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refactoring and bug fix

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dr-i-boleet
2025-03-29 17:50:17 +11:00
parent 882b036c80
commit ffa9b50b12
8 changed files with 861 additions and 367 deletions
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248
TelemetryIO/MainForm.Designer.cs generated
View File

@ -28,66 +28,29 @@
/// </summary> /// </summary>
private void InitializeComponent() private void InitializeComponent()
{ {
this.PortSelector = new System.Windows.Forms.ComboBox(); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
this.label1 = new System.Windows.Forms.Label();
this.Send_btn = new System.Windows.Forms.Button();
this.Connect_btn = new System.Windows.Forms.Button();
this.InfoLabel = new System.Windows.Forms.Label(); this.InfoLabel = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.SpeedSelector = new System.Windows.Forms.ComboBox();
this.SendContinuous_btn = new System.Windows.Forms.Button();
this.IMU_label = new System.Windows.Forms.Label();
this.TestWrite_btn = new System.Windows.Forms.Button();
this.tabControl1 = new System.Windows.Forms.TabControl(); this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage1 = new System.Windows.Forms.TabPage(); this.tabPage1 = new System.Windows.Forms.TabPage();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.ratePID_control = new TelemetryIO.RatePID();
this.monitorVars1 = new TelemetryIO.MonitorVars(); this.monitorVars1 = new TelemetryIO.MonitorVars();
this.name_label = new System.Windows.Forms.Label(); this.name_label = new System.Windows.Forms.Label();
this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.Connect_btn = new System.Windows.Forms.Button();
this.label2 = new System.Windows.Forms.Label();
this.SpeedSelector = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.PortSelector = new System.Windows.Forms.ComboBox();
this.label3 = new System.Windows.Forms.Label();
this.ratePID_control = new TelemetryIO.RatePID();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout(); this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout(); this.tabPage2.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
this.groupBox1.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// PortSelector
//
this.PortSelector.FormattingEnabled = true;
this.PortSelector.Location = new System.Drawing.Point(63, 12);
this.PortSelector.Name = "PortSelector";
this.PortSelector.Size = new System.Drawing.Size(121, 21);
this.PortSelector.TabIndex = 0;
this.PortSelector.MouseDown += new System.Windows.Forms.MouseEventHandler(this.PortSelector_RefreshItems);
//
// 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(16, 14);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(41, 17);
this.label1.TabIndex = 1;
this.label1.Text = "Порт";
//
// Send_btn
//
this.Send_btn.Location = new System.Drawing.Point(118, 57);
this.Send_btn.Name = "Send_btn";
this.Send_btn.Size = new System.Drawing.Size(66, 21);
this.Send_btn.TabIndex = 2;
this.Send_btn.Text = "Send";
this.Send_btn.UseVisualStyleBackColor = true;
this.Send_btn.Click += new System.EventHandler(this.Send_btn_Click);
//
// Connect_btn
//
this.Connect_btn.Location = new System.Drawing.Point(19, 57);
this.Connect_btn.Name = "Connect_btn";
this.Connect_btn.Size = new System.Drawing.Size(79, 21);
this.Connect_btn.TabIndex = 3;
this.Connect_btn.Text = "Подключить";
this.Connect_btn.UseVisualStyleBackColor = true;
this.Connect_btn.Click += new System.EventHandler(this.Connect_btn_Click);
//
// InfoLabel // InfoLabel
// //
this.InfoLabel.Location = new System.Drawing.Point(12, 793); this.InfoLabel.Location = new System.Drawing.Point(12, 793);
@ -96,52 +59,6 @@
this.InfoLabel.TabIndex = 4; this.InfoLabel.TabIndex = 4;
this.InfoLabel.Text = "Ok"; this.InfoLabel.Text = "Ok";
// //
// 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(208, 14);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(69, 17);
this.label2.TabIndex = 6;
this.label2.Text = "Скорость";
//
// SpeedSelector
//
this.SpeedSelector.FormattingEnabled = true;
this.SpeedSelector.Location = new System.Drawing.Point(283, 12);
this.SpeedSelector.Name = "SpeedSelector";
this.SpeedSelector.Size = new System.Drawing.Size(121, 21);
this.SpeedSelector.TabIndex = 5;
//
// SendContinuous_btn
//
this.SendContinuous_btn.Location = new System.Drawing.Point(190, 57);
this.SendContinuous_btn.Name = "SendContinuous_btn";
this.SendContinuous_btn.Size = new System.Drawing.Size(109, 21);
this.SendContinuous_btn.TabIndex = 7;
this.SendContinuous_btn.Text = "Send_Continuous";
this.SendContinuous_btn.UseVisualStyleBackColor = true;
this.SendContinuous_btn.Click += new System.EventHandler(this.SendContinuous_btn_Click);
//
// IMU_label
//
this.IMU_label.Location = new System.Drawing.Point(496, 16);
this.IMU_label.Name = "IMU_label";
this.IMU_label.Size = new System.Drawing.Size(208, 19);
this.IMU_label.TabIndex = 8;
this.IMU_label.Text = "label3";
//
// TestWrite_btn
//
this.TestWrite_btn.Location = new System.Drawing.Point(318, 56);
this.TestWrite_btn.Name = "TestWrite_btn";
this.TestWrite_btn.Size = new System.Drawing.Size(75, 23);
this.TestWrite_btn.TabIndex = 9;
this.TestWrite_btn.Text = "TestWrite";
this.TestWrite_btn.UseVisualStyleBackColor = true;
this.TestWrite_btn.Click += new System.EventHandler(this.TestWrite_btn_Click);
//
// tabControl1 // tabControl1
// //
this.tabControl1.Alignment = System.Windows.Forms.TabAlignment.Bottom; this.tabControl1.Alignment = System.Windows.Forms.TabAlignment.Bottom;
@ -177,16 +94,6 @@
this.tabPage2.Text = "Monitor"; this.tabPage2.Text = "Monitor";
this.tabPage2.UseVisualStyleBackColor = true; this.tabPage2.UseVisualStyleBackColor = true;
// //
// ratePID_control
//
this.ratePID_control.BackColor = System.Drawing.Color.AntiqueWhite;
this.ratePID_control.bottom_label = null;
this.ratePID_control.Location = new System.Drawing.Point(6, 6);
this.ratePID_control.Name = "ratePID_control";
this.ratePID_control.serial = null;
this.ratePID_control.Size = new System.Drawing.Size(1240, 600);
this.ratePID_control.TabIndex = 11;
//
// monitorVars1 // monitorVars1
// //
