mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-19 07:02:13 +00:00
294 lines
9.3 KiB
C++
294 lines
9.3 KiB
C++
#include "mainframe.hpp"
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using std::cout;
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using std::endl;
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using std::string;
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using std::to_string;
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ServoFrame::ServoFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
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currentID = wxID_LOWEST;
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addr = -1;
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connected = false;
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histpos = 0;
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config = new wxConfig("Servoterm");
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wxBoxSizer *mainsizer = new wxBoxSizer(wxHORIZONTAL);
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wxSplitterWindow *mainsplitter = new wxSplitterWindow(this,wxID_ANY,wxDefaultPosition, wxSize(1024,768),wxSP_LIVE_UPDATE|wxSP_3DSASH);
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wxImage::AddHandler(new wxGIFHandler);
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mainsplitter->SetSashGravity(0);
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mainsplitter->SetMinimumPaneSize(100);
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mainsizer->Add(mainsplitter, 1,wxEXPAND,0);
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timer = new wxTimer(this, wxID_ANY);
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Bind(wxEVT_TIMER,&ServoFrame::OnTimer,this,wxID_ANY);
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//oben
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wxPanel *top = new wxPanel(mainsplitter, wxID_ANY);
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wxBoxSizer *topsizer = new wxBoxSizer(wxVERTICAL);
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wxBoxSizer *leiste = new wxBoxSizer(wxHORIZONTAL);
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wxBoxSizer *channelleiste = new wxBoxSizer(wxHORIZONTAL);
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choose_port = new wxChoice (top, wxID_ANY);
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connectbutton = new wxButton(top, wxID_ANY, wxT("&Connect"));
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clear = new wxButton(top, wxID_ANY, wxT("Clear"));
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refresh = new wxButton(top, wxID_ANY, wxT("&Refresh"));
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uhu = new wxRadioButton(top,wxID_ANY, "UHU");
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stmbl = new wxRadioButton(top, wxID_ANY,"STMBL");
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stmbl->SetValue(true);
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refresh->Bind(wxEVT_BUTTON, &ServoFrame::OnRefresh, this, wxID_ANY);
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connectbutton->Bind(wxEVT_BUTTON, &ServoFrame::OnConnect, this, wxID_ANY);
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clear->Bind(wxEVT_BUTTON, &ServoFrame::OnClear, this, wxID_ANY);
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listports();
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leiste->Add(choose_port, 0,wxALIGN_LEFT|wxALL,3);
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leiste->Add(connectbutton,0,wxALIGN_LEFT|wxALL,3);
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leiste->Add(refresh,0,wxALIGN_LEFT|wxALL,3);
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leiste->Add(clear,0,wxALIGN_LEFT|wxALL,3);
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leiste->Add(uhu,0,wxALIGN_LEFT|wxALL,3);
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leiste->Add(stmbl,0,wxALIGN_LEFT|wxALL,3);
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topsizer->Add(leiste);
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drawpanel = new BasicDrawPane((wxFrame*)top,4);
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topsizer->Add(drawpanel, 1,wxEXPAND,0);
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wxArrayString waves;
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waves.push_back("-");
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waves.push_back("net0.cmd");
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waves.push_back("net0.fb");
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waves.push_back("pid0.pwm_cmd");
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waves.push_back("pos_minus0.out");
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//channels
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channelstartID = currentID-1;//next ID
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for(int i = 0;i<drawpanel->channels;i++){
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wxBoxSizer *channelsizer = new wxBoxSizer(wxVERTICAL);
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channelchoice.push_back(new wxChoice (top, ++currentID));
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channelchoice.back()->Bind(wxEVT_CHOICE,&ServoFrame::OnChannelChange, this, currentID);
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channelchoice.back()->Set(waves);
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channelchoice.back()->SetSelection(0);
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cout << channelchoice.back()->GetId() << endl;
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channelpos.push_back(new wxSlider(top, ++currentID, 0, -100, 100));
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channelpos.back()->Bind(wxEVT_SLIDER,&ServoFrame::OnChannelChange, this, currentID);
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channelgain.push_back(new wxSlider(top, ++currentID, 10, 1, 100));
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channelgain.back()->Bind(wxEVT_SLIDER,&ServoFrame::OnChannelChange, this, currentID);
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wxPanel *c_panel;
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c_panel = new wxPanel(top, wxID_NEW, wxPoint(150, 20), wxSize(20, 20), wxBORDER_NONE);
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c_panel->SetBackgroundColour(drawpanel->pen[i].GetColour());
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wxBoxSizer *sizer1 = new wxBoxSizer(wxHORIZONTAL);
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wxBoxSizer *sizer2 = new wxBoxSizer(wxHORIZONTAL);
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wxBoxSizer *sizer3 = new wxBoxSizer(wxHORIZONTAL);
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sizer1->Add(c_panel, 0,wxALIGN_LEFT|wxALL,3);
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sizer1->Add(channelchoice.back(), 1,wxALIGN_LEFT|wxALL,3);
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sizer2->Add(channelpos.back(), 1,wxALIGN_LEFT|wxALL,3);
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sizer3->Add(channelgain.back(), 1,wxALIGN_LEFT|wxALL,3);
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channelsizer->Add(sizer1);
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channelsizer->Add(sizer2);
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channelsizer->Add(sizer3);
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channelleiste->Add(channelsizer);
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}
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topsizer->Add(channelleiste);
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top->SetSizer(topsizer);
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//unten
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wxPanel *bottom = new wxPanel(mainsplitter, wxID_ANY);
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text = new wxTextCtrl((wxFrame*)bottom,wxID_ANY,wxEmptyString,wxDefaultPosition,wxDefaultSize,wxTE_MULTILINE|wxTE_READONLY);
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textinput = new wxTextCtrl((wxFrame*)bottom,wxID_ANY,wxEmptyString,wxDefaultPosition,wxDefaultSize,wxTE_PROCESS_ENTER);
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textinput->Bind(wxEVT_TEXT_ENTER, &ServoFrame::OnInput, this, wxID_ANY);
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textinput->Bind(wxEVT_KEY_DOWN, &ServoFrame::OnKeyDown, this, wxID_ANY);
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wxBoxSizer *bottomsizer = new wxBoxSizer(wxVERTICAL);
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bottomsizer->Add(text, 1,wxEXPAND|wxALL,3);
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bottomsizer->Add(textinput, 0,wxEXPAND|wxALL,3);
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bottom->SetSizer(bottomsizer);
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mainsplitter->SplitHorizontally(top, bottom,500);
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this->SetSizer(mainsizer);
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mainsizer->SetSizeHints(this);
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}
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void ServoFrame::OnKeyDown(wxKeyEvent& event){
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if(event.GetKeyCode() == 315){//up
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if(histpos > 0 && history.size()>0){
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textinput->SetValue(history.at(--histpos));
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textinput->SetInsertionPointEnd();
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}
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}
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else if(event.GetKeyCode() == 317){//down
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if(histpos < history.size()-1 && history.size()>0){
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textinput->SetValue(history.at(++histpos));
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textinput->SetInsertionPointEnd();
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}else if(histpos < history.size()){
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histpos++;
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textinput->SetValue(wxT(""));
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}
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}else if (event.GetKeyCode() == 9){}//tab
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else{
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event.Skip();
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}
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}
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void ServoFrame::OnChannelChange(wxCommandEvent& event){
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int param = (event.GetId()-channelstartID-2)%3;
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int channel = (int)((event.GetId()-channelstartID-2)/3);
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string params[] = {"term0.wave","term0.offset","term0.gain"};
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wxString value;
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switch (param) {
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case 0://wave
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value = event.GetSelection()==0?"0":event.GetString();
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break;
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case 1://offset
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case 2://gain
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value = to_string(event.GetSelection()/10.0f);
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break;
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default:
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break;
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}
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//cout << "change " << channel << " " << param << " " << value << endl;
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string df = params[param];
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df += to_string(channel);
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df += " = ";
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df += value;
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send(df);
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}
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int ServoFrame::send(string& s,bool h){
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cout << s << endl;
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if(connected){
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if(h){//history
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if((history.size()==0 || history.back() != s) && !s.empty()){
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history.push_back(s);
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}
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histpos = history.size();
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}
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int ret1 = sp_nonblocking_write(port, s.c_str(), s.length());
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int ret2 = sp_nonblocking_write(port, "\r", 1);
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if(ret1 != s.length() || ret2!=1){
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wxMessageBox( wxT("Fehler beim senden"), wxT("Error"), wxICON_EXCLAMATION);
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disconnect();
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return 0;
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}
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}else{
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wxMessageBox( wxT("Nicht verbunden"), wxT("Error"), wxICON_EXCLAMATION);
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return 0;
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}
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return 1;
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}
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void ServoFrame::OnTimer(wxTimerEvent& evt){
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int ret;
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if(connected){
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ret = sp_nonblocking_read(port, buf, bufsize);
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if(ret > 0){
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buf[ret] = 0;
