public ModulesVM(ConnectionVM connection, SettingsVM settings, ModuleVM menu, params ModuleVM[] modules)
{
//set fields
_connection = connection;
_settings = settings;
_menu = menu;
Modules = new ObservableCollection <ModuleVM>(modules);
ModuleColumns = new ObservableCollection <ObservableCollection <ModuleVM> >();
ModuleSizeChangedCommand = new RelayCommand <SizeChangedEventArgs>(ModuleSizeChanged);
//connect to events
_connectionEvents = new PropertyObserver <ConnectionVM>(_connection)
.RegisterHandler(i => i.CurrentArm, CurrentRobotChanged)
.RegisterHandler(i => i.Ports, PortsChanged)
.RegisterHandler(i => i.IsScanning, ScanningChanged);
_settingsEvents = new PropertyObserver <SettingsVM>(_settings)
.RegisterHandler(i => i.FirstTimeUse, FirstTimeUseChanged);
settings.HasReset += Settings_HasReset;
foreach (var module in modules)
{
module.Selected += Module_Selected;
}
App.Current.Exit += Current_Exit;
UpdateRobotChanged();
GotoMenu();
}
private void ScanningChanged(ConnectionVM sender)
{
//TODO: work in progress
////close if module not showing
//if (!_isModuleShowing && _scanningDialog != null)
//{
// _scanningDialog.Close();
// _scanningDialog = null;
// return;
//}
//if (_isModuleShowing)
//{
// //show if scanning
// if (_connection.IsScanning && _scanningDialog == null)
// {
// _scanningDialog = new MessageDialog() { Title = "new connection detected", Message = "scanning. please wait..." };
// App.Instance.ShowDialog(_scanningDialog).ContinueWith(i => { });
// }
// //close if not scanning
// else if (!_connection.IsScanning && _scanningDialog != null)
// {
// _scanningDialog.Close();
// _scanningDialog = null;
// }
//}
}
private void CurrentRobotChanged(ConnectionVM sender)
{
UpdateRobotChanged();
}
private void PortsChanged(ConnectionVM sender)
{
UpdateAlerts();
}
void CurrentRobotChanged(ConnectionVM sender)
{
FlashRequired = false;
if (sender.CurrentArm != null)
{
CurrentFirmware = $"v{sender.CurrentArm.Settings.Version}";
//select current robots port
var selectedPort = Ports.FirstOrDefault(i => i.Port == sender.CurrentArm.Communication.ConnectedPort);
if (selectedPort != null)
{
SelectedPort = selectedPort;
}
if (sender.CurrentArm.Settings.Version < RequiredFirmware)
{
FlashInstructions = $"An upgrade to you robots firmware is required in order to use this software. Your robot must be updated to a firmware version of v{RequiredFirmware} or beyond";
FlashCommand.Enabled = true;
FlashActionText = "Upgrade Firmware";
FlashRequired = true;
}
else
{
//select current robots model
var model = sender.CurrentArm.Settings.ModelNumber;
var robotModel = FirmwareModels.FirstOrDefault(i => i.Model == model);
if (robotModel != null)
{
SelectedFirmwareModel = robotModel;
}
var newerFirmwareAvailible = sender.CurrentArm.Settings.Version < SelectedFirmwareImage.Firmware.Version;
if (newerFirmwareAvailible)
{
FlashInstructions = "A new firmware version for your robot is availible";
FlashCommand.Enabled = true;
FlashActionText = "Upgrade Firmware";
}
else
{
FlashInstructions = "Your robot is up to date";
FlashCommand.Enabled = false;
FlashActionText = "Upgrade Firmware";
}
}
}
else
{
CurrentFirmware = null;
//select best guess port
var selectedPort = Ports.FirstOrDefault(i => i.PossibleArm);
if (selectedPort != null)
{
SelectedPort = selectedPort;
}
if (Ports.Count == 0)
{
FlashInstructions = "Please connect your robot to your PC by a USB cable";
FlashCommand.Enabled = false;
FlashActionText = "Install Firmware";
}
else
{
FlashInstructions = "No robot recognized. Install firmware onto your robot.";
FlashCommand.Enabled = true;
FlashActionText = "Install Firmware";
}
}
}