this.monitorVars1.Location = new System.Drawing.Point(6, 6); this.monitorVars1.Location = new System.Drawing.Point(6, 6);
@ -198,57 +105,144 @@
// name_label // name_label
// //
this.name_label.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204))); this.name_label.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.name_label.Location = new System.Drawing.Point(1203, 10); this.name_label.Location = new System.Drawing.Point(402, 11);
this.name_label.Name = "name_label"; this.name_label.Name = "name_label";
this.name_label.Size = new System.Drawing.Size(148, 23); this.name_label.Size = new System.Drawing.Size(148, 23);
this.name_label.TabIndex = 11; this.name_label.TabIndex = 11;
this.name_label.Text = "name"; this.name_label.Text = "name";
// //
// pictureBox1
//
this.pictureBox1.Image = ((System.Drawing.Image)(resources.GetObject("pictureBox1.Image")));
this.pictureBox1.Location = new System.Drawing.Point(1287, 12);
this.pictureBox1.Name = "pictureBox1";
this.pictureBox1.Size = new System.Drawing.Size(64, 64);
this.pictureBox1.TabIndex = 12;
this.pictureBox1.TabStop = false;
//
// groupBox1
//
this.groupBox1.Controls.Add(this.Connect_btn);
this.groupBox1.Controls.Add(this.label2);
this.groupBox1.Controls.Add(this.SpeedSelector);
this.groupBox1.Controls.Add(this.label1);
this.groupBox1.Controls.Add(this.PortSelector);
this.groupBox1.Location = new System.Drawing.Point(12, 4);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(232, 100);
this.groupBox1.TabIndex = 13;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "Подключение";
//
// Connect_btn
//
this.Connect_btn.Location = new System.Drawing.Point(79, 71);
this.Connect_btn.Name = "Connect_btn";
this.Connect_btn.Size = new System.Drawing.Size(121, 21);
this.Connect_btn.TabIndex = 9;
this.Connect_btn.Text = "Подключить";
this.Connect_btn.UseVisualStyleBackColor = true;
this.Connect_btn.Click += new System.EventHandler(this.Connect_btn_Click);
//
// 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(4, 46);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(69, 17);
this.label2.TabIndex = 8;
this.label2.Text = "Скорость";
//
// SpeedSelector
//
this.SpeedSelector.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.SpeedSelector.FormattingEnabled = true;
this.SpeedSelector.Location = new System.Drawing.Point(79, 44);
this.SpeedSelector.Name = "SpeedSelector";
this.SpeedSelector.Size = new System.Drawing.Size(121, 21);
this.SpeedSelector.TabIndex = 7;
//
// 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(7, 19);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(41, 17);
this.label1.TabIndex = 3;
this.label1.Text = "Порт";
//
// PortSelector
//
this.PortSelector.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.PortSelector.FormattingEnabled = true;
this.PortSelector.Location = new System.Drawing.Point(79, 18);
this.PortSelector.Name = "PortSelector";
this.PortSelector.Size = new System.Drawing.Size(121, 21);
this.PortSelector.TabIndex = 2;
//
// label3
//
this.label3.AutoSize = true;
this.label3.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.label3.Location = new System.Drawing.Point(266, 12);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(130, 20);
this.label3.TabIndex = 14;
this.label3.Text = "Имя устройства";
//
// ratePID_control
//
this.ratePID_control.BackColor = System.Drawing.Color.AntiqueWhite;
this.ratePID_control.bottom_label = null;
this.ratePID_control.Location = new System.Drawing.Point(6, 6);
this.ratePID_control.Name = "ratePID_control";
this.ratePID_control.serial = null;
this.ratePID_control.Size = new System.Drawing.Size(1299, 642);
this.ratePID_control.TabIndex = 11;
//
// MainForm // MainForm
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1363, 820); this.ClientSize = new System.Drawing.Size(1363, 820);
this.Controls.Add(this.label3);
this.Controls.Add(this.groupBox1);
this.Controls.Add(this.pictureBox1);
this.Controls.Add(this.name_label); this.Controls.Add(this.name_label);
this.Controls.Add(this.tabControl1); this.Controls.Add(this.tabControl1);
this.Controls.Add(this.TestWrite_btn);
this.Controls.Add(this.IMU_label);
this.Controls.Add(this.SendContinuous_btn);
this.Controls.Add(this.label2);
this.Controls.Add(this.SpeedSelector);
this.Controls.Add(this.InfoLabel); this.Controls.Add(this.InfoLabel);
this.Controls.Add(this.Connect_btn); this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Controls.Add(this.Send_btn);
this.Controls.Add(this.label1);
this.Controls.Add(this.PortSelector);
this.Name = "MainForm"; this.Name = "MainForm";
this.Text = "Form1"; this.Text = "TelemetryIO";
this.tabControl1.ResumeLayout(false); this.tabControl1.ResumeLayout(false);
this.tabPage1.ResumeLayout(false); this.tabPage1.ResumeLayout(false);
this.tabPage2.ResumeLayout(false); this.tabPage2.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout(); this.PerformLayout();
} }
#endregion #endregion
private System.Windows.Forms.ComboBox PortSelector;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Button Send_btn;
private System.Windows.Forms.Button Connect_btn;
private System.Windows.Forms.Label InfoLabel; private System.Windows.Forms.Label InfoLabel;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.ComboBox SpeedSelector;
private System.Windows.Forms.Button SendContinuous_btn;
private System.Windows.Forms.Label IMU_label;
private System.Windows.Forms.Button TestWrite_btn;
private System.Windows.Forms.TabControl tabControl1; private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPage1; private System.Windows.Forms.TabPage tabPage1;
private System.Windows.Forms.TabPage tabPage2; private System.Windows.Forms.TabPage tabPage2;
private RatePID ratePID_control;
private MonitorVars monitorVars1; private MonitorVars monitorVars1;
private System.Windows.Forms.Label name_label; private System.Windows.Forms.Label name_label;
private System.Windows.Forms.PictureBox pictureBox1;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.Button Connect_btn;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.ComboBox SpeedSelector;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox PortSelector;
private System.Windows.Forms.Label label3;
private RatePID ratePID_control;
} }
} }

73
TelemetryIO/MainForm.cs
View File

@ -23,7 +23,7 @@ namespace TelemetryIO
private System.Timers.Timer packageReceivingTimeout = new System.Timers.Timer(5); private System.Timers.Timer packageReceivingTimeout = new System.Timers.Timer(5);
private System.Windows.Forms.Timer timer = new System.Windows.Forms.Timer(); private System.Windows.Forms.Timer timer = new System.Windows.Forms.Timer();
private System.Timers.Timer packageTransferTimer = new System.Timers.Timer(50); private System.Timers.Timer packageTransferTimer = new System.Timers.Timer(50);
private FormClosingEventArgs formArgs;
public MainForm() public MainForm()
{ {
InitializeComponent(); InitializeComponent();
@ -33,17 +33,20 @@ namespace TelemetryIO
SpeedSelector.Items.AddRange(speedItems); SpeedSelector.Items.AddRange(speedItems);
SpeedSelector.SelectedIndex = 3; SpeedSelector.SelectedIndex = 3;
Send_btn.Enabled = false;
packageTransferTimer.AutoReset = true; packageTransferTimer.AutoReset = true;
timer.Interval = 100; timer.Interval = 500;
timer.Start(); timer.Start();
timer.Tick += Timer_Tick; timer.Tick += Timer_Tick;
ratePID_control.SubscribeOnEvent(serial); ratePID_control.SubscribeOnEvent(serial);
monitorVars1.subscribeOnMonitoringItemsReceived(serial); monitorVars1.subscribeOnMonitoringItemsReceived(serial);
ratePID_control.bottom_label = InfoLabel; ratePID_control.bottom_label = InfoLabel;
serial.HandShakeOccurred += Serial_HandShakeOccurred; serial.HandShakeOccurred += Serial_HandShakeOccurred;
serial.AnswerReceived += Serial_AnswerReceived;
}
private void Serial_AnswerReceived(object sender, SerialEventArgs e)
{
if(e.Answer == "EXITAPP") base.OnFormClosing(formArgs);
} }
private void Serial_HandShakeOccurred(object sender, EventArgs e) private void Serial_HandShakeOccurred(object sender, EventArgs e)
@ -62,23 +65,12 @@ namespace TelemetryIO
private void Timer_Tick(object sender, EventArgs e) private void Timer_Tick(object sender, EventArgs e)
{ {
if (name_label.InvokeRequired) { if (name_label.InvokeRequired) {
name_label.BeginInvoke(new Action(() => IMU_label.Text = Telemetry.Instance.name)); // Асинхронный вызов name_label.BeginInvoke(new Action(() => name_label.Text = Telemetry.Instance.name)); // Асинхронный вызов
} }
else else
{ {
name_label.Text = Telemetry.Instance.name; name_label.Text = Telemetry.Instance.name;
} }
UpdateLabel(serial.view_str);
}
private void serialSend()
{
}
private void Send_btn_Click(object sender, EventArgs e)
{
serial.sendTest();
} }
private void Connect_btn_Click(object sender, EventArgs e) private void Connect_btn_Click(object sender, EventArgs e)
@ -115,16 +107,13 @@ namespace TelemetryIO
return; return;
} }
b.Text = "Отключить"; b.Text = "Отключить";
Send_btn.Enabled = true;
} }
} }
else else
{ {
serial.Close(); serial.Close();
b.Text = "Подключить"; b.Text = "Подключить";
Send_btn.Enabled = false;
} }
} }
private void PortSelector_RefreshItems(object sender, MouseEventArgs e) private void PortSelector_RefreshItems(object sender, MouseEventArgs e)
@ -134,50 +123,10 @@ namespace TelemetryIO
PortSelector.SelectedIndex = 0; PortSelector.SelectedIndex = 0;
} }
private void SendContinuous_btn_Click(object sender, EventArgs e)
{
serial.sendTestCont();
/*Button b = sender as Button;
if (sendContinuousFlag == true)
{
sendContinuousFlag = false;
packageTransferTimer.Stop();
b.Text = "Stop_Sending";
}
else
{
sendContinuousFlag = true;
send_queue.Add(prepareTelegram());
packageTransferTimer.Start();
b.Text = "Send_Continuous";
}*/
}
protected override void OnFormClosing(FormClosingEventArgs e) protected override void OnFormClosing(FormClosingEventArgs e)
{ {
serial.Exit(); formArgs = e;
base.OnFormClosing(e); if(serial.isOpen)serial.requestExit();
}
public void UpdateLabel(string newText)
{
if (IMU_label.InvokeRequired)
{
IMU_label.BeginInvoke(new Action(() => IMU_label.Text = newText)); // Асинхронный вызов
}
else
{
IMU_label.Text = newText;
}
}
private void TestWrite_btn_Click(object sender, EventArgs e)
{
float[] f = {0, 1, 2, 3, 4, 5, 6, 7, 8};
serial.sendTestWrite(f);
} }
} }
} }

346
TelemetryIO/MainForm.resx
View File

@ -117,4 +117,350 @@
<resheader name="writer"> <resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader> </resheader>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="pictureBox1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
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AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwAAAEYAAACSAAAAywAA
AOUAAADjAAAAxQAAAIcAAAA5AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADQAA
AFQAAAClAAAA4AAAAPkAAAD1AAAA1QAAAJcAAABMAAAAEAAAAAMAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAA09PT/38yGv9/Mhr/fzIa/9PT0//T09P/09PT/9PT0/9/Mhr/fzIa/38y
Gv/T09P/AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAACAAAABgAAAAoAAAANAAAADwAAAA8AAAALAAAABQAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAANPT0//T09P/09PT/9PT0//T09P/09PT/9PT
0//T09P/09PT/9PT0//T09P/09PT/wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADT09P/09PT/9PT
0//T09P/09PT/9PT0//T09P/09PT/9PT0//T09P/09PT/9PT0/8AAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAA09PT/9PT0//T09P/09PT/9PT0//T09P/09PT/9PT0//T09P/09PT/9PT0//T09P/AAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAANPT0//T09P/09PT/9PT0//T09P/09PT/9PT0//T09P/09PT/9PT
0//T09P/09PT/wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADT09P/09PT/9PT0//T09P/09PT/9PT
0//T09P/09PT/9PT0//T09P/09PT/9PT0/8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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AAAAAAAA////////////////////////4Af///////8AAH///////AAAH//////4D/AP//////A//gP/
////4P//gf/////B///g/////8P///B/////h///+H////+H///8P////4////4/////D//4Bh////8f
/+ABHgD//h//wAAYAD/+H/+AABAAH/4f/4HwAAAP/A//B/ABxg/4B/8HwAHHB/gD/wACA4cHwAD/AAID
h4fAAP8ABgcDh8AA/wgOBgGHwAD/Dh4AAIfAAP8PHgAAB8AA/wccAfAHwAD/gxgh/g/AAP+AACD8D8AA
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/wPwQ44P4AH/AABAyB/gAf+AAOAAH+AB/8AB8AA/4AH/8Af8AH/gAf////4B/+AB////////4AH/////
///gAf///////+AB////////4AH/////////////////////////////////////////////////////
//////////////////////////////////////////////////8=
</value>
</data>
</root> </root>

