/// <summary>
/// Constructor - initialises variables for derived classes.
/// </summary>
/// <param name="address">URL of robot.</param>
/// <param name="user">Username for robot.</param>
/// <param name="password">Password for robot.</param>
/// <param name="matrix">Map to be used (null value is acceptable).</param>
/// <param name="k">Keyboard dictionary.</param>
public BaseRobot(string address, string user, string password, Map m, Object k)
: base(address, user, password)
{
map = m;
keys = (List<int>)k;
try { API.Movement.GetLibNSVersion(); } // a dummy request
catch (Exception)
{
//simple way of getting feedback in the form mode
System.Windows.Forms.MessageBox.Show("Could not connect to the robot");
cameraDimensions = new System.Drawing.Point(352, 288);
connected = false;
//cameraImage = new Bitmap("example.jpg");
Environment.Exit(0);
}
cameraDimensions = System.Drawing.Point.Empty;
lock (commandLock)
{
Camera.Resolution = Rovio.API.Camera.ImageResolution.CIF;
if (Camera.Resolution == Rovio.API.Camera.ImageResolution.CIF)
cameraDimensions = new System.Drawing.Point(352, 288);
else if (Camera.Resolution == Rovio.API.Camera.ImageResolution.QCIF)
cameraDimensions = new System.Drawing.Point(176, 114);
else if (Camera.Resolution == Rovio.API.Camera.ImageResolution.CGA)
cameraDimensions = new System.Drawing.Point(320, 240);
else
cameraDimensions = new System.Drawing.Point(640, 480);
}
threadKeyboardInput = new System.Threading.Thread(KeyboardStart);
threadKeyboardInput.Start();
threadCameraImage = new System.Threading.Thread(ImageGet);
threadCameraImage.Start();
}
public UserRobot(string address, string user, string password, Map m, Object k)
: base(address, user, password, m, k)
{
}
public PredatorMap(string address, string user, string password, Map m, Object k)
: base(address, user, password, m, k)
{
}
public PredatorSimple(string address, string user, string password, Map m, Object k)
: base(address, user, password, m, k)
{
// map = matrix;
}
public BaseArena(string address, string user, string password, Map m, Object k)
: base(address, user, password, m, k)
{
}
/// <summary>
/// Set robot based on the string from the form button pressed.
/// </summary>
/// <param name="type">Which robot to start.</param>
private void InitialiseRobot(string type)
{
buttonPredator.Enabled = true;
buttonUser.Enabled = true;
buttonPredatorFSM.Enabled = true;
picBoxUserLabels.Visible = false;
SetFilterChangerVisibility(false);
if (robot != null)
{
robot.KillThreads();
while (robot_thread.ThreadState != System.Threading.ThreadState.Stopped && robot_thread.ThreadState != System.Threading.ThreadState.WaitSleepJoin)
System.Threading.Thread.Sleep(1);
if (map != null)
{
map.Hide();
map = null;
}
}
if (type == "Predator")
{
buttonPredator.Enabled = false;
map = new Map((robot as Rovio.BaseArena), Controls, 387, 18);
map.UpdatePicBox += UpdatePictureBox;
robot = new Rovio.PredatorMap(robotURL, "user", "password", map, currentKeys);
(robot as Rovio.BaseArena).SourceImage += UpdateImage;
map.SetUpdate((robot as Rovio.BaseArena));
updateTimer.Start();
if (valueDict.Count == 0)
ReadDictValues();
(robot as Rovio.BaseArena).SetFilters(valueDict);
robot_thread = new System.Threading.Thread(robot.Start);
robot_thread.Start();
}
else if (type == "PredatorSimple")
{
if (map != null)
map.Hide();
robot = new Rovio.PredatorSimple(robotURL, "user", "password", map, currentKeys);
(robot as Rovio.BaseArena).SourceImage += UpdateImage;
updateTimer.Start();
if (valueDict.Count == 0)
ReadDictValues();
(robot as Rovio.BaseArena).SetFilters(valueDict);
SetFilterChangerVisibility(true);
robot_thread = new System.Threading.Thread(robot.Start);
robot_thread.Start();
}
else if (type == "User")
{
if (map != null)
map.Hide();
robot = new Rovio.UserRobot(robotURL, "user", "password", map, currentKeys);
(robot as Rovio.UserRobot).SourceImage += UpdateImage;
picBoxUserLabels.Visible = true;
robot_thread = new System.Threading.Thread(robot.Start);
robot_thread.Start();
}
if (type == "Predator" || type == "PredatorSimple" || type == "User")
{
picboxCameraImage.Location = new Point(20, 22);
picboxCameraImage.Size = new Size((int)robot.cameraDimensions.X, (int)robot.cameraDimensions.Y);
textBoxIP.Enabled = false;
buttonPredator.Enabled = false;
buttonUser.Enabled = false;
buttonPredatorFSM.Enabled = false;
buttonStop.Enabled = true;
Focus();
}
else
{
textBoxIP.Enabled = true;
buttonStop.Enabled = false;
robot.KillThreads();
}
}
