 0));
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dictMonitor.Add("motor1_Act", new VarAddress(100, 1));
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dictMonitor.Add("motor2_Act", new VarAddress(100, 2));
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dictMonitor.Add("motor3_Act", new VarAddress(100, 3));
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dictMonitor.Add("motor4_Act", new VarAddress(100, 4));
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dictMonitor.Add("motor5_Act", new VarAddress(100, 5));
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dictMonitor.Add("motor6_Act", new VarAddress(100, 6));
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dictMonitor.Add("motor7_Act", new VarAddress(100, 7));
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}
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public VarAddress getVarAdress(string name)
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{
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VarAddress ret;
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dictMonitor.TryGetValue(name, out ret);
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return ret;
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}
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public string[] getKeys()
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{
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return dictMonitor.Keys.ToArray();
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}
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public static Telemetry Instance
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{
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@ -42,10 +78,35 @@ namespace TelemetryIO.Models
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public void setSlot(int slot, byte[] data, int offset, int len)
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{
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if (slot != 9999) Debug.WriteLine(slot);
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switch (slot)
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{
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case 0://RAW IMU
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set_raw_imu(data, offset, len);
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set_float(raw_imu, data, offset, len);
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break;
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case 1://quaternion
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set_float(quaternion, data, offset, len);
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break;
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case 100://motors act
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set_float(motor_act, data, offset, len);
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break;
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case 1000:
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set_float(pid0, data, offset, len);
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break;
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case 1001:
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set_float(pid1, data, offset, len);
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break;
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case 1002:
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set_float(pid2, data, offset, len);
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break;
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case 1003:
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set_float(pid3, data, offset, len);
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break;
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case 9999:
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@ -53,13 +114,16 @@ namespace TelemetryIO.Models
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break;
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}
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}
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private void set_raw_imu(byte[] data, int offset, int len)
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private void set_float(float[] dest, byte[] data, int offset, int len)
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{
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for (int i = 0; i < (int)(len / 4); i++)
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{
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byte[] bs = new byte[4];
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Array.Copy(data, i * 4, bs, 0, 4);
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raw_imu[(int)(offset / 4)] = BitConverter.ToSingle(bs, 0);
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float f = BitConverter.ToSingle(bs, 0);
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dest[offset + i] = f;
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}
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}
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@ -69,4 +133,24 @@ namespace TelemetryIO.Models
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}
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}
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public class VarAddress
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{
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public int slot = 0;
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public int offset = 0;
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public int length = 0;
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public VarAddress()
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{
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slot = offset = 0;
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length = 4;
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}
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public VarAddress(int slot, int offset, int length = 4)
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{
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this.slot = slot;
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this.offset = offset;
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this.length = length;
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}
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}
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}
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77
TelemetryIO/MonitorVars.Designer.cs
generated
77
TelemetryIO/MonitorVars.Designer.cs
generated
@ -29,29 +29,102 @@
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private void InitializeComponent()
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{
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this.MainFormPlot = new ScottPlot.WinForms.FormsPlot();
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this.mon_test_label = new System.Windows.Forms.Label();
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this.add_btn = new System.Windows.Forms.Button();
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this.del_btn = new System.Windows.Forms.Button();
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this.monNames_label = new System.Windows.Forms.Label();
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this.monitorItems_cb = new System.Windows.Forms.ComboBox();
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this.monitorItems_lb = new System.Windows.Forms.ListBox();
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this.SuspendLayout();
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//
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// MainFormPlot
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//
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this.MainFormPlot.DisplayScale = 0F;
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this.MainFormPlot.Location = new System.Drawing.Point(115, 3);
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this.MainFormPlot.Location = new System.Drawing.Point(238, 58);
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this.MainFormPlot.Name = "MainFormPlot";
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this.MainFormPlot.Size = new System.Drawing.Size(1046, 594);
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this.MainFormPlot.Size = new System.Drawing.Size(923, 539);
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this.MainFormPlot.TabIndex = 0;
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//
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// mon_test_label
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//
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this.mon_test_label.AutoSize = true;
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this.mon_test_label.Location = new System.Drawing.Point(3, 11);
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this.mon_test_label.Name = "mon_test_label";
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this.mon_test_label.Size = new System.Drawing.Size(78, 13);
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this.mon_test_label.TabIndex = 2;
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this.mon_test_label.Text = "mon_test_label";
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//
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// add_btn
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//
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this.add_btn.Location = new System.Drawing.Point(20, 88);
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this.add_btn.Name = "add_btn";
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this.add_btn.Size = new System.Drawing.Size(75, 23);
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this.add_btn.TabIndex = 3;
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this.add_btn.Text = "add_btn";
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this.add_btn.UseVisualStyleBackColor = true;
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this.add_btn.Click += new System.EventHandler(this.add_btn_Click);
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//
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// del_btn
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//
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this.del_btn.Location = new System.Drawing.Point(20, 135);
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this.del_btn.Name = "del_btn";
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this.del_btn.Size = new System.Drawing.Size(75, 23);
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this.del_btn.TabIndex = 4;
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this.del_btn.Text = "del_btn";
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this.del_btn.UseVisualStyleBackColor = true;
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this.del_btn.Click += new System.EventHandler(this.del_btn_Click);
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//
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// monNames_label
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//
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this.monNames_label.AutoSize = true;
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this.monNames_label.Location = new System.Drawing.Point(597, 11);
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this.monNames_label.Name = "monNames_label";
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this.monNames_label.Size = new System.Drawing.Size(35, 13);
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this.monNames_label.TabIndex = 5;
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this.monNames_label.Text = "label1";
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//
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// monitorItems_cb
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//
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this.monitorItems_cb.FormattingEnabled = true;
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this.monitorItems_cb.Location = new System.Drawing.Point(20, 58);
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this.monitorItems_cb.Name = "monitorItems_cb";
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this.monitorItems_cb.Size = new System.Drawing.Size(121, 21);
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this.monitorItems_cb.TabIndex = 6;
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//
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// monitorItems_lb
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//
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this.monitorItems_lb.FormattingEnabled = true;
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this.monitorItems_lb.Location = new System.Drawing.Point(20, 180);
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this.monitorItems_lb.Name = "monitorItems_lb";
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this.monitorItems_lb.Size = new System.Drawing.Size(121, 316);
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this.monitorItems_lb.TabIndex = 8;
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//
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// MonitorVars
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
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this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
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this.Controls.Add(this.monitorItems_lb);
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this.Controls.Add(this.monitorItems_cb);
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this.Controls.Add(this.monNames_label);
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this.Controls.Add(this.del_btn);
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this.Controls.Add(this.add_btn);
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this.Controls.Add(this.mon_test_label);
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this.Controls.Add(this.MainFormPlot);
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this.Name = "MonitorVars";
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this.Size = new System.Drawing.Size(1240, 600);
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this.ResumeLayout(false);
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this.PerformLayout();
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}
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#endregion
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private ScottPlot.WinForms.FormsPlot MainFormPlot;
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private System.Windows.Forms.Label mon_test_label;
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private System.Windows.Forms.Button add_btn;
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private System.Windows.Forms.Button del_btn;
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private System.Windows.Forms.Label monNames_label;
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private System.Windows.Forms.ComboBox monitorItems_cb;
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private System.Windows.Forms.ListBox monitorItems_lb;
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}
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}
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@ -8,6 +8,7 @@ using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using TelemetryIO.Models;
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namespace TelemetryIO
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{
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@ -15,14 +16,130 @@ namespace TelemetryIO
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{
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public SerialHandler serial { get; set; }
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public float[][] monitoringBuffer = new float[32][];
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private List<double[]> monitorList = new List<double[]>();
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private List<string> monitorNames = new List<string>();
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private List<ScottPlot.Plottables.Signal> signals = new List<ScottPlot.Plottables.Signal>();
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private List<int[]>[] plotContent = new List<int[]>[32];
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private Timer updateTimer = new Timer();
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private float[] monitoring = new float[32];
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private int test_index = 0;
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private bool isSubscribed = false;
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private string processingName = "";
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private int processingIndex = -1;
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public MonitorVars()
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{
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InitializeComponent();
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initMonitoringBuffer();
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MainFormPlot.Multiplot.AddPlots(4);
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updateTimer.Interval = 100;
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MainFormPlot.Plot.Axes.AutoScale();
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monitorItems_cb.Items.AddRange(Telemetry.Instance.getKeys());
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monitorItems_cb.SelectedIndex = 0;
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updateTimer.Tick += UpdateTimer_Tick;
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updateTimer.Start();
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//MainFormPlot.
