private void importImageDialog_FileOk(object sender, CancelEventArgs e)
{
try
{
m_floorPlanImage = new Bitmap(Image.FromFile(importImageDialog.FileName)); // hopefully, they opened an image
m_fpState = fpState.NOSCALE; // The state changes to reflecft our new image
SetScale(10); // Call set scale automatically - we can remove this
}
catch (Exception) { }
DrawFloor();
}
public void MoveRobot(Point loc, int facing)
{
m_status.position = new Position(loc.X, loc.Y, facing);
if (m_status.path != null)
{
m_fpState = fpState.HAVEPATH;
}
else
{
m_fpState = fpState.SETDEST;
}
DrawFloor();
}
private void SetDestination(object sender, MouseEventArgs e)
{
m_status.position = getPosition();
PostMessage(m_status.endPoint.ToString());
m_status.endPoint = PanelToFloorPlan(new Point(e.X, e.Y));
m_status.path = m_pathfinder.getPath();
m_fpState = fpState.HAVEPATH;
DrawFloor();
}
private void Click_Import(object sender, EventArgs e)
{
importImageDialog.InitialDirectory = ".\floorplan";
importImageDialog.ShowDialog();
try
{
m_floorPlanImage = new Bitmap(Image.FromFile(importImageDialog.FileName));
}
catch (Exception) { }
//m_status = new Status(m_floorPlanImage, 3);
m_fpState = fpState.IMAGE;
SetScale(10);
DrawFloor();
}
private void Click_FloorPlan(object sender, MouseEventArgs e)
{
switch (e.Button)
{
case MouseButtons.Left:
switch (m_fpState)
{
case fpState.IMAGE:
m_pixelsperfootStart = e.Location;
m_fpState = fpState.DRAWSCALE;
t_DrawScaleTimer = new Timer(m_callback, null, 0, 100);
break;
case fpState.DRAWSCALE:
m_pixelsperfootEnd = e.Location;
double scaleLength = Length(m_pixelsperfootStart.X - m_pixelsperfootEnd.X, m_pixelsperfootStart.Y - m_pixelsperfootEnd.Y);
SetScale(scaleLength);
break;
case fpState.SETROBOT:
PlaceRobot(sender, e);
break;
case fpState.SETDEST:
case fpState.HAVEPATH:
if (m_status != null)
{
SetDestination(sender, e);
}
break;
}
break;
case MouseButtons.Right:
floorPlanContext.Show(System.Windows.Forms.Control.MousePosition);
break;
case MouseButtons.Middle:
break;
default:
break;
}
}
private void SetScale(double scaleLength)
{
m_fpState = fpState.IMAGE;
using (ScaleForm sf = new ScaleForm(scaleLength, scaleLength / m_pixelsperfoot, this))
{
sf.ShowDialog();
m_pixelsperfoot = sf.m_scale;
m_status = new Status(m_floorPlanImage, m_pixelsperfoot);
m_pathfinder = new QGPathFinder(m_status, this);
m_ratioX = (double)(m_status.floorPlan.getXTileNum()) / (double)(floorPlanPanel.Width);
m_ratioY = (double)m_status.floorPlan.getYTileNum() / (double)floorPlanPanel.Height;
m_fpState = fpState.SETDEST;
}
if (t_DrawScaleTimer != null)
{
t_DrawScaleTimer.Dispose();
}
m_fpState = fpState.SETDEST;
DrawFloor();
}
public MainForm()
{
InitializeComponent();
m_host = new CRobotHost(this);
m_destImage = Image.FromFile("Images\\destImage.png");
m_camera = new CWebcam(livePanel, null, false);
m_camera.Initialize();
m_camera.SetReady();
m_center = new Point(floorPlanPanel.Width / 2, floorPlanPanel.Height / 2);
m_fg = Graphics.FromHwnd(floorPlanPanel.Handle);
m_pixelsperfoot = 2.0;
m_callback = new TimerCallback(DrawScale);
m_fpState = fpState.NONE;
t_DrawFloorDelegate = new DDrawFloor(DrawFloor);
}
public MainForm()
{
InitializeComponent();
m_host = new CRobotHost(this);
m_destImage = Image.FromFile("Images\\destImage.png");
m_camera = new CWebcam(livePanel, null, false);
m_camera.Initialize();
m_camera.SetReady();
m_center = new Point(floorPlanPanel.Width / 2, floorPlanPanel.Height / 2);
m_fg = Graphics.FromHwnd(floorPlanPanel.Handle);
m_pixelsperfoot = 2.0;
m_callback = new TimerCallback(DrawScale);
m_fpState = fpState.NONE;
t_DrawFloorDelegate = new DDrawFloor(DrawFloor);
