private void addCameraWatch(string cameraName, bool selectIfFound)
{
Delegate subscribeForEntity = new ThreadStart(delegate()
{
try
{
SimulationEngine.GlobalInstancePort.Subscribe(new EntitySubscribeRequestType()
{
Name = cameraName
}, _notifyTarget);
Arbiter.Activate(queue, Arbiter.Receive <InsertSimulationEntity>(true, _notifyTarget,
delegate(InsertSimulationEntity ins) { AddCamera(ins.Body as CameraEntity, selectIfFound); }));
}
catch (Exception e)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { GUIUtilities.ReportUnexpectedException(e); }));
}
});
if (_notifyTarget != null && SimulationEngine.GlobalInstancePort != null)
{
Arbiter.Activate(queue, Arbiter.Choice(
SimulationEngine.GlobalInstancePort.Query(
new VisualEntity()
{
EntityState = new EntityState()
{
Name = cameraName
}
}),
delegate(QuerySimulationEntityResponseType r)
{
if (r.Entity != null)
{
var cam = r.Entity as CameraEntity;
if (cam != null)
{
AddCamera(cam, selectIfFound);
}
else
{
subscribeForEntity.DynamicInvoke();
}
}
else
{
subscribeForEntity.DynamicInvoke();
}
},
delegate(Fault f)
{
subscribeForEntity.DynamicInvoke();
}));
}
}
private void SimulatorContainer_Loaded(object sender, RoutedEventArgs e)
{
try
{
initBitmap();
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnMouseUp(object sender, MouseButtonEventArgs e)
{
try
{
SimulatorContainer.ReleaseMouseCapture();
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnResize(object sender, SizeChangedEventArgs e)
{
try
{
sizeChangePort.Post(e.NewSize);
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void AddCamera_Button_Click(object sender, RoutedEventArgs e)
{
try
{
AddContainer.Child = (UIElement)AddContainer.FindResource("textbox");
AddContainer.Child.Focus();
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void TextBox_PreviewKeyDown(object sender, KeyEventArgs e)
{
try
{
if (e.Key == Key.Escape)
{
AddContainer.Child = (UIElement)AddContainer.FindResource("button");
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnMouseMove(object sender, MouseEventArgs e)
{
try
{
if (curCamera != null && SimulatorContainer.IsMouseCaptured)
{
var p = e.GetPosition(SimulatorContainer);
var drag = new Vector2((float)p.X - mouseStart.X, (float)p.Y - mouseStart.Y);
mouseStart = new Vector2((float)p.X, (float)p.Y);
xnaTypes.Vector3 view = curCamera.Camera.LookAt - curCamera.Camera.Location;
view.Normalize();
switch (dragType)
{
case DragType.LOOK:
xnaTypes.Vector3 up = new xnaTypes.Vector3(0, 1, 0);
float dot = xnaTypes.Vector3.Dot(view, up);
if (Math.Abs(dot) > 0.99)
{
up += new xnaTypes.Vector3(0.1f, 0, 0);
up.Normalize();
}
xnaTypes.Vector3 right = xnaTypes.Vector3.Cross(view, up);
view = xnaTypes.Vector3.Multiply(view, 10f);
view = xnaTypes.Vector3.Transform(view, xnaTypes.Matrix.CreateFromAxisAngle(up, (float)(-drag.X * Math.PI / 500)));
view = xnaTypes.Vector3.Transform(view, xnaTypes.Matrix.CreateFromAxisAngle(right, (float)(-drag.Y * Math.PI / 500)));
curCamera.Camera.LookAt = curCamera.Camera.Location + view;
break;
case DragType.MOVE:
var right2 = xnaTypes.Vector3.Cross(view, new xnaTypes.Vector3(0, 1, 0));
var up2 = xnaTypes.Vector3.Cross(right2, view);
right2 *= (drag.X * 0.05f);
up2 *= (-drag.Y * 0.05f);
var delta = right2 + up2;
curCamera.Camera.LookAt += delta;
curCamera.Camera.Location += delta;
break;
}
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnMouseWheel(object sender, MouseWheelEventArgs e)
{
try
{
if (curCamera != null)
{
xnaTypes.Vector3 view = curCamera.Camera.LookAt - curCamera.Camera.Location;
view.Normalize();
view = xnaTypes.Vector3.Multiply(view, e.Delta * 0.01f);
curCamera.Camera.LookAt += view;
curCamera.Camera.Location += view;
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void PlayTone(object sender, MouseEventArgs e)
{
double duration = durSlider.Value;
double freq1 = (freq1Slider.Value == freq1Slider.Minimum ? 0.0 : freq1Slider.Value);
double freq2 = (freq2Slider.Value == freq2Slider.Minimum ? 0.0 : freq2Slider.Value);
new Thread(new ThreadStart(delegate()
{
try
{
Robot.beep(duration, freq1, freq2);
}
catch (Exception err)
{
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { GUIUtilities.ReportUnexpectedException(err); }));
}
})).Start();
}
private void TextBox_PreviewTextInput(object sender, TextCompositionEventArgs e)
{
try
{
var textbox = sender as TextBox;
if (e.Text.EndsWith("\n") || e.Text.EndsWith("\r"))
{
if (textbox.Text.Length > 0)
{
addCameraWatch(textbox.Text, true);
}
AddContainer.Child = (UIElement)AddContainer.FindResource("button");
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
/// <summary>
/// Helper method to clear the populated sensors so they can be
/// repopulated. This is currently not used, but was intended to
/// be called when the connected robot changes.
