AnimatLab  2
Test
XbeeCommander.cs
1 using System;
2 using System.Collections.Generic;
3 using System.Linq;
4 using System.Text;
5 using AnimatGUI.Framework;
6 
7 namespace RoboticsGUI
8 {
9  namespace RobotIOControls
10  {
11 
12  public class XBeeCommander : AnimatGUI.DataObjects.Robotics.RemoteControl
13  {
14  #region " Attributes "
15 
16  protected string m_strPort = "";
17  protected int m_iBaudRate = 38400;
18 
22  protected int m_iChangeSimStepCount = 5;
23 
24  #endregion
25 
26  #region " Attributes "
27 
28  public override string Description {get {return "Performs wireless IO using an UartSBee to communicate with the Commander remote control.";} set { }}
29  public override string ButtonImageName {get {return "RoboticsGUI.Graphics.XBeeCommanderLarge.gif";}}
30  public override string WorkspaceImageName { get { return "RoboticsGUI.Graphics.XBeeCommanderSmall.gif"; } }
31  public override string PartType {get { return "XBeeCommander"; }}
32  public override string ModuleName { get { return "RoboticsAnimatSim"; } }
33 
34  public virtual string Port
35  {
36  get
37  {
38  return m_strPort;
39  }
40  set
41  {
42  SetSimData("Port", value, true);
43  m_strPort = value;
44  }
45  }
46 
47  public virtual int BaudRate
48  {
49  get
50  {
51  return m_iBaudRate;
52  }
53  set
54  {
55  if(value <= 0)
56  throw new System.Exception("Invalid baud rate specified. Rate: " + value.ToString());
57 
58  SetSimData("BaudRate", value.ToString(), true);
59  m_iBaudRate = value;
60  }
61  }
62 
63  public virtual int ChangeSimStepCount
64  {
65  get
66  {
67  return m_iChangeSimStepCount;
68  }
69  set
70  {
71  if (value <= 0)
72  throw new System.Exception("Invalid pulse sim step count specified. Rate: " + value.ToString());
73 
74  SetSimData("ChangeSimStepCount", value.ToString(), true);
75  m_iChangeSimStepCount = value;
76  }
77  }
78 
79  #endregion
80 
81  #region " Methods "
82 
83  public XBeeCommander(AnimatGUI.Framework.DataObject doParent)
84  : base(doParent)
85  {
86  m_strName = "XBee Commander";
87 
88  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkV", "Walk Vertical", "", "", -128, 128));
89  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkVStart", "Walk Vertical Start", "", "", -128, 128));
90  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkVStop", "Walk Vertical Stop", "", "", -128, 128));
91 
92  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkH", "Walk Horizontal", "", "", -128, 128));
93  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkHStart", "Walk Horizontal Start", "", "", -128, 128));
94  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkHStop", "Walk Horizontal Stop", "", "", -128, 128));
95 
96  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookV", "Look Vertical", "", "", -128, 128));
97  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookVStart", "Look Vertical Start", "", "", -128, 128));
98  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookVStop", "Look Vertical Stop", "", "", -128, 128));
99 
100  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookH", "Look Horizontal", "", "", -128, 128));
101  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookHStart", "Look Horizontal Start", "", "", -128, 128));
102  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookHStop", "Look Horizontal Stop", "", "", -128, 128));
103 
104  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Pan", "Pan", "", "", -128, 128));
105  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("PanStart", "Pan Start", "", "", -128, 128));
106  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("PanStop", "Pan Stop", "", "", -128, 128));
107 
108  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Tilt", "Tilt", "", "", -128, 128));
109  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("TiltStart", "Tilt Start", "", "", -128, 128));
110  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("TiltStop", "Tilt Stop", "", "", -128, 128));
111 
112  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1", "R1", "", "", 0, 1));
113  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1Start", "R1 Start", "", "", 0, 1));
114  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1Stop", "R1 Stop", "", "", 0, 1));
115 
116  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2", "R2", "", "", 0, 1));
117  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2Start", "R2 Start", "", "", 0, 1));
118  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2Stop", "R2 Stop", "", "", 0, 1));
119 
120  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3", "R3", "", "", 0, 1));
121  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3Start", "R3 Start", "", "", 0, 1));
122  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3Stop", "R3 Stop", "", "", 0, 1));
123 
124  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4", "L4", "", "", 0, 1));
125  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4Start", "L4 Start", "", "", 0, 1));
126  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4Stop", "L4 Stop", "", "", 0, 1));
127 
128  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5", "L5", "", "", 0, 1));
129  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5Start", "L5 Start", "", "", 0, 1));
130  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5Stop", "L5 Stop", "", "", 0, 1));
131 
132  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6", "L6", "", "", 0, 1));
133  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6Start", "L6 Start", "", "", 0, 1));
134  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6Stop", "L6 Stop", "", "", 0, 1));
135 
136  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RT", "RT", "", "", 0, 1));
137  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RTStart", "RT Start", "", "", 0, 1));
138  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RTStop", "RT Stop", "", "", 0, 1));
139 
140  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LT", "LT", "", "", 0, 1));
141  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LTStart", "LT Start", "", "", 0, 1));
142  m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LTStop", "LT Stop", "", "", 0, 1));
143 
144  m_aryLinks.Clear();
145 
146  AnimatGUI.DataObjects.Gains.Polynomial doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
147  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
148  doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
149  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doWalkV = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "WalkV", "WalkV", doGain, true);
150  doWalkV.Name = "WalkV";