}
private void Click_SetDestination(object sender, EventArgs e)
{
m_fpState = fpState.SETDEST;
DrawFloor();
}
private void Click_PlaceRobot(object sender, EventArgs e)
{
m_fpState = fpState.SETROBOT;
DrawFloor();
}
private void Click_Import(object sender, EventArgs e)
{
importImageDialog.InitialDirectory = ".\floorplan";
importImageDialog.ShowDialog();
try
{
m_floorPlanImage = new Bitmap(Image.FromFile(importImageDialog.FileName));
}
catch (Exception) { }
//m_status = new Status(m_floorPlanImage, 3);
m_fpState = fpState.IMAGE;
SetScale(10);
DrawFloor();
}
private void Click_FloorPlan(object sender, MouseEventArgs e)
{
switch (e.Button)
{
case MouseButtons.Left:
switch (m_fpState)
{
case fpState.IMAGE:
m_pixelsperfootStart = e.Location;
m_fpState = fpState.DRAWSCALE;
t_DrawScaleTimer = new Timer(m_callback, null, 0, 100);
break;
case fpState.DRAWSCALE:
m_pixelsperfootEnd = e.Location;
double scaleLength = Length(m_pixelsperfootStart.X - m_pixelsperfootEnd.X, m_pixelsperfootStart.Y - m_pixelsperfootEnd.Y);
SetScale(scaleLength);
break;
case fpState.SETROBOT:
PlaceRobot(sender, e);
break;
case fpState.SETDEST:
case fpState.HAVEPATH:
if (m_status != null)
{
SetDestination(sender, e);
}
break;
}
break;
case MouseButtons.Right:
floorPlanContext.Show(System.Windows.Forms.Control.MousePosition);
break;
case MouseButtons.Middle:
break;
default:
break;
}
}
public void MoveRobot(Point loc, int facing)
{
m_status.position = new Position(loc.X, loc.Y, facing);
if (m_status.path != null)
m_fpState = fpState.HAVEPATH;
else
m_fpState = fpState.SETDEST;
DrawFloor();
}
private void Click_SetDestination(object sender, EventArgs e)
{
m_fpState = fpState.SETDEST;
DrawFloor();
}
private void SetScale(double scaleLength)
{
m_fpState = fpState.IMAGE;
using (ScaleForm sf = new ScaleForm(scaleLength, scaleLength / m_pixelsperfoot, this))
{
sf.ShowDialog();
m_pixelsperfoot = sf.m_scale;
m_status = new Status(m_floorPlanImage, m_pixelsperfoot);
m_pathfinder = new QGPathFinder(m_status, this);
m_ratioX = (double)(m_status.floorPlan.getXTileNum()) / (double)(floorPlanPanel.Width);
m_ratioY = (double)m_status.floorPlan.getYTileNum() / (double)floorPlanPanel.Height;
m_fpState = fpState.SETDEST;
}
if (t_DrawScaleTimer != null)
{
t_DrawScaleTimer.Dispose();
}
m_fpState = fpState.SETDEST;
DrawFloor();
}
private void importImageDialog_FileOk(object sender, CancelEventArgs e)
{
try
{
m_floorPlanImage = new Bitmap(Image.FromFile(importImageDialog.FileName)); // hopefully, they opened an image
m_fpState = fpState.NOSCALE; // The state changes to reflecft our new image
SetScale(10); // Call set scale automatically - we can remove this
}
catch (Exception) { }
DrawFloor();
}
/// <summary>
/// Result of clicking the "Place Robot" menu option
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Click_PlaceRobot(object sender, EventArgs e)
{
if (m_fpState == fpState.SETDEST || m_fpState == fpState.HAVEPATH || m_fpState == fpState.SETROBOT)
{
m_fpState = fpState.SETROBOT;
DrawFloor();
}
}
/// <summary>
/// Result of clicking the FloorPlanPanel - does different things depending on fpState and the button clicked
/// </summary>
/// <param name="e">mouse position</param>
private void Click_FloorPlan(object sender, MouseEventArgs e)
{
switch (e.Button)
{
case MouseButtons.Left: // If we're dealing with a normal click
switch (m_fpState)
{
case fpState.NOSCALE: // We've loaded the image, so this is to set the scale
m_scaleStart = e.Location; // Set the starting point then go into DrawScale mode
m_fpState = fpState.DRAWSCALE;
t_DrawTimer = new Timer(m_callback, null, 0, 100);
break;