/// </summary>
private void reset()
{
if (livePanelList.Count > 0)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
try
{
foreach (var pi in livePanelList)
{
servicePanel.Children.Remove(pi.Group);
}
}
catch (Exception e)
{
GUIUtilities.ReportUnexpectedException(e);
}
}));
}
panelList = origPanelList;
livePanelList.Clear();
}
private void SizeChangeHandler(Size size)
{
// Flush size change messages
while (sizeChangePort.Test() != null)
{
}
;
// Resize the bitmap for displaying camera images
try
{ initBitmap(); }
catch (Exception e) { GUIUtilities.ReportUnexpectedException(e); }
Thread.Sleep(50);
// Activate new receiver
try
{
// This try is here because this will throw an exception when DSS shuts down.
Arbiter.Activate(queue, Arbiter.Receive(false, sizeChangePort, SizeChangeHandler));
}
catch (Exception) { }
}
private void OnSimCamChange(object sender, SelectionChangedEventArgs e)
{
try
{
if (SimCamBox.SelectedItem != null)
{
ComboBoxItem item = SimCamBox.SelectedItem as ComboBoxItem;
if (item != null && item.Tag != null && item.Tag is CameraInfo)
{
// Set the current camera, subscribe it if it has not yet
// been subscribed, and set it's frame update rate.
curCamera = (CameraInfo)item.Tag;
// Clear the display in case the new images are smaller
initBitmap();
}
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnMouseDown(object sender, MouseButtonEventArgs e)
{
try
{
if (!SimulatorContainer.IsMouseCaptured)
{
if (e.ChangedButton == MouseButton.Left)
{
dragType = DragType.LOOK;
}
else if (e.ChangedButton == MouseButton.Right)
{
dragType = DragType.MOVE;
}
var p = e.GetPosition(SimulatorContainer);
mouseStart = new Vector2((float)p.X, (float)p.Y);
SimulatorContainer.CaptureMouse();
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
/// <summary>
/// Helper method that checks for new sensor services having started.
/// This is called every few seconds by the polling thread.
/// </summary>
private void checkNewPanels()
{
List <ServicePanelInfo> toRemove = new List <ServicePanelInfo>();
List <Thread> threads = new List <Thread>();
foreach (var pi in panelList)
{
var myPi = pi;
Thread t = new Thread(new ThreadStart(
delegate()
{
try
{
//Console.WriteLine("Adding " + myPi.Name);
Robot.GetNames(myPi.Name);
lock (toRemove) { toRemove.Add(myPi); }
}
catch (Exception) { }
}));
t.Start();
threads.Add(t);
}
foreach (var t in threads)
{
t.Join();
}
ManualResetEvent signal = new ManualResetEvent(false);
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
try
{
var newLivePanelList = new List <ServicePanelInfo>(livePanelList);
foreach (var pi in toRemove)
{
pi.Meters = new CircleMeters()
{
//Width = 200,
//Height = 30,
};
var myPi = pi;
pi.Meters.ValueChange += (CircleMeters.ValueChangeHandler)
delegate(object sender, Myro.GUI.WPFControls.CircleMeters.ValueChangeArgs e)
{
Robot.Set(myPi.Name, e.Index, e.Value);
};
pi.Meters.SetColor(pi.Color);
pi.Group = new GroupBox()
{
Header = pi.Description,
Margin = new Thickness(5.0, 5.0, 5.0, 10.0),
HorizontalAlignment = HorizontalAlignment.Stretch,
VerticalAlignment = VerticalAlignment.Top,
HorizontalContentAlignment = HorizontalAlignment.Stretch,
Content = pi.Meters
};
newLivePanelList.Add(pi);
panelList.Remove(pi);
servicePanel.Children.Add(pi.Group);
}
// Swap in reference to new list, changed atomically because updateLoop
// may be using the list to update sensor readings
livePanelList = newLivePanelList;
}
catch (Exception e)
{
GUIUtilities.ReportUnexpectedException(e);
//Console.WriteLine(e.ToString());
//throw;
}
finally { signal.Set(); }
}));
signal.WaitOne();
}
private void OnSnapClick(object sender, RoutedEventArgs e)
{
if (takePictureThread == null)
{
SnapshotButton.IsEnabled = false;
takePictureThread = new Thread(new ThreadStart(delegate()
{
try
{
takePictureHelper();
}
catch (Exception err)
{
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { IsActive = false; GUIUtilities.ReportUnexpectedException(err); }));
}
finally
{
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { SnapshotButton.IsEnabled = true; }));
takePictureThread = null;
}
}));
takePictureThread.Start();
}
}
private void updateLoop()
{
while (!shouldExit)
{
if (IsActive && curType != null)
{
try
{
if (setDarknessRequest >= 0)
{
if (setDarknessRequest == 256)
{
Robot.autoCamera();
}
else
{
Robot.darkenCamera((byte)setDarknessRequest);
}
setDarknessRequest = -1;
}
takePictureHelper();
}
catch (Exception e)
{
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { IsActive = false; GUIUtilities.ReportUnexpectedException(e); }));
}
}
Thread.Sleep(delayMs);
}
}