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}
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public void subscribeOnMonitoringItemsReceived(SerialHandler s)
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{
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if (isSubscribed) return;
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isSubscribed = true;
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serial = s;
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s.MonitoringItemsReceived += Serial_MonitoringItemsReceived;
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s.AnswerReceived += S_AnswerReceived;
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}
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private void S_AnswerReceived(object sender, SerialEventArgs e)
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{
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if(e.Answer == "ADD")
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{
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monitorNames.Add(processingName);
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processingIndex++;
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if (monitorItems_lb.InvokeRequired)
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{
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monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.Add(processingName)));
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}
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else
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{
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monitorItems_lb.Items.Add(processingName);
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}
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monitorList.Add(new double[1024]);
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MainFormPlot.Plot.Add.Signal(monitorList[monitorList.Count - 1]);
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}
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else if(e.Answer == "REMOVE")
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{
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monitorNames.RemoveAt(processingIndex);
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monitorList.RemoveAt(processingIndex);
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if (monitorItems_lb.InvokeRequired)
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{
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monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.RemoveAt(processingIndex)));
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}
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else
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{
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monitorItems_lb.Items.RemoveAt(processingIndex);
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}
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if (processingIndex >= 0) processingIndex--;
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}else if(e.Answer == "REMOVEALL")
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{
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monitorNames.Clear();
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monitorList.Clear();
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}
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}
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private void Serial_MonitoringItemsReceived(object sender, MonitoringEventArgs e)
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{
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for(int i = 0; i < monitorList.Count; i++)
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{
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ShiftLeft(monitorList[i]);
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monitorList[i][monitorList[i].Length - 1] = e.Data[i];
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}
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monitoring = new float[monitorList.Count];
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for (int i = 0; i < monitorList.Count; i++)
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{
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monitoring[i] = (float)monitorList[i][monitorList[i].Length - 1];
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}
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}
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private void UpdateTimer_Tick(object sender, EventArgs e)
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{
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if (mon_test_label.InvokeRequired)
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{
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mon_test_label.Invoke(new Action(() => mon_test_label.Text = string.Join(", ", monitoring)));
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}
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else
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{
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mon_test_label.Text = string.Join(", ", monitoring);
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}
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if (monNames_label.InvokeRequired)
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{
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monNames_label.Invoke(new Action(() => monNames_label.Text = string.Join(", ", monitorNames)));
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}
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else monNames_label.Text = string.Join(", ", monitorNames);
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if (monitorList.Count > 0)
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{
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MainFormPlot.Plot.Clear();
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for(int i = 0; i < monitorList.Count; i++)
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{
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var sig = MainFormPlot.Plot.Add.Signal(monitorList[i]);
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sig.LegendText = monitorNames[i];
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}
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MainFormPlot.Plot.Legend.IsVisible = true;
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MainFormPlot.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal;
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MainFormPlot.Plot.Axes.AutoScale();
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MainFormPlot.Refresh();
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}
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}
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void initMonitoringBuffer()
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{
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for (int i = 0; i < monitoringBuffer.Length; i++)
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@ -30,5 +147,26 @@ namespace TelemetryIO
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monitoringBuffer[i] = new float[8192];
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}
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}
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private void add_btn_Click(object sender, EventArgs e)
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{
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processingName = (string)monitorItems_cb.SelectedItem;
