public MainWindow()
{
InitializeComponent();
//bridgeLogic.currentVelocityState = new RosBridgeUtility.VelocityState();
stackControls.Visibility = System.Windows.Visibility.Hidden;
this.DataContext = _responseObj;
this.bridgeLogic = new RosBridgeUtility.RosBridgeLogic();
this.connectionState = (int)ConnectionState.Disconnected;
this.subscriptionState = (int)SubscriptionState.Unsubscribed;
bridgeLogic.setSubject(this);
this.bridgeConfig = new RosBridgeUtility.RosBridgeConfig();
bridgeConfig.readConfig("XMLFile1.xml");
Console.WriteLine("Ipaddress: {0}", bridgeConfig.ipaddress);
bridgeLogic.currentTarget = bridgeConfig.target;
bridgeLogic.initVelocityThreshold(bridgeConfig.min_vel, bridgeConfig.max_vel,
bridgeConfig.inc_vel, bridgeConfig.init_vel);
bridgeLogic.initAngularVelocityThreshold(bridgeConfig.min_ang, bridgeConfig.max_ang,
bridgeConfig.inc_ang, bridgeConfig.init_ang);
txtLgth.Text = bridgeLogic.current_velocity.ToString();
txtIP.Text = bridgeConfig.ipaddress;
txtPort.Text = bridgeConfig.port.ToString();
txtTheta.Text = bridgeLogic.current_angVelocity.ToString();
bridgeLogic.currentVelocityState.inc_vel = bridgeConfig.inc_vel;
bridgeLogic.currentVelocityState.max_vel = bridgeConfig.max_vel;
bridgeLogic.currentVelocityState.min_vel = bridgeConfig.min_vel;
bridgeLogic.currentVelocityState.current_vel = bridgeConfig.init_vel;
bridgeLogic.currentVelocityState.currentTheta = bridgeConfig.init_ang;
try
{
showState = bridgeConfig.showState;
laserScan = bridgeConfig.laserFieldTopic;
odometry = bridgeConfig.odometryTopic;
scaleFactor = bridgeConfig.vis_scaleFactor;
wcon = new WebController(bridgeConfig, bridgeLogic);
}
catch (NullReferenceException e)
{
Console.WriteLine("Error during read: {0}", e.Data);
}
wcon.updateVelocityState(bridgeLogic.currentVelocityState);
var u1 = new Uri(System.IO.Path.Combine(Environment.CurrentDirectory, "test1.jpg"));
BitmapImage img1 = new BitmapImage(u1);
kinect_screen.Source = img1;
BitmapSource source = kinect_screen.Source as BitmapSource;
//NeobotixStateServer = new WebSocketServer("ws://localhost:9091");
wcon.updateRGBState(ref source, img1.PixelHeight, img1.PixelWidth);
source = kinect_depth_screen.Source as BitmapSource;
//NeobotixStateServer = new WebSocketServer("ws://localhost:9091");
//wcon.updateDepthState(ref source, img1.PixelHeight, img1.PixelWidth);
// Kinect refresher timer
}