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);
}
}
void kinectManager_OnAudioReady(object sender, KinectSlam.AudioStreamArgs e)
{
if (tcpServer.Status == TCPSlamServer.ServerStatus.Connected)
tcpServer.SendData(TCPSlamBase.MessageType.Audio, e.audio);
}
