public static void pi1Port2ConnectionEnabler()
{
ConnectorOne.pi1Port2AddressUpdater();
RoverConsole.ArcEyeContentThreadSafe("Checking Pi1 Connection via Port2");
try
{
pi1Port2Tcp = new TcpClient();
pi1Port2Tcp.Connect(pi1Ip, pi1Port2);
pi1Port2NetworkStream = pi1Port2Tcp.GetStream();
pi1Port2SrReciever = new StreamReader(pi1Port2NetworkStream);
pi1Port2SwSender = new StreamWriter(pi1Port2NetworkStream);
RoverConsole.ArcEyeContentThreadSafe("Pi1 via Port2 Connection Successful");
if (ConnectorOne.pi1Port2ConnectedStatusEvent != null)
{
ConnectorOne.pi1Port2ConnectedStatusEvent(new object(), new EventArgs());
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
if (ConnectorOne.pi1Port2DisconnectedStatusEvent != null)
{
ConnectorOne.pi1Port2DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
private void joystick_lst_Loaded(object sender, RoutedEventArgs e)
{
try
{
foreach (var deviceInstance in directInput.GetDevices(DeviceType.Joystick, DeviceEnumerationFlags.AllDevices))
{
joystickGuid = deviceInstance.InstanceGuid;
_RoverMovement.joystick_lst.Items.Add(joystickGuid);
}
if (joystickGuid == System.Guid.Empty)
{
RoverConsole.ArcEyeContentThreadSafe("No Joystick Found.");
RoverConsole.ArcEyeAiContentThreadSafe("Press The Reload Button To Search Again");
_RoverMovement.joystick_lst.IsEnabled = false;
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Joystick Found.");
_RoverMovement.initialize_btn.IsEnabled = true;
_RoverMovement.joystick_lst.IsEnabled = true;
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContent(ex.ToString());
}
}
public static void pi3Port1ConnectionEnabler()
{
ConnectorOne.pi3Port1AddressUpdater();
RoverConsole.ArcEyeContentThreadSafe("Checking Pi3 Connection via Port1");
try
{
pi3Port1Tcp = new TcpClient();
pi3Port1Tcp.Connect(pi3Ip, pi3Port1);
pi3Port1NetworkStream = pi3Port1Tcp.GetStream();
pi3Port1SrReciever = new StreamReader(pi3Port1NetworkStream);
pi3Port1SwSender = new StreamWriter(pi3Port1NetworkStream);
RoverConsole.ArcEyeContentThreadSafe("Pi3 via Port1 Connection Successful");
if (ConnectorOne.pi3Port1ConnectedStatusEvent != null)
{
ConnectorOne.pi3Port1ConnectedStatusEvent(new object(), new EventArgs());
}
Thread imuDataHandlerThread = new Thread(() => imuInputHandler());
imuDataHandlerThread.Name = "imuDataHandlerThread";
imuDataHandlerThread.IsBackground = true;
imuDataHandlerThread.Start();
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
if (ConnectorOne.pi3Port1DisconnectedStatusEvent != null)
{
ConnectorOne.pi3Port1DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
private void rld_btn_Click(object sender, RoutedEventArgs e)
{
_RoverMovement.joystick_lst.Items.Clear();
joystickGuid = Guid.Empty;
RoverConsole.ArcEyeContentThreadSafe("Joystick Is De Initialized.");
_RoverMovement.joystck_pnl.IsExpanded = false;
_RoverMovement.joystick_lst_Loaded(sender, e);
}
private void rvr_dwn_Click(object sender, RoutedEventArgs e)
{
if (_RoverMovement != null)
{
RoverConsole.ArcEyeContentThreadSafe("rvr_dwn_Click");
roverMovement = RoverAndArmRoverMovement.Backward;
RoverMovementStatusUpdater();
}
}
private void go_to_btn_Click(object sender, RoutedEventArgs e)
{
try
{
double latitude = double.Parse(latitude_txt.Text, CultureInfo.InvariantCulture);
