static void StartInterfaces()
{
Thread t1 = new Thread(() =>
{
//Attention, il est nécessaire d'ajouter PresentationFramework, PresentationCore, WindowBase and your wpf window application aux ressources.
interfaceRobot = new RobotInterface.WpfRobotInterface();
//Sur evenement xx -->> Action a effectuer
msgDecoder.OnMessageDecodedEvent += interfaceRobot.DisplayMessageDecoded;
msgDecoder.OnMessageDecodedErrorEvent += interfaceRobot.DisplayMessageDecodedError;
robotMsgProcessor.OnIMUDataFromRobotGeneratedEvent += interfaceRobot.UpdateImuDataOnGraph;
robotMsgProcessor.OnMotorsCurrentsFromRobotGeneratedEvent += interfaceRobot.UpdateMotorsCurrentsOnGraph;
robotMsgProcessor.OnEnableDisableMotorsACKFromRobotGeneratedEvent += interfaceRobot.ActualizeEnableDisableMotorsButton;
robotMsgProcessor.OnEnableDisableTirACKFromRobotGeneratedEvent += interfaceRobot.ActualizeEnableDisableTirButton;
xBoxManette.OnSpeedConsigneEvent += interfaceRobot.UpdateSpeedConsigneOnGraph;
interfaceRobot.OnEnableDisableMotorsFromInterfaceGeneratedEvent += robotMsgGenerator.GenerateMessageEnableDisableMotors;
interfaceRobot.OnEnableDisableTirFromInterfaceGeneratedEvent += robotMsgGenerator.GenerateMessageEnableDisableTir;
interfaceRobot.OnEnableDisableControlManetteFromInterfaceGeneratedEvent += ChangeUseOfXBoxController;
localWorldMapManager.OnLocalWorldMapEvent += interfaceRobot.OnLocalWorldMapEvent;
interfaceRobot.ShowDialog();
});
t1.SetApartmentState(ApartmentState.STA);
t1.Start();
//Thread t2 = new Thread(() =>
//{
// //Attention, il est nécessaire d'ajouter PresentationFramework, PresentationCore, WindowBase and your wpf window application aux ressources.
// ConsoleCamera = new RobotMonitor.WpfCameraMonitor();
// if (!simulatedCamera)
// {
// omniCamera.CameraInit();
// //omniCamera.CameraImageEvent += ConsoleCamera.CameraImageEventCB;
// omniCamera.OpenCvMatImageEvent += ConsoleCamera.DisplayOpenCvMatImage;
// }
// else
// {
// //omniCameraSimulator.Start();
// //omniCameraSimulator.CameraImageEvent += ConsoleCamera.CameraImageEventCB;
// omniCameraSimulator.OnOpenCvMatImageReadyEvent += ConsoleCamera.DisplayOpenCvMatImage;
// omniCameraSimulator.OnOpenCvMatImageReadyEvent += imageProcessingPositionFromOmniCamera.ProcessOpenCvMatImage;
// imageProcessingPositionFromOmniCamera.OnOpenCvMatImageProcessedEvent += ConsoleCamera.DisplayOpenCvMatImage;
// }
// ConsoleCamera.ShowDialog();
// //Inutile mais debug pour l'instant
// refBoxAdapter.OnRefereeBoxReceivedCommandEvent += ConsoleCamera.DisplayRefBoxCommand;
// msgDecoder.OnMessageDecodedEvent += ConsoleCamera.DisplayMessageDecoded;
//});
//t2.SetApartmentState(ApartmentState.STA);
//t2.Start();
}
static void StartRobotInterface()
{
t1 = new Thread(() =>
{
//Attention, il est nécessaire d'ajouter PresentationFramework, PresentationCore, WindowBase and your wpf window application aux ressources.
interfaceRobot = new RobotInterface.WpfRobotInterface(competition);
interfaceRobot.Loaded += RegisterRobotInterfaceEvents;
interfaceRobot.ShowDialog();
});
t1.SetApartmentState(ApartmentState.STA);
t1.Start();
}
