Esempio n. 1
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 public MainWindow()
 {
     InitializeComponent();
     ArduMan.findArduinos();
     testDuino = ArduMan.getHandArduino();
     testDuino.Data_Received+=testDuino_Data_Received;
 }
Esempio n. 2
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        public MainWindow()
        {
            InitializeComponent();

            ArduMan = ArduinoManager.Instance;
            ArduMan.findArduinos();

            handDuino = ArduMan.getHandArduino();
            handDuino.Data_Received += handDuino_Data_Received;

            armDuino = ArduMan.getArmArduino();
            armDuino.Data_Received += armDuino_Data_Received;

            Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui
            Console.WriteLine("***Arm Control Booted***");
            xboxController = new XboxController.XboxController();

            armInput = armInputManager.getInstance(xboxController);
            armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput);

            xboxControllerMonitor.xboxController = xboxController;
            armSideView.armInputManager = armInput;
            armTopView.armInputManager = armInput;
            Console.WriteLine("***XBOX CONTROLLER CONNECTED***");

            wristComponent._xboxController = xboxController;
        }
Esempio n. 3
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        public MainWindow() {
            InitializeComponent();
            incomingCOMViz.title = "Incoming COM";
            incomingNETViz.title="Incoming NET";
            outgoingCOMViz.title="Outgoing COM";
            outgoingNETViz.title="Outgoing NET";
            leftVid.setTitle("Palm Camera");
            rightVid.setTitle("Angle Camera");
            macroButtons.MacroPressed += macroButtons_MacroPressed;
            GUIArmDrive.directionPressed += GUIArmDrive_directionPressed;
            GUIArmDrive.isGrayedOut = true;
            ControlStatusPanel.activateButtonClicked += ControlStatusPanel_activateButtonClicked;
            ArduManage = ArduinoManager.Instance;
            if (ArduManage.findArduinos()) { //An ARM Arduino is connected to the computer
                try {
                    ARM = ArduManage.getArmArduino();
                }
                catch {
                    MessageBox.Show("No ARM Arduino found, GUI cannot function correctly...");
                }
                ARM.Data_Received += ARM_Data_Received;
                ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, true);
            }
            else {
                ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, false);
            }

            leftVid.setMJPEGVideoFeedSource("HTTP://localhost:8080");
            leftVid.StartVideo();
            rightVid.setMJPEGVideoFeedSource("HTTP://localhost:8080");
            rightVid.StartVideo();
        }
Esempio n. 4
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 public localArmCommandTransmitter(Arduino _armArduino , armInputManager _armInput)
 {
     armArduino = _armArduino;
     armInput = _armInput;
     armInput.targetElbowChanged += armInput_targetElbowChanged;
     armInput.targetShoulderChanged += armInput_targetShoulderChanged;
     armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
     elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
     shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
     turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
 }
Esempio n. 5
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        float deadzone = 15; // set lower for HIGHER resolution
        public MainWindow()
        {
            InitializeComponent();
            ARMan = ArduinoManager.Instance;
            ARMan.findArduinos();
            hanDuino = ARMan.getHandArduino();
            hanDuino.Data_Received += hanDuino_Data_Received;
            comInViz.setTitle("WRIST COM IN");
            comOutViz.setTitle("WRIST COM OUT");
            XBController = new XboxController.XboxController();
            XBController.ThumbStickLeft += XBController_ThumbStickLeft;
            XBController.ButtonAReleased += XBController_ButtonAReleased; //Press A to start/restart dance, exit live data mode.
            XBController.ButtonBReleased += XBController_ButtonBReleased; //Press B to go into live input mode, exit dance mode.
            XBController.ButtonStartReleased += XBController_ButtonStartReleased; //Press start button for emergency stop
            XBController.TriggerRight += XBController_TriggerRight;

        }
Esempio n. 6
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        int deadzone = 1; //Lower this value for increased resolution (might cause slower response)

        public MainWindow()
        {
            InitializeComponent();

            serialTimer = new Timer(serialTimerCallback, null, 0, 50);

            wristInViz.setTitle("WRIST COM IN");

            ArduMan = ArduinoManager.Instance;
            ArduMan.findArduinos();
            wristDuino = ArduMan.getHandArduino();
            wristDuino.Data_Received += wristDuino_Data_Received;

            XBoxCon = new XboxController.XboxController();
            XBoxCon.ThumbStickLeft+= XBoxCon_ThumbStickLeft;
            Dispatcher.Invoke(() => maxMagSlider.Value = MAX_MAGNITUDE);
        }
Esempio n. 7
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        public MainWindow()
        {
            InitializeComponent();

            cameraView = new dualCameraViewer.MainWindow();
            cameraView.Show();

            comVizIn.setTitle("PT COM IN");
            comVizOut.setTitle("PT COM OUT");

            ArduMan = ArduinoManager.Instance;
            ArduMan.findArduinos();
            PTDuino = ArduMan.getPanTiltArduino();
            PTDuino.Data_Received += PTDuino_Data_Received;

            orientation = OculusOrientation.getInstance();
            orientation.orientationChanged += orientation_orientationChanged;
            
        }
Esempio n. 8
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        public MainWindow()
        {
            InitializeComponent();
            ArduMan = ArduinoManager.Instance;
            ArduMan.findArduinos();
            frontDriveDuino = ArduMan.getDriveFrontArduino();
            backDriveDuino = ArduMan.getDriveBackArduino();
            frontDriveDuino.Data_Received += frontDriveDuino_Data_Received;
            backDriveDuino.Data_Received += backDriveDuino_Data_Received;
            xboxCont = new XboxController.XboxController();
            xboxCont.ThumbStickLeft += xboxCont_ThumbStickLeft;
            xboxCont.ThumbStickRight += xboxCont_ThumbStickRight;

