public static Position SurroundSearch(Position start, short maxRange, IPositionChecker checker)
{
for (short actualR = 1; actualR < maxRange; ++actualR)
{
for (short x = ((short)(start.X - actualR)); x <= start.X + actualR; ++x)
{
short topY = ((short)(start.Y + actualR));
if (checker.CheckPosition(x, topY))
{
return(new Position(x, topY));
}
if (checker.CheckPosition(x, (short)-topY))
{
return(new Position(x, -topY));
}
}
for (short y = ((short)(start.Y - actualR + 1)); y < start.Y + actualR; ++y)
{
short topX = ((short)(actualR + start.X));
if (checker.CheckPosition(topX, y))
{
return(new Position(topX, y));
}
if (checker.CheckPosition((short)-topX, y))
{
return(new Position(-topX, y));
}
}
}
return(start);
}
public SpeedDetectionLogicPan(ICommunication communication)
{
this._communication = communication;
this._panTiltControl = new EneoPanTiltControl(this._communication);
this._panTiltControl.PositionChanged += OnPositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
}
public SpeedTestLogic(ICommunication communication, AxisType axisType)
{
this._axisType = axisType;
this._panTiltControl = new EneoPanTiltControl(communication);
this._panTiltControl.PositionChanged += OnPositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
}
public void SetPanTiltControl(IPanTiltControl panTiltControl)
{
this._panTiltControl = panTiltControl;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.PositionChanged += PanTiltPositionChanged;
this._panTiltControl.LimitChanged += PanTiltLimitChanged;
this.CheckPtLimitAsync().GetAwaiter().GetResult();
}
public void SetPanTiltControl(IPanTiltControl panTiltControl)
{
this._panTiltControl = panTiltControl;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.PositionChanged += PanTiltPositionChanged;
this._panTiltControl.LimitChanged += PanTiltLimitChanged;
this.CheckPtLimit();
}
public const int TIMEOUT_TIME = 1000; // msec
public MainWindow()
{
InitializeComponent();
kinectService = new KinectService();
positionChecker = new PositionChecker(kinectService);
robot = new Robot(positionChecker);
skeletonDrawer = new SkeletonDrawer();
this.Closing += MainWindow_Closing;
this.DataContext = new MainWindowViewModel(kinectService, skeletonDrawer);
}
public SpeedTestLogic(ICommunication communication, PanTiltControlType panTiltControlType, AxisType axisType)
{
this._axisType = axisType;
if (panTiltControlType == PanTiltControlType.Eneo)
{
this._panTiltControl = new EneoPanTiltControl(communication);
}
else
{
this._panTiltControl = new AlturosPanTiltControl(communication);
}
this._panTiltControl.PositionChanged += OnPositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
}
public SpeedDetectionLogicPan(ICommunication communication, PanTiltControlType panTiltControlType)
{
this._communication = communication;
if (panTiltControlType == PanTiltControlType.Eneo)
{
this._panTiltControl = new EneoPanTiltControl(this._communication);
}
else
{
this._panTiltControl = new AlturosPanTiltControl(this._communication);
}
this._panTiltControl.PositionChanged += OnPositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
}
public const int TIMEOUT_TIME = 1000; // msec
public Robot(IPositionChecker positionChecker)
{
if (zigbee.zgb_initialize(DEFAULT_PORTNUM) == 0)
{
Console.WriteLine("Failed to open Zig2Serial!");
Console.WriteLine("Press any key to terminate...");
Console.ReadKey(true);
return;
}
else
{
Console.WriteLine("Succeed to open Zig2Serial!");
}
_positionChecker = positionChecker;
_positionChecker.MatchFound += _positionChecker_MatchFound;
}
private async Task StartPanTiltCommunication()
{
if (string.IsNullOrEmpty(this._deviceConfiguration.PanTiltIpAddress))
{
return;
}
try
{
switch (this._deviceConfiguration.CommunicationType)
{
case CommunicationType.NetworkTcp:
this._communication = new TcpNetworkCommunication(new IPEndPoint(IPAddress.Parse(this._deviceConfiguration.PanTiltIpAddress), 4003));
break;
case CommunicationType.NetworkUdp:
var port = 4003;
if (this._deviceConfiguration.PanTiltControlType == PanTiltControlType.Alturos)
{
port = 5555;
}
this._communication = new UdpNetworkCommunication(IPAddress.Parse(this._deviceConfiguration.PanTiltIpAddress), port, port);
