public void setRobotPositionAndDirection(GeoPosition pos, Direction dir)
{
MapperVicinity mapperVicinity = CurrentMapper;
if (pos != null)
{
mapperVicinity.robotPosition = (GeoPosition)pos.Clone();
}
if (dir != null)
{
mapperVicinity.robotDirection = (Direction)dir.Clone();
}
// --------- debug ------------
/*
* GeoPosition pos1 = (GeoPosition)pos.Clone();
*
* pos1.translate(new Distance(1.0d), new Distance(1.0d)); // robot coordinates - right forward
*
* DetectedObstacle dobst1 = new DetectedObstacle(pos1) { color = Colors.Red };
*
* mapperVicinity.AddDetectedObject(dobst1);
*
* GeoPosition pos2 = (GeoPosition)pos.Clone();
*
* pos2.translate(new Distance(-1.0d), new Distance(1.0d)); // robot coordinates - left forward
*
* DetectedObstacle dobst2 = new DetectedObstacle(pos2) { color = Colors.Yellow };
*
* mapperVicinity.AddDetectedObject(dobst2);
*
* mapperVicinity.computeMapPositions();
*/
// --------- end debug ------------
RedrawMap();
}
protected double robotCornerDistanceMeters = 0.0d; // to account for robot dimensions when adding measurements from corner-located proximity sensors.
public MainWindow()
{
InitializeComponent();
routePlanner = new RoutePlanner(mapperVicinity);
this.Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
//create picpxmod device.
_picpxmod = new ProximityModule(0x0925, 0x7001); // see PIC Firmware - usb_descriptors.c lines 178,179
_picpxmod.HasReadFrameEvent += pmFrameCompleteHandler;
_picpxmod.DeviceAttachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceAttachedEvent);
_picpxmod.DeviceDetachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceDetachedEvent);
bool deviceAttached = _picpxmod.FindTheHid();
pmValuesLabel.Content = deviceAttached ?
"Proximity Board Found" : string.Format("Proximity Board NOT Found\r\nYour USB Device\r\nmust have:\r\n vendorId=0x{0:X}\r\nproductId=0x{1:X}", _picpxmod.vendorId, _picpxmod.productId);
mapperVicinity.robotPosition = (GeoPosition)robotPositionDefault.Clone();
mapperVicinity.robotDirection = (Direction)robotDirectionDefault.Clone();
// we will need this later:
robotCornerDistanceMeters = Math.Sqrt(mapperVicinity.robotState.robotLengthMeters * mapperVicinity.robotState.robotLengthMeters + mapperVicinity.robotState.robotWidthMeters * mapperVicinity.robotState.robotWidthMeters) / 2.0d;
// --------- debug ------------
GeoPosition pos1 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos1.translate(new Distance(1.0d), new Distance(1.0d)); // geo coordinates - East North
pos1.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = 45.0d
}, new Distance(1.0d)); // robot coordinates - forward right
DetectedObstacle dobst1 = new DetectedObstacle(pos1)
{
color = Colors.Red
};
mapperVicinity.Add(dobst1);
GeoPosition pos2 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos2.translate(new Distance(-1.0d), new Distance(1.0d)); // geo coordinates - West North
pos2.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = -45.0d
}, new Distance(1.0d)); // robot coordinates - forward left
DetectedObstacle dobst2 = new DetectedObstacle(pos2)
{
color = Colors.Yellow
};
//mapperVicinity.Add(dobst2);
mapperVicinity.computeMapPositions();
// --------- end debug ------------
}