public static networkManager getInstance(incomingLineEventHandler incomingDriveLineHandler, incomingLineEventHandler incomingEngineeringLineHandler, incomingLineEventHandler incomingArmLineHandler, incomingLineEventHandler incomingLogisticsLineHandler)
{
if (NM != null)
{
return NM;
}
else
{
NM = new networkManager(incomingDriveLineHandler, incomingEngineeringLineHandler, incomingArmLineHandler, incomingLogisticsLineHandler);
return NM;
}
}
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);
}
}
private armManager(Arduino armArduino, Arduino handArduino, networkManager _netman)
{
armDuino = armArduino;
handDuino = handArduino;
netMan = _netman;
netMan.incomingArm += netMan_incomingArm;
armDuino.Data_Received += armDuino_Data_Received;
handDuino.Data_Received += handDuino_Data_Received;
}
public static armManager getInstance(Arduino armArduino, Arduino handArduino, networkManager _netman)
{
if (instance == null)
{
instance = new armManager(armArduino,handArduino,_netman);
}
return instance;
}
private ptManager(Arduino panTiltArduino, networkManager _netMan)
{
ptDuino = panTiltArduino;
netMan = _netMan;
ptDuino.Data_Received += ptDuino_Data_Received;
netMan.incomingDrive += netMan_incomingDrive;
}
public static ptManager getInstance(Arduino panTiltArduino, networkManager _netMan)
{
if (instance == null)
{
instance = new ptManager(panTiltArduino, _netMan);
}
return instance;
}
private driveManager(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
{
frontDriveDuino = frontArduino;
backDriveDuino = backArduino;
frontDriveDuino.Data_Received += frontDriveDuino_Data_Received;
backDriveDuino.Data_Received += backDriveDuino_Data_Received;
netMan = _netMan;
netMan.incomingDrive += netMan_incomingDrive;
}
public static driveManager getInstance(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
{
if (instance == null)
{
instance = new driveManager(backArduino, frontArduino, _netMan);
}
return instance;
}
