public MainWindow() { InitializeComponent(); ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); handDuino = ArduMan.getHandArduino(); handDuino.Data_Received += handDuino_Data_Received; armDuino = ArduMan.getArmArduino(); armDuino.Data_Received += armDuino_Data_Received; Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui Console.WriteLine("***Arm Control Booted***"); xboxController = new XboxController.XboxController(); armInput = armInputManager.getInstance(xboxController); armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput); xboxControllerMonitor.xboxController = xboxController; armSideView.armInputManager = armInput; armTopView.armInputManager = armInput; Console.WriteLine("***XBOX CONTROLLER CONNECTED***"); wristComponent._xboxController = xboxController; }
public MainWindow() { InitializeComponent(); incomingCOMViz.title = "Incoming COM"; incomingNETViz.title="Incoming NET"; outgoingCOMViz.title="Outgoing COM"; outgoingNETViz.title="Outgoing NET"; leftVid.setTitle("Palm Camera"); rightVid.setTitle("Angle Camera"); macroButtons.MacroPressed += macroButtons_MacroPressed; GUIArmDrive.directionPressed += GUIArmDrive_directionPressed; GUIArmDrive.isGrayedOut = true; ControlStatusPanel.activateButtonClicked += ControlStatusPanel_activateButtonClicked; ArduManage = ArduinoManager.Instance; if (ArduManage.findArduinos()) { //An ARM Arduino is connected to the computer try { ARM = ArduManage.getArmArduino(); } catch { MessageBox.Show("No ARM Arduino found, GUI cannot function correctly..."); } ARM.Data_Received += ARM_Data_Received; ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, true); } else { ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, false); } leftVid.setMJPEGVideoFeedSource("HTTP://localhost:8080"); leftVid.StartVideo(); rightVid.setMJPEGVideoFeedSource("HTTP://localhost:8080"); rightVid.StartVideo(); }
public MainWindow() { InitializeComponent(); driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString(); armIPLabel.Content = rocConstants.MCIP_ARM.ToString(); logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS; engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString(); NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager); NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged; NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged; NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged; NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged; ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); backDrive = ArduMan.getDriveBackArduino(false); frontDrive = ArduMan.getDriveFrontArduino(false); ptDuino = ArduMan.getPanTiltArduino(true); ArmDuino = ArduMan.getArmArduino(false); HandDuino = ArduMan.getHandArduino(false); miscDuino = ArduMan.getMiscArduino(false); backDrive.Data_Received += backDrive_Data_Received; frontDrive.Data_Received += frontDrive_Data_Received; ptDuino.Data_Received += ptDuino_Data_Received; ArmDuino.Data_Received += ArmDuino_Data_Received; HandDuino.Data_Received += HandDuino_Data_Received; miscDuino.Data_Received += miscDuino_Data_Received; driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan); ptMan = ptManager.getInstance(ptDuino, NetMan); armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan); hwMonitor = ROCInfo.getInstance(1000);//updates once per second hwMonitor.updatedValue += hwMonitor_updatedValue; camMan = cameraManager.getInstance(); camMan.assignCameras(); VideoCaptureDevice panTiltLeft; VideoCaptureDevice panTiltRight; if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft) && camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found... panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS); panTiltTransmitter.startTransmitting(); } ////////////// ///VIDEO CAMS SETUP ////////////// VideoCaptureDevice palmCam; if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam)) { palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM); } VideoCaptureDevice noseCam; if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam)) { noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE); } VideoCaptureDevice humerusCam; if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam)) { humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS); } ////////////// ///SNAPSHOT CAMS SETUP ////////////// VideoCaptureDevice logFrontCam; if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam)) { logFrontSS = new snapShotSender(logFrontCam); } VideoCaptureDevice logRightCam; if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam)) { logRightSS = new snapShotSender(logRightCam); } VideoCaptureDevice logBackCam; if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam)) { logBackSS = new snapShotSender(logBackCam); } VideoCaptureDevice logLeftCam; if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam)) { logLeftSS = new snapShotSender(logLeftCam); } }