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 tcpClient_OnConnectionStatusChanged(object sender, TCPSlamClient.ClientStatusArgs e)
{
if (e.Status == TCPSlamClient.ClientStatus.Connected)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = false; }));
btnConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnConnect.Content = "Disconnect"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Connected"; }));
groupCommunication.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupCommunication.IsEnabled = true; }));
groupArduino.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupArduino.IsEnabled = true; }));
}
else if (e.Status == TCPSlamClient.ClientStatus.Connecting)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = false; }));
btnConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnConnect.Content = "Disconnect"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Connecting..."; }));
groupCommunication.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupCommunication.IsEnabled = false; }));
groupArduino.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupArduino.IsEnabled = false; }));
}
else if (e.Status == TCPSlamClient.ClientStatus.Disconnected)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = true; }));
btnConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnConnect.Content = "Connect"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Disconnected"; }));
groupCommunication.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupCommunication.IsEnabled = false; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Connect"; }));
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Disconnected"; }));
groupArduino.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupArduino.IsEnabled = false; }));
ArduinoStatus = ArduinoSlam.ArduinoStatus.NotConnected;
cmbKinect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cmbKinect.Items.Clear(); }));
}
}