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if(uhu->GetValue()){
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for (int i=0; i<ret; i++) {
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if ((buf[i]>>7)) {
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drawpanel->plotvalue((buf[i]+128/2) / 64.0);
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}else{
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text->AppendText((char)buf[i]);
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}
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}
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}else if(stmbl->GetValue()){
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for (int i=0; i<ret; i++){
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if(addr >= 0){
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values[addr++] = (buf[i]-128) / 128.0;
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if(addr == 4){
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drawpanel->plotvalue(values);
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addr = -1;
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}
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}else if (buf[i] == 0xff) {
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addr = 0;
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}else{
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text->AppendText((char)buf[i]);
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}
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}
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}
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}
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}
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}
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void ServoFrame::OnRefresh(wxCommandEvent& WXUNUSED(event)){
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listports();
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}
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void ServoFrame::listports(){
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if (!ports) {
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sp_free_port_list(ports);
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}
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if(sp_list_ports(&ports) == SP_OK){
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wxString str;
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choose_port->Clear();
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for (int i = 0; ports[i]; i++) {
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choose_port->Append(sp_get_port_description(ports[i]));
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if(config->Read("port", &str) && sp_get_port_description(ports[i]) == str){
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choose_port->SetSelection(i);
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}
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}
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}
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}
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void ServoFrame::OnClear(wxCommandEvent& WXUNUSED(event)){
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text->Clear();
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drawpanel->Clear();
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}
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void ServoFrame::OnConnect(wxCommandEvent& WXUNUSED(event)){
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if(connected)
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disconnect();
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else
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connect();
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}
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void ServoFrame::connect(){
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if(choose_port->IsEmpty())
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return;
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port = ports[choose_port->GetSelection()];
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if(sp_open(port, SP_MODE_READ_WRITE) == SP_OK){//port da und lässt sich öffnen
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wxString str;
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str = sp_get_port_description(port);
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config->Write("port", str);
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config->Flush();
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sp_set_baudrate(port,38400);
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sp_set_bits(port, 8);
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sp_set_stopbits(port, 1);
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sp_set_parity(port, SP_PARITY_NONE);
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sp_set_xon_xoff(port, SP_XONXOFF_DISABLED);
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sp_set_flowcontrol(port, SP_FLOWCONTROL_NONE);
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connected = true;
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connectbutton->SetLabel(wxT("&Disonnect"));
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refresh->Disable();
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choose_port->Disable();
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uhu->Disable();
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stmbl->Disable();
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textinput->SetFocus();
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timer->Start(50);
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}else{
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wxMessageBox( wxT("Fehler beim Öffnen"), wxT("Error"), wxICON_EXCLAMATION);
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listports();
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}
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}
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void ServoFrame::disconnect(){
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if(sp_close(port) == SP_OK){
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connected = false;
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connectbutton->SetLabel(wxT("&Connect"));
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refresh->Enable();
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choose_port->Enable();
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uhu->Enable();
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stmbl->Enable();
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timer->Stop();
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}
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}
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void ServoFrame::OnInput(wxCommandEvent& event){
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string s =string(textinput->GetValue().mb_str());
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send(s,true);
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textinput->Clear();
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}
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