public MainWindow() { InitializeComponent(); ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); frontDriveDuino = ArduMan.getDriveFrontArduino(); backDriveDuino = ArduMan.getDriveBackArduino(); frontDriveDuino.Data_Received += frontDriveDuino_Data_Received; backDriveDuino.Data_Received += backDriveDuino_Data_Received; xboxCont = new XboxController.XboxController(); xboxCont.ThumbStickLeft += xboxCont_ThumbStickLeft; xboxCont.ThumbStickRight += xboxCont_ThumbStickRight; backDuinoInViz.setTitle("BACK COM IN"); backDuinoOutViz.setTitle("BACK COM OUT"); frontDuinoInViz.setTitle("FRONT COM IN"); frontDuinoOutViz.setTitle("FRONT COM OUT"); sendTimer = new Timer(sendTimerCallback, null, 0, 200); }
public MainWindow() { InitializeComponent(); driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString(); armIPLabel.Content = rocConstants.MCIP_ARM.ToString(); logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS; engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString(); NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager); NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged; NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged; NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged; NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged; ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); backDrive = ArduMan.getDriveBackArduino(false); frontDrive = ArduMan.getDriveFrontArduino(false); ptDuino = ArduMan.getPanTiltArduino(true); ArmDuino = ArduMan.getArmArduino(false); HandDuino = ArduMan.getHandArduino(false); miscDuino = ArduMan.getMiscArduino(false); backDrive.Data_Received += backDrive_Data_Received; frontDrive.Data_Received += frontDrive_Data_Received; ptDuino.Data_Received += ptDuino_Data_Received; ArmDuino.Data_Received += ArmDuino_Data_Received; HandDuino.Data_Received += HandDuino_Data_Received; miscDuino.Data_Received += miscDuino_Data_Received; driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan); ptMan = ptManager.getInstance(ptDuino, NetMan); armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan); hwMonitor = ROCInfo.getInstance(1000);//updates once per second hwMonitor.updatedValue += hwMonitor_updatedValue; camMan = cameraManager.getInstance(); camMan.assignCameras(); VideoCaptureDevice panTiltLeft; VideoCaptureDevice panTiltRight; if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft) && camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found... panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS); panTiltTransmitter.startTransmitting(); } ////////////// ///VIDEO CAMS SETUP ////////////// VideoCaptureDevice palmCam; if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam)) { palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM); } VideoCaptureDevice noseCam; if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam)) { noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE); } VideoCaptureDevice humerusCam; if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam)) { humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS); } ////////////// ///SNAPSHOT CAMS SETUP ////////////// VideoCaptureDevice logFrontCam; if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam)) { logFrontSS = new snapShotSender(logFrontCam); } VideoCaptureDevice logRightCam; if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam)) { logRightSS = new snapShotSender(logRightCam); } VideoCaptureDevice logBackCam; if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam)) { logBackSS = new snapShotSender(logBackCam); } VideoCaptureