private IEnumerator <ITask> InitializeGui()
{
// create WPF adapter
this._wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this._wpfServicePort.RunWindow(() => new libguiwpf.MainWindow());
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
color = Colors.Green,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
}
void _mainWindow_Closing(object sender, CancelEventArgs e)
{
_mainWindow = null;
}
private IEnumerator<ITask> InitializeGui()
{
// create WPF adapter
this._wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this._wpfServicePort.RunWindow(() => new libguiwpf.MainWindow());
yield return (Choice)runWindow;
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
color = Colors.Green,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
}
void _mainWindow_Closing(object sender, CancelEventArgs e)
{
_mainWindow = null;
}
public SoundsHelper(libguiwpf.MainWindow mainWindow)
{
_mainWindow = mainWindow;
}
private IEnumerator<ITask> InitializeGui()
{
var runWindow = this.wpfServicePort.RunWindow(() => new libguiwpf.MainWindow(_state.followDirectionPidControllerAngularSpeed, _state.followDirectionPidControllerLinearSpeed, SoundSkinFactory.soundsBasePathDefault));
yield return (Choice)runWindow;
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
_mainWindow.PowerScaleAdjusted += delegate
{
PowerScale = _mainWindow.PowerScale;
Tracer.Trace("PowerScaleAdjusted: " + PowerScale);
};
_mainWindow.PidControllersUpdated += delegate
{
Tracer.Trace("PidControllersUpdated - saving state");
SaveState(_state);
};
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
dobst1.SetColorByType();
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
_mainWindow.PowerScale = PowerScale;
_soundsHelper = new SoundsHelper(_mainWindow);
}
