public MainWindow() {
InitializeComponent();
xboxController = new XboxController.XboxController();
pilotPreferences.xboxController = xboxController;
comSock = new commSockReceiver(35000);
comSock.IncomingLine += comSock_IncomingLine;
comSock.newConnection += comSock_newConnection;
comSock.connectionLost += comSock_connectionLost;
comSock.beginAccept();
driveInputMan = new driveInputManager(xboxController);
driveTransmit = new driveTransmitter(driveInputMan, comSock);
try
{
orientation = OculusOrientation.getInstance();
ptTransmitter = new OculusTransmitter(comSock, orientation);
}
catch (Exception e)
{
MessageBox.Show("WARNING! Oculus offline (probably not plugged in). ERROR: " + e.Message);
}
pilotPreferences.topSpeedChanged += pilotPreferences_topSpeedChanged;
}
public engineeringNetworkManager(commSockReceiver _comSock, videoManager.ToolboxControl _VM)
{
VM = _VM;
VM.intendedCameraStatusChanged+=VM_intendedCameraStatusChanged;
comSock = _comSock;
comSock.IncomingLine += comSock_IncomingLine;
}
public MainWindow()
{
InitializeComponent();
palmVidWindow = new videoWindow(35003, videoWindow.monitors.secondMonitor,"Palm Cam Window");
palmVidWindow.Show();
humerusVidWindow = new videoWindow(35005, videoWindow.monitors.thirdMonitor, "Humerus Cam Window");
humerusVidWindow.Show();
inputOnlineInd.setIndicatorState(toggleIndicator.indicatorState.Red);
xboxController = new XboxController.XboxController();
comSock = new commSockReceiver(35002);
comSock.IncomingLine += comSock_IncomingLine;
comSock.newConnection += comSock_newConnection;
comSock.connectionLost += comSock_connectionLost;
comSock.beginAccept();
armInputMan = armInputManager.getInstance(xboxController,comSock);
armInputMan.InputUnlockedEvent += inputUnlocked;
macros.newMacroData += macros_newMacroData;
armTransmit = new armCommandTransmitter(armInputMan, comSock);
xboxControlMonitor.xboxController = xboxController;
armSideView.armInputManager = armInputMan;
armTopView.armInputManager = armInputMan;
wristVisualizer.armInput = armInputMan;
}
public MainWindow()
{
InitializeComponent();
comSock = new commSockReceiver(35006);
comSock.IncomingLine += comSock_IncomingLine;
comSock.newConnection += comSock_newConnection;
comSock.connectionLost += comSock_connectionLost;
comSock.beginAccept();
frontSSR = new snapShotReceiver(35007);
frontSSR.newSnapShotReceived += frontSSR_newSnapShotReceived;
rightSSR = new snapShotReceiver(35009);
rightSSR.newSnapShotReceived += rightSSR_newSnapShotReceived;
backSSR = new snapShotReceiver(35008);
backSSR.newSnapShotReceived += backSSR_newSnapShotReceived;
leftSSR = new snapShotReceiver(35011);
leftSSR.newSnapShotReceived += leftSSR_newSnapShotReceived;
this.WindowState = System.Windows.WindowState.Maximized;
mapPalette.newPaletteItemSelected += mapPalette_newPaletteItemSelected;
mapWin = new mapWindow();
mapWin.Show();
leftMagWin = new magnificationWindow(1, "Left Magnification");
leftMagWin.Show();
rightMagWin = new magnificationWindow(2, "Right Magnification");
rightMagWin.Show();
}
public driveTransmitter(driveInputManager _driveInput, commSockReceiver _CSR) {
CSR = _CSR;
driveInput = _driveInput;
driveInput.newLeftValue += driveInput_newLeftValue;
driveInput.newRightValue += driveInput_newRightValue;
sendTimer = new Timer(sendTimerCallback, null, 100, 100);
}
public MainWindow()
{
InitializeComponent();
CSR = new commSockReceiver(35000);
CSR.beginAccept();
CSR.IncomingLine += CSR_IncomingLine;
CSR.newConnection += CSR_newConnection;
}
public MainWindow()
{
InitializeComponent();
comSock = new commSockReceiver(35010);
comSock.IncomingLine += comSock_IncomingLine;
comSock.newConnection += comSock_newConnection;
comSock.connectionLost += comSock_connectionLost;
comSock.beginAccept();
videoManager.intendedCameraStatusChanged+=videoManager_intendedCameraStatusChanged;
videoQualityControl.userUpdatedVideoTraits += videoQualityControl_userUpdatedVideoTraits;
rareHeartbeatTimer = new Timer(rareHeartbeatTimerCallback, null, 2000, 25000);
}
public OculusTransmitter(commSockReceiver _CSR, OculusOrientation _OcuOrient) {
CSR = _CSR;
OcuOrient = _OcuOrient;
OcuOrient.yawChanged += OcuOrient_yawChanged;
OcuOrient.pitchChanged += OcuOrient_pitchChanged;
sendTimer = new Timer(sendTimerCallback, null,100, 50); //can send up to 20 times per second
}
private armInputManager(XboxController.XboxController _xboxController, commSockReceiver _armCommSock)
{
xboxController = _xboxController;
xboxController.ThumbStickRight += xboxController_ThumbStickRight;
xboxController.TriggerLeft += xboxController_TriggerLeft;
xboxController.TriggerRight += xboxController_TriggerRight;
xboxController.ThumbStickLeft += xboxController_ThumbStickLeft;
xboxController.ButtonRightShoulderPressed += xboxController_ButtonRightShoulderPressed;
xboxController.ButtonLeftShoulderPressed += xboxController_ButtonLeftShoulderPressed;
xboxController.ButtonRightShoulderReleased += bumperReleased;
xboxController.ButtonLeftShoulderReleased += bumperReleased;
xboxController.ButtonBPressed += xboxController_ButtonBPressed;
turntableUpdateThread = new Thread(new ThreadStart(turnTableUpdate));
turntableUpdateThread.Start();
elbowUpdateThread = new Thread(new ThreadStart(elbowUpdate));
elbowUpdateThread.Start();
shoulderUpdateThread = new Thread(new ThreadStart(shoulderUpdate));
shoulderUpdateThread.Start();
wristUpdateThread = new Thread(new ThreadStart(wristUpdate));
wristUpdateThread.Start();
gripperUpdateThread = new Thread(new ThreadStart(gripperUpdate));
gripperUpdateThread.Start();
commSock = _armCommSock;
commSock.IncomingLine += commSock_IncomingLine;
commSock.connectionLost += commSock_connectionLost;
}
public static armInputManager getInstance(XboxController.XboxController _xboxController, commSockReceiver _armCommSock)
{
if (actualInstance != null)
{
return actualInstance;
}
else
{
actualInstance = new armInputManager(_xboxController, _armCommSock);
return actualInstance;
}
}
public armCommandTransmitter(armInputManager _armInput, commSockReceiver _CSR)
{
armInput = _armInput;
CSR = _CSR;
armInput.EmergencyStop += emergencyStop;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetGripperChanged += armInput_targetGripperChanged;
armInput.targetWristChanged += armInput_targetWristChanged;
wristTimer = new Timer(wristTimerCallback,null,200,200); //transmits 5 times per second
turnTableTimer = new Timer(turnTableTimerCallback, null, 190, 200);
shoulderTimer = new Timer(shoulderTimerCallback, null, 180, 200);
elbowTimer = new Timer(elbowTimerCallback, null, 170, 200);
gripperTimer = new Timer(gripperTimerCallback, null, 160, 200);
}
