mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-18 22:52:08 +00:00
297 lines
9.3 KiB
C++
297 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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ports = 0;
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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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wxBoxSizer *mainsizer = new wxBoxSizer(wxHORIZONTAL);
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wxSplitterWindow *mainsplitter = new wxSplitterWindow(this,wxID_ANY,wxDefaultPosition, wxSize(1024,700),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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//top
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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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connectbutton->Disable();
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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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reset = new wxButton(top, wxID_ANY, wxT("Reset Fault"));
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reset->Disable();
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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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reset->Bind(wxEVT_BUTTON, &ServoFrame::OnReset, 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(reset,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,8);
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topsizer->Add(drawpanel, 1,wxEXPAND,0);
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wxArrayString waves;
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waves.push_back("0");
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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 wxComboBox (top, ++currentID, _T(""), wxDefaultPosition, wxDefaultSize, 0, NULL, wxTE_PROCESS_ENTER));
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channelchoice.back()->Bind(wxEVT_COMBOBOX,&ServoFrame::OnChannelChange, this, currentID);
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channelchoice.back()->Bind(wxEVT_TEXT_ENTER,&ServoFrame::OnChannelChange, this, currentID);
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channelchoice.back()->Set(waves);
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channelchoice.back()->SetSelection(0);
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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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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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channelsizer->Add(sizer1);
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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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//bottom
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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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//use monospace font
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wxFont font = textinput->GetFont();
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font = wxFont(font.GetPointSize(), wxTELETYPE, font.GetStyle(), font.GetWeight(), font.GetUnderlined());
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textinput->SetFont(font);
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text->SetFont(font);
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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 channel = (int)((event.GetId()-channelstartID-2));
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wxString value = event.GetString();
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string df = "term0.wave";
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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(const string& s,bool h){
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if(!connected)
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connect();
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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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txqueue.push(s);
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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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if(!txqueue.empty()){
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int ret1 = sp_nonblocking_write(port, txqueue.front().c_str(), txqueue.front().length());
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int ret2 = sp_nonblocking_write(port, "\n", 1);
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if(ret1 != txqueue.front().length() || ret2!=1){
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wxMessageBox( wxT("Error while sending"), wxT("Error"), wxICON_EXCLAMATION);
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disconnect();
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}
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txqueue.pop();
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}
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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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values[0] = (float)(buf[i]-128-64)/64;
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drawpanel->plotvalue(values);
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}else{
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text->AppendText(wxString::FromAscii(buf[i] & 0x7f));
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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 == 8){
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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(wxString::FromAscii(buf[i] & 0x7f));
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}
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}
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}
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}else if(ret < 0){//disconnect on failure
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disconnect();
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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::OnReset(wxCommandEvent& WXUNUSED(event)){
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send("fault0.reset = 1");
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send("fault0.reset = 0");
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}
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void ServoFrame::listports(){
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int selection = 0;
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string description;
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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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if(ports){
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for (int i = 0; ports[i]; i++) {
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description = sp_get_port_description(ports[i]);
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choose_port->Append(description);
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if(description.find("STMBL") != std::string::npos){
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selection = i;
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}
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}
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choose_port->SetSelection(selection);
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connectbutton->Enable();
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}else{
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connectbutton->Disable();
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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 available and can be opened
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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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reset->Enable();
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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("Cannot open port"), 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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reset->Disable();
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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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listports();
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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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