public static void pi1Port2ConnectionEnabler()
{
ConnectorOne.pi1Port2AddressUpdater();
RoverConsole.ArcEyeContentThreadSafe("Checking Pi1 Connection via Port2");
try
{
pi1Port2Tcp = new TcpClient();
pi1Port2Tcp.Connect(pi1Ip, pi1Port2);
pi1Port2NetworkStream = pi1Port2Tcp.GetStream();
pi1Port2SrReciever = new StreamReader(pi1Port2NetworkStream);
pi1Port2SwSender = new StreamWriter(pi1Port2NetworkStream);
RoverConsole.ArcEyeContentThreadSafe("Pi1 via Port2 Connection Successful");
if (ConnectorOne.pi1Port2ConnectedStatusEvent != null)
{
ConnectorOne.pi1Port2ConnectedStatusEvent(new object(), new EventArgs());
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
if (ConnectorOne.pi1Port2DisconnectedStatusEvent != null)
{
ConnectorOne.pi1Port2DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
private void initialize_btn_Click(object sender, RoutedEventArgs e)
{
_RoverVisualization.initialize_btn.Visibility = Visibility.Hidden;
_RoverVisualization.rvr_mdl_plc.Visibility = Visibility.Visible;
ConnectorOne.pi3Port1ConnectionEnabler();
}
public static void pi3Port1ConnectionEnabler()
{
ConnectorOne.pi3Port1AddressUpdater();
RoverConsole.ArcEyeContentThreadSafe("Checking Pi3 Connection via Port1");
try
{
pi3Port1Tcp = new TcpClient();
pi3Port1Tcp.Connect(pi3Ip, pi3Port1);
pi3Port1NetworkStream = pi3Port1Tcp.GetStream();
pi3Port1SrReciever = new StreamReader(pi3Port1NetworkStream);
pi3Port1SwSender = new StreamWriter(pi3Port1NetworkStream);
RoverConsole.ArcEyeContentThreadSafe("Pi3 via Port1 Connection Successful");
if (ConnectorOne.pi3Port1ConnectedStatusEvent != null)
{
ConnectorOne.pi3Port1ConnectedStatusEvent(new object(), new EventArgs());
}
Thread imuDataHandlerThread = new Thread(() => imuInputHandler());
imuDataHandlerThread.Name = "imuDataHandlerThread";
imuDataHandlerThread.IsBackground = true;
imuDataHandlerThread.Start();
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
if (ConnectorOne.pi3Port1DisconnectedStatusEvent != null)
{
ConnectorOne.pi3Port1DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
private void roverVisualizationSyncronizerThreadFunction()
{
string datas;
while (true)
{
datas = ConnectorOne.getImuData();
try
{
string[] words = datas.Split(',');
_RoverVisualization.rvr_mdl_plc.Dispatcher.Invoke((Action)(() =>
{
_RoverVisualization.rtn_x.Angle = Convert.ToDouble(words[0]);
_RoverVisualization.rtn_y.Angle = Convert.ToDouble(words[1]);
_RoverVisualization.rtn_z.Angle = Convert.ToDouble(words[2]);
//_RoverVisualization.axs.OffsetX = Convert.ToDouble(words[3]);
//_RoverVisualization.axs.OffsetX = Convert.ToDouble(words[4]);
//_RoverVisualization.axs.OffsetX = Convert.ToDouble(words[5]);
}));
}
catch (Exception ex)
{
ARC_EYE.RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
}
}
}
public void RoverMovementStatusUpdater()
{
if (_RoverMovement != null)
{
RoverConsole.ArcEyeAiContentThreadSafe("Rover Movement Command : Direction-" + roverMovement.ToString() + ", Speed-" + pwm.ToString());
ConnectorOne.RoverMovementStatusUpdater(roverMovement, pwm);
}
}
private static void imuInputHandler()
{
try
{
pi3Port1SwSender.AutoFlush = true;
while (true)
{
imuData = pi3Port1SrReciever.ReadLine();
//RoverConsole.ArcEyeAiContentThreadSafe("IMU Data Received : " + ConnectorOne.imuData);
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
RoverConsole.ArcEyeAiContentThreadSafe("Trying To Reconnect");
if (ConnectorOne.pi3Port1DisconnectedStatusEvent != null)
{
ConnectorOne.pi3Port1DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
public static void RoveArmStatusUpdater(MotorName motorName, HandMovement handMovement)
{
try
{
RoverConsole.ArcEyeAiContent("Uploading Rover Arm Command : Motor Name-" + motorName.ToString() + ", Hand Movement-" + handMovement.ToString());
pi1Port2SwSender.AutoFlush = true;
pi1Port2SwSender.Write(Convert.ToString(Convert.ToInt32(motorName)) + "," + Convert.ToInt32(handMovement));
RoverConsole.ArcEyeAiContent("Command Uploaded to Pi1 via port2");
if (ConnectorOne.pi1Port2ConnectedStatusEvent != null)
{
ConnectorOne.pi1Port2ConnectedStatusEvent(new object(), new EventArgs());
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
RoverConsole.ArcEyeAiContentThreadSafe("Trying To Reconnect");
if (ConnectorOne.pi1Port2DisconnectedStatusEvent != null)
{
ConnectorOne.pi1Port2DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
public static void RoverMovementStatusUpdater(RoverAndArmRoverMovement roverMovement, double pwm)
{
try
{
RoverConsole.ArcEyeAiContent("Uploading Rover Movement Command : Direction-" + roverMovement.ToString() + ", Speed-" + pwm.ToString());
pi1Port1SwSender.AutoFlush = true;
pi1Port1SwSender.Write(Convert.ToString(Convert.ToInt32(roverMovement)) + "," + Convert.ToString(pwm));
RoverConsole.ArcEyeAiContent("Command Uploaded to Pi1 via port1");
if (ConnectorOne.pi1Port1ConnectedStatusEvent != null)
{
ConnectorOne.pi1Port1ConnectedStatusEvent(new object(), new EventArgs());
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
RoverConsole.ArcEyeAiContentThreadSafe("Trying To Reconnect");
if (ConnectorOne.pi1Port1DisconnectedStatusEvent != null)
{
ConnectorOne.pi1Port1DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
private void pi_1_port_2_btn_Click(object sender, RoutedEventArgs e)
{
ConnectorOne.pi1Port2ConnectionEnabler();
}
private void pi_3_port_1_btn_Click(object sender, RoutedEventArgs e)
{
ConnectorOne.pi3Port1ConnectionEnabler();
}
public void RoverMovementStatusUpdater(RoverAndArmRoverMovement roverMovement, double pwm)
{
RoverConsole.ArcEyeAiContent("Rover Movement Command : Direction-" + roverMovement.ToString() + ", Speed-" + pwm.ToString());
ConnectorOne.RoverMovementStatusUpdater(roverMovement, pwm);
}
