public ControllerForm(SshClient sshClient, NetworkDevice device)
{
InitializeComponent();
pBox_video.SizeMode = PictureBoxSizeMode.StretchImage;
this.Text = device.Name;
sshConsole = new SSHConsole(sshClient, rtxBox, label_Ping);
sshConsole.SSHException += SshConsole_SSHException;
camera = new MJPEGStream("http://" + device.IP.ToString() + ":8080/?action=stream");
camera.NewFrame += new NewFrameEventHandler(Video_newFrame);
sshConsole.WriteLine("cd AlphaBot2/mjpg-streamer/mjpg-streamer-experimental/");
sshConsole.WriteLine("nohup ./start.sh &");
sshConsole.WriteLine("cd");
camera.Start();
controller = new AlphaBot2Controller(sshConsole);
}
public AlphaBot2Controller(SSHConsole console)
{
cameraXPriority = new LinkedList <Keys>();
cameraYPriority = new LinkedList <Keys>();
movementPriority = new LinkedList <Keys>();
cameraControlTimer = new System.Timers.Timer();
cameraXCommandBuilder = new StringBuilder();
cameraYCommandBuilder = new StringBuilder();
this.console = console;
console.WriteLine("cd AlphaBot2/python/");
console.WriteLine("python -i");
console.WriteLine("import AlphaBot2");
console.WriteLine("import PCA9685");
console.WriteLine("move = AlphaBot2.AlphaBot2()");
console.WriteLine("camera = PCA9685.PCA9685(0x40, debug = False)");
console.WriteLine("camera.setPWMFreq(50)");
cameraControlTimer.Interval = 20;
cameraControlTimer.Elapsed += onTimerElapsed;
cameraControlTimer.Start();
}