77
TelemetryIO/Models/Telemetry.cs
View File

@ -16,6 +16,7 @@ namespace TelemetryIO.Models
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[] motor_act = new float[4]; public float[] motor_act = new float[4];
public float[] motor_sp = new float[4]; public float[] motor_sp = new float[4];
public float[] pid0 = new float[9]; public float[] pid0 = new float[9];
@ -24,26 +25,28 @@ namespace TelemetryIO.Models
public float[] pid3 = new float[9]; public float[] pid3 = new float[9];
private Telemetry() { private Telemetry() {
dictMonitor.Add("rawAx", new VarAddress(0, 0)); dictMonitor.Add("rawAx", new VarAddress(RAW_IMU_ADDRESS, 0));
dictMonitor.Add("rawAy", new VarAddress(0, 1)); dictMonitor.Add("rawAy", new VarAddress(RAW_IMU_ADDRESS, 1));
dictMonitor.Add("rawAz", new VarAddress(0, 2)); dictMonitor.Add("rawAz", new VarAddress(RAW_IMU_ADDRESS, 2));
dictMonitor.Add("rawGx", new VarAddress(0, 3)); dictMonitor.Add("rawGx", new VarAddress(RAW_IMU_ADDRESS, 3));
dictMonitor.Add("rawGy", new VarAddress(0, 4)); dictMonitor.Add("rawGy", new VarAddress(RAW_IMU_ADDRESS, 4));
dictMonitor.Add("rawGz", new VarAddress(0, 5)); dictMonitor.Add("rawGz", new VarAddress(RAW_IMU_ADDRESS, 5));
dictMonitor.Add("Qw", new VarAddress(1, 0)); dictMonitor.Add("Qw", new VarAddress(Q_ADDRESS, 0));
dictMonitor.Add("Qx", new VarAddress(1, 1)); dictMonitor.Add("Qx", new VarAddress(Q_ADDRESS, 1));
dictMonitor.Add("Qy", new VarAddress(1, 2)); dictMonitor.Add("Qy", new VarAddress(Q_ADDRESS, 2));
dictMonitor.Add("Qz", new VarAddress(1, 3)); dictMonitor.Add("Qz", new VarAddress(Q_ADDRESS, 3));
dictMonitor.Add("motor0_Act", new VarAddress(100, 0)); dictMonitor.Add("Battery[V]", new VarAddress(BAT_ADDRESS, 0));
dictMonitor.Add("motor1_Act", new VarAddress(100, 1));
dictMonitor.Add("motor2_Act", new VarAddress(100, 2)); dictMonitor.Add("motor0_Act", new VarAddress(MOTORS_ACT_ADDRESS, 0));
dictMonitor.Add("motor3_Act", new VarAddress(100, 3)); dictMonitor.Add("motor1_Act", new VarAddress(MOTORS_ACT_ADDRESS, 1));
dictMonitor.Add("motor4_Act", new VarAddress(100, 4)); dictMonitor.Add("motor2_Act", new VarAddress(MOTORS_ACT_ADDRESS, 2));
dictMonitor.Add("motor5_Act", new VarAddress(100, 5)); dictMonitor.Add("motor3_Act", new VarAddress(MOTORS_ACT_ADDRESS, 3));
dictMonitor.Add("motor6_Act", new VarAddress(100, 6)); dictMonitor.Add("motor4_Act", new VarAddress(MOTORS_ACT_ADDRESS, 4));
dictMonitor.Add("motor7_Act", new VarAddress(100, 7)); dictMonitor.Add("motor5_Act", new VarAddress(MOTORS_ACT_ADDRESS, 5));
dictMonitor.Add("motor6_Act", new VarAddress(MOTORS_ACT_ADDRESS, 6));
dictMonitor.Add("motor7_Act", new VarAddress(MOTORS_ACT_ADDRESS, 7));
} }
public VarAddress getVarAdress(string name) public VarAddress getVarAdress(string name)
@ -81,35 +84,43 @@ namespace TelemetryIO.Models
if (slot != 9999) Debug.WriteLine(slot); if (slot != 9999) Debug.WriteLine(slot);
switch (slot) switch (slot)
{ {
case 0://RAW IMU case RAW_IMU_ADDRESS://RAW IMU
set_float(raw_imu, data, offset, len); set_float(raw_imu, data, offset, len);
break; break;
case 1://quaternion case Q_ADDRESS://quaternion
set_float(quaternion, data, offset, len); set_float(quaternion, data, offset, len);
break; break;
case 100://motors act case BAT_ADDRESS://battery
set_float(battery, data, offset, len);
break;
case MOTORS_ACT_ADDRESS://motors act
set_float(motor_act, data, offset, len); set_float(motor_act, data, offset, len);
break; break;
case 1000: case MOTORS_SP_ADDRESS://motors act
set_float(motor_sp, data, offset, len);
break;
case PID0_ADDRESS:
set_float(pid0, data, offset, len); set_float(pid0, data, offset, len);
break; break;
case 1001: case PID1_ADDRESS:
set_float(pid1, data, offset, len); set_float(pid1, data, offset, len);
break; break;
case 1002: case PID2_ADDRESS:
set_float(pid2, data, offset, len); set_float(pid2, data, offset, len);
break; break;
case 1003: case PID3_ADDRESS:
set_float(pid3, data, offset, len); set_float(pid3, data, offset, len);
break; break;
case 9999: case NAME_ADDRESS:
set_name(data); set_name(data);
break; break;
} }
@ -132,6 +143,20 @@ namespace TelemetryIO.Models
name = Encoding.ASCII.GetString(data, 0, 16); name = Encoding.ASCII.GetString(data, 0, 16);
} }
public const int RAW_IMU_ADDRESS = 0;
public const int Q_ADDRESS = 1;
public const int BAT_ADDRESS = 50;
public const int MOTORS_ACT_ADDRESS = 100;
public const int MOTORS_SP_ADDRESS = 101;
public const int PID0_ADDRESS = 1000;
public const int PID1_ADDRESS = 1001;
public const int PID2_ADDRESS = 1002;
public const int PID3_ADDRESS = 1003;
public const int NAME_ADDRESS = 9999;
} }
public class VarAddress public class VarAddress

