/**
* Operation to execute when the user clicks on the Disconnect button
* Stops the threads that are interacting with the server
*/
private void disconnect()
{
_updateTimer.Enabled = false;
if (_orientation_fetcher.IsAlive())
_orientation_fetcher.Stop();
if (_frame_fetcher.IsAlive())
_frame_fetcher.Stop();
_orientation_fetcher = new OrientationFetcher(_satService);
_frame_fetcher = new FrameFetcher(_satService, pictureBox);
/*if (_scf != null && (_scf.State == CommunicationState.Faulted || serviceIsFaulted(_satService)))
serviceDisconnect();*/
serviceDisconnect();
clearUI();
}
private void connectBn_Click(object sender, EventArgs e)
{
Invoke(new Action(() =>
{
// try to ping the server
try
{
serviceConnect();
_satService.NamedPing("Hello world !");
}
catch (Exception)
{
disconnect();
MessageBox.Show("Error: impossible to ping the server");
Console.Error.WriteLine("Error: impossible to ping the server");
return;
}
connectBn.Enabled = false;
disconnectBn.Enabled = true;
IPAdress.Enabled = false;
stabilizeCb.Enabled = true; // to enable/disable the controller server side
_orientation_fetcher = new OrientationFetcher(_satService);
_orientation_fetcher.Start();
_frame_fetcher = new FrameFetcher(_satService, pictureBox);
_frame_fetcher.Start();
_updateTimer.Enabled = true;
// update position of the cursors on the track bar
pitchTrackBar.Value = _orientation_fetcher.GetServoPitch();
yawTrackBar.Value = _orientation_fetcher.GetServoYaw();
// if the save path is valid
checkSavePath(false);
kiTextBox.Text = "" + Math.Round(_orientation_fetcher.GetKi(), 3);
kpTextBox.Text = "" + Math.Round(_orientation_fetcher.GetKp(), 3);
expTimeTextBox.Text = "" + _orientation_fetcher.GetExpTime();
fpsTextBox.Text = "" + _orientation_fetcher.GetFps();
}));
}