double longitude = double.Parse(longitude_txt.Text, CultureInfo.InvariantCulture);
map_viw.Position = new PointLatLng(latitude, longitude);
RoverConsole.ArcEyeContentThreadSafe("Map Initialized In : " + latitude.ToString() + ", " + longitude.ToString());
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe("Incorrect Coordinate Format: " + ex.Message);
}
}
public static void pi1Port1AddressUpdater()
{
try
{
ConnectorOne.pi1Ip = SettingsModule.getPi1Ip();
RoverConsole.ArcEyeContentThreadSafe("pi1Ip : " + pi1Ip.ToString());
ConnectorOne.pi1Port1 = Convert.ToInt32(SettingsModule.getPi1Port1());
RoverConsole.ArcEyeContent("pi1Port1 : " + pi1Port1.ToString());
RoverConsole.ArcEyeAiContentThreadSafe("PI1 IP PORT1 ASSIGN SUCCESSFULL ... !!!");
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
}
}
private void webcam_viw_2_strt_btn_Click(object sender, RoutedEventArgs e)
{
try
{
_WebcamView.webcam_viw_2_txt.Content = "";
_WebcamView.webcam_viw_2_txt.Visibility = Visibility.Hidden;
_WebcamView.webcam_view_2.Visibility = Visibility.Visible;
//webcam2Decoder.ParseStream(new Uri("http://" + SettingsModule.getWebCam2Ip() + ":" + SettingsModule.getWebcam2Port()));
webcam2Decoder.ParseStream(new Uri("http://192.168.1.150:8081"));
RoverConsole.ArcEyeContentThreadSafe("Web Cam View 2 Streaming Has Started");
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
}
}
private void initialize_btn_Click(object sender, RoutedEventArgs e)
{
if (_RoverMovement.joystick_lst.SelectedItem != null)
{
Joystick joystick = new Joystick(directInput, (Guid)_RoverMovement.joystick_lst.SelectedItem);
RoverConsole.ArcEyeContentThreadSafe("Joystick initialization successful.");
_RoverMovement.initialize_btn.IsEnabled = false;
_RoverMovement.joystick_lst.IsEnabled = false;
_RoverMovement.rld_btn.IsEnabled = false;
_RoverMovement.fst_initialize_btn.IsEnabled = false;
Thread joystickInputHandlerThread = new Thread(() => joystickInputHandler(joystick));
joystickInputHandlerThread.IsBackground = true;
joystickInputHandlerThread.Start();
_RoverMovement.joystck_pnl.IsExpanded = true;
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("No Joystick Selected");
}
}
private void fst_initialize_btn_Click(object sender, RoutedEventArgs e)
{
_RoverMovement.joystick_lst.Items.Clear();
joystickGuid = Guid.Empty;
RoverConsole.ArcEyeContentThreadSafe("Initializing fast Joystick Initializing process.");
try
{
foreach (var deviceInstance in directInput.GetDevices(DeviceType.Joystick, DeviceEnumerationFlags.AllDevices))
{
joystickGuid = deviceInstance.InstanceGuid;
_RoverMovement.joystick_lst.Items.Add(joystickGuid);
}
if (joystickGuid == System.Guid.Empty)
{
RoverConsole.ArcEyeContentThreadSafe("No Joystick Found.");
RoverConsole.ArcEyeAiContentThreadSafe("Fast Initializing Process Failed.");
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Joystick Found.");
_RoverMovement.initialize_btn.IsEnabled = true;
_RoverMovement.joystick_lst.IsEnabled = true;
Joystick joystick = new Joystick(directInput, (Guid)_RoverMovement.joystick_lst.Items[0]);
RoverConsole.ArcEyeContentThreadSafe("Joystick initialization successful.");
_RoverMovement.initialize_btn.IsEnabled = false;
_RoverMovement.joystick_lst.IsEnabled = false;
_RoverMovement.rld_btn.IsEnabled = false;
_RoverMovement.fst_initialize_btn.IsEnabled = false;
