public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}
private void connectRobot()
{
//save any change to xml file
row.LaserRangeIP = txtRobotIP.Text;
row.RobotID = txtRobotID.Text;
row.RobotIP = txtRobotIP.Text;
row.GPSIP = txtGPSIP.Text;
row.IMUIP = txtGPSIP.Text;
row.CameraIP = txtCameraIP.Text;
//row.CameraPWD = txtCameraPWD.Text;
row.CameraUser = txtCameraID.Text;
try
{
robotConfig.WriteXml(configFile);
}
catch
{
}
//write gateway config file
XmlTextWriter textWriter = new XmlTextWriter("C:\\DrRobotAppFile\\gatewayConfig.xml", null);
textWriter.WriteStartDocument();
// Write comments
textWriter.WriteComment("For Gateway Communication");
// Write first element
textWriter.WriteStartElement("GateWaySetting", "");
// Write next element
textWriter.WriteStartElement("RobotID", "");
textWriter.WriteString(row.RobotID);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotMethod", "");
textWriter.WriteString("WiFi");
//textWriter.WriteString("Serial");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotCom", "");
textWriter.WriteString("COM1");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotIP", "");
textWriter.WriteString(row.RobotIP);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotPort", "");
textWriter.WriteString("10001");
textWriter.WriteEndElement();
// Ends the document.
textWriter.WriteEndElement();
textWriter.WriteEndDocument();
// close writer
textWriter.Close();
Thread.Sleep(1000);
//start one gateway
p1 = new Process();
p1.StartInfo.FileName = "C:\\DrRobotAppFile\\WirobotGateway.exe";
p1.StartInfo.WindowStyle = ProcessWindowStyle.Minimized;
p1.Start();
Thread.Sleep(1000);
controlForm = new JaguarCtrl(this, robotConfig);
controlForm.Show();
}
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}