private void PaintSimulationWorld(SimulationWorld simulationWorld)
{
/* TODO: If window is smaller then symulation world, we should probably scale every coordinates and dimensions,
* so that we can paint whole world in smaller window */
worldCanvas.Children.Clear();
WorldDim.Text = String.Format("{0} x {1}", simulationWorld.WorldWidth, simulationWorld.WorldHeight);
SimTime.Text = String.Format("{0:0.00} s", simulationWorld.Time);
int robots = simulationWorld.Entities.Where(x => x.Value.ShapeID == SimEnt.KHEPERA_ROBOT_ID).Count();
NumOfRob.Text = robots.ToString();
if (robots != 0)
{
RobotsGrid.Visibility = System.Windows.Visibility.Visible;
RobotsGrid.ItemsSource = simulationWorld.Entities
.Select(x => x.Value)
.Where(x => x.ShapeID == SimEnt.KHEPERA_ROBOT_ID)
.Select(x => new
{
ID = x.ID,
IP = x.ControllerAddr ?? "Not connected"
})
.OrderBy(x => x.ID);
}
else
{
RobotsGrid.Visibility = System.Windows.Visibility.Hidden;
}
foreach (SimEnt entity in simulationWorld.Entities.Values)
{
entity.AddToCanvas(worldCanvas);
}
}
private void WorldReceiverThread()
{
while (_connected)
{
SimulationWorld simulationWorld = _connMan.ReciveWorldDesc();
worldCanvas.Dispatcher.Invoke(new UpdateWorldCallback(PaintSimulationWorld), simulationWorld);
}
_connMan.Disconnect();
}
public SimulationWorld ReciveWorldDesc()
{
SimulationWorld result = new SimulationWorld();
BinaryReader reader = new BinaryReader(_tcpClient.GetStream());
result.WorldWidth = (UInt32)IPAddress.NetworkToHostOrder(reader.ReadInt32());
result.WorldHeight = (UInt32)IPAddress.NetworkToHostOrder(reader.ReadInt32());
result.Time = reader.ReadDouble();
bool hasBounds = reader.ReadBoolean(); // information not used in visualisation
int numberOfEntites = (UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16());
for (int i = 0; i < numberOfEntites; i++)
{
SimEnt entity = EntityReceiver.ReadNext(reader);
entity.VertFunc = x => result.WorldHeight - x;
result.Entities.Add(entity.ID, entity);
}
byte numberOfControllers = reader.ReadByte();
for (int i = 0; i < numberOfControllers; i++)
{
UInt16 robotId = (UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16());
String port = ((UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16())).ToString();
String ip = reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString();
SimEnt entity = null;
if (result.Entities.TryGetValue(robotId, out entity))
{
entity.ControllerAddr = String.Concat(ip, ':', port);
}
}
return(result);
}