            
            backDuinoInViz.setTitle("BACK COM IN");
            backDuinoOutViz.setTitle("BACK COM OUT");
            frontDuinoInViz.setTitle("FRONT COM IN");
            frontDuinoOutViz.setTitle("FRONT COM OUT");
            sendTimer = new Timer(sendTimerCallback, null, 0, 200);
        }
Esempio n. 9
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        public localArmCommandTransmitter(Arduino _armArduino, Arduino _handArduino, armInputManager _armInput)
        {
            armArduino = _armArduino;
            armInput = _armInput;
            handArduino = _handArduino;

            armInput.targetElbowChanged += armInput_targetElbowChanged;
            armInput.targetShoulderChanged += armInput_targetShoulderChanged;
            armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
            armInput.targetWristChanged += armInput_targetWristChanged;
            armInput.targetGripperChanged += armInput_targetGripperChanged;
            armInput.EmergencyStop = emerStop;

            elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
            shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
            turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
            wristTimer = new Timer(wristTimerCallback, null, 0, delay);
            gripperTimer = new Timer(gripperTimerCallback, null, 0, delay);

        }
Esempio n. 10
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        public MainWindow()
        {
            InitializeComponent();

            driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString();
            armIPLabel.Content = rocConstants.MCIP_ARM.ToString();
            logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS;
            engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString();

            NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager);
            NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged;
            NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged;
            NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged;
            NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged;

            ArduMan = ArduinoManager.Instance;
            ArduMan.findArduinos();

            backDrive = ArduMan.getDriveBackArduino(false);
            frontDrive = ArduMan.getDriveFrontArduino(false);
            ptDuino = ArduMan.getPanTiltArduino(true);
            ArmDuino = ArduMan.getArmArduino(false);
            HandDuino = ArduMan.getHandArduino(false);
            miscDuino = ArduMan.getMiscArduino(false);

            backDrive.Data_Received += backDrive_Data_Received;
            frontDrive.Data_Received += frontDrive_Data_Received;
            ptDuino.Data_Received += ptDuino_Data_Received;
            ArmDuino.Data_Received += ArmDuino_Data_Received;
            HandDuino.Data_Received += HandDuino_Data_Received;
            miscDuino.Data_Received += miscDuino_Data_Received;

            driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan);
            ptMan = ptManager.getInstance(ptDuino, NetMan);
            armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan);

            hwMonitor = ROCInfo.getInstance(1000);//updates once per second
            hwMonitor.updatedValue += hwMonitor_updatedValue;

            camMan = cameraManager.getInstance();
            camMan.assignCameras();

            VideoCaptureDevice panTiltLeft;
            VideoCaptureDevice panTiltRight;
            if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft)  &&  camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found...
                panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS);
                panTiltTransmitter.startTransmitting();
            }

            //////////////
            ///VIDEO CAMS SETUP
            //////////////

            VideoCaptureDevice palmCam;
            if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam))
            {
                palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM);
            }

            VideoCaptureDevice noseCam;
            if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam))
            {
                noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE);
            }

            VideoCaptureDevice humerusCam;
            if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam))
            {
                humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS);
            }

            //////////////
            ///SNAPSHOT CAMS SETUP
            //////////////

            VideoCaptureDevice logFrontCam;
            if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam))
            {
                logFrontSS = new snapShotSender(logFrontCam);
            }

            VideoCaptureDevice logRightCam;
            if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam))
            {
                logRightSS = new snapShotSender(logRightCam);
            }

            VideoCaptureDevice logBackCam;
            if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam))
            {
                logBackSS = new snapShotSender(logBackCam);
            }

            VideoCaptureDevice logLeftCam;
            if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam))
            {
                logLeftSS = new snapShotSender(logLeftCam);
            }

        }
Esempio n. 11
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 private armManager(Arduino armArduino, Arduino handArduino, networkManager _netman)
 {
     armDuino = armArduino;
     handDuino = handArduino;
     netMan = _netman;
     netMan.incomingArm += netMan_incomingArm;
     armDuino.Data_Received += armDuino_Data_Received;
     handDuino.Data_Received += handDuino_Data_Received;
 }
Esempio n. 12
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 public static armManager getInstance(Arduino armArduino, Arduino handArduino, networkManager _netman)
 {
     if (instance == null)
     {
         instance = new armManager(armArduino,handArduino,_netman);
     }
     return instance;
 }
Esempio n. 13
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 private ptManager(Arduino panTiltArduino, networkManager _netMan)
 {
     ptDuino = panTiltArduino;
     netMan = _netMan;
     ptDuino.Data_Received += ptDuino_Data_Received;
     netMan.incomingDrive += netMan_incomingDrive;
 }
Esempio n. 14
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 public static ptManager getInstance(Arduino panTiltArduino, networkManager _netMan)
 {
     if (instance == null)
     {
         instance = new ptManager(panTiltArduino, _netMan);
     }
     return instance;
 }
Esempio n. 15
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        private driveManager(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
        {
            frontDriveDuino = frontArduino;
            backDriveDuino = backArduino;

            frontDriveDuino.Data_Received += frontDriveDuino_Data_Received;
            backDriveDuino.Data_Received += backDriveDuino_Data_Received;

            netMan = _netMan;
            netMan.incomingDrive += netMan_incomingDrive;
        }
Esempio n. 16
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 public static driveManager getInstance(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
 {
     if (instance == null)
     {
         instance = new driveManager(backArduino, frontArduino, _netMan);
     }
     return instance;
 }