private void Window_Loaded(object sender, RoutedEventArgs e)
{
arduino = new ArduinoSlam();
arduino.OnStatusChanged += new EventHandler<ArduinoSlam.StatusArgs>(arduino_OnStatusChanged);
arduino.OnSensorInfoReady += new EventHandler<ArduinoSlam.SensorInfoArgs>(arduino_OnSensorInfoReady);
arduino.Connect();
kinectManager = new KinectSlam();
kinectManager.OnAudioReady += new EventHandler<KinectSlam.AudioStreamArgs>(kinectManager_OnAudioReady);
tcpServer = new TCPSlamServer();
tcpServer.Port = 9988;
tcpServer.OnConnectionStatusChanged += new EventHandler<TCPSlamServer.ServerStatusArgs>(tcpServer_OnConnectionStatusChanged);
tcpServer.OnDataReceived += new EventHandler<TCPSlamBase.MessageArgs>(tcpServer_OnDataReceived);
txtIP.Text = Common.GetIP();
try
{
tcpServer.IPAddress = IPAddress.Parse(txtIP.Text);
tcpServer.StartServer();
}
catch
{
Console.WriteLine("Invalid IP: " + txtIP.Text);
}
}
void tcpServer_OnConnectionStatusChanged(object sender, TCPSlamServer.ServerStatusArgs e)
{
if (e.Status == TCPSlamServer.ServerStatus.Connected)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = false; }));
btnListen.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnListen.Content = "Disconnect"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Connected"; }));
groupBandwidth.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupBandwidth.IsEnabled = true; }));
SendArduinoStatus();
SendKinectList();
}
else if (e.Status == TCPSlamServer.ServerStatus.Disconnected)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = true; }));
btnListen.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnListen.Content = "Listen"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Disconnected"; }));
groupBandwidth.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupBandwidth.IsEnabled = false; }));
kinectManager.StopSensor();
sendVideo = false;
if (!userDisconnect)
tcpServer.StartServer();
else
userDisconnect = false;
}
else if (e.Status == TCPSlamServer.ServerStatus.Listening)
{
txtIP.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { txtIP.IsEnabled = false; }));
btnListen.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnListen.Content = "Stop"; }));
lblStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblStatus.Content = "Status: Listening"; }));
groupBandwidth.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { groupBandwidth.IsEnabled = false; }));
}
}