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serial.AddMonitoringItem(processingName);
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/*serial.AddMonitoringItem(0, test_index);
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processingName = "item." + test_index;
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if (test_index < 5) test_index++;
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else test_index = 0;*/
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}
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private void del_btn_Click(object sender, EventArgs e)
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{
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processingIndex = monitorItems_lb.SelectedIndex;
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serial.RemoveMonitoringItem(processingIndex);
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}
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private void ShiftLeft(double[] arr)
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{
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Buffer.BlockCopy(arr, sizeof(double), arr, 0, (arr.Length - 1)*sizeof(double));
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}
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||||
}
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}
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||||
|
||||
688
TelemetryIO/RatePID.Designer.cs
generated
688
TelemetryIO/RatePID.Designer.cs
generated
@ -52,7 +52,7 @@
|
||||
this.numericUpDown7 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown8 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown9 = new System.Windows.Forms.NumericUpDown();
|
||||
this.panel2 = new System.Windows.Forms.Panel();
|
||||
this.pid1_panel = new System.Windows.Forms.Panel();
|
||||
this.numericUpDown10 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown11 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown12 = new System.Windows.Forms.NumericUpDown();
|
||||
@ -71,6 +71,46 @@
|
||||
this.label16 = new System.Windows.Forms.Label();
|
||||
this.label17 = new System.Windows.Forms.Label();
|
||||
this.label18 = new System.Windows.Forms.Label();
|
||||
this.tab_pid2 = new System.Windows.Forms.TabPage();
|
||||
this.tab_pid3 = new System.Windows.Forms.TabPage();
|
||||
this.pid2_panel = new System.Windows.Forms.Panel();
|
||||
this.numericUpDown19 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown20 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown21 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown22 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown23 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown24 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown25 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown26 = new System.Windows.Forms.NumericUpDown();
|
||||
this.label19 = new System.Windows.Forms.Label();
|
||||
this.label20 = new System.Windows.Forms.Label();
|
||||
this.label21 = new System.Windows.Forms.Label();
|
||||
this.label22 = new System.Windows.Forms.Label();
|
||||
this.label23 = new System.Windows.Forms.Label();
|
||||
this.label24 = new System.Windows.Forms.Label();
|
||||
this.label25 = new System.Windows.Forms.Label();
|
||||
this.label26 = new System.Windows.Forms.Label();
|
||||
this.label27 = new System.Windows.Forms.Label();
|
||||
this.numericUpDown27 = new System.Windows.Forms.NumericUpDown();
|
||||
this.pid3_panel = new System.Windows.Forms.Panel();
|
||||
this.numericUpDown28 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown29 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown30 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown31 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown32 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown33 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown34 = new System.Windows.Forms.NumericUpDown();
|
||||
this.numericUpDown35 = new System.Windows.Forms.NumericUpDown();
|
||||
this.label28 = new System.Windows.Forms.Label();
|
||||
this.label29 = new System.Windows.Forms.Label();
|
||||
this.label30 = new System.Windows.Forms.Label();
|
||||
this.label31 = new System.Windows.Forms.Label();
|
||||
this.label32 = new System.Windows.Forms.Label();
|
||||
this.label33 = new System.Windows.Forms.Label();
|
||||
this.label34 = new System.Windows.Forms.Label();
|
||||
this.label35 = new System.Windows.Forms.Label();
|
||||
this.label36 = new System.Windows.Forms.Label();
|
||||
this.numericUpDown36 = new System.Windows.Forms.NumericUpDown();
|
||||
this.tabControl1.SuspendLayout();
|
||||
this.tab_pid0.SuspendLayout();
|
||||
this.pid0_panel.SuspendLayout();
|
||||
@ -84,7 +124,7 @@
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown7)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown8)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown9)).BeginInit();
|
||||
this.panel2.SuspendLayout();
|
||||
this.pid1_panel.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown10)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown11)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown12)).BeginInit();
|
||||
@ -94,6 +134,28 @@
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown16)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown17)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown18)).BeginInit();
|
||||
this.tab_pid2.SuspendLayout();
|
||||
this.tab_pid3.SuspendLayout();
|
||||
this.pid2_panel.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown19)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown20)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown21)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown22)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown23)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown24)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown25)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown26)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown27)).BeginInit();
|
||||
this.pid3_panel.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown28)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown29)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown30)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown31)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown32)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown33)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown34)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown35)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown36)).BeginInit();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// Save_btn
|
||||
@ -119,6 +181,8 @@
|
||||
//
|
||||
this.tabControl1.Controls.Add(this.tab_pid0);
|
||||
this.tabControl1.Controls.Add(this.tab_pid1);
|
||||
this.tabControl1.Controls.Add(this.tab_pid2);
|
||||
this.tabControl1.Controls.Add(this.tab_pid3);
|
||||
this.tabControl1.Location = new System.Drawing.Point(32, 23);
|
||||
this.tabControl1.Name = "tabControl1";
|
||||
this.tabControl1.SelectedIndex = 0;
|
||||
@ -244,7 +308,7 @@
|
||||
//
|
||||
// tab_pid1
|
||||
//
|
||||
this.tab_pid1.Controls.Add(this.panel2);
|
||||
this.tab_pid1.Controls.Add(this.pid1_panel);
|
||||
this.tab_pid1.Location = new System.Drawing.Point(4, 22);
|
||||
this.tab_pid1.Name = "tab_pid1";
|
||||
this.tab_pid1.Padding = new System.Windows.Forms.Padding(3);
|
||||
@ -379,30 +443,30 @@
|
||||
this.numericUpDown9.TabIndex = 7;
|
||||
this.numericUpDown9.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// panel2
|
||||
// pid1_panel
|
||||
//
|
||||
this.panel2.Controls.Add(this.numericUpDown10);
|
||||
this.panel2.Controls.Add(this.numericUpDown11);
|
||||
this.panel2.Controls.Add(this.numericUpDown12);
|
||||
this.panel2.Controls.Add(this.numericUpDown13);
|
||||
this.panel2.Controls.Add(this.numericUpDown14);
|
||||
this.panel2.Controls.Add(this.numericUpDown15);
|
||||
this.panel2.Controls.Add(this.numericUpDown16);
|
||||
this.panel2.Controls.Add(this.numericUpDown17);
|
||||
this.panel2.Controls.Add(this.numericUpDown18);
|
||||
this.panel2.Controls.Add(this.label10);
|
||||
this.panel2.Controls.Add(this.label11);
|
||||
this.panel2.Controls.Add(this.label12);
|
||||
this.panel2.Controls.Add(this.label13);
|
||||
this.panel2.Controls.Add(this.label14);
|
||||
this.panel2.Controls.Add(this.label15);
|
||||
this.panel2.Controls.Add(this.label16);
|
||||
this.panel2.Controls.Add(this.label17);
|
||||
this.panel2.Controls.Add(this.label18);
|
||||
this.panel2.Location = new System.Drawing.Point(23, 25);
|
||||
this.panel2.Name = "panel2";
|
||||
this.panel2.Size = new System.Drawing.Size(517, 117);
|
||||
this.panel2.TabIndex = 1;
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown10);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown11);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown12);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown13);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown14);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown15);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown16);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown17);
|
||||
this.pid1_panel.Controls.Add(this.numericUpDown18);
|
||||
this.pid1_panel.Controls.Add(this.label10);
|
||||
this.pid1_panel.Controls.Add(this.label11);
|
||||
this.pid1_panel.Controls.Add(this.label12);
|
||||
this.pid1_panel.Controls.Add(this.label13);
|
||||
this.pid1_panel.Controls.Add(this.label14);
|
||||
this.pid1_panel.Controls.Add(this.label15);
|
||||
this.pid1_panel.Controls.Add(this.label16);
|
||||
this.pid1_panel.Controls.Add(this.label17);
|
||||
this.pid1_panel.Controls.Add(this.label18);
|
||||
this.pid1_panel.Location = new System.Drawing.Point(23, 25);
|
||||
this.pid1_panel.Name = "pid1_panel";
|
||||
this.pid1_panel.Size = new System.Drawing.Size(517, 117);
|
||||
this.pid1_panel.TabIndex = 1;
|
||||
//
|
||||
// numericUpDown10
|
||||
//
|
||||
@ -415,7 +479,7 @@
|
||||
0});
|
||||
this.numericUpDown10.Name = "numericUpDown10";
|
||||
this.numericUpDown10.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown10.TabIndex = 62;
|
||||
this.numericUpDown10.TabIndex = 9;
|
||||
this.numericUpDown10.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown11
|
||||
@ -429,7 +493,7 @@
|
||||
0});
|
||||
this.numericUpDown11.Name = "numericUpDown11";
|
||||
this.numericUpDown11.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown11.TabIndex = 61;
|
||||
this.numericUpDown11.TabIndex = 8;
|
||||
this.numericUpDown11.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown12
|
||||
@ -443,7 +507,7 @@
|
||||
0});
|
||||
this.numericUpDown12.Name = "numericUpDown12";
|
||||
this.numericUpDown12.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown12.TabIndex = 60;
|
||||
this.numericUpDown12.TabIndex = 7;
|
||||
this.numericUpDown12.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown13
|
||||
@ -457,7 +521,7 @@
|
||||
0});
|
||||
this.numericUpDown13.Name = "numericUpDown13";
|
||||
this.numericUpDown13.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown13.TabIndex = 59;
|
||||
this.numericUpDown13.TabIndex = 6;
|
||||
this.numericUpDown13.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown14
|
||||
@ -471,7 +535,7 @@
|
||||
0});
|
||||
this.numericUpDown14.Name = "numericUpDown14";
|
||||
this.numericUpDown14.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown14.TabIndex = 58;
|
||||
this.numericUpDown14.TabIndex = 5;
|
||||
this.numericUpDown14.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown15
|
||||
@ -485,7 +549,7 @@
|
||||
0});
|
||||
this.numericUpDown15.Name = "numericUpDown15";
|
||||
this.numericUpDown15.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown15.TabIndex = 57;
|
||||
this.numericUpDown15.TabIndex = 4;
|
||||
this.numericUpDown15.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown16
|
||||
@ -499,7 +563,7 @@
|
||||
0});
|
||||
this.numericUpDown16.Name = "numericUpDown16";
|
||||
this.numericUpDown16.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown16.TabIndex = 56;
|
||||
this.numericUpDown16.TabIndex = 3;
|
||||
this.numericUpDown16.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown17
|
||||
@ -513,7 +577,7 @@
|
||||
0});
|
||||
this.numericUpDown17.Name = "numericUpDown17";
|
||||
this.numericUpDown17.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown17.TabIndex = 55;
|
||||
this.numericUpDown17.TabIndex = 2;
|
||||
this.numericUpDown17.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown18
|
||||
@ -527,7 +591,7 @@
|
||||
0});
|
||||
this.numericUpDown18.Name = "numericUpDown18";
|
||||
this.numericUpDown18.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown18.TabIndex = 54;
|
||||
this.numericUpDown18.TabIndex = 1;
|
||||
this.numericUpDown18.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// label10
|
||||
@ -611,6 +675,490 @@
|
||||
this.label18.TabIndex = 37;
|
||||
this.label18.Text = "Roll.P";
|
||||
//
|
||||
// tab_pid2
|
||||
//
|
||||
this.tab_pid2.Controls.Add(this.pid2_panel);
|
||||
this.tab_pid2.Location = new System.Drawing.Point(4, 22);
|
||||
this.tab_pid2.Name = "tab_pid2";
|
||||
this.tab_pid2.Size = new System.Drawing.Size(562, 167);
|
||||
this.tab_pid2.TabIndex = 2;
|
||||
this.tab_pid2.Text = "Набор 2";
|
||||
this.tab_pid2.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// tab_pid3
|
||||
//
|
||||
this.tab_pid3.Controls.Add(this.pid3_panel);
|
||||
this.tab_pid3.Location = new System.Drawing.Point(4, 22);
|
||||
this.tab_pid3.Name = "tab_pid3";
|
||||
this.tab_pid3.Size = new System.Drawing.Size(562, 167);
|
||||
this.tab_pid3.TabIndex = 3;
|
||||
this.tab_pid3.Text = "Набор 3";
|
||||
this.tab_pid3.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// pid2_panel
|
||||
//
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown19);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown20);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown21);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown22);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown23);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown24);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown25);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown26);
|
||||
this.pid2_panel.Controls.Add(this.label19);
|
||||
this.pid2_panel.Controls.Add(this.label20);
|
||||
this.pid2_panel.Controls.Add(this.label21);
|
||||
this.pid2_panel.Controls.Add(this.label22);
|
||||
this.pid2_panel.Controls.Add(this.label23);
|
||||
this.pid2_panel.Controls.Add(this.label24);
|
||||
this.pid2_panel.Controls.Add(this.label25);
|
||||
this.pid2_panel.Controls.Add(this.label26);
|
||||
this.pid2_panel.Controls.Add(this.label27);
|
||||
this.pid2_panel.Controls.Add(this.numericUpDown27);
|
||||
this.pid2_panel.Location = new System.Drawing.Point(23, 25);
|
||||
this.pid2_panel.Name = "pid2_panel";
|
||||
this.pid2_panel.Size = new System.Drawing.Size(517, 117);
|
||||
this.pid2_panel.TabIndex = 1;
|
||||
//
|
||||
// numericUpDown19
|
||||
//
|
||||
this.numericUpDown19.DecimalPlaces = 2;
|
||||
this.numericUpDown19.Location = new System.Drawing.Point(398, 77);
|
||||
this.numericUpDown19.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown19.Name = "numericUpDown19";
|
||||
this.numericUpDown19.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown19.TabIndex = 9;
