private void StartButtonOnClick(object sender, RoutedEventArgs e)
{
try
{
if (XbeeTransceiver.StartCar())
{
StartButton.IsEnabled = false;
DisconnectButton.IsEnabled = false;
SaveButton.IsEnabled = false;
SpeedSlider.IsEnabled = false;
MinDistanceSlider.IsEnabled = false;
StopButton.IsEnabled = true;
Logger.Write("Car started!");
_timer.Start();
_isStopRequested = false;
}
}
catch (XbeeReadException ex)
{
Logger.Write("Failed to start the car!");
Logger.Write($"Reason: {ex.Error}");
}
}
private async void OnLoaded(object sender, RoutedEventArgs e)
{
Logger.LogWritten += OnLogWritten;
_timer = new DispatcherTimer {
Interval = TimeSpan.FromSeconds(0.5)
};
_timer.Tick += TimerOnTick;
await Task.Delay(500);
Viewport.Camera.LookDirection = new Vector3D(-2, 16, -20);
Viewport.ZoomExtents(new Rect3D(0, -10, 0, 20, 20, 20), 20);
var status = XbeeTransceiver.ConnectToCar(out string carName);
switch (status)
{
case XbeeConnectStatus.Connected:
CarNameTextBlock.Text = carName;
break;
case XbeeConnectStatus.NoXbeeFound:
MessageBox.Show("Please connect the Xbee module to the PC before launching this application.", "Attention!", MessageBoxButton.OK, MessageBoxImage.Information);
Application.Current.Shutdown(1);
return;
case XbeeConnectStatus.NoCarFound:
MessageBox.Show("Please turn on the car before launching this application.", "Attention!", MessageBoxButton.OK, MessageBoxImage.Information);
Application.Current.Shutdown(2);
return;
default:
break;
}
try
{
var speed = XbeeTransceiver.GetSpeedSettings();
var minDistance = XbeeTransceiver.GetMinDistanceSettings();
SpeedSlider.Value = speed;
MinDistanceSlider.Value = minDistance;
StartButton.IsEnabled = true;
DisconnectButton.IsEnabled = true;
SaveButton.IsEnabled = true;
SpeedSlider.IsEnabled = true;
MinDistanceSlider.IsEnabled = true;
}
catch (XbeeReadException ex)
{
Logger.Write("Failed to get settings value from the car!");
Logger.Write($"Reason: {ex.Error}");
await ExitAsync(3);
}
}
private void SaveButtonOnClick(object sender, RoutedEventArgs e)
{
try
{
XbeeTransceiver.SetSpeedSettings((int)SpeedSlider.Value);
XbeeTransceiver.SetMinDistanceSettings((int)MinDistanceSlider.Value);
}
catch (XbeeReadException ex)
{
Logger.Write("Failed to send settings to the car!");
Logger.Write($"Reason: {ex.Error}");
}
}
private async void DisconnectButtonOnClick(object sender, RoutedEventArgs e)
{
try
{
if (XbeeTransceiver.DisconnectFromCar())
{
StartButton.IsEnabled = false;
StopButton.IsEnabled = false;
DisconnectButton.IsEnabled = false;
Logger.Write("Disconnected from car!");
await ExitAsync(0);
}
}
catch (XbeeReadException ex)
{
Logger.Write("Failed to disconnect from the car!");
Logger.Write($"Reason: {ex.Error}");
}
}
private async void TimerOnTick(object sender, EventArgs e)
{
try
{
_timer.Stop();
var data = XbeeTransceiver.GetMapData();
await Draw(data);
}
catch (XbeeReadException ex)
{
Logger.Write("Failed to get map data from the car!");
Logger.Write($"Reason: {ex.Error}");
}
finally
{
if (!_isStopRequested)
{
_timer.Start();
}
}
}