97
TelemetryIO/MonitorVars.Designer.cs generated
View File

@ -29,102 +29,127 @@
private void InitializeComponent() private void InitializeComponent()
{ {
this.MainFormPlot = new ScottPlot.WinForms.FormsPlot(); this.MainFormPlot = new ScottPlot.WinForms.FormsPlot();
this.mon_test_label = new System.Windows.Forms.Label();
this.add_btn = new System.Windows.Forms.Button(); this.add_btn = new System.Windows.Forms.Button();
this.del_btn = new System.Windows.Forms.Button(); this.del_btn = new System.Windows.Forms.Button();
this.monNames_label = new System.Windows.Forms.Label();
this.monitorItems_cb = new System.Windows.Forms.ComboBox(); this.monitorItems_cb = new System.Windows.Forms.ComboBox();
this.monitorItems_lb = new System.Windows.Forms.ListBox(); this.monitorItems_lb = new System.Windows.Forms.ListBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.AutoScale_check = new System.Windows.Forms.CheckBox();
this.StartStop_btn = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// MainFormPlot // MainFormPlot
// //
this.MainFormPlot.DisplayScale = 0F; this.MainFormPlot.DisplayScale = 0F;
this.MainFormPlot.Location = new System.Drawing.Point(238, 58); this.MainFormPlot.Location = new System.Drawing.Point(238, 0);
this.MainFormPlot.Name = "MainFormPlot"; this.MainFormPlot.Name = "MainFormPlot";
this.MainFormPlot.Size = new System.Drawing.Size(923, 539); this.MainFormPlot.Size = new System.Drawing.Size(951, 597);
this.MainFormPlot.TabIndex = 0; this.MainFormPlot.TabIndex = 0;
// //
// mon_test_label
//
this.mon_test_label.AutoSize = true;
this.mon_test_label.Location = new System.Drawing.Point(3, 11);
this.mon_test_label.Name = "mon_test_label";
this.mon_test_label.Size = new System.Drawing.Size(78, 13);
this.mon_test_label.TabIndex = 2;
this.mon_test_label.Text = "mon_test_label";
//
// add_btn // add_btn
// //
this.add_btn.Location = new System.Drawing.Point(20, 88); this.add_btn.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.add_btn.Location = new System.Drawing.Point(130, 3);
this.add_btn.Name = "add_btn"; this.add_btn.Name = "add_btn";
this.add_btn.Size = new System.Drawing.Size(75, 23); this.add_btn.Size = new System.Drawing.Size(87, 26);
this.add_btn.TabIndex = 3; this.add_btn.TabIndex = 3;
this.add_btn.Text = "add_btn"; this.add_btn.Text = "Добавить";
this.add_btn.UseVisualStyleBackColor = true; this.add_btn.UseVisualStyleBackColor = true;
this.add_btn.Click += new System.EventHandler(this.add_btn_Click); this.add_btn.Click += new System.EventHandler(this.add_btn_Click);
// //
// del_btn // del_btn
// //
this.del_btn.Location = new System.Drawing.Point(20, 135); this.del_btn.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.del_btn.Location = new System.Drawing.Point(67, 439);
this.del_btn.Name = "del_btn"; this.del_btn.Name = "del_btn";
this.del_btn.Size = new System.Drawing.Size(75, 23); this.del_btn.Size = new System.Drawing.Size(75, 23);
this.del_btn.TabIndex = 4; this.del_btn.TabIndex = 4;
this.del_btn.Text = "del_btn"; this.del_btn.Text = "Удалить";
this.del_btn.UseVisualStyleBackColor = true; this.del_btn.UseVisualStyleBackColor = true;
this.del_btn.Click += new System.EventHandler(this.del_btn_Click); this.del_btn.Click += new System.EventHandler(this.del_btn_Click);
// //
// monNames_label
//
this.monNames_label.AutoSize = true;
this.monNames_label.Location = new System.Drawing.Point(597, 11);
this.monNames_label.Name = "monNames_label";
this.monNames_label.Size = new System.Drawing.Size(35, 13);
this.monNames_label.TabIndex = 5;
this.monNames_label.Text = "label1";
//
// monitorItems_cb // monitorItems_cb
// //
this.monitorItems_cb.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.monitorItems_cb.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.monitorItems_cb.FormattingEnabled = true; this.monitorItems_cb.FormattingEnabled = true;
this.monitorItems_cb.Location = new System.Drawing.Point(20, 58); this.monitorItems_cb.Location = new System.Drawing.Point(3, 3);
this.monitorItems_cb.Name = "monitorItems_cb"; this.monitorItems_cb.Name = "monitorItems_cb";
this.monitorItems_cb.Size = new System.Drawing.Size(121, 21); this.monitorItems_cb.Size = new System.Drawing.Size(121, 24);
this.monitorItems_cb.TabIndex = 6; this.monitorItems_cb.TabIndex = 6;
// //
// monitorItems_lb // monitorItems_lb
// //
this.monitorItems_lb.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.monitorItems_lb.FormattingEnabled = true; this.monitorItems_lb.FormattingEnabled = true;
this.monitorItems_lb.Location = new System.Drawing.Point(20, 180); this.monitorItems_lb.ItemHeight = 16;
this.monitorItems_lb.Location = new System.Drawing.Point(3, 52);
this.monitorItems_lb.Name = "monitorItems_lb"; this.monitorItems_lb.Name = "monitorItems_lb";
this.monitorItems_lb.Size = new System.Drawing.Size(121, 316); this.monitorItems_lb.Size = new System.Drawing.Size(214, 372);
this.monitorItems_lb.TabIndex = 8; this.monitorItems_lb.TabIndex = 8;
// //
// groupBox1
//
this.groupBox1.Controls.Add(this.AutoScale_check);
this.groupBox1.Controls.Add(this.StartStop_btn);
this.groupBox1.Location = new System.Drawing.Point(3, 480);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(214, 100);
this.groupBox1.TabIndex = 11;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "Управление трендом";
//
// AutoScale_check
//
this.AutoScale_check.AutoSize = true;
this.AutoScale_check.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.AutoScale_check.Location = new System.Drawing.Point(45, 67);
this.AutoScale_check.Name = "AutoScale_check";
this.AutoScale_check.Size = new System.Drawing.Size(120, 21);
this.AutoScale_check.TabIndex = 12;
this.AutoScale_check.Text = "Авто масштаб";
this.AutoScale_check.UseVisualStyleBackColor = true;
this.AutoScale_check.CheckedChanged += new System.EventHandler(this.AutoScale_check_CheckedChanged);
//
// StartStop_btn
//
this.StartStop_btn.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.StartStop_btn.Location = new System.Drawing.Point(51, 24);
this.StartStop_btn.Name = "StartStop_btn";
this.StartStop_btn.Size = new System.Drawing.Size(108, 31);
this.StartStop_btn.TabIndex = 11;
this.StartStop_btn.Text = "Старт";
this.StartStop_btn.UseVisualStyleBackColor = true;
this.StartStop_btn.Click += new System.EventHandler(this.StartStop_btn_Click);
//
// MonitorVars // MonitorVars
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.groupBox1);
this.Controls.Add(this.monitorItems_lb); this.Controls.Add(this.monitorItems_lb);
this.Controls.Add(this.monitorItems_cb); this.Controls.Add(this.monitorItems_cb);
this.Controls.Add(this.monNames_label);
this.Controls.Add(this.del_btn); this.Controls.Add(this.del_btn);
this.Controls.Add(this.add_btn); this.Controls.Add(this.add_btn);
this.Controls.Add(this.mon_test_label);
this.Controls.Add(this.MainFormPlot); this.Controls.Add(this.MainFormPlot);
this.Name = "MonitorVars"; this.Name = "MonitorVars";
this.Size = new System.Drawing.Size(1240, 600); this.Size = new System.Drawing.Size(1240, 600);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout();
} }
#endregion #endregion
private ScottPlot.WinForms.FormsPlot MainFormPlot; private ScottPlot.WinForms.FormsPlot MainFormPlot;
private System.Windows.Forms.Label mon_test_label;
private System.Windows.Forms.Button add_btn; private System.Windows.Forms.Button add_btn;
private System.Windows.Forms.Button del_btn; private System.Windows.Forms.Button del_btn;
private System.Windows.Forms.Label monNames_label;
private System.Windows.Forms.ComboBox monitorItems_cb; private System.Windows.Forms.ComboBox monitorItems_cb;
private System.Windows.Forms.ListBox monitorItems_lb; private System.Windows.Forms.ListBox monitorItems_lb;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.CheckBox AutoScale_check;
private System.Windows.Forms.Button StartStop_btn;
} }
} }

