void arduino_OnSensorInfoReady(object sender, ArduinoSlam.SensorInfoArgs e)
{
if (tcpServer.Status == TCPSlamServer.ServerStatus.Connected)
{
tcpServer.SendData(TCPSlamBase.MessageType.XForce, BitConverter.GetBytes(e.XForce));
tcpServer.SendData(TCPSlamBase.MessageType.YForce, BitConverter.GetBytes(e.YForce));
tcpServer.SendData(TCPSlamBase.MessageType.ZForce, BitConverter.GetBytes(e.ZForce));
tcpServer.SendData(TCPSlamBase.MessageType.Temperature, BitConverter.GetBytes(e.Temperature));
}
}
void arduino_OnStatusChanged(object sender, ArduinoSlam.StatusArgs e)
{
SendArduinoStatus();
if (e.Status == ArduinoSlam.ArduinoStatus.Connected)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Connected"; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Disconnect"; }));
}
else if (e.Status == ArduinoSlam.ArduinoStatus.Connecting)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Connecting"; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Disconnect"; }));
}
else if (e.Status == ArduinoSlam.ArduinoStatus.NotConnected)
{
lblArduinoStatus.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { lblArduinoStatus.Content = "Disconnected"; }));
btnArduinoConnect.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { btnArduinoConnect.Content = "Connect"; }));
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
arduino = new ArduinoSlam();
arduino.OnStatusChanged += new EventHandler<ArduinoSlam.StatusArgs>(arduino_OnStatusChanged);
arduino.OnSensorInfoReady += new EventHandler<ArduinoSlam.SensorInfoArgs>(arduino_OnSensorInfoReady);
arduino.Connect();
kinectManager = new KinectSlam();
kinectManager.OnAudioReady += new EventHandler<KinectSlam.AudioStreamArgs>(kinectManager_OnAudioReady);
tcpServer = new TCPSlamServer();
tcpServer.Port = 9988;
tcpServer.OnConnectionStatusChanged += new EventHandler<TCPSlamServer.ServerStatusArgs>(tcpServer_OnConnectionStatusChanged);
tcpServer.OnDataReceived += new EventHandler<TCPSlamBase.MessageArgs>(tcpServer_OnDataReceived);
txtIP.Text = Common.GetIP();
try
{
tcpServer.IPAddress = IPAddress.Parse(txtIP.Text);
tcpServer.StartServer();
}
catch
{
Console.WriteLine("Invalid IP: " + txtIP.Text);
}
}