break;
case CommunicationType.SerialPort:
this._communication = new SerialPortCommunication(this._deviceConfiguration.ComPort);
break;
}
}
catch (Exception exception)
{
MessageBox.Show($"Cannot initialize communication, error:{exception.ToString()}", "Communication error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
this._communication.SendData += this.CommunicationSendData;
this._communication.ReceiveData += this.CommunicationReceiveData;
using (var firmwareReader = new FirmwareReader(this._communication))
{
this.labelFirmware.Invoke(o => o.Text = $"Firmware: {firmwareReader.Firmware}");
await Task.Delay(100).ConfigureAwait(false);
}
switch (this._deviceConfiguration.PanTiltControlType)
{
case PanTiltControlType.Alturos:
this._panTiltControl = new AlturosPanTiltControl(this._communication);
break;
case PanTiltControlType.Eneo:
this._panTiltControl = new EneoPanTiltControl(this._communication);
break;
}
this._panTiltControl.PositionChanged += OnPositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
this.SetSmoothing(100, 50);
Thread.Sleep(500);
this.GetLimitInfos();
}
public AnimalFinder(IField field, IPositionChecker positionChecker, IDistanceHandler distanceHandler)
{
_positionChecker = positionChecker;
_field = field;
_distanceHandler = distanceHandler;
}
private async Task StartPanTiltCommunication()
{
if (string.IsNullOrEmpty(this._deviceConfiguration.PanTiltIpAddress))
{
return;
}
try
{
switch (this._deviceConfiguration.CommunicationType)
{
case CommunicationType.NetworkTcp:
this._communication = new TcpNetworkCommunication(new IPEndPoint(IPAddress.Parse(this._deviceConfiguration.PanTiltIpAddress), 4003));
break;
case CommunicationType.NetworkUdp:
if (this._deviceConfiguration.PanTiltControlType == PanTiltControlType.Alturos)
{
this._communication = new UdpNetworkCommunication(IPAddress.Parse(this._deviceConfiguration.PanTiltIpAddress), 5555);
}
else
{
this._communication = new UdpNetworkCommunication(IPAddress.Parse(this._deviceConfiguration.PanTiltIpAddress), 4003, 4003);
}
break;
case CommunicationType.SerialPort:
this._communication = new SerialPortCommunication(this._deviceConfiguration.ComPort);
break;
}
}
catch (Exception exception)
{
MessageBox.Show($"Cannot initialize communication, error:{exception.ToString()}", "Communication error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
this._communication.SendData += this.CommunicationSendData;
this._communication.ReceiveData += this.CommunicationReceiveData;
switch (this._deviceConfiguration.PanTiltControlType)
{
case PanTiltControlType.Alturos:
this.mainTabControl.TabPages.Remove(this.tabPageEneo);
this._panTiltControl = new AlturosPanTiltControl(this._communication);
this.communicationHistoryControl1.SetTranslator(new AlturosFeedbackTranslator());
break;
case PanTiltControlType.Eneo:
this.mainTabControl.TabPages.Remove(this.tabPageAlturos);
this._panTiltControl = new EneoPanTiltControl(this._communication);
this.communicationHistoryControl1.SetTranslator(new EneoFeedbackTranslator());
break;
}
if (this._panTiltControl is IFirmwareReader firmwareReader)
{
var firmware = await firmwareReader.GetFirmwareAsync();
this.labelFirmware.Invoke(o => o.Text = $"Firmware: {firmware}");
}
else
{
this.labelFirmware.Invoke(o => o.Text = $"Cannot get firmware info");
}
this._panTiltControl.PositionChanged += OnPositionChanged;
this._panTiltControl.LimitChanged += OnLimitChanged;
this._panTiltControl.NoPositionFeedbackReceived += NoPositionFeedbackReceived;
this._positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.Start();
Thread.Sleep(500);
this.GetLimitInfos();
}
public PositionHandler(IPositionChecker positionChecker, IField field, IPathHandler pathHandler)
{
_positionChecker = positionChecker;
_field = field;
_pathHandler = pathHandler;
}
public PointReplacer(IPositionChecker positionChecker, IField field)
{
_positionChecker = positionChecker;
_field = field;
}
public void SetPanTiltControl(IPanTiltControl panTiltControl)
{
this._panTiltControl = panTiltControl;
this._panTiltControl.PositionChanged += PositionChanged;
this._positionChecker = new PositionChecker(this._panTiltControl);
}