203
TelemetryIO/MonitorVars.cs
View File

@ -3,9 +3,11 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
using System.Diagnostics;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
using TelemetryIO.Models; using TelemetryIO.Models;
@ -20,12 +22,16 @@ namespace TelemetryIO
private List<string> monitorNames = new List<string>(); private List<string> monitorNames = new List<string>();
private List<ScottPlot.Plottables.Signal> signals = new List<ScottPlot.Plottables.Signal>(); private List<ScottPlot.Plottables.Signal> signals = new List<ScottPlot.Plottables.Signal>();
private List<MonitorItem> monItems = new List<MonitorItem>();
private List<int[]>[] plotContent = new List<int[]>[32]; private List<int[]>[] plotContent = new List<int[]>[32];
private Timer updateTimer = new Timer(); private System.Windows.Forms.Timer updateTimer = new System.Windows.Forms.Timer();
private float[] monitoring = new float[32]; private float[] monitoring = new float[32];
private int test_index = 0; private int test_index = 0;
private bool isSubscribed = false; private bool isSubscribed = false;
private bool isMonitoring = true;
private bool isAutoScale = true;
private string processingName = ""; private string processingName = "";
private int processingIndex = -1; private int processingIndex = -1;
@ -35,14 +41,12 @@ namespace TelemetryIO
initMonitoringBuffer(); initMonitoringBuffer();
updateTimer.Interval = 100; updateTimer.Interval = 100;
AutoScale_check.Checked = isAutoScale;
MainFormPlot.Plot.Axes.AutoScale();
monitorItems_cb.Items.AddRange(Telemetry.Instance.getKeys()); monitorItems_cb.Items.AddRange(Telemetry.Instance.getKeys());
monitorItems_cb.SelectedIndex = 0; monitorItems_cb.SelectedIndex = 0;
updateTimer.Tick += UpdateTimer_Tick; updateTimer.Tick += UpdateTimer_Tick;
updateTimer.Start(); updateTimer.Start();
//MainFormPlot.
} }
public void subscribeOnMonitoringItemsReceived(SerialHandler s) public void subscribeOnMonitoringItemsReceived(SerialHandler s)
@ -58,7 +62,7 @@ namespace TelemetryIO
{ {
if(e.Answer == "ADD") if(e.Answer == "ADD")
{ {
monitorNames.Add(processingName); MonitorItem item = new MonitorItem(processingName, processingIndex);
processingIndex++; processingIndex++;
if (monitorItems_lb.InvokeRequired) if (monitorItems_lb.InvokeRequired)
{ {
@ -68,14 +72,21 @@ namespace TelemetryIO
{ {
monitorItems_lb.Items.Add(processingName); monitorItems_lb.Items.Add(processingName);
} }
monitorList.Add(new double[1024]);
MainFormPlot.Plot.Add.Signal(monitorList[monitorList.Count - 1]);
if (StartStop_btn.InvokeRequired)
{
StartStop_btn.Invoke(new Action(() => StartStop_btn.Enabled = true));
}
else
{
StartStop_btn.Enabled = true;
}
monItems.Add(item);
} }
else if(e.Answer == "REMOVE") else if(e.Answer == "REMOVE")
{ {
monitorNames.RemoveAt(processingIndex); monItems.RemoveAt(processingIndex);
monitorList.RemoveAt(processingIndex);
if (monitorItems_lb.InvokeRequired) if (monitorItems_lb.InvokeRequired)
{ {
monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.RemoveAt(processingIndex))); monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.RemoveAt(processingIndex)));
@ -88,55 +99,89 @@ namespace TelemetryIO
if (processingIndex >= 0) processingIndex--; if (processingIndex >= 0) processingIndex--;
}else if(e.Answer == "REMOVEALL") }else if(e.Answer == "REMOVEALL")
{ {
monitorNames.Clear(); monItems.Clear();
monitorList.Clear(); if (monitorItems_lb.InvokeRequired)
{
monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items.Clear()));
}
else
{
monitorItems_lb.Items.Clear();
}
if (StartStop_btn.InvokeRequired)
{
StartStop_btn.Invoke(new Action(() =>
{
StartStop_btn.Text = "Старт";
StartStop_btn.Enabled = false;
})
);
}
else
{
StartStop_btn.Text = "Старт";
StartStop_btn.Enabled = false;
}
isMonitoring = false;
}
else if (e.Answer == "MONITORON")
{
if (StartStop_btn.InvokeRequired)
{
StartStop_btn.Invoke(new Action(() => StartStop_btn.Text = "Стоп"));
}
else StartStop_btn.Text = "Стоп";
isMonitoring = true;
}
else if (e.Answer == "MONITOROFF")
{
if (StartStop_btn.InvokeRequired)
{
StartStop_btn.Invoke(new Action(() => StartStop_btn.Text = "Старт"));
}