|
||||
this.numericUpDown19.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown20
|
||||
//
|
||||
this.numericUpDown20.DecimalPlaces = 2;
|
||||
this.numericUpDown20.Location = new System.Drawing.Point(398, 51);
|
||||
this.numericUpDown20.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown20.Name = "numericUpDown20";
|
||||
this.numericUpDown20.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown20.TabIndex = 8;
|
||||
this.numericUpDown20.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown21
|
||||
//
|
||||
this.numericUpDown21.DecimalPlaces = 2;
|
||||
this.numericUpDown21.Location = new System.Drawing.Point(398, 23);
|
||||
this.numericUpDown21.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown21.Name = "numericUpDown21";
|
||||
this.numericUpDown21.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown21.TabIndex = 7;
|
||||
this.numericUpDown21.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown22
|
||||
//
|
||||
this.numericUpDown22.DecimalPlaces = 2;
|
||||
this.numericUpDown22.Location = new System.Drawing.Point(232, 77);
|
||||
this.numericUpDown22.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown22.Name = "numericUpDown22";
|
||||
this.numericUpDown22.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown22.TabIndex = 6;
|
||||
this.numericUpDown22.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown23
|
||||
//
|
||||
this.numericUpDown23.DecimalPlaces = 2;
|
||||
this.numericUpDown23.Location = new System.Drawing.Point(232, 51);
|
||||
this.numericUpDown23.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown23.Name = "numericUpDown23";
|
||||
this.numericUpDown23.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown23.TabIndex = 5;
|
||||
this.numericUpDown23.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown24
|
||||
//
|
||||
this.numericUpDown24.DecimalPlaces = 2;
|
||||
this.numericUpDown24.Location = new System.Drawing.Point(232, 23);
|
||||
this.numericUpDown24.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown24.Name = "numericUpDown24";
|
||||
this.numericUpDown24.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown24.TabIndex = 4;
|
||||
this.numericUpDown24.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown25
|
||||
//
|
||||
this.numericUpDown25.DecimalPlaces = 2;
|
||||
this.numericUpDown25.Location = new System.Drawing.Point(67, 77);
|
||||
this.numericUpDown25.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown25.Name = "numericUpDown25";
|
||||
this.numericUpDown25.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown25.TabIndex = 3;
|
||||
this.numericUpDown25.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown26
|
||||
//
|
||||
this.numericUpDown26.DecimalPlaces = 2;
|
||||
this.numericUpDown26.Location = new System.Drawing.Point(67, 51);
|
||||
this.numericUpDown26.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown26.Name = "numericUpDown26";
|
||||
this.numericUpDown26.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown26.TabIndex = 2;
|
||||
this.numericUpDown26.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// label19
|
||||
//
|
||||
this.label19.AutoSize = true;
|
||||
this.label19.Location = new System.Drawing.Point(347, 77);
|
||||
this.label19.Name = "label19";
|
||||
this.label19.Size = new System.Drawing.Size(39, 13);
|
||||
this.label19.TabIndex = 53;
|
||||
this.label19.Text = "Yaw.D";
|
||||
//
|
||||
// label20
|
||||
//
|
||||
this.label20.AutoSize = true;
|
||||
this.label20.Location = new System.Drawing.Point(347, 51);
|
||||
this.label20.Name = "label20";
|
||||
this.label20.Size = new System.Drawing.Size(34, 13);
|
||||
this.label20.TabIndex = 51;
|
||||
this.label20.Text = "Yaw.I";
|
||||
//
|
||||
// label21
|
||||
//
|
||||
this.label21.AutoSize = true;
|
||||
this.label21.Location = new System.Drawing.Point(347, 25);
|
||||
this.label21.Name = "label21";
|
||||
this.label21.Size = new System.Drawing.Size(38, 13);
|
||||
this.label21.TabIndex = 49;
|
||||
this.label21.Text = "Yaw.P";
|
||||
//
|
||||
// label22
|
||||
//
|
||||
this.label22.AutoSize = true;
|
||||
this.label22.Location = new System.Drawing.Point(185, 77);
|
||||
this.label22.Name = "label22";
|
||||
this.label22.Size = new System.Drawing.Size(42, 13);
|
||||
this.label22.TabIndex = 47;
|
||||
this.label22.Text = "Pitch.D";
|
||||
//
|
||||
// label23
|
||||
//
|
||||
this.label23.AutoSize = true;
|
||||
this.label23.Location = new System.Drawing.Point(185, 51);
|
||||
this.label23.Name = "label23";
|
||||
this.label23.Size = new System.Drawing.Size(37, 13);
|
||||
this.label23.TabIndex = 45;
|
||||
this.label23.Text = "Pitch.I";
|
||||
//
|
||||
// label24
|
||||
//
|
||||
this.label24.AutoSize = true;
|
||||
this.label24.Location = new System.Drawing.Point(185, 25);
|
||||
this.label24.Name = "label24";
|
||||
this.label24.Size = new System.Drawing.Size(41, 13);
|
||||
this.label24.TabIndex = 43;
|
||||
this.label24.Text = "Pitch.P";
|
||||
//
|
||||
// label25
|
||||
//
|
||||
this.label25.AutoSize = true;
|
||||
this.label25.Location = new System.Drawing.Point(26, 77);
|
||||
this.label25.Name = "label25";
|
||||
this.label25.Size = new System.Drawing.Size(36, 13);
|
||||
this.label25.TabIndex = 41;
|
||||
this.label25.Text = "Roll.D";
|
||||
//
|
||||
// label26
|
||||
//
|
||||
this.label26.AutoSize = true;
|
||||
this.label26.Location = new System.Drawing.Point(26, 51);
|
||||
this.label26.Name = "label26";
|
||||
this.label26.Size = new System.Drawing.Size(31, 13);
|
||||
this.label26.TabIndex = 39;
|
||||
this.label26.Text = "Roll.I";
|
||||
//
|
||||
// label27
|
||||
//
|
||||
this.label27.AutoSize = true;
|
||||
this.label27.Location = new System.Drawing.Point(26, 25);
|
||||
this.label27.Name = "label27";
|
||||
this.label27.Size = new System.Drawing.Size(35, 13);
|
||||
this.label27.TabIndex = 37;
|
||||
this.label27.Text = "Roll.P";
|
||||
//
|
||||
// numericUpDown27
|
||||
//
|
||||
this.numericUpDown27.DecimalPlaces = 2;
|
||||
this.numericUpDown27.Location = new System.Drawing.Point(67, 23);
|
||||
this.numericUpDown27.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown27.Name = "numericUpDown27";
|
||||
this.numericUpDown27.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown27.TabIndex = 1;
|
||||
this.numericUpDown27.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// pid3_panel
|
||||
//
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown28);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown29);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown30);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown31);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown32);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown33);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown34);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown35);
|
||||
this.pid3_panel.Controls.Add(this.label28);
|
||||
this.pid3_panel.Controls.Add(this.label29);
|
||||
this.pid3_panel.Controls.Add(this.label30);
|
||||
this.pid3_panel.Controls.Add(this.label31);
|
||||
this.pid3_panel.Controls.Add(this.label32);
|
||||
this.pid3_panel.Controls.Add(this.label33);
|
||||
this.pid3_panel.Controls.Add(this.label34);
|
||||
this.pid3_panel.Controls.Add(this.label35);
|
||||
this.pid3_panel.Controls.Add(this.label36);
|
||||
this.pid3_panel.Controls.Add(this.numericUpDown36);
|
||||
this.pid3_panel.Location = new System.Drawing.Point(23, 25);
|
||||
this.pid3_panel.Name = "pid3_panel";
|
||||
this.pid3_panel.Size = new System.Drawing.Size(517, 117);
|
||||
this.pid3_panel.TabIndex = 1;
|
||||
//
|
||||
// numericUpDown28
|
||||
//
|
||||
