public AutonomyViewModel(ModelContainer ModelContainer)
{
modelContainer = ModelContainer;
LoggerViewModel = new LoggerViewModel(modelContainer.logger);
CameraViewModel = new CameraStreamViewModel();
DetectionListViewModel = new DetectionListViewModel(modelContainer);
StartAutonomyCommand = new RelayCommand(StartAutonomyAction, Allow);
StopAutonomyCommand = new RelayCommand(StopAutonomyAction, Allow);
modelContainer.dataContainer.Position.newDataCallback += (float x, float y, float z) => { RaisePropertyChanged("posX"); RaisePropertyChanged("posY"); RaisePropertyChanged("posZ"); };
modelContainer.dataContainer.Velocity.newNormCallback += (float x) => RaisePropertyChanged("Velocity");
modelContainer.dataContainer.Acceleration.newNormCallback += (float x) => RaisePropertyChanged("Acceleration");
modelContainer.modelStatus.taskManagerStatus.NewData += () => RaisePropertyChanged("TaskManagerStatus");
modelContainer.modelStatus.networkStatus.ConnectedToJetsonCallback += (bool val) => JetsonConnected = val;
modelContainer.modelStatus.AutonomyStatusCallback += (bool val) => AutonomyStatus = val;
modelContainer.dataContainer.Attitude.newDataCallback += (float x, float y, float z) => { Roll = x; Pitch = y; Heading = z; };
modelContainer.dataContainer.motorsData.newDataCallback += () => { RaisePropertyChanged("MotorsData"); };
}
public ControlViewModel(ModelContainer modelContainer)
{
Position = new MovementInfoClass();
this.modelContainer = modelContainer;
CameraViewModel = new CameraStreamViewModel();
HUDViewModel = new HUDViewModel();
DetectionListViewModel = new DetectionListViewModel(modelContainer);
DetectionDrawerViewModel = new DetectionDrawerViewModel(modelContainer);
ModeChangedCommand = new RelayCommand(ModeChangedAction, CanArmAction);
ArmCommand = new RelayCommand(ArmAction, CanArmAction);
DisarmCommand = new RelayCommand(DisarmAction, CanDisarmAction);
DetectionBtnClickedCommand = new RelayCommand(DetectionBtnClickedAction, (object p) => { return(true); });
modelContainer.modelStatus.ArmCallback += (bool value) => { Armed = value; };
modelContainer.modelStatus.networkStatus.ConnectedToJetsonCallback += (bool value) => { JetsonConnected = value; };
modelContainer.modelStatus.networkStatus.CameraStreamConnectedCallback += CameraStreamStatusChangedCallback;
modelContainer.modelStatus.DetectorStatusCallback += (bool val) =>
{
DetectionState = val;
};
}
public IMUViewModel(ModelContainer modelContainer)
{
this.modelContainer = modelContainer;
AttitudePlotViewModel = new PlotViewModel("Attitude", 3, 100); //, true, v => v + "°", "roll", "pitch", "yaw");
GyroPlotViewModel = new PlotViewModel("Gyro", 3, 20); //, false, v => v + "°", "x", "y", "z");
MagPlotViewModel = new PlotViewModel("Mag", 3, 20); //, false, v => v + "°", "x", "y", "z");
AccPlotViewModel = new PlotViewModel("Acc", 3, 20); //, false, v => v + "°", "x", "y", "z");
DepthPlotViewModel = new PlotViewModel("Depth", 1, 20, -4, 0); //, false, v => v * -1 + "m", "Depth");
MovementViewModel = new MovementInfoViewModel();
CameraViewModel = new CameraStreamViewModel();
PIDViewModel = new PIDViewModel(modelContainer);
modelContainer.jetsonClient.callbacks.PIDCallback += PIDViewModel.UpdatePIDS;
modelContainer.modelStatus.networkStatus.CameraStreamConnectedCallback += CameraStreamStatusChangedCallback;
modelContainer.dataContainer.Attitude.newDataCallback += (float x, float y, float z) => { float[] a = { x, y, z }; AttitudePlotViewModel.UpdatePlotData(a); };
modelContainer.dataContainer.Acc.newDataCallback += (float x, float y, float z) => { float[] a = { x, y, z }; AccPlotViewModel.UpdatePlotData(a); };
modelContainer.dataContainer.Gyro.newDataCallback += (float x, float y, float z) => { float[] a = { x, y, z }; GyroPlotViewModel.UpdatePlotData(a); };
modelContainer.dataContainer.Mag.newDataCallback += (float x, float y, float z) => { float[] a = { x, y, z }; MagPlotViewModel.UpdatePlotData(a); };
modelContainer.dataContainer.Baro.newDataCallback += (float value) => { float[] a = { value }; DepthPlotViewModel.UpdatePlotData(a); };
}