public MainWindow()
{
// Read information about the robot we are controlling here
InitRobotConfig();
// Initiate the components
_client = new CommunicationClient(ClientType.R, _robotConfig.ID, ReceiveTcpMsg, LogMessage, ConnectionErrorHandler);
_iRobot = new iRobot(LogMessage);
_robotController = new RobotCtrl(_iRobot, () => { return(_botActive); }, () => { return(_appQuit); }, LogMessage, RobotStatusChanged, RobotPodChanged, UpdateRFIDTag, _client, "debugsnapshots", SetFilterSettings);
// Init this component
InitializeComponent();
// Initialize imageboxes here (avoid markup problems in some VS versions)
ImageBoxCamImage.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
ImageBoxCVImage.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
// Initiate the GUI
InitPidParameter();
GetAllCOMPorts();
GetAllCameraPorts();
// Init meta-info
TextBlockRobotInfo.Text = "Bot" + _robotConfig.ID + " (" + _robotConfig.Name + ")";
// Init FPS logger
ThreadPool.QueueUserWorkItem(new WaitCallback(LogPerformanceAndStateInfoAsync));
// Init checkbox states
CheckBoxActive_Checked(null, null);
CheckBoxDummy_Checked(null, null);
// Log all unhandled exceptions
AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
Application.Current.DispatcherUnhandledException += Current_DispatcherUnhandledException;
}
private void InitializeRobots()
{
Position startPositionRobotA = new Position(1, 2, Direction.N);
Position startPositionRobotB = new Position(3, 3, Direction.E);
List <Move> stepsRobotA = new List <Move>();
stepsRobotA.Add(global::WarRobots.Move.L);
stepsRobotA.Add(global::WarRobots.Move.M);
stepsRobotA.Add(global::WarRobots.Move.L);
stepsRobotA.Add(global::WarRobots.Move.M);
stepsRobotA.Add(global::WarRobots.Move.L);
stepsRobotA.Add(global::WarRobots.Move.M);
stepsRobotA.Add(global::WarRobots.Move.L);
stepsRobotA.Add(global::WarRobots.Move.M);
stepsRobotA.Add(global::WarRobots.Move.M);
List <Move> stepsRobotB = new List <Move>();
stepsRobotB.Add(global::WarRobots.Move.M);
stepsRobotB.Add(global::WarRobots.Move.M);
stepsRobotB.Add(global::WarRobots.Move.R);
stepsRobotB.Add(global::WarRobots.Move.M);
stepsRobotB.Add(global::WarRobots.Move.M);
stepsRobotB.Add(global::WarRobots.Move.R);
stepsRobotB.Add(global::WarRobots.Move.M);
stepsRobotB.Add(global::WarRobots.Move.R);
stepsRobotB.Add(global::WarRobots.Move.R);
stepsRobotB.Add(global::WarRobots.Move.M);
RobotA = new Robot(startPositionRobotA, stepsRobotA, BattleField);
RobotB = new Robot(startPositionRobotB, stepsRobotB, BattleField);
BattleField.AddRobot(RobotA);
BattleField.AddRobot(RobotB);
}
public void AddRobot(iRobot robot)
{
Robots.Add(robot);
}
