public MainWindow()
{
InitializeComponent();
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
handDuino = ArduMan.getHandArduino();
handDuino.Data_Received += handDuino_Data_Received;
armDuino = ArduMan.getArmArduino();
armDuino.Data_Received += armDuino_Data_Received;
Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui
Console.WriteLine("***Arm Control Booted***");
xboxController = new XboxController.XboxController();
armInput = armInputManager.getInstance(xboxController);
armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput);
xboxControllerMonitor.xboxController = xboxController;
armSideView.armInputManager = armInput;
armTopView.armInputManager = armInput;
Console.WriteLine("***XBOX CONTROLLER CONNECTED***");
wristComponent._xboxController = xboxController;
}
public MainWindow()
{
InitializeComponent();
palmVidWindow = new videoWindow(35003, videoWindow.monitors.secondMonitor,"Palm Cam Window");
palmVidWindow.Show();
humerusVidWindow = new videoWindow(35005, videoWindow.monitors.thirdMonitor, "Humerus Cam Window");
humerusVidWindow.Show();
inputOnlineInd.setIndicatorState(toggleIndicator.indicatorState.Red);
xboxController = new XboxController.XboxController();
comSock = new commSockReceiver(35002);
comSock.IncomingLine += comSock_IncomingLine;
comSock.newConnection += comSock_newConnection;
comSock.connectionLost += comSock_connectionLost;
comSock.beginAccept();
armInputMan = armInputManager.getInstance(xboxController,comSock);
armInputMan.InputUnlockedEvent += inputUnlocked;
macros.newMacroData += macros_newMacroData;
armTransmit = new armCommandTransmitter(armInputMan, comSock);
xboxControlMonitor.xboxController = xboxController;
armSideView.armInputManager = armInputMan;
armTopView.armInputManager = armInputMan;
wristVisualizer.armInput = armInputMan;
}
public localArmCommandTransmitter(Arduino _armArduino , armInputManager _armInput)
{
armArduino = _armArduino;
armInput = _armInput;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
}
public localArmCommandTransmitter(Arduino _armArduino, Arduino _handArduino, armInputManager _armInput)
{
armArduino = _armArduino;
armInput = _armInput;
handArduino = _handArduino;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
armInput.targetWristChanged += armInput_targetWristChanged;
armInput.targetGripperChanged += armInput_targetGripperChanged;
armInput.EmergencyStop = emerStop;
elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
wristTimer = new Timer(wristTimerCallback, null, 0, delay);
gripperTimer = new Timer(gripperTimerCallback, null, 0, delay);
}
public static armInputManager getInstance(XboxController.XboxController _xboxController)
{
if (actualInstance != null)
{
return actualInstance;
}
else
{
actualInstance = new armInputManager(_xboxController);
return actualInstance;
}
}
public static armInputManager getInstance(XboxController.XboxController _xboxController, commSockReceiver _armCommSock)
{
if (actualInstance != null)
{
return actualInstance;
}
else
{
actualInstance = new armInputManager(_xboxController, _armCommSock);
return actualInstance;
}
}
public armCommandTransmitter(armInputManager _armInput, commSockReceiver _CSR)
{
armInput = _armInput;
CSR = _CSR;
armInput.EmergencyStop += emergencyStop;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetGripperChanged += armInput_targetGripperChanged;
armInput.targetWristChanged += armInput_targetWristChanged;
wristTimer = new Timer(wristTimerCallback,null,200,200); //transmits 5 times per second
turnTableTimer = new Timer(turnTableTimerCallback, null, 190, 200);
shoulderTimer = new Timer(shoulderTimerCallback, null, 180, 200);
elbowTimer = new Timer(elbowTimerCallback, null, 170, 200);
gripperTimer = new Timer(gripperTimerCallback, null, 160, 200);
}
private armMacroExecutor(armInputManager _armIn)
{
armIn = _armIn;
armIn.EmergencyStop += emergencyStopHandler;
stepTimer = new Timer(stepCallback, null, Timeout.Infinite, Timeout.Infinite);
//////////TEST BEGIN
testDance.Enqueue(new armMovement(5000, 54, armConstants.armActuatorID.shoulder));
testDance.Enqueue(new armMovement(5000, 130, armConstants.armActuatorID.turnTable));
testDance.Enqueue(new armMovement(5000, 55, armConstants.armActuatorID.elbow));
//////////TEST END
}
public Queue<armMovement> testDance = new Queue<armMovement>(); //TODO: THIS IS FOR TESTING! KILL IT LATER!
public static armMacroExecutor getInstance(armInputManager _armIn)
{
if (Instance == null)
{
Instance = new armMacroExecutor(_armIn);
}
return Instance;
}