Thread joystickInputHandlerThread = new Thread(() => joystickInputHandler(joystick));
joystickInputHandlerThread.IsBackground = true;
joystickInputHandlerThread.Start();
_RoverMovement.joystck_pnl.IsExpanded = true;
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContent(ex.ToString());
}
}
private void joystickInputHandler(Joystick joystick)
{
try
{
RoverConsole.ArcEyeContentThreadSafe("Joystick ready to rock and roll.");
joystick.Properties.BufferSize = 128;
joystick.Acquire();
while (true)
{
joystick.Poll();
var datas = joystick.GetBufferedData();
foreach (var state in datas)
{
//RoverConsole.ArcEyeContentThreadSafe("Joystick data : " + state.ToString());
_RoverMovement.buttonHandlerAnalog(state);
_RoverMovement.buttonHandlerDigital(state);
}
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
_RoverMovement.rvr_mvmnt_pnl.Dispatcher.Invoke((Action)(() =>
{
_RoverMovement.joystck_pnl.IsExpanded = false;
_RoverMovement.rld_btn.IsEnabled = true;
_RoverMovement.fst_initialize_btn.IsEnabled = true;
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.Stop)
{
RoverConsole.ArcEyeAiContentThreadSafe("Exciting safety procedure ...!!!");
_RoverMovement.roverMovement = RoverAndArmRoverMovement.Stop;
_RoverMovement.pwm = 0;
_RoverMovement.RoverMovementStatusUpdater();
}
}));
RoverConsole.ArcEyeAiContentThreadSafe("Mouse And KeyBoard Panel Activated, Set As primary I/o Device");
}
}
private void zom_slidr_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
map_viw.Zoom = ((int)zom_slidr.Value);
RoverConsole.ArcEyeContentThreadSafe("Map Zoomed In : " + zom_slidr.Value.ToString() + "x");
}
public static void KeyboardInputHandler_KeyDown(KeyEventArgs e)
{
if (e.Key == System.Windows.Input.Key.W)
{
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.Forward)
{
_RoverMovement.rvr_up.Background = Brushes.Green;
_RoverMovement.roverMovement = RoverAndArmRoverMovement.Forward;
_RoverMovement.pwm = _RoverMovement.tempPwm;
_RoverMovement.pwm_slidr.Value = _RoverMovement.pwm;
_RoverMovement.RoverMovementStatusUpdater();
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Executing Same Command ... !!!");
}
}
else if (e.Key == System.Windows.Input.Key.S)
{
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.Backward)
{
_RoverMovement.rvr_dwn.Background = Brushes.Green;
_RoverMovement.roverMovement = RoverAndArmRoverMovement.Backward;
_RoverMovement.pwm = _RoverMovement.tempPwm;
_RoverMovement.pwm_slidr.Value = _RoverMovement.pwm;
_RoverMovement.RoverMovementStatusUpdater();
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Executing Same Command ... !!!");
}
}
else if (e.Key == System.Windows.Input.Key.A)
{
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.LeftTurn)
{
_RoverMovement.rvr_lft.Background = Brushes.Green;
_RoverMovement.roverMovement = RoverAndArmRoverMovement.LeftTurn;
_RoverMovement.pwm = _RoverMovement.tempPwm;
_RoverMovement.pwm_slidr.Value = _RoverMovement.pwm;
_RoverMovement.RoverMovementStatusUpdater();
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Executing Same Command ... !!!");
}
}
else if (e.Key == System.Windows.Input.Key.D)
{
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.RightTurn)
{
_RoverMovement.rvr_rght.Background = Brushes.Green;
_RoverMovement.roverMovement = RoverAndArmRoverMovement.RightTurn;