case fpState.DRAWSCALE: // We're currently drawing the scale, so this is the endpoint
m_scaleEnd = e.Location; // Set the endpoint and then call SetScale method
double scaleLength = Length(m_scaleStart.X - m_scaleEnd.X, m_scaleStart.Y - m_scaleEnd.Y);
if (t_DrawTimer != null)
{
t_DrawTimer.Dispose(); // If there's a drawscale timer running, kill it
}
SetScale(scaleLength);
break;
case fpState.SETROBOT: // We're setting the rotob's position
PlaceRobot(sender, e);
new FacingForm(this).Show();
//m_fpState = fpState.SETFACING;
//t_DrawTimer = new Timer(m_callback, null, 0, 100);
break;
case fpState.SETFACING: // Once we plae the robot, we need to set its current facing direction
m_fpState = fpState.SETDEST;
Point panelPosition = (FloorPlanToPanel(m_host.Status.Position.location));
Point mousePosition = e.Location;
m_host.Status.Position.facing = SlopeToFacing(panelPosition, mousePosition);
if (t_DrawTimer != null)
{
t_DrawTimer.Dispose(); // If there's a drawscale timer running, kill it
}
DrawFloor();
break;
case fpState.SETDEST: // If we have a destination or path
case fpState.HAVEPATH: // Then we're just setting new destinations
if (m_host.Status != null)
{
SetDestination(sender, e);
}
break;
}
break;
case MouseButtons.Right: // If it's a right-click, show the context menu
floorPlanContext.Show(System.Windows.Forms.Control.MousePosition);
break;
case MouseButtons.Middle:
break;
default:
break;
}
}
/// <summary>
/// Move's the robot's position
/// </summary>
/// <param name="loc">Location on the floorplanpanel</param>
/// <param name="facing"></param>
public void PlaceRobot(Point loc, int facing)
{
if (m_host.Status != null)
{
m_host.Status.Position = new Position(PanelToFloorPlan(loc), facing);
if (m_host.Status.Path != null)
m_fpState = fpState.HAVEPATH;
else
m_fpState = fpState.SETDEST;
DrawFloor();
}
}
public void DrawScale()
{
m_fpState = fpState.NOSCALE;
DrawFloor();
}
/// <summary>
/// Set's the robot's destination
/// </summary>
private void SetDestination(object sender, MouseEventArgs e)
{
m_host.SetDestination(PanelToFloorPlan(new Point(e.X, e.Y))); // Set the endpoint in the Host's status
m_fpState = fpState.HAVEPATH; // Update the state
DrawFloor(); // Draw the floor
}
private void SetDestination(object sender, MouseEventArgs e)
{
m_status.position = getPosition();
PostMessage(m_status.endPoint.ToString());
m_status.endPoint = PanelToFloorPlan(new Point(e.X, e.Y));
m_status.path = m_pathfinder.getPath();
m_fpState = fpState.HAVEPATH;
DrawFloor();
}
private Timer t_DrawTimer; // A timer for drawing the line when setting scale
#endregion Fields
#region Constructors
/// <summary>
/// Constructor
/// </summary>
public MainForm()
{
InitializeComponent();
m_host = new See3PO.Host(this); // Create a Host
m_center = new Point(floorPlanPanel.Width / 2, floorPlanPanel.Height / 2); //find the center of the image
m_fg = Graphics.FromHwnd(floorPlanPanel.Handle); // create a graphics object to draw on the floorplanpanel
m_scale = 2.0; // default ppf
m_callback = new TimerCallback(DrawScale); // I have no idea why we do this, but
t_DrawFloorDelegate = new DDrawFloor(DrawFloor); //it's necessary for the drawscale thread
m_fpState = fpState.START; // Set the fpState to none, since nothing has been done
Click_ConnectMenuItem(this, null);
}
private void Click_SetDestination(object sender, EventArgs e)
{
if (m_fpState == fpState.SETDEST || m_fpState == fpState.HAVEPATH || m_fpState == fpState.SETROBOT)
{
m_fpState = fpState.SETDEST;
DrawFloor();
}
}
private void Click_PlaceRobot(object sender, EventArgs e)
{
m_fpState = fpState.SETROBOT;
DrawFloor();
}
