private void btnSetStartPoint_Click(JaguarCtrl jc, object sender, EventArgs e)
{
cam = new CameraInfoGE();
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
centerLat = (centerLat > 90 ? 90 : centerLat);
centerLat = (centerLat < -90 ? -90 : centerLat);
centerLong = (centerLong > 180 ? 180 : centerLong);
centerLong = (centerLong < -180 ? -180 : centerLong);
cam.FocusPointLatitude = centerLat;
cam.FocusPointLongitude = centerLong;
cam.FocusPointAltitude = 0;
cam.Range = cameraRange;
cam.Tilt = 0;
googleEarth.SetCamera(cam, 0.6);
}
public void Initialize(JaguarCtrl jc)
{
centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString();
centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString();
jc.txtStartLat.Text = centerLatitude;
jc.txtStartLong.Text = centerLongitude;
if (true)//(jc.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
SetParent(GEHrender, jc.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
}
//this is a zoom function
private void trackBarZoom_Scroll(JaguarCtrl jc, object sender, EventArgs e)
{
if (cam != null)
{
cameraRange = jc.trackBarZoom.Value;
cam.Range = cameraRange;
googleEarth.SetCamera(cam, 0.6);
}
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// this function will set map center as default map start point
private void btnSetMapCenter_Click(JaguarCtrl jc, object sender, EventArgs e)
{
PointOnTerrainGE pointGe = new PointOnTerrainGE();
pointGe = googleEarth.GetPointOnTerrainFromScreenCoords(0, 0);
double lat = pointGe.Latitude;
double longitude = pointGe.Longitude;
jc.txtStartLat.Text = lat.ToString();
jc.txtStartLong.Text = longitude.ToString();
btnSetStartPoint_Click(jc, null, null);
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new Particle[numParticles];
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles[i] = new Particle();
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}
private void connectRobot()
{
//save any change to xml file
row.LaserRangeIP = txtRobotIP.Text;
row.RobotID = txtRobotID.Text;
row.RobotIP = txtRobotIP.Text;
row.GPSIP = txtGPSIP.Text;
row.IMUIP = txtGPSIP.Text;
row.CameraIP = txtCameraIP.Text;
//row.CameraPWD = txtCameraPWD.Text;
row.CameraUser = txtCameraID.Text;
try
{
robotConfig.WriteXml(configFile);
}
catch
{
}
//write gateway config file
XmlTextWriter textWriter = new XmlTextWriter("C:\\DrRobotAppFile\\gatewayConfig.xml", null);
textWriter.WriteStartDocument();
// Write comments
textWriter.WriteComment("For Gateway Communication");
// Write first element
textWriter.WriteStartElement("GateWaySetting", "");
// Write next element
textWriter.WriteStartElement("RobotID", "");
textWriter.WriteString(row.RobotID);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotMethod", "");
textWriter.WriteString("WiFi");
//textWriter.WriteString("Serial");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotCom", "");
textWriter.WriteString("COM1");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotIP", "");
textWriter.WriteString(row.RobotIP);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotPort", "");
textWriter.WriteString("10001");
textWriter.WriteEndElement();
// Ends the document.
