void tcpClient_OnDataReceived(object sender, TCPSlamBase.MessageArgs e)
{
if (e.MessageType == TCPSlamBase.MessageType.ArduinoStatus)
{
ArduinoStatus = (ArduinoSlam.ArduinoStatus)e.Message[0];
if (ArduinoStatus == ArduinoSlam.ArduinoStatus.Connected)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Connected"; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Disconnect"; }));
}
else if (ArduinoStatus == ArduinoSlam.ArduinoStatus.Connecting)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Connecting..."; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Disconnect"; }));
}
else if (ArduinoStatus == ArduinoSlam.ArduinoStatus.NotConnected)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Disconnected"; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Connect"; }));
}
}
else if (e.MessageType == TCPSlamBase.MessageType.KinectList)
{
byte count = e.Message[0];
cmbKinect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate()
{
cmbKinect.Items.Clear();
for (byte i = 1; i <= count; i++)
cmbKinect.Items.Add(new ComboBoxItem() { Content = "Kinect " + i });
if (count > 0)
cmbKinect.SelectedIndex = 0;
}));
}
else if (e.MessageType == TCPSlamBase.MessageType.KinectFrame)
{
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Send, new Action(delegate() { cameraWindow.LoadFrame(e.Message); }));
}
else if (e.MessageType == TCPSlamBase.MessageType.Audio)
{
SoundPlayer sp = new SoundPlayer(new MemoryStream(e.Message));
sp.Play();
}
else if (e.MessageType == TCPSlamBase.MessageType.XForce)
{
if (cameraWindow != null)
cameraWindow.XForce = BitConverter.ToDouble(e.Message, 0);
}
else if (e.MessageType == TCPSlamBase.MessageType.YForce)
{
if (cameraWindow != null)
cameraWindow.YForce = BitConverter.ToDouble(e.Message, 0);
}
else if (e.MessageType == TCPSlamBase.MessageType.ZForce)
{
if (cameraWindow != null)
cameraWindow.ZForce = BitConverter.ToDouble(e.Message, 0);
}
else if (e.MessageType == TCPSlamBase.MessageType.Temperature)
{
if (cameraWindow != null)
cameraWindow.Temperature = BitConverter.ToDouble(e.Message, 0);
}
}
void tcpServer_OnDataReceived(object sender, TCPSlamBase.MessageArgs e)
{
if (e.MessageType == TCPSlamBase.MessageType.ArduinoConnection)
{
if (BitConverter.ToBoolean(e.Message, 0))
arduino.Connect();
else
arduino.CloseConnection();
}
else if (e.MessageType == TCPSlamBase.MessageType.SendVideo)
{
int kinect = e.Message[0];
kinectManager.StartSensor(kinectManager.GetKinectList()[1]);
sendVideo = true;
videoThread = new Thread(SendVideo);
videoThread.Start();
}
else if (e.MessageType == TCPSlamBase.MessageType.StopVideo)
{
sendVideo = false;
kinectManager.StopSensor();
}
else if (e.MessageType == TCPSlamBase.MessageType.CameraMove)
{
kinectManager.MoveCamera(BitConverter.ToInt32(e.Message, 0));
}
else if (e.MessageType == TCPSlamBase.MessageType.LeftMotor)
{
if (arduino.Status == ArduinoSlam.ArduinoStatus.Connected)
arduino.SetLeftMotor(BitConverter.ToDouble(e.Message, 0));
}
else if (e.MessageType == TCPSlamBase.MessageType.RightMotor)
{
if (arduino.Status == ArduinoSlam.ArduinoStatus.Connected)
arduino.SetRightMotor(BitConverter.ToDouble(e.Message, 0));
}
}
