public MainForm()
{
//setup window
InitializeComponent();
depthIndicator = new DepthIndicator()
{
Location = new Point(0, 100)
};
attitudeIndicator = new AttitudeIndicator()
{
Location = new Point(100, 100)
};
headingIndicator = new HeadingIndicator()
{
Location = new Point(600, 100)
};
Controls.Add(depthIndicator);
Controls.Add(attitudeIndicator);
Controls.Add(headingIndicator);
//setup devices
BetterSerialPort port = new BetterSerialPort("COM5", 500000);
port.Open();
portLabel.Text = string.Format("{0}@{1}baud", port.PortName, port.BaudRate);
comms = new SerialCommunication(port);
comms.Stopped += comms_Stopped;
comms.Started += comms_Started;
//comms.Connect();
depthSensor = new DepthSensor();
orientationSensor = new OrientationSensor();
statusSensor = new StatusSensor();
propulsionSensor = new PropulsionSensor();
versionSensor = new VersionSensor();
statusActuator = new StatusActuator();
propulsionActuator = new PropulsionActuator();
toolsActuator = new ToolsActuator();
//update displays when sensors polled
orientationSensor.Updated += OrientationSensor_Updated;
depthSensor.Updated += DepthSensor_Updated;
//get ROV firmware version info
comms.Queue.Enqueue(versionSensor);
//go Fullscreen
//GoFullscreen(); //do this in the designer
}
//public event EventHandler TenElapsed, HundredElapsed, ThousandElapsed;
public SerialCommunication(BetterSerialPort port) : base()
{
//Communications Process
this.port = port;
//connection between UI and background threads is a queue of Devices that need updating
devices = new ConcurrentQueue <GenericAbstractDevice>();
//background loop runs on this thread
thread = new Thread(new ThreadStart(BackgroundLoop));
thread.SetApartmentState(ApartmentState.STA); //for UI compatibility
thread.IsBackground = true;
//get going
thread.Start();
//port.Open(); //error when port opened in constructor
}
public MainForm()
{
//controller
pilot = X.Gamepad_1;
pilot.Enable = true;
pilot.Update(); //must call update right after setting enable to true in order for it to connect
//setup window
KeyPreview = true;
InitializeComponent();
armButton.Enabled = false;
resetButton.Enabled = false;
//setup devices
string portName = "COM6";
try
{
portName = BetterSerialPort.GetPortNames()[0];
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), "No Serial ports available");
}
BetterSerialPort port = new BetterSerialPort(portName, 4800);
portLabel.Text = string.Format("{0}@{1}baud", port.PortName, port.BaudRate);
comms = new SerialCommunication(port);
comms.Stopped += comms_Stopped;
comms.Started += comms_Started;
comms.CommunicationException += Comms_CommunicationException;
//comms.Connect();*/
rov = new ROV(comms);
//update displays when sensors polled
rov.OrientationSensor.Updated += OrientationSensor_Updated;
rov.DepthSensor.Updated += DepthSensor_Updated;
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
for (int i = 0; i < videoDevices.Count; i++)
{
if (videoDevices[i].Name.Equals("OEM Device"))
{
videoSource = new VideoCaptureDevice(videoDevices[i].MonikerString);
videoSource.CrossbarVideoInput = videoSource.AvailableCrossbarVideoInputs[1];
videoSource.VideoResolution = videoSource.VideoCapabilities[1];
}
}
// set NewFrame event handler
try
{
videoSource.NewFrame += new NewFrameEventHandler(video_NewFrame);
}
catch (NullReferenceException potato)
{
//fill in later, catch made temporarily to ignore NullReferenceException
}
picture.SizeMode = PictureBoxSizeMode.StretchImage;
}
