private IEnumerator <ITask> InitializeGui()
{
// create WPF adapter
this._wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this._wpfServicePort.RunWindow(() => new libguiwpf.MainWindow());
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
color = Colors.Green,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
}
protected double robotCornerDistanceMeters = 0.0d; // to account for robot dimensions when adding measurements from corner-located proximity sensors.
public MainWindow()
{
InitializeComponent();
routePlanner = new RoutePlanner(mapperVicinity);
this.Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
//create picpxmod device.
_picpxmod = new ProximityModule(0x0925, 0x7001); // see PIC Firmware - usb_descriptors.c lines 178,179
_picpxmod.HasReadFrameEvent += pmFrameCompleteHandler;
_picpxmod.DeviceAttachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceAttachedEvent);
_picpxmod.DeviceDetachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceDetachedEvent);
bool deviceAttached = _picpxmod.FindTheHid();
pmValuesLabel.Content = deviceAttached ?
"Proximity Board Found" : string.Format("Proximity Board NOT Found\r\nYour USB Device\r\nmust have:\r\n vendorId=0x{0:X}\r\nproductId=0x{1:X}", _picpxmod.vendorId, _picpxmod.productId);
mapperVicinity.robotPosition = (GeoPosition)robotPositionDefault.Clone();
mapperVicinity.robotDirection = (Direction)robotDirectionDefault.Clone();
// we will need this later:
robotCornerDistanceMeters = Math.Sqrt(mapperVicinity.robotState.robotLengthMeters * mapperVicinity.robotState.robotLengthMeters + mapperVicinity.robotState.robotWidthMeters * mapperVicinity.robotState.robotWidthMeters) / 2.0d;
// --------- debug ------------
GeoPosition pos1 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos1.translate(new Distance(1.0d), new Distance(1.0d)); // geo coordinates - East North
pos1.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = 45.0d
}, new Distance(1.0d)); // robot coordinates - forward right
DetectedObstacle dobst1 = new DetectedObstacle(pos1)
{
color = Colors.Red
};
mapperVicinity.Add(dobst1);
GeoPosition pos2 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos2.translate(new Distance(-1.0d), new Distance(1.0d)); // geo coordinates - West North
pos2.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = -45.0d
}, new Distance(1.0d)); // robot coordinates - forward left
DetectedObstacle dobst2 = new DetectedObstacle(pos2)
{
color = Colors.Yellow
};
//mapperVicinity.Add(dobst2);
mapperVicinity.computeMapPositions();
// --------- end debug ------------
}
