/// <summary>Handles the respons from the user.</summary>
private void handleConnection(object sender, string e)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (e == "Ok") // If the user confirms the establishment a progressbar is presented and a establish connection process is initialized
{
progDialog = new ProgressDialog("Forbinder...");
progDialog.Owner = this;
this.IsEnabled = false;
progDialog.Show();
Logic.OnException -= new Logic.LogicExceptionEventHandler(ShowException);
Logic.OnException += new Logic.LogicExceptionEventHandler(ShowException);
Connection.OnConnectionCompleted -= new Connection.ConnectionCompletedEventHandler(ConnectionCompleted);
Connection.OnConnectionCompleted += new Connection.ConnectionCompletedEventHandler(ConnectionCompleted);
Thread connThread = new Thread(() => // Calls the establish connection in a thread so the progressbar isnt blocked
{
logic.EstablishConnection();
});
connThread.IsBackground = true;
connThread.Start();
}
else if (e == "Annuller") // The user cancels the establishment and the window is closed
{
infoDlg.Close();
infoDlg = null;
this.IsEnabled = true;
}
});
}
/// <summary>Opens a window showing the error, when the robot is in the wrong mode for movement.</summary>
/// <param name="error">Error message.</param>
private void URNotRunning(string error)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", error, "Luk program");
infoDlg.OnDialogFinished -= infoDlg_DialogFinished;
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.OnDialogFinished -= handleURNOTRUNNING;
infoDlg.OnDialogFinished += handleURNOTRUNNING;
infoDlg.Owner = this;
infoDlg.Show();
Thread NotRunning = new Thread(() => // Wait until the robots modes fulfill the right conditions
{
while (true)
{
if (connection.robotMode == "ROBOT_MODE_RUNNING" && connection.safetyMode == "SAFETY_MODE_NORMAL")
{
break;
}
}
Dispatcher.BeginInvoke((Action) delegate
{
infoDlg.Close();
infoDlg = null;
});
});
NotRunning.IsBackground = true;
NotRunning.Start();
}
});
}
/// <summary>DialogFinished event that closes the window.</summary>
private void infoDlg_DialogFinished(object sender, string e)
{
InfoAndErrorWindow dlg = sender as InfoAndErrorWindow;
dlg.Close();
}
/// <summary>DialogFinished event that closes the window.</summary>
void infoDlg_DialogFinished(object sender, string e)
{
infoDlg.Close();
infoDlg = null;
}
/// <summary>DialogFinished event that closes the window.</summary>
void infoDlg_Error_DialogFinished(object sender, string e)
{
errorDlg.Close();
errorDlg = null;
}
