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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 90 | gunterl | 1 | using System; |
| 2 | using System.Collections.Generic; |
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| 3 | using System.ComponentModel; |
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| 4 | using System.Data; |
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| 5 | using System.Drawing; |
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| 6 | using System.Text; |
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| 7 | using System.Windows.Forms; |
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| 8 | using winforms = System.Windows.Forms; |
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| 9 | using Microsoft.Ccr.Core; |
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| 10 | using Microsoft.Dss.ServiceModel.Dssp; |
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| 11 | |||
| 12 | |||
| 13 | namespace Robotics.RoboBoard |
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| 14 | { |
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| 15 | partial class RoboBoardForm : Form |
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| 16 | { |
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| 17 | RoboBoardEvents _eventsPort; |
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| 18 | |||
| 19 | enum PanelState { Idle, GPS, MKSensor, ExtenderBoard, RawData, Control }; |
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| 20 | public Int16[] MK_analog = new Int16[32]; |
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| 21 | public string[] Mk_analog_name = new string[32]; |
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| 22 | public Int16 Control_alt; |
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| 23 | public Int16 Control_roll; |
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| 24 | public Int16 Control_nick; |
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| 25 | public Int16 Control_gier; |
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| 26 | public Int16 Control_gas; |
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| 27 | |||
| 28 | |||
| 29 | int panelstate = (int)PanelState.Idle; |
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| 30 | |||
| 31 | public RoboBoardForm(RoboBoardEvents EventsPort) |
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| 32 | |||
| 33 | { |
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| 34 | _eventsPort = EventsPort; |
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| 35 | InitializeComponent(); |
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| 36 | // UpdateStatus("<unknown>"); |
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| 37 | } |
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| 38 | |||
| 39 | public void UpdateStatus(string Status) { |
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| 40 | toolStripStatusLabel1.Text = Status; |
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| 41 | } |
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| 42 | |||
| 43 | /// <summary> |
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| 44 | /// posts the instace of the form to the main process |
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| 45 | /// </summary> |
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| 46 | /// <param name="sender"></param> |
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| 47 | /// <param name="e"></param> |
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| 48 | private void RoboBoardForm_Load(object sender, EventArgs e) |
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| 49 | { |
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| 50 | _eventsPort.Post(new OnLoad(this)); |
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| 51 | } |
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| 52 | |||
| 53 | /// <summary> |
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| 54 | /// Invalidate the Panel area and trigger a repaint |
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| 55 | /// </summary> |
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| 56 | /// <param name="Command"></param> |
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| 57 | public void MonitorCommand(string Command) |
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| 58 | { |
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| 59 | MainPanel.Invalidate(); |
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| 60 | } |
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| 61 | |||
| 62 | /// <summary> |
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| 63 | /// update data value |
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| 64 | /// </summary> |
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| 65 | /// <param name="index"></param> |
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| 66 | /// <param name="value"></param> |
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| 67 | /// <param name="name"></param> |
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| 68 | public void MonitorMKSensor(int index, Int16 value, string name) |
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| 69 | { |
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| 70 | if (index > 31) return; |
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| 71 | MK_analog[index] = value; |
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| 72 | if (name == "") return; |
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| 73 | Mk_analog_name[index] = name; |
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| 74 | } |
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| 75 | |||
| 76 | public void MonitorMKSensorUpdate() |
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| 77 | { |
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| 78 | MainPanel.Invalidate(); |
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| 79 | } |
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| 80 | |||
| 81 | /// <summary> |
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| 82 | /// |
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| 83 | /// </summary> |
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| 84 | /// <param name="sender"></param> |
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| 85 | /// <param name="e"></param> |
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| 86 | private void MainPanel_Paint(object sender, PaintEventArgs e) |
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| 87 | { |
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| 88 | int i; |
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| 89 | Graphics dc = e.Graphics; |
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| 90 | |||
| 91 | Font stdFont = new Font("Arial", 10); |
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| 92 | SolidBrush stdBrush = new SolidBrush(Color.Green); |
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| 93 | Font sensorFont = new Font("Arial", 8); |
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| 94 | SolidBrush sensorBrush = new SolidBrush(Color.Black); |
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| 95 | |||
| 96 | switch (panelstate) |
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| 97 | { |
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| 98 | case (int)PanelState.Control: |
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| 99 | dc.DrawString("Control Data Monitor", stdFont, stdBrush, 2, 2); |
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| 100 | dc.DrawString("Nick", sensorFont, sensorBrush, 10, 14); |
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| 101 | dc.DrawString(Control_nick.ToString(), sensorFont, sensorBrush, 200, 14); |