this.numericUpDown28.DecimalPlaces = 2;
|
||||
this.numericUpDown28.Location = new System.Drawing.Point(398, 77);
|
||||
this.numericUpDown28.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown28.Name = "numericUpDown28";
|
||||
this.numericUpDown28.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown28.TabIndex = 9;
|
||||
this.numericUpDown28.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown29
|
||||
//
|
||||
this.numericUpDown29.DecimalPlaces = 2;
|
||||
this.numericUpDown29.Location = new System.Drawing.Point(398, 51);
|
||||
this.numericUpDown29.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown29.Name = "numericUpDown29";
|
||||
this.numericUpDown29.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown29.TabIndex = 8;
|
||||
this.numericUpDown29.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown30
|
||||
//
|
||||
this.numericUpDown30.DecimalPlaces = 2;
|
||||
this.numericUpDown30.Location = new System.Drawing.Point(398, 23);
|
||||
this.numericUpDown30.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown30.Name = "numericUpDown30";
|
||||
this.numericUpDown30.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown30.TabIndex = 7;
|
||||
this.numericUpDown30.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown31
|
||||
//
|
||||
this.numericUpDown31.DecimalPlaces = 2;
|
||||
this.numericUpDown31.Location = new System.Drawing.Point(232, 77);
|
||||
this.numericUpDown31.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown31.Name = "numericUpDown31";
|
||||
this.numericUpDown31.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown31.TabIndex = 6;
|
||||
this.numericUpDown31.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown32
|
||||
//
|
||||
this.numericUpDown32.DecimalPlaces = 2;
|
||||
this.numericUpDown32.Location = new System.Drawing.Point(232, 51);
|
||||
this.numericUpDown32.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown32.Name = "numericUpDown32";
|
||||
this.numericUpDown32.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown32.TabIndex = 5;
|
||||
this.numericUpDown32.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown33
|
||||
//
|
||||
this.numericUpDown33.DecimalPlaces = 2;
|
||||
this.numericUpDown33.Location = new System.Drawing.Point(232, 23);
|
||||
this.numericUpDown33.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown33.Name = "numericUpDown33";
|
||||
this.numericUpDown33.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown33.TabIndex = 4;
|
||||
this.numericUpDown33.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown34
|
||||
//
|
||||
this.numericUpDown34.DecimalPlaces = 2;
|
||||
this.numericUpDown34.Location = new System.Drawing.Point(67, 77);
|
||||
this.numericUpDown34.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown34.Name = "numericUpDown34";
|
||||
this.numericUpDown34.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown34.TabIndex = 3;
|
||||
this.numericUpDown34.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// numericUpDown35
|
||||
//
|
||||
this.numericUpDown35.DecimalPlaces = 2;
|
||||
this.numericUpDown35.Location = new System.Drawing.Point(67, 51);
|
||||
this.numericUpDown35.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown35.Name = "numericUpDown35";
|
||||
this.numericUpDown35.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown35.TabIndex = 2;
|
||||
this.numericUpDown35.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// label28
|
||||
//
|
||||
this.label28.AutoSize = true;
|
||||
this.label28.Location = new System.Drawing.Point(347, 77);
|
||||
this.label28.Name = "label28";
|
||||
this.label28.Size = new System.Drawing.Size(39, 13);
|
||||
this.label28.TabIndex = 53;
|
||||
this.label28.Text = "Yaw.D";
|
||||
//
|
||||
// label29
|
||||
//
|
||||
this.label29.AutoSize = true;
|
||||
this.label29.Location = new System.Drawing.Point(347, 51);
|
||||
this.label29.Name = "label29";
|
||||
this.label29.Size = new System.Drawing.Size(34, 13);
|
||||
this.label29.TabIndex = 51;
|
||||
this.label29.Text = "Yaw.I";
|
||||
//
|
||||
// label30
|
||||
//
|
||||
this.label30.AutoSize = true;
|
||||
this.label30.Location = new System.Drawing.Point(347, 25);
|
||||
this.label30.Name = "label30";
|
||||
this.label30.Size = new System.Drawing.Size(38, 13);
|
||||
this.label30.TabIndex = 49;
|
||||
this.label30.Text = "Yaw.P";
|
||||
//
|
||||
// label31
|
||||
//
|
||||
this.label31.AutoSize = true;
|
||||
this.label31.Location = new System.Drawing.Point(185, 77);
|
||||
this.label31.Name = "label31";
|
||||
this.label31.Size = new System.Drawing.Size(42, 13);
|
||||
this.label31.TabIndex = 47;
|
||||
this.label31.Text = "Pitch.D";
|
||||
//
|
||||
// label32
|
||||
//
|
||||
this.label32.AutoSize = true;
|
||||
this.label32.Location = new System.Drawing.Point(185, 51);
|
||||
this.label32.Name = "label32";
|
||||
this.label32.Size = new System.Drawing.Size(37, 13);
|
||||
this.label32.TabIndex = 45;
|
||||
this.label32.Text = "Pitch.I";
|
||||
//
|
||||
// label33
|
||||
//
|
||||
this.label33.AutoSize = true;
|
||||
this.label33.Location = new System.Drawing.Point(185, 25);
|
||||
this.label33.Name = "label33";
|
||||
this.label33.Size = new System.Drawing.Size(41, 13);
|
||||
this.label33.TabIndex = 43;
|
||||
this.label33.Text = "Pitch.P";
|
||||
//
|
||||
// label34
|
||||
//
|
||||
this.label34.AutoSize = true;
|
||||
this.label34.Location = new System.Drawing.Point(26, 77);
|
||||
this.label34.Name = "label34";
|
||||
this.label34.Size = new System.Drawing.Size(36, 13);
|
||||
this.label34.TabIndex = 41;
|
||||
this.label34.Text = "Roll.D";
|
||||
//
|
||||
// label35
|
||||
//
|
||||
this.label35.AutoSize = true;
|
||||
this.label35.Location = new System.Drawing.Point(26, 51);
|
||||
this.label35.Name = "label35";
|
||||
this.label35.Size = new System.Drawing.Size(31, 13);
|
||||
this.label35.TabIndex = 39;
|
||||
this.label35.Text = "Roll.I";
|
||||
//
|
||||
// label36
|
||||
//
|
||||
this.label36.AutoSize = true;
|
||||
this.label36.Location = new System.Drawing.Point(26, 25);
|
||||
this.label36.Name = "label36";
|
||||
this.label36.Size = new System.Drawing.Size(35, 13);
|
||||
this.label36.TabIndex = 37;
|
||||
this.label36.Text = "Roll.P";
|
||||
//
|
||||
// numericUpDown36
|
||||
//
|
||||
this.numericUpDown36.DecimalPlaces = 2;
|
||||
this.numericUpDown36.Location = new System.Drawing.Point(67, 23);
|
||||
this.numericUpDown36.Maximum = new decimal(new int[] {
|
||||
10,
|
||||
0,
|
||||
0,
|
||||
0});
|
||||
this.numericUpDown36.Name = "numericUpDown36";
|
||||
this.numericUpDown36.Size = new System.Drawing.Size(100, 20);
|
||||
this.numericUpDown36.TabIndex = 1;
|
||||
this.numericUpDown36.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
|
||||
//
|
||||
// RatePID
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||
@ -634,8 +1182,8 @@
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown7)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown8)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown9)).EndInit();
|
||||
this.panel2.ResumeLayout(false);
|
||||
this.panel2.PerformLayout();
|
||||
this.pid1_panel.ResumeLayout(false);
|
||||
this.pid1_panel.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown10)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown11)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown12)).EndInit();
|
||||
@ -645,6 +1193,30 @@
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown16)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown17)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown18)).EndInit();
|
||||
this.tab_pid2.ResumeLayout(false);
|
||||
this.tab_pid3.ResumeLayout(false);
|
||||
this.pid2_panel.ResumeLayout(false);
