protected void setGuiCurrentParkingSensor(proxibrick.ParkingSensorDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentParkingSensor = new ParkingSensorData()
{
TimeStamp = dir.TimeStamp.Ticks,
parkingSensorMetersLB = dir.parkingSensorMetersLB,
parkingSensorMetersLF = dir.parkingSensorMetersLF,
parkingSensorMetersRB = dir.parkingSensorMetersRB,
parkingSensorMetersRF = dir.parkingSensorMetersRF
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
protected void setGuiCurrentProximity(proxibrick.ProximityDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentProximity = new ProximityData()
{
TimeStamp = dir.TimeStamp.Ticks,
mbbl = dir.mbbl,
mbbr = dir.mbbr,
mbl = dir.mbl,
mbr = dir.mbr,
mffl = dir.mffl,
mffr = dir.mffr,
mfl = dir.mfl,
mfr = dir.mfr
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
protected void setGuiCurrentAttitude(libguiwpf.OrientationData attitudeData)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentAttitude = attitudeData;
}
);
_wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentAccelerometer(proxibrick.AccelerometerDataDssSerializable acc)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentAccelerometer = new AccelerometerData() { TimeStamp = acc.TimeStamp.Ticks, accX = acc.accX, accY = acc.accY, accZ = acc.accZ };
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentLaserData(LaserDataSerializable laserData)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentLaserData = laserData; // update sonar sweep control
//_mainWindow.setMapper(_mapperVicinity); // this is pretty much only calling Redraw on the map
_mainWindow.RedrawMap();
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
protected void setGuiCurrentDirection(DirectionData dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentDirection = new DirectionData()
{
TimeStamp = dir.TimeStamp, heading = dir.heading, bearing = _currentGoalBearing
};
}
);
_wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentAccelerometer(proxibrick.AccelerometerDataDssSerializable acc)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentAccelerometer = new AccelerometerData()
{
TimeStamp = acc.TimeStamp.Ticks, accX = acc.accX, accY = acc.accY, accZ = acc.accZ
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
/// <summary>
/// update GUI with current direction
/// </summary>
/// <param name="dir"></param>
protected void setGuiCurrentDirection(proxibrick.DirectionDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentDirection = new DirectionData()
{
TimeStamp = dir.TimeStamp.Ticks, heading = dir.heading, bearing = _mapperVicinity.robotDirection.bearing
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentLaserData(LaserDataSerializable laserData)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentLaserData = laserData; // update sonar sweep control
//_mainWindow.setMapper(_mapperVicinity); // this is pretty much only calling Redraw on the map
_mainWindow.RedrawMap();
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
protected void setGuiCurrentDirection(DirectionData dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentDirection = new DirectionData() { TimeStamp = dir.TimeStamp, heading = dir.heading, bearing = _currentGoalBearing };
}
);
_wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentAttitude(libguiwpf.OrientationData attitudeData)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentAttitude = attitudeData;
}
);
_wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentTactics(RobotTacticsType tactics)
{
if (_mainWindow != null && tactics != lastGuiTactics)
{
lastGuiTactics = tactics;
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentTactics = tactics;
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
/// <summary>
/// update GUI with current direction
/// </summary>
/// <param name="dir"></param>
protected void setGuiCurrentDirection(proxibrick.DirectionDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(delegate()
{
_mainWindow.CurrentDirection = new DirectionData() { TimeStamp = dir.TimeStamp.Ticks, heading = dir.heading, bearing = _mapperVicinity.robotDirection.bearing };
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Error(ex) // delegate for failure
));
}
}
protected void setGuiCurrentProximity(proxibrick.ProximityDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentProximity = new ProximityData()
{
TimeStamp = dir.TimeStamp.Ticks,
mbbl = dir.mbbl,
mbbr = dir.mbbr,
mbl = dir.mbl,
mbr = dir.mbr,
mffl = dir.mffl,
mffr = dir.mffr,
mfl = dir.mfl,
mfr = dir.mfr
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
protected void setGuiCurrentParkingSensor(proxibrick.ParkingSensorDataDssSerializable dir)
{
if (_mainWindow != null)
{
ccrwpf.Invoke invoke = new ccrwpf.Invoke(
delegate()
{
_mainWindow.CurrentParkingSensor = new ParkingSensorData()
{
TimeStamp = dir.TimeStamp.Ticks,
parkingSensorMetersLB = dir.parkingSensorMetersLB,
parkingSensorMetersLF = dir.parkingSensorMetersLF,
parkingSensorMetersRB = dir.parkingSensorMetersRB,
parkingSensorMetersRF = dir.parkingSensorMetersRF
};
}
);
wpfServicePort.Post(invoke);
Arbiter.Activate(TaskQueue,
invoke.ResponsePort.Choice(
s => { }, // delegate for success
ex => { } //Tracer.Trace(ex) // delegate for failure
));
}
}