151  m_aryLinks.Add(doWalkV.ID, doWalkV, false);
152 
153  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
154  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
155  doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
156  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doWalkH = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "WalkH", "WalkH", doGain, true);
157  doWalkH.Name = "WalkH";
158  m_aryLinks.Add(doWalkH.ID, doWalkH, false);
159 
160  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
161  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
162  doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
163  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLookV = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LookV", "LookV", doGain, true);
164  doLookV.Name = "LookV";
165  m_aryLinks.Add(doLookV.ID, doLookV, false);
166 
167  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
168  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
169  doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
170  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLookH = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LookH", "LookH", doGain, true);
171  doLookH.Name = "LookH";
172  m_aryLinks.Add(doLookH.ID, doLookH, false);
173 
174  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
175  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
176  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR1 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R1", "R1", doGain, true);
177  doR1.Name = "R1";
178  m_aryLinks.Add(doR1.ID, doR1, false);
179 
180  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
181  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
182  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR2 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R2", "R2", doGain, true);
183  doR2.Name = "R2";
184  m_aryLinks.Add(doR2.ID, doR2, false);
185 
186  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
187  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
188  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR3 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R3", "R3", doGain, true);
189  doR3.Name = "R3";
190  m_aryLinks.Add(doR3.ID, doR3, false);
191 
192  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
193  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
194  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL4 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L4", "L4", doGain, true);
195  doL4.Name = "L4";
196  m_aryLinks.Add(doL4.ID, doL4, false);
197 
198  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
199  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
200  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL5 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L5", "L5", doGain, true);
201  doL5.Name = "L5";
202  m_aryLinks.Add(doL5.ID, doL5, false);
203 
204  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
205  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
206  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL6 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L6", "L6", doGain, true);
207  doL6.Name = "L6";
208  m_aryLinks.Add(doL6.ID, doL6, false);
209 
210  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
211  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
212  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doRT = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "RT", "RT", doGain, true);
213  doRT.Name = "RT";
214  m_aryLinks.Add(doRT.ID, doRT, false);
215 
216  doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
217  doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
218  AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLT = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LT", "LT", doGain, true);
219  doLT.Name = "LT";
220  m_aryLinks.Add(doLT.ID, doLT, false);
221  }
222 
223  public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
224  {
225  XBeeCommander doInterface = new XBeeCommander(doParent);
226  return doInterface;
227  }
228 
229  protected override void CloneInternal(DataObject doOriginal, bool bCutData, DataObject doRoot)
230  {
231  base.CloneInternal(doOriginal, bCutData, doRoot);
232 
233  XBeeCommander doOrig = (XBeeCommander)doOriginal;
234 
235  if (doOrig != null)
236  {
237  m_strPort = doOrig.m_strPort;
238  m_iBaudRate = doOrig.m_iBaudRate;
239  m_iChangeSimStepCount = doOrig.m_iChangeSimStepCount;
240  }
241  }
242 
243  public override void BuildProperties(ref AnimatGuiCtrls.Controls.PropertyTable propTable)
244  {
245  base.BuildProperties(ref propTable);
246 
247  propTable.Properties.Add(new AnimatGuiCtrls.Controls.PropertySpec("Com Port", this.Port.GetType(), "Port", "Properties", "Com port", this.Port));
248  propTable.Properties.Add(new AnimatGuiCtrls.Controls.PropertySpec("Baud Rate", this.BaudRate.GetType(), "BaudRate", "Properties", "Baud rate to use for communications", this.BaudRate));
249  propTable.Properties.Add(new AnimatGuiCtrls.Controls.PropertySpec("Pulse Sim Step Count", this.ChangeSimStepCount.GetType(), "ChangeSimStepCount", "Properties", "Number of simulation step slices to keep a start/stop signal active", this.ChangeSimStepCount));
250  }
251 
252  public override void LoadData(ManagedAnimatInterfaces.IStdXml oXml)
253  {
254  base.LoadData(oXml);
255 
256  oXml.IntoElem();
257 
258  m_strPort = oXml.GetChildString("Port", m_strPort);
259  m_iBaudRate = oXml.GetChildInt("BaudRate", m_iBaudRate);
260  m_iChangeSimStepCount = oXml.GetChildInt("ChangeSimStepCount", m_iChangeSimStepCount);
261 
262  oXml.OutOfElem();
263  }
264 
265  public override void SaveData(ManagedAnimatInterfaces.IStdXml oXml)
266  {
267  base.SaveData(oXml);
268 
269  oXml.IntoElem();
270 
271  oXml.AddChildElement("Port", m_strPort);
272  oXml.AddChildElement("BaudRate", m_iBaudRate);
273  oXml.AddChildElement("ChangeSimStepCount", m_iChangeSimStepCount);
274 
275  oXml.OutOfElem();
276  }
277 
278  public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref DataObject nmParentControl, string strName = "")
279  {
280  base.SaveSimulationXml(oXml, ref nmParentControl, strName);
281 
282  oXml.IntoElem();
283 
284  oXml.AddChildElement("Port", m_strPort);
285  oXml.AddChildElement("BaudRate", m_iBaudRate);
286  oXml.AddChildElement("ChangeSimStepCount", m_iChangeSimStepCount);
287 
288  oXml.OutOfElem();
289  }
290 
291  #endregion
292 
293  }
294  }
295 }
RoboticsGUI.RobotIOControls.XBeeCommander.m_iChangeSimStepCount
int m_iChangeSimStepCount
The number of time slices to keep a start/stop signal active.
Definition: XbeeCommander.cs:22