else StartStop_btn.Text = "Старт";
isMonitoring = false;
} }
} }
private void Serial_MonitoringItemsReceived(object sender, MonitoringEventArgs e) private void Serial_MonitoringItemsReceived(object sender, MonitoringEventArgs e)
{ {
for(int i = 0; i < monitorList.Count; i++) for(int i = 0; i < monItems.Count; i++)
{ {
ShiftLeft(monitorList[i]); monItems[i].Insert(e.Data[i]);
monitorList[i][monitorList[i].Length - 1] = e.Data[i];
} }
monitoring = new float[monitorList.Count]; monitoring = new float[monItems.Count];
for (int i = 0; i < monitorList.Count; i++) for (int i = 0; i < monItems.Count; i++)
{ {
monitoring[i] = (float)monitorList[i][monitorList[i].Length - 1]; monitoring[i] = (float)monItems[i].Last;
} }
} }
private void UpdateTimer_Tick(object sender, EventArgs e) private void UpdateTimer_Tick(object sender, EventArgs e)
{ {
if (mon_test_label.InvokeRequired) if (monItems.Count > 0)
{ {
mon_test_label.Invoke(new Action(() => mon_test_label.Text = string.Join(", ", monitoring))); MainFormPlot.Plot.Clear();
for(int i = 0; i < monItems.Count; i++)
{
var sig = MainFormPlot.Plot.Add.Signal(monItems[i].data);
sig.LegendText = monItems[i].name;
sig.Color = ScottPlot.Color.FromColor(monItems[i].color);
if (monitorItems_lb.InvokeRequired)
{
monitorItems_lb.Invoke(new Action(() => monitorItems_lb.Items[i] = monItems[i].name + "\t" + monItems[i].Last));
} }
else else
{ {
mon_test_label.Text = string.Join(", ", monitoring); monitorItems_lb.Items[i] = monItems[i].name + "\t" + monItems[i].Last;
} }
if (monNames_label.InvokeRequired)
{
monNames_label.Invoke(new Action(() => monNames_label.Text = string.Join(", ", monitorNames)));
}
else monNames_label.Text = string.Join(", ", monitorNames);
if (monitorList.Count > 0)
{
MainFormPlot.Plot.Clear();
for(int i = 0; i < monitorList.Count; i++)
{
var sig = MainFormPlot.Plot.Add.Signal(monitorList[i]);
sig.LegendText = monitorNames[i];
} }
MainFormPlot.Plot.Legend.IsVisible = true; MainFormPlot.Plot.Legend.IsVisible = true;
MainFormPlot.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal; MainFormPlot.Plot.Legend.Orientation = ScottPlot.Orientation.Horizontal;
MainFormPlot.Plot.Axes.AutoScale(); if(isAutoScale) MainFormPlot.Plot.Axes.AutoScale();
MainFormPlot.Refresh(); MainFormPlot.Refresh();
} }
} }
@ -164,9 +209,93 @@ namespace TelemetryIO
serial.RemoveMonitoringItem(processingIndex); serial.RemoveMonitoringItem(processingIndex);
} }
private void ShiftLeft(double[] arr) private void StartStop_btn_Click(object sender, EventArgs e)
{ {
Buffer.BlockCopy(arr, sizeof(double), arr, 0, (arr.Length - 1)*sizeof(double)); if(isMonitoring)
{
serial.stopMonitoring();
}
else
{
serial.startMonitoring();
}
}
private void AutoScale_check_CheckedChanged(object sender, EventArgs e)
{
CheckBox cb = sender as CheckBox;
if (cb.Checked) isAutoScale = true;
else isAutoScale = false;
}
}
public class MonitorItem
{
public double[] data = new double[2048];
public System.Drawing.Color color = System.Drawing.Color.Red;
public string name = "";
public int order = 0;
private static int col = 0;
private bool firstScan = true;
public int Length
{
get { return data.Length; }
}
public double Last
{
get { return data[data.Length - 1]; }
}
private System.Drawing.Color[] colors =
{
System.Drawing.Color.Red,
System.Drawing.Color.Green,
System.Drawing.Color.Blue,
System.Drawing.Color.Orange,
System.Drawing.Color.Orchid,
System.Drawing.Color.Purple,
System.Drawing.Color.Pink,
System.Drawing.Color.Black,
System.Drawing.Color.Gray,
System.Drawing.Color.SkyBlue,
System.Drawing.Color.Magenta,
System.Drawing.Color.DarkGreen,
System.Drawing.Color.LightGreen,
System.Drawing.Color.YellowGreen,
System.Drawing.Color.DarkRed,
};
private void init()
{
color = colors[col % 16];
col++;
}
public MonitorItem()
{
init();
}
public MonitorItem(string name, int order)
{
this.name = name;
this.order = order;
init();
}
public void Insert(double d)
{
if (firstScan)
{
for(int i = 0; i < data.Length; i++)
{
data[i] = d;
}
firstScan = false;
return;
}
Buffer.BlockCopy(data, sizeof(double), data, 0, (data.Length - 1) * sizeof(double));
data[data.Length - 1] = d;
} }
} }
} }