_RoverMovement.pwm = _RoverMovement.tempPwm;
_RoverMovement.pwm_slidr.Value = _RoverMovement.pwm;
_RoverMovement.RoverMovementStatusUpdater();
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Executing Same Command ... !!!");
}
}
else if (e.Key == System.Windows.Input.Key.Space)
{
if (_RoverMovement.roverMovement != RoverAndArmRoverMovement.Stop)
{
_RoverMovement.rvr_rght.Background = Brushes.LightGray;
_RoverMovement.rvr_up.Background = Brushes.LightGray;
_RoverMovement.rvr_dwn.Background = Brushes.LightGray;
_RoverMovement.rvr_lft.Background = Brushes.LightGray;
_RoverMovement.roverMovement = RoverAndArmRoverMovement.Stop;
_RoverMovement.pwm = 0;
_RoverMovement.pwm_slidr.Value = _RoverMovement.pwm;
_RoverMovement.RoverMovementStatusUpdater();
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Executing Same Command ... !!!");
}
}
else if (e.Key == System.Windows.Input.Key.LeftShift)
{
if (_RoverMovement.tempPwm <= 80)
{
_RoverMovement.tempPwm = _RoverMovement.tempPwm + 20;
RoverConsole.ArcEyeContentThreadSafe("Speed set to : " + _RoverMovement.tempPwm.ToString());
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Speed Already Set To The Maximum Limit");
}
}
else if (e.Key == System.Windows.Input.Key.LeftCtrl)
{
if (_RoverMovement.tempPwm >= 40)
{
_RoverMovement.tempPwm = _RoverMovement.tempPwm - 20;
RoverConsole.ArcEyeContentThreadSafe("Speed set to : " + _RoverMovement.tempPwm.ToString());
}
else
{
RoverConsole.ArcEyeAiContentThreadSafe("Speed Already Set To The Minimum Limit");
}
}
if (e.Key == System.Windows.Input.Key.F)
{
_RoverMovement.frst_dgre_lft.Background = Brushes.BlueViolet;
_RoverMovement.FirstDegreeLeft();
}
else if (e.Key == System.Windows.Input.Key.C)
{
_RoverMovement.frst_dgre_rght.Background = Brushes.BlueViolet;
_RoverMovement.FirstDegreeRight();
}
else if (e.Key == System.Windows.Input.Key.G)
{
_RoverMovement.two_dgre_up.Background = Brushes.BlueViolet;
_RoverMovement.SecondDrgreeUp();
}
else if (e.Key == System.Windows.Input.Key.V)
{
_RoverMovement.two_dgre_dwn.Background = Brushes.BlueViolet;
_RoverMovement.SecondDrgreeDown();
}
else if (e.Key == System.Windows.Input.Key.H)
{
_RoverMovement.three_dgre_up.Background = Brushes.BlueViolet;
_RoverMovement.ThirdDrgreeUp();
}
else if (e.Key == System.Windows.Input.Key.B)
{
_RoverMovement.three_dgre_dwn.Background = Brushes.BlueViolet;
_RoverMovement.ThirdDrgreeDown();
}
else if (e.Key == System.Windows.Input.Key.J)
{
_RoverMovement.fur_dgre_lft.Background = Brushes.BlueViolet;
_RoverMovement.FourthDrgreeUp();
}
else if (e.Key == System.Windows.Input.Key.N)
{
_RoverMovement.fur_dgre_rght.Background = Brushes.BlueViolet;
_RoverMovement.FourthDrgreeDown();
}
else if (e.Key == System.Windows.Input.Key.K)
{
_RoverMovement.fiv_dgre_up.Background = Brushes.BlueViolet;
_RoverMovement.FifthDegreeLeft();
}
else if (e.Key == System.Windows.Input.Key.M)
{
_RoverMovement.fiv_dgre_dwn.Background = Brushes.BlueViolet;
_RoverMovement.FifthDegreeRight();
}
else if (e.Key == System.Windows.Input.Key.L)
{
_RoverMovement.clw_on.Background = Brushes.BlueViolet;
_RoverMovement.ClawOnn();
}
else if (e.Key == System.Windows.Input.Key.OemComma)
{
_RoverMovement.clw_off.Background = Brushes.BlueViolet;
_RoverMovement.ClawOff();
}
//e.Handled = true;
}
