Ejemplo n.º 1
0
        public AutonomyViewModel(ModelContainer ModelContainer)
        {
            modelContainer         = ModelContainer;
            LoggerViewModel        = new LoggerViewModel(modelContainer.logger);
            CameraViewModel        = new CameraStreamViewModel();
            DetectionListViewModel = new DetectionListViewModel(modelContainer);


            StartAutonomyCommand = new RelayCommand(StartAutonomyAction, Allow);
            StopAutonomyCommand  = new RelayCommand(StopAutonomyAction, Allow);
            modelContainer.dataContainer.Position.newDataCallback              += (float x, float y, float z) => { RaisePropertyChanged("posX"); RaisePropertyChanged("posY"); RaisePropertyChanged("posZ"); };
            modelContainer.dataContainer.Velocity.newNormCallback              += (float x) => RaisePropertyChanged("Velocity");
            modelContainer.dataContainer.Acceleration.newNormCallback          += (float x) => RaisePropertyChanged("Acceleration");
            modelContainer.modelStatus.taskManagerStatus.NewData               += () => RaisePropertyChanged("TaskManagerStatus");
            modelContainer.modelStatus.networkStatus.ConnectedToJetsonCallback += (bool val) => JetsonConnected = val;
            modelContainer.modelStatus.AutonomyStatusCallback       += (bool val) => AutonomyStatus = val;
            modelContainer.dataContainer.Attitude.newDataCallback   += (float x, float y, float z) => { Roll = x; Pitch = y; Heading = z; };
            modelContainer.dataContainer.motorsData.newDataCallback += () => { RaisePropertyChanged("MotorsData"); };
        }
Ejemplo n.º 2
0
        public ControlViewModel(ModelContainer modelContainer)
        {
            Position                 = new MovementInfoClass();
            this.modelContainer      = modelContainer;
            CameraViewModel          = new CameraStreamViewModel();
            HUDViewModel             = new HUDViewModel();
            DetectionListViewModel   = new DetectionListViewModel(modelContainer);
            DetectionDrawerViewModel = new DetectionDrawerViewModel(modelContainer);
            ModeChangedCommand       = new RelayCommand(ModeChangedAction, CanArmAction);
            ArmCommand               = new RelayCommand(ArmAction, CanArmAction);
            DisarmCommand            = new RelayCommand(DisarmAction, CanDisarmAction);

            DetectionBtnClickedCommand              = new RelayCommand(DetectionBtnClickedAction, (object p) => { return(true); });
            modelContainer.modelStatus.ArmCallback += (bool value) => { Armed = value; };
            modelContainer.modelStatus.networkStatus.ConnectedToJetsonCallback     += (bool value) => { JetsonConnected = value; };
            modelContainer.modelStatus.networkStatus.CameraStreamConnectedCallback += CameraStreamStatusChangedCallback;
            modelContainer.modelStatus.DetectorStatusCallback += (bool val) =>
            {
                DetectionState = val;
            };
        }
Ejemplo n.º 3
0
        public IMUViewModel(ModelContainer modelContainer)
        {
            this.modelContainer = modelContainer;

            AttitudePlotViewModel = new PlotViewModel("Attitude", 3, 100);    //, true, v => v + "°", "roll", "pitch", "yaw");
            GyroPlotViewModel     = new PlotViewModel("Gyro", 3, 20);         //, false, v => v + "°", "x", "y", "z");
            MagPlotViewModel      = new PlotViewModel("Mag", 3, 20);          //, false, v => v + "°", "x", "y", "z");
            AccPlotViewModel      = new PlotViewModel("Acc", 3, 20);          //, false, v => v + "°", "x", "y", "z");
            DepthPlotViewModel    = new PlotViewModel("Depth", 1, 20, -4, 0); //, false, v => v * -1 + "m", "Depth");

            MovementViewModel = new MovementInfoViewModel();
            CameraViewModel   = new CameraStreamViewModel();
            PIDViewModel      = new PIDViewModel(modelContainer);

            modelContainer.jetsonClient.callbacks.PIDCallback += PIDViewModel.UpdatePIDS;
            modelContainer.modelStatus.networkStatus.CameraStreamConnectedCallback += CameraStreamStatusChangedCallback;
            modelContainer.dataContainer.Attitude.newDataCallback += (float x, float y, float z) => { float[] a = { x, y, z }; AttitudePlotViewModel.UpdatePlotData(a); };
            modelContainer.dataContainer.Acc.newDataCallback      += (float x, float y, float z) => { float[] a = { x, y, z }; AccPlotViewModel.UpdatePlotData(a); };
            modelContainer.dataContainer.Gyro.newDataCallback     += (float x, float y, float z) => { float[] a = { x, y, z }; GyroPlotViewModel.UpdatePlotData(a); };
            modelContainer.dataContainer.Mag.newDataCallback      += (float x, float y, float z) => { float[] a = { x, y, z }; MagPlotViewModel.UpdatePlotData(a); };
            modelContainer.dataContainer.Baro.newDataCallback     += (float value) => { float[] a = { value }; DepthPlotViewModel.UpdatePlotData(a); };
        }