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| 102 | dc.DrawString("Roll", sensorFont, sensorBrush, 10, 24); |
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| 103 | dc.DrawString(Control_roll.ToString(), sensorFont, sensorBrush, 200, 24); |
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| 104 | dc.DrawString("Gier", sensorFont, sensorBrush, 10, 34); |
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| 105 | dc.DrawString(Control_gier.ToString(), sensorFont, sensorBrush, 200, 34); |
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| 106 | dc.DrawString("Gas", sensorFont, sensorBrush, 10, 44); |
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| 107 | dc.DrawString(Control_gas.ToString(), sensorFont, sensorBrush, 200, 44); |
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| 108 | dc.DrawString("Altitute", sensorFont, sensorBrush, 10, 54); |
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| 109 | dc.DrawString(Control_alt.ToString(), sensorFont, sensorBrush, 200, 54); |
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| 110 | break; |
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| 111 | case (int)PanelState.RawData: |
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| 112 | dc.DrawString("Raw Data", stdFont, stdBrush, 2, 2); |
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| 113 | break; |
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| 114 | case (int)PanelState.ExtenderBoard: |
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| 115 | dc.DrawString("Extender Board Data", stdFont, stdBrush, 2, 2); |
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| 116 | break; |
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| 117 | case (int)PanelState.GPS: |
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| 118 | dc.DrawString("GPS Data", stdFont, stdBrush, 10, 10); |
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| 119 | break; |
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| 120 | case (int)PanelState.MKSensor: |
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| 121 | dc.DrawString("Mikrokopter Sensors", stdFont, stdBrush, 2, 2); |
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| 122 | for (i = 0; i < 32; i++) |
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| 123 | { |
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| 124 | if (Mk_analog_name[i] == null) |
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| 125 | { |
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| 126 | dc.DrawString("<unknown>", sensorFont, sensorBrush, 10, (float)(14 + (i * 10))); |
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| 127 | } |
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| 128 | else |
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| 129 | { |
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| 130 | dc.DrawString(Mk_analog_name[i], sensorFont, sensorBrush, 10, (float)(14 + (i * 10))); |
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| 131 | } |
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| 132 | dc.DrawString(MK_analog[i].ToString(), sensorFont, sensorBrush, 200, (float)(14 + (i * 10))); |
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| 133 | } |
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| 134 | break; |
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| 135 | case (int)PanelState.Idle: |
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| 136 | dc.DrawString("Select Mode (no mode selected)", stdFont, stdBrush, 2, 2); |
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| 137 | break; |
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| 138 | default: |
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| 139 | dc.DrawString("Select Mode", stdFont, stdBrush, 2, 2); |
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| 140 | break; |
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| 141 | } |
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| 142 | } |
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| 143 | |||
| 144 | private void toolStripButton1_Click(object sender, EventArgs e) |
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| 145 | { |
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| 146 | panelstate = (int)PanelState.GPS; |
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| 147 | MainPanel.Invalidate(); |
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| 148 | } |
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| 149 | |||
| 150 | private void toolStripButton2_Click(object sender, EventArgs e) |
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| 151 | { |
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| 152 | panelstate = (int)PanelState.MKSensor; |
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| 153 | MainPanel.Invalidate(); |
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| 154 | } |
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| 155 | |||
| 156 | private void toolStripButton3_Click(object sender, EventArgs e) |
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| 157 | { |
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| 158 | panelstate = (int)PanelState.Control; |
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| 159 | MainPanel.Invalidate(); |
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| 160 | } |
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| 161 | |||
| 162 | } |
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| 163 | |||
| 164 | class RoboBoardEvents:PortSet <OnLoad,OnClosed> |
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| 165 | { |
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| 166 | } |
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| 167 | |||
| 168 | class RoboBoardEvent |
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| 169 | { |
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| 170 | private RoboBoardForm _rbForm; |
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| 171 | |||
| 172 | public RoboBoardForm RoboBoardForm |
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| 173 | { |
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| 174 | get { return _rbForm; } |
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| 175 | set { _rbForm = value; } |
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| 176 | } |
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| 177 | |||
| 178 | public RoboBoardEvent(RoboBoardForm rbForm) |
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| 179 | { |
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| 180 | _rbForm = rbForm; |
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| 181 | } |
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| 182 | } |
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| 183 | |||
| 184 | class OnLoad : RoboBoardEvent |
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| 185 | { |
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| 186 | public OnLoad(RoboBoardForm form) |
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| 187 | : base(form) |
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| 188 | { |
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| 189 | } |
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| 190 | } |
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| 191 | |||
| 192 | class OnClosed : RoboBoardEvent |
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| 193 | { |
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| 194 | public OnClosed(RoboBoardForm form) |
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| 195 | : base(form) |
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| 196 | { |
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| 197 | } |
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| 198 | } |
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| 199 | |||
| 200 | } |