|
||||
this.pid2_panel.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown19)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown20)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown21)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown22)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown23)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown24)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown25)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown26)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown27)).EndInit();
|
||||
this.pid3_panel.ResumeLayout(false);
|
||||
this.pid3_panel.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown28)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown29)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown30)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown31)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown32)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown33)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown34)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown35)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.numericUpDown36)).EndInit();
|
||||
this.ResumeLayout(false);
|
||||
|
||||
}
|
||||
@ -675,7 +1247,7 @@
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown6;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown3;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown2;
|
||||
private System.Windows.Forms.Panel panel2;
|
||||
private System.Windows.Forms.Panel pid1_panel;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown10;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown11;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown12;
|
||||
@ -694,5 +1266,45 @@
|
||||
private System.Windows.Forms.Label label16;
|
||||
private System.Windows.Forms.Label label17;
|
||||
private System.Windows.Forms.Label label18;
|
||||
private System.Windows.Forms.TabPage tab_pid2;
|
||||
private System.Windows.Forms.Panel pid2_panel;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown19;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown20;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown21;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown22;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown23;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown24;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown25;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown26;
|
||||
private System.Windows.Forms.Label label19;
|
||||
private System.Windows.Forms.Label label20;
|
||||
private System.Windows.Forms.Label label21;
|
||||
private System.Windows.Forms.Label label22;
|
||||
private System.Windows.Forms.Label label23;
|
||||
private System.Windows.Forms.Label label24;
|
||||
private System.Windows.Forms.Label label25;
|
||||
private System.Windows.Forms.Label label26;
|
||||
private System.Windows.Forms.Label label27;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown27;
|
||||
private System.Windows.Forms.TabPage tab_pid3;
|
||||
private System.Windows.Forms.Panel pid3_panel;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown28;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown29;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown30;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown31;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown32;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown33;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown34;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown35;
|
||||
private System.Windows.Forms.Label label28;
|
||||
private System.Windows.Forms.Label label29;
|
||||
private System.Windows.Forms.Label label30;
|
||||
private System.Windows.Forms.Label label31;
|
||||
private System.Windows.Forms.Label label32;
|
||||
private System.Windows.Forms.Label label33;
|
||||
private System.Windows.Forms.Label label34;
|
||||
private System.Windows.Forms.Label label35;
|
||||
private System.Windows.Forms.Label label36;
|
||||
private System.Windows.Forms.NumericUpDown numericUpDown36;
|
||||
}
|
||||
}
|
||||
|
||||
@ -8,6 +8,7 @@ using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows.Forms;
|
||||
using TelemetryIO.Models;
|
||||
|
||||
namespace TelemetryIO
|
||||
{
|
||||
@ -15,10 +16,13 @@ namespace TelemetryIO
|
||||
{
|
||||
private float[] pid0 = new float[9];
|
||||
private float[] pid1 = new float[9];
|
||||
private float[] pid2 = new float[9];
|
||||
private float[] pid3 = new float[9];
|
||||
private float zh = 0;
|
||||
private bool isSubscribed = false;
|
||||
public SerialHandler serial { get; set; }
|
||||
public Label bottom_label { get; set; }
|
||||
private object locker = new object();
|
||||
|
||||
public RatePID()
|
||||
{
|
||||
@ -36,6 +40,18 @@ namespace TelemetryIO
|
||||
{
|
||||
bottom_label.Text = e.Answer; ;
|
||||
}
|
||||
|
||||
lock (locker)
|
||||
{
|
||||
pid0 = Telemetry.Instance.pid0;
|
||||
pid1 = Telemetry.Instance.pid1;
|
||||
pid2 = Telemetry.Instance.pid2;
|
||||
pid3 = Telemetry.Instance.pid3;
|
||||
}
|
||||
if(e.Answer == "1000")change_view(pid0_panel, pid0);
|
||||
else if (e.Answer == "1001") change_view(pid1_panel, pid1);
|
||||
else if (e.Answer == "1002") change_view(pid2_panel, pid2);
|
||||
else if (e.Answer == "1003") change_view(pid3_panel, pid3);
|
||||
}
|
||||
|
||||
public void SubscribeOnEvent(SerialHandler s)
|
||||
@ -46,6 +62,25 @@ namespace TelemetryIO
|
||||
serial.AnswerReceived += Serial_AnswerReceived;
|
||||
}
|
||||
|
||||
private void change_view(Panel panel, float[] pid)
|
||||
{
|
||||
for (int i = 0; i < panel.Controls.Count; i++)
|
||||
{
|
||||
if (panel.Controls[i] is NumericUpDown)
|
||||
{
|
||||
NumericUpDown c = panel.Controls[i] as NumericUpDown;
|
||||
if (c.InvokeRequired)
|
||||
{
|
||||
c.BeginInvoke(new Action(() => c.Value = (decimal)pid[c.TabIndex - 1]));
|
||||
}
|
||||
else
|
||||
{
|
||||
c.Value = (decimal)pid[c.TabIndex - 1];
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void Save_btn_Click(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
@ -55,7 +90,7 @@ namespace TelemetryIO
|
||||
if (pid0_panel.Controls[i] is NumericUpDown)
|
||||
{
|
||||
NumericUpDown c = pid0_panel.Controls[i] as NumericUpDown;
|
||||
floats[pid0_panel.Controls[i].TabIndex - 1] = (float)c.Value;
|
||||
floats[c.TabIndex - 1] = (float)c.Value;
|
||||
}
|
||||
}
|
||||
serial.sendTestWrite(floats);
|
||||
|
||||
@ -6,6 +6,7 @@ using System.Linq;
|
||||
using System.Net.Http;
|
||||
using System.Security.Permissions;
|
||||
using System.Text;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
using TelemetryIO.Models;
|
||||
|
||||
@ -30,12 +31,31 @@ namespace TelemetryIO
|
||||
private SerialPort com_port;
|
||||
static private List<byte> rx_buf = new List<byte>();
|
||||
static private byte[] data;
|
||||
|
||||
//Generate event when answer is received
|
||||
public delegate void AnswerEventHandler<SerialEventArgs>(object sender, SerialEventArgs e);
|
||||
public event AnswerEventHandler<SerialEventArgs> AnswerReceived;
|
||||
|
||||
//Generate event when handshake is occurred
|
||||
public delegate void HandShakeHandler(object sender, EventArgs e);
|
||||
public event HandShakeHandler HandShakeOccurred;
|
||||
|
||||
//Generate event when monitoring telegram is received
|
||||
public delegate void MonitoringEventHandler<MonitoringEventArgs>(object sender, MonitoringEventArgs e);
|
||||
public event MonitoringEventHandler<MonitoringEventArgs> MonitoringItemsReceived;
|
||||
|
||||
private int int_test = 0;
|
||||
private float[] monitor = new float[32];
|
||||
public string view_str = "";
|
||||