12
TelemetryIO/RatePID.Designer.cs generated
View File

@ -160,9 +160,10 @@
// //
// Save_btn // Save_btn
// //
this.Save_btn.Location = new System.Drawing.Point(1012, 562); this.Save_btn.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.Save_btn.Location = new System.Drawing.Point(1097, 608);
this.Save_btn.Name = "Save_btn"; this.Save_btn.Name = "Save_btn";
this.Save_btn.Size = new System.Drawing.Size(75, 23); this.Save_btn.Size = new System.Drawing.Size(90, 30);
this.Save_btn.TabIndex = 18; this.Save_btn.TabIndex = 18;
this.Save_btn.Text = "Сохранить"; this.Save_btn.Text = "Сохранить";
this.Save_btn.UseVisualStyleBackColor = true; this.Save_btn.UseVisualStyleBackColor = true;
@ -170,9 +171,10 @@
// //
// button1 // button1
// //
this.button1.Location = new System.Drawing.Point(1107, 562); this.button1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(204)));
this.button1.Location = new System.Drawing.Point(1193, 608);
this.button1.Name = "button1"; this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(75, 23); this.button1.Size = new System.Drawing.Size(90, 30);
this.button1.TabIndex = 19; this.button1.TabIndex = 19;
this.button1.Text = "Отменить"; this.button1.Text = "Отменить";
this.button1.UseVisualStyleBackColor = true; this.button1.UseVisualStyleBackColor = true;
@ -1167,7 +1169,7 @@
this.Controls.Add(this.button1); this.Controls.Add(this.button1);
this.Controls.Add(this.Save_btn); this.Controls.Add(this.Save_btn);
this.Name = "RatePID"; this.Name = "RatePID";
this.Size = new System.Drawing.Size(1200, 600); this.Size = new System.Drawing.Size(1300, 650);
this.tabControl1.ResumeLayout(false); this.tabControl1.ResumeLayout(false);
this.tab_pid0.ResumeLayout(false); this.tab_pid0.ResumeLayout(false);
this.pid0_panel.ResumeLayout(false); this.pid0_panel.ResumeLayout(false);

52
TelemetryIO/SerialHandler.cs
View File

@ -57,6 +57,8 @@ namespace TelemetryIO
private readonly int responseTimeout = 2000; private readonly int responseTimeout = 2000;
private System.Timers.Timer timeout = new System.Timers.Timer(3000); private System.Timers.Timer timeout = new System.Timers.Timer(3000);
private bool exitPending = false;
public struct Telegram public struct Telegram
{ {
@ -101,8 +103,8 @@ namespace TelemetryIO
private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e) private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e)
{ {
SerialPort sp = (SerialPort)sender; SerialPort sp = (SerialPort)sender;
try
{
while (sp.BytesToRead > 0) while (sp.BytesToRead > 0)
{ {
if (!sp.IsOpen) return; if (!sp.IsOpen) return;
@ -133,12 +135,13 @@ namespace TelemetryIO
} }
else if (cmd == TELE_CMD_RD_MON_ON) else if (cmd == TELE_CMD_RD_MON_ON)
{//READ MONITORING DATA {//READ MONITORING DATA
for(int i = 0; i < data.Length/4; i++) for (int i = 0; i < data.Length / 4; i++)
{ {
monitor[i] = BitConverter.ToSingle(data, i*4); monitor[i] = BitConverter.ToSingle(data, i * 4);
} }
OnMonitoringItemsReceived(monitor); OnMonitoringItemsReceived(monitor);
view_str = string.Join(", ", monitor.Select(x => "" + x).ToArray(), 0, data.Length/4); OnAnswerReceived("MONITORON");
view_str = string.Join(", ", monitor.Select(x => "" + x).ToArray(), 0, data.Length / 4);
} }
else if (cmd == TELE_CMD_WR) else if (cmd == TELE_CMD_WR)
{//WRITTING OPERATION IS DONE WITH SUCCESS {//WRITTING OPERATION IS DONE WITH SUCCESS
@ -147,30 +150,42 @@ namespace TelemetryIO
Debug.Write("Data is written\n"); Debug.Write("Data is written\n");
OnAnswerReceived("Data is written"); OnAnswerReceived("Data is written");
} }
}else if(cmd == TELE_CMD_HELLO) }
else if (cmd == TELE_CMD_HELLO)
{//HANDSHAKING ANSWER {//HANDSHAKING ANSWER
telemetry.setSlot(9999, data, 0, 0); telemetry.setSlot(9999, data, 0, 0);
view_str = Encoding.ASCII.GetString(data); view_str = Encoding.ASCII.GetString(data);
req_buffer.Clear(); req_buffer.Clear();
OnHandShakeOccurred(); OnHandShakeOccurred();
getPIDs(); getPIDs();
}else if(cmd == TELE_CMD_RD_MON_ADD) }
else if (cmd == TELE_CMD_RD_MON_ADD)
{ {
OnAnswerReceived("ADD"); OnAnswerReceived("ADD");
isMonitorEmpty = false; isMonitorEmpty = false;
} }
else if(cmd == TELE_CMD_RD_MON_REMOVE) else if (cmd == TELE_CMD_RD_MON_REMOVE)
{ {
OnAnswerReceived("REMOVE"); OnAnswerReceived("REMOVE");
}else if(cmd == TELE_CMD_RD_MON_REMOVEALL) }
else if (cmd == TELE_CMD_RD_MON_REMOVEALL)
{ {
OnAnswerReceived("REMOVEALL"); if (exitPending)
isMonitorEmpty = true; {
com_port.Close();
OnAnswerReceived("EXITAPP");
} }
else OnAnswerReceived("REMOVEALL");
} }
else if (cmd == TELE_CMD_RD_MON_OFF)
{
OnAnswerReceived("MONITOROFF");
}
Debug.WriteLine($"cmd = {cmd}");
waitingForResponse = false; waitingForResponse = false;
sendNextRequest(); sendNextRequest();
} }
}
else if (b == ESCAPE_BEGIN) else if (b == ESCAPE_BEGIN)
{//START BYTE IS RECEIVED {//START BYTE IS RECEIVED
rx_buf.Clear(); rx_buf.Clear();
@ -180,6 +195,10 @@ namespace TelemetryIO
rx_buf.Add(b); rx_buf.Add(b);
} }
} }
}catch(Exception ex)
{
Debug.WriteLine(ex.Message);
}
} }
public void Open() public void Open()
@ -202,6 +221,7 @@ namespace TelemetryIO
isTimeout = true; isTimeout = true;
req_buffer.Clear(); req_buffer.Clear();
this.Close(); this.Close();
if(exitPending) OnAnswerReceived("EXITAPP");
} }
} }
} }
@ -213,11 +233,10 @@ namespace TelemetryIO
com_port.Close(); com_port.Close();
} }
public void Exit() public void requestExit()
{ {
RemoveMonitoringItems(); RemoveMonitoringItems();
while (isMonitorEmpty || isTimeout) ; exitPending = true;
if(!isTimeout)Close();
} }
public void putRequest(byte[] request) public void putRequest(byte[] request)
@ -292,6 +311,11 @@ namespace TelemetryIO
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 saveFloats(float[] data)
{
prepareTelegram(TELE_CMD_WR, 1000, data, 0);
}
byte crc8(byte[] data, int length) byte crc8(byte[] data, int length)
{ {
byte crc = 0x00; // Initial value byte crc = 0x00; // Initial value