private void InitializeControls()
{
initializeBtn.Click += Initialize;
disconnectBtn.Click += Disconnect;
manualModeBtn.Click += OpenManualModeWindow;
calibrateBtn.Click += OpenCalibrationWindow;
loadConfigBtn.Click += LoadConfig;
saveConfigBtn.Click += SaveConfig;
freezeBtn.Click += FreezeCharts;
fitToDataBtn.Click += FitChartsToData;
resetZoomBtn.Click += ResetChartsZoom;
screenshotBtn.Click += TakeChartScreenshot;
activeChart = positionChart;
tabControl.SelectionChanged += (s, e) => {
activeChart = (LiveChart)tabControl.SelectedContent;
};
// CTRL + S -> save active chart to png image
Loaded += (s, e) => Focus();
KeyDown += (s, e) => {
if (e.Key == Key.S && Keyboard.IsKeyDown(Key.LeftCtrl))
{
TakeChartScreenshot(null, null);
}
};
}
public OptiTrackPanel()
{
InitializeComponent();
InitializeCharts();
OptiTrack = new OptiTrackSystem();
OptiTrack.Initialized += (s, e) => {
Dispatcher.Invoke(() => {
hostApp.Text = OptiTrack.ServerDescription.HostApp;
hostName.Text = OptiTrack.ServerDescription.HostComputerName;
hostAdress.Text = OptiTrack.ServerDescription.HostComputerAddress.ToString();
natnetVersion.Text = OptiTrack.ServerDescription.NatNetVersion.ToString();
connectBtn.IsEnabled = false;
disconnectBtn.IsEnabled = true;
});
OptiTrack.FrameReceived += UpdateOptiTrackUI;
if (robot1Transformation != null)
{
OptiTrack.FrameReceived += UpdateRobot1UI;
}
if (robot2Transformation != null)
{
OptiTrack.FrameReceived += UpdateRobot2UI;
}
};
OptiTrack.Uninitialized += (s, e) => {
Dispatcher.Invoke(() => {
connectBtn.IsEnabled = true;
disconnectBtn.IsEnabled = false;
});
};
connectBtn.Click += Connect;
disconnectBtn.Click += Disconnect;
freezeBtn.Click += FreezeCharts;
fitToDataBtn.Click += FitChartsToData;
resetZoomBtn.Click += ResetChartsZoom;
screenshotBtn.Click += TakeChartScreenshot;
activeChart = positionChart;
tabControl.SelectionChanged += (s, e) => {
activeChart = (LiveChart)tabControl.SelectedContent;
};
// CTRL + S -> save active chart to png image
Loaded += (s, e) => Focus();
KeyDown += (s, e) => {
if (e.Key == Key.S && Keyboard.IsKeyDown(Key.LeftCtrl))
{
TakeChartScreenshot(null, null);
}
};
}
private void InitializeControls()
{
freezeBtn.Click += FreezeCharts;
fitToDataBtn.Click += FitChartsToData;
resetZoomBtn.Click += ResetChartsZoom;
screenshotBtn.Click += TakeChartScreenshot;
startBtn.Click += Start;
stopBtn.Click += Stop;
setXRegBtn.Click += (s, e) => {
robot1PingApp.XAxisRegulatorParams = (double.Parse(xRegulatorP.Text), double.Parse(xRegulatorI.Text));
};
setYRegBtn.Click += (s, e) => {
robot1PingApp.YAxisRegulatorParams = (double.Parse(yRegulatorP.Text), double.Parse(yRegulatorI.Text));
};
setBounceHeightBtn.Click += (s, e) => {
robot1PingApp.TargetBounceHeigth = double.Parse(targetBounceHeight.Text);
};
activeChart = robot1PingChart;
tabControl.SelectionChanged += (s, e) => {
activeChart = (LiveChart)tabControl.SelectedContent;
};
// CTRL + S -> save active chart to png image
Loaded += (s, e) => Focus();
KeyDown += (s, e) => {
if (e.Key == Key.S && Keyboard.IsKeyDown(Key.LeftCtrl))
{
TakeChartScreenshot(null, null);
}
};
}