Telemetry telemetry = Telemetry.Instance;
|
||||
|
||||
private Queue<byte[]> req_buffer = new Queue<byte[]>();
|
||||
private object lock_obj = new object();
|
||||
private bool waitingForResponse = false;
|
||||
private bool isMonitorEmpty = false;
|
||||
private bool isTimeout = false;
|
||||
private readonly int responseTimeout = 2000;
|
||||
private System.Timers.Timer timeout = new System.Timers.Timer(3000);
|
||||
|
||||
|
||||
public struct Telegram
|
||||
@ -67,6 +87,7 @@ namespace TelemetryIO
|
||||
public SerialHandler()
|
||||
{
|
||||
com_port = new SerialPort();
|
||||
timeout.AutoReset = false;
|
||||
}
|
||||
|
||||
public SerialHandler(string PortName, int BaudRate)
|
||||
@ -74,6 +95,7 @@ namespace TelemetryIO
|
||||
com_port = new SerialPort();
|
||||
com_port.PortName = PortName;
|
||||
com_port.BaudRate = BaudRate;
|
||||
timeout.AutoReset = false;
|
||||
}
|
||||
|
||||
private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e)
|
||||
@ -87,7 +109,9 @@ namespace TelemetryIO
|
||||
byte b = (byte)sp.ReadByte();
|
||||
|
||||
if (b == ESCAPE_END)
|
||||
{
|
||||
{//END BYTE IS RECEIVED
|
||||
timeout.Stop();
|
||||
isTimeout = false;
|
||||
byte[] unscape = EscapeSeqToBytes(rx_buf.ToArray());
|
||||
uint checksum = crc32(unscape, unscape.Length - 4);
|
||||
uint re_checksum = DataSlots.bytes_to_uint(unscape, unscape.Length - 4);
|
||||
@ -103,58 +127,171 @@ namespace TelemetryIO
|
||||
|
||||
if (cmd == TELE_CMD_RD_ONCE)
|
||||
{
|
||||
DataSlots.setSlot(slot, data, offset, len);
|
||||
telemetry.setSlot(slot, data, offset, len);
|
||||
OnAnswerReceived(slot.ToString());
|
||||
//DataSlots.setSlot(slot, data, offset, len);
|
||||
}
|
||||
else if (cmd == TELE_CMD_RD_MON_ON)
|
||||
{
|
||||
{//READ MONITORING DATA
|
||||
for(int i = 0; i < data.Length/4; i++)
|
||||
{
|
||||
monitor[i] = BitConverter.ToSingle(data, i*4);
|
||||
}
|
||||
OnMonitoringItemsReceived(monitor);
|
||||
view_str = string.Join(", ", monitor.Select(x => "" + x).ToArray(), 0, data.Length/4);
|
||||
}
|
||||
else if (cmd == TELE_CMD_WR)
|
||||
{
|
||||
{//WRITTING OPERATION IS DONE WITH SUCCESS
|
||||
if (data[0] == 'O' && data[1] == 'k')
|
||||
{
|
||||
Debug.Write("Data is written\n");
|
||||
OnAnswerReceived("Data is written");
|
||||
}
|
||||
}else if(cmd == TELE_CMD_HELLO)
|
||||
{
|
||||
{//HANDSHAKING ANSWER
|
||||
telemetry.setSlot(9999, data, 0, 0);
|
||||
view_str = Encoding.ASCII.GetString(data);
|
||||
req_buffer.Clear();
|
||||
OnHandShakeOccurred();
|
||||
getPIDs();
|
||||
}else if(cmd == TELE_CMD_RD_MON_ADD)
|
||||
{
|
||||
OnAnswerReceived("ADD");
|
||||
isMonitorEmpty = false;
|
||||
}
|
||||
else if(cmd == TELE_CMD_RD_MON_REMOVE)
|
||||
{
|
||||
OnAnswerReceived("REMOVE");
|
||||
}else if(cmd == TELE_CMD_RD_MON_REMOVEALL)
|
||||
{
|
||||
OnAnswerReceived("REMOVEALL");
|
||||
isMonitorEmpty = true;
|
||||
}
|
||||
|
||||
}
|
||||
waitingForResponse = false;
|
||||
sendNextRequest();
|
||||
}
|
||||
else if (b == ESCAPE_BEGIN)
|
||||
{
|
||||
{//START BYTE IS RECEIVED
|
||||
rx_buf.Clear();
|
||||
}
|
||||
else
|
||||
{
|
||||
{//FILLING BUFFER
|
||||
rx_buf.Add(b);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void Open()
|
||||
{
|
||||
com_port.Open();
|
||||
com_port.DataReceived += Serial_DataReceived;
|
||||
byte[] to = prepareTelegram(TELE_CMD_HELLO, 0, new byte[0], 0);
|
||||
com_port.Write(to, 0, to.Length);
|
||||
timeout.Elapsed += Timeout_Elapsed;
|
||||
putRequest(prepareTelegram(TELE_CMD_HELLO, 0, new byte[0], 0));
|
||||
}
|
||||
|
||||
private void Timeout_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
|
||||
{
|
||||
lock(lock_obj)
|
||||
{
|
||||
if(waitingForResponse)
|
||||
{
|
||||
//generate timeout event
|
||||
Debug.WriteLine("Timeout!!!!!");
|
||||
waitingForResponse = false;
|
||||
isTimeout = true;
|
||||
req_buffer.Clear();
|
||||
this.Close();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
com_port.DataReceived -= Serial_DataReceived;
|
||||
timeout.Elapsed -= Timeout_Elapsed;
|
||||
com_port.Close();
|
||||
}
|
||||
|
||||
public void Exit()
|
||||
{
|
||||
RemoveMonitoringItems();
|
||||
while (isMonitorEmpty || isTimeout) ;
|
||||
if(!isTimeout)Close();
|
||||
}
|
||||
|
||||
public void putRequest(byte[] request)
|
||||
{
|
||||
lock(lock_obj)
|
||||
{
|
||||
if (waitingForResponse)
|
||||
{
|
||||
req_buffer.Enqueue(request);
|
||||
return;
|
||||
}
|
||||
|
||||
sendRequest(request);
|
||||
}
|
||||
}
|
||||
|
||||
private void sendRequest(byte[] request)
|
||||
{
|
||||
waitingForResponse = true;
|
||||
com_port.Write(request, 0, request.Length);
|
||||
timeout.Stop();
|
||||
timeout.Start();
|
||||
}
|
||||
|
||||
private void sendNextRequest()
|
||||
{
|
||||
waitingForResponse = false;
|
||||
if (req_buffer.Count > 0)
|
||||
{
|
||||
sendRequest(req_buffer.Dequeue());
|
||||
}
|
||||
}
|
||||
|
||||
public void getPIDs()
|
||||
{
|
||||
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, 1002, new byte[0], 0, 4 * 9));
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1003, new byte[0], 0, 4 * 9));
|
||||
}
|
||||
|
||||
//**********************************************************************************************
|
||||
//*************************************** REQUESTS BLOCK ***************************************
|
||||
//**********************************************************************************************
|
||||
public void stopMonitoring()
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_OFF, 0, new byte[0], 0, 0));
|
||||
}
|
||||
|
||||
public void startMonitoring()
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ON, 0, new byte[0], 0, 0));
|
||||
}
|
||||
|
||||
public void AddMonitoringItem(int slot, int offset)
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, slot, new byte[0], offset));
|
||||
}
|
||||
|
||||
public void AddMonitoringItem(string name)
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, new byte[0], name));
|
||||
}
|
||||
|
||||
public void RemoveMonitoringItem(int position)
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVE, position, new byte[0], 0));
|
||||
}
|
||||
|
||||
public void RemoveMonitoringItems()
|
||||
{
|
||||
putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVEALL, 0, new byte[0], 0));
|
||||
}
|
||||
|
||||
byte crc8(byte[] data, int length)
|
||||
{
|
||||
byte crc = 0x00; // Initial value
|
||||
@ -224,6 +361,12 @@ namespace TelemetryIO
|
||||
com_port.Write(b, 0, b.Length);
|
||||
}
|
||||
|
||||
byte[] prepareTelegram<T>(int cmd, T[] load, string var_name)
|
||||
{
|
||||
VarAddress va = telemetry.getVarAdress(var_name);
|
||||
return prepareTelegram(cmd, va.slot, load, va.offset, va.length);
|
||||
}
|
||||
|
||||
byte[] prepareTelegram<T>(int cmd, int slot, T[] load, int offset, int len = 0)
|
||||
{
|
||||
byte[] byteload = DataArrayToBytes(load);
|
||||
@ -341,6 +484,16 @@ namespace TelemetryIO
|
||||
{
|
||||
AnswerReceived?.Invoke(this, new SerialEventArgs(answer));
|
||||
}
|
||||
|
||||
protected virtual void OnHandShakeOccurred()
|
||||
{
|
||||
HandShakeOccurred?.Invoke(this, new EventArgs());
|
||||
}
|
||||
|
||||
protected virtual void OnMonitoringItemsReceived(float[] data)
|
||||
{
|
||||
MonitoringItemsReceived?.Invoke(this, new MonitoringEventArgs(data));
|
||||
}
|
||||
}
|
||||
|
||||
public class SerialEventArgs: EventArgs
|
||||
@ -352,4 +505,14 @@ namespace TelemetryIO
|
||||
Answer = answer;
|
||||
}
|
||||
}
|
||||
|
||||
public class MonitoringEventArgs: EventArgs
|
||||
{
|
||||
public float[] Data { get; set;}
|
||||
|
||||
public MonitoringEventArgs(float[] data)
|
||||
{
|
||||
Data = data;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user