// Change control state of the robot
private void shapeConnected_MouseDown(object sender, System.Windows.Input.MouseButtonEventArgs e)
{
// Check if state ready
if ((_robotControllerState == RobotControllerState.Connected) && SerialPortController.IsReady)
{
// Change the appearance and state
_robotControllerState = RobotControllerState.OnControl;
shapeConnected.Dispatcher.Invoke(new Action(() => { shapeConnected.Stroke = Brushes.Orange; }));
shapeConnected.Dispatcher.Invoke(new Action(() => { shapeConnected.Fill = Brushes.Orange; }));
// Initialize the Miniquad
Miniquad.Miniquad.Initialize();
// Start receiving data
_ctrlConfigChangedHandler();
}
else if (_robotControllerState == RobotControllerState.OnControl)
{
// Change the appearance and state
_robotControllerState = RobotControllerState.Disconnected;
BrushConverter converter = new BrushConverter();
shapeConnected.Dispatcher.Invoke(new Action(() => { shapeConnected.Stroke = (Brush)converter.ConvertFromString("#FF808080"); }));
shapeConnected.Dispatcher.Invoke(new Action(() => { shapeConnected.Fill = null; }));
// Start receiving data
_ctrlConfigChangedHandler();
// Stop the Miniquad
Miniquad.Miniquad.SetThrottleOutputs_PC(0, 0, 0, 0);
}
}
private void ShowState(RobotControllerState state)
{
switch (state)
{
case RobotControllerState.Idle:
startButton.Enabled = true;
stopButton.Enabled = false;
pauseButton.Enabled = false;
break;
case RobotControllerState.Suspended:
startButton.Enabled = true;
stopButton.Enabled = false;
pauseButton.Enabled = false;
break;
case RobotControllerState.Working:
startButton.Enabled = false;
stopButton.Enabled = true;
pauseButton.Enabled = true;
break;
}
UpdateRuntimeParametersLabel();
}
private void SetState(RobotControllerState state)
{
if (_contoller.State != state)
{
_contoller.SetStateAsync(state);
}
}
private void Contoller_StateUpdated(object sender, RobotControllerState e)
{
Invoke(new Action(() => ShowState(_contoller.State)));
}