textWriter.WriteEndElement();
textWriter.WriteEndDocument();
// close writer
textWriter.Close();
Thread.Sleep(1000);
//start one gateway
p1 = new Process();
p1.StartInfo.FileName = "C:\\DrRobotAppFile\\WirobotGateway.exe";
p1.StartInfo.WindowStyle = ProcessWindowStyle.Minimized;
p1.Start();
Thread.Sleep(1000);
controlForm = new JaguarCtrl(this, robotConfig);
controlForm.Show();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps);
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
//genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps);
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new List<Particle>(numParticles);
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles.Add(new Particle());
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}
public void Initialize(JaguarCtrl jc)
{
centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString();
centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString();
jc.txtStartLat.Text = centerLatitude;
jc.txtStartLong.Text = centerLongitude;
if (true)//(jc.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
SetParent(GEHrender, jc.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
}
public ParamEdit(JaguarCtrl jc)
{
jaguar = jc;
InitializeComponent();
button1.PerformClick();
}
private void btnSetStartPoint_Click(JaguarCtrl jc, object sender, EventArgs e)
{
cam = new CameraInfoGE();
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
centerLat = (centerLat > 90 ? 90 : centerLat);
centerLat = (centerLat < -90 ? -90 : centerLat);
centerLong = (centerLong > 180 ? 180 : centerLong);
centerLong = (centerLong < -180 ? -180 : centerLong);
cam.FocusPointLatitude = centerLat;
cam.FocusPointLongitude = centerLong;
cam.FocusPointAltitude = 0;
cam.Range = cameraRange;
cam.Tilt = 0;
googleEarth.SetCamera(cam, 0.6);
}
public DrRobotRobotConnection(JaguarCtrl jc)
{
InitializeComponent();
controlForm = jc;
DrRobotRobotConnection_Load();
}
private void connectRobot()
{
//save any change to xml file
row.LaserRangeIP = txtRobotIP.Text;
row.RobotID = txtRobotID.Text;
row.RobotIP = txtRobotIP.Text;
row.GPSIP = txtGPSIP.Text;
row.IMUIP = txtGPSIP.Text;
row.CameraIP = txtCameraIP.Text;
//row.CameraPWD = txtCameraPWD.Text;
row.CameraUser = txtCameraID.Text;
try
{
robotConfig.WriteXml(configFile);
}
catch
{
}
//write gateway config file
XmlTextWriter textWriter = new XmlTextWriter("C:\\DrRobotAppFile\\gatewayConfig.xml", null);
textWriter.WriteStartDocument();
// Write comments
textWriter.WriteComment("For Gateway Communication");
// Write first element
textWriter.WriteStartElement("GateWaySetting", "");
// Write next element
textWriter.WriteStartElement("RobotID", "");
textWriter.WriteString(row.RobotID);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotMethod", "");
textWriter.WriteString("WiFi");
//textWriter.WriteString("Serial");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotCom", "");
textWriter.WriteString("COM1");
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotIP", "");
textWriter.WriteString(row.RobotIP);
textWriter.WriteEndElement();
textWriter.WriteStartElement("RobotPort", "");
textWriter.WriteString("10001");
textWriter.WriteEndElement();
// Ends the document.
textWriter.WriteEndElement();
textWriter.WriteEndDocument();
// close writer
textWriter.Close();
Thread.Sleep(1000);
//start one gateway
p1 = new Process();
p1.StartInfo.FileName = "C:\\DrRobotAppFile\\WirobotGateway.exe";
p1.StartInfo.WindowStyle = ProcessWindowStyle.Minimized;
p1.Start();
Thread.Sleep(1000);
controlForm = new JaguarCtrl(this, robotConfig);
controlForm.Show();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new Particle[numParticles];
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles[i] = new Particle();
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
//this is a zoom function
private void trackBarZoom_Scroll(JaguarCtrl jc, object sender, EventArgs e)
{
if (cam != null)
{
cameraRange = jc.trackBarZoom.Value;
cam.Range = cameraRange;
googleEarth.SetCamera(cam, 0.6);
}
}
public DrRobotRobotConnection(JaguarCtrl jc)
{
InitializeComponent();
controlForm = jc;
DrRobotRobotConnection_Load();
}
// this function will set map center as default map start point
private void btnSetMapCenter_Click(JaguarCtrl jc, object sender, EventArgs e)
{
PointOnTerrainGE pointGe = new PointOnTerrainGE();
pointGe = googleEarth.GetPointOnTerrainFromScreenCoords(0, 0);
double lat = pointGe.Latitude;
double longitude = pointGe.Longitude;
jc.txtStartLat.Text = lat.ToString();
jc.txtStartLong.Text = longitude.ToString();
btnSetStartPoint_Click(jc, null, null);
}
