private BrickController(){
NXT = new MonoBrick.NXT.Brick<MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor>(new MonoBrick.NXT.Loopback<MonoBrick.NXT.Command,MonoBrick.NXT.Reply>());
}
public ControlInput(MonoBrick.NXT.Brick<MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor> nxtBrick)
{
this.nxt = nxtBrick;
}
protected void OnConnectButtonClicked (object sender, System.EventArgs e)
{
SpawnThread(delegate()
{
if(USBRadiobutton.Active){
brick = new MonoBrick.NXT.Brick<MonoBrick.NXT.Sensor,MonoBrick.NXT.Sensor,MonoBrick.NXT.Sensor,MonoBrick.NXT.Sensor>(new USB<MonoBrick.NXT.Command,MonoBrick.NXT.Reply>());
}
if(bluetoothRadiobutton.Active){
brick = new MonoBrick.NXT.Brick<MonoBrick.NXT.Sensor,Sensor,Sensor,Sensor>(new Bluetooth<MonoBrick.NXT.Command,MonoBrick.NXT.Reply>(comportCombobox.ActiveText));
}
if(networkRadiobutton.Active){
if(waitForConnectioncheckbutton.Active){
brick = new MonoBrick.NXT.Brick<Sensor,Sensor,Sensor,Sensor>(new TunnelConnection<MonoBrick.NXT.Command,MonoBrick.NXT.Reply>(ushort.Parse(portSpinbutton.Text)));
Label networkLabel = new Label();
//label.HeightRequest = 160;
networkLabel.WidthRequest = 300;
string[] addresses = NetworkHelper.GetLocalIPAddress();
for(int i = 0; i < addresses.Length; i++){
networkLabel.Text = networkLabel.Text + "Local IP address: " + addresses[i].PadRight(80)+"\n";
}
networkLabel.Text = networkLabel.Text+ "External IP Address: ";
Dialog networkDialog = new Dialog ("Wait for connection", this, Gtk.DialogFlags.DestroyWithParent);
networkDialog.TypeHint = WindowTypeHint.Splashscreen;
networkDialog.BorderWidth = 4;
networkDialog.Modal = true;
networkDialog.VBox.Add (networkLabel);
//dialog.VBox.Add (progressBar);
networkDialog.HasSeparator = false;
networkDialog.AddButton ("Cancel", ResponseType.Close);
networkDialog.Response += delegate(object obj, ResponseArgs args){
brick.Connection.Close();
};
Gtk.Application.Invoke (delegate {
networkDialog.ShowAll();
});
networkLabel.Text = networkLabel.Text + Utilities.NetworkHelper.GetExternalIP();
//MonoBrick.ConnectionDelegate onNetworkConnection = delegate(){};
//brick.Connection.Connected += onNetworkConnection;
try{
brick.Connection.Open();//This will block and wait for a network connection
}
catch(Exception exception){
//brick.Connection.Connected -= onNetworkConnection;
Gtk.Application.Invoke (delegate {
networkDialog.Destroy();
});
throw(exception);
}
//brick.Connection.Connected -= onNetworkConnection;
Gtk.Application.Invoke (delegate {
networkDialog.Destroy();
});
}
else{
brick = new MonoBrick.NXT.Brick<Sensor,Sensor,Sensor,Sensor>(new TunnelConnection<Command,Reply>(ipEntry.Text, ushort.Parse(portSpinbutton.Text)));
}
}
System.Timers.Timer timer = new System.Timers.Timer(100);
ProgressBar progress = new ProgressBar();
//progress.Fraction = 0.0;
progress.Orientation = ProgressBarOrientation.LeftToRight;
timer.Elapsed += (obj1,obj2) => {
progress.Pulse();
};
Label connectLabel = new Label("Opening connection...");
//label.HeightRequest = 160;
connectLabel.WidthRequest = 200;
Dialog connectDialog = new Dialog ("Connecting to the NXT", this, Gtk.DialogFlags.DestroyWithParent);
connectDialog.TypeHint = WindowTypeHint.Splashscreen;
connectDialog.Modal = true;
connectDialog.VBox.Add (connectLabel);
connectDialog.HasSeparator = false;
connectDialog.VBox.Add (progress);
Gtk.Application.Invoke (delegate {
connectDialog.ShowAll();
timer.Start();
});
if(!brick.Connection.IsConnected){
try{
brick.Connection.Open();
}
catch(Exception ex){
Gtk.Application.Invoke (delegate {
connectDialog.Destroy();
timer.Stop();
});
throw ex;
}
}
brick.Connection.CommandSend += OnCommandSend;
brick.Connection.ReplyReceived += OnReplyRecieved;
//brick.ConnectionOpened += OnConnected;
brick.Connection.Disconnected += Disconnected;
try{
Gtk.Application.Invoke (delegate {
connectLabel.Text = "Retrieving brick information...";
});
DeviceInfo info = brick.GetDeviceInfo();
DeviceFirmware firmware = brick.GetDeviceFirmware();
ushort batteryLevel = brick.GetBatteryLevel();
SetSensor[] setSensor = new SetSensor[]{
delegate(Sensor sensor){brick.Sensor1 = sensor; brick.Sensor1.Initialize();},
delegate(Sensor sensor){brick.Sensor2 = sensor; brick.Sensor2.Initialize();},
delegate(Sensor sensor){brick.Sensor3 = sensor; brick.Sensor3.Initialize();},
delegate(Sensor sensor){brick.Sensor4 = sensor; brick.Sensor4.Initialize();},
};
ComboBox[] comboArray = new ComboBox[]{sensor1Combobox, sensor2Combobox,sensor3Combobox, sensor4Combobox};
//Check if sensors should be initialized with something other than none
for(int i = 0; i < 4; i++){
Console.WriteLine(i);
Gtk.Application.Invoke (delegate {
connectLabel.Text = "Setting up sensor " + (i+1);
});
if(comboArray[i].Active != 0){
try{
setSensor[i]((Sensor) comboArray[i].GetActiveValue());
}
catch(MonoBrickException nxtEx){
if(nxtEx is MonoBrickException){
comboArray[i].Active = 0;//unable to set the sensor value set the comboBox to none
setSensor[i](new Sensor(SensorType.NoSensor,SensorMode.Raw));
}
else
throw nxtEx;
}
}
}
Gtk.Application.Invoke (delegate {
UpdateDeviceInfo(info);
UpdateFirmwareInfo(firmware);
UpdateBatteryInfo(batteryLevel);
});
Connected();
DisableAllTunnelInput();
if(isConnectedViaNetwork()){
Gtk.Application.Invoke (delegate {
connectLabel.Text = "Checking tunnel settings...";
});
if(brickType == BrickType.NXT){
var reply = brick.Connection.SendAndReceive(new Command(CommandType.TunnelCommand,CommandByte.GetTunnelCommands,true));
if(!reply.HasError){
for(int i = 0; i < reply.Data.Length-3; i++){
switch(reply.Data[i+3]){
case (byte)CommandByte.GetTunnelRTSPSettings:
EnableVideoStreamInput();
break;
case (byte)CommandByte.GetTunnelGPSPosition:
EnableGPSInput();
break;
case (byte)CommandByte.TunnelSpeak:
EnableSpeakInput();
break;
}
}
}
else{
//The tunnel does not support any commands
}
}
}
}
catch(MonoBrickException ex){
Gtk.Application.Invoke (delegate {
connectDialog.Destroy();
timer.Stop();
});
brick.Connection.Close();
throw ex;
}
Gtk.Application.Invoke (delegate {
connectDialog.Destroy();
timer.Stop();
});
});
}
private BrickController()
{
NXT = new MonoBrick.NXT.Brick <MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor, MonoBrick.NXT.Sensor>(new MonoBrick.NXT.Loopback <MonoBrick.NXT.Command, MonoBrick.NXT.Reply>());
}
