private bool Initialize()
{
if (!_initialized)
{
try
{
// initialize PiCar
_piCar = PiCarClientFactory.CreatePiCar(_controlTopic.Server, _controlTopic.Credential);
if (_piCar != null)
{
_piCar.Initialize(_controlTopic.ServerAddress, _controlTopic.VideoPort);
_cameraHorizontalServo = new ServoStat {
Servo = _piCar.HeadHorizontalServo
};
_cameraVertialServo = new ServoStat {
Servo = _piCar.HeadVerticalServo
};
_rightLed = new LedState {
Led = _piCar.RightLed
};
_leftLed = new LedState {
Led = _piCar.LeftLed
};
// initialize AppServiceHost
DeviceSettings settings = DeviceSettings.Instance;
_host = new AppServiceHost(settings.ServerPrefix, settings.ServiceRootPath, settings.ServiceActionRootPath, settings.ServiceCredentials);
_host.Init();
_initialized = true;
}
}
catch (Exception err)
{
responseLabel.Text = "Failed to initialize PiCar \n" + err.ToString();
}
}
if (_initialized)
{
CommandButton.IsEnabled = true;
GpioButton.IsEnabled = true;
ServiceOnOffButton.IsEnabled = true;
}
else
{
CommandButton.IsEnabled = false;
GpioButton.IsEnabled = false;
ServiceOnOffButton.IsEnabled = false;
}
return(_initialized);
}
private async void ChangingServoAngle(ServoStat servo, int increment)
{
servo.ButtonPressed = true;
while (servo.ButtonPressed)
{
string msg = servo.Servo.GoBy(increment);
DisplayServerStatus(msg);
await Task.Run(async() =>
{
await Task.Delay(500); // in milliseconds
}).ConfigureAwait(true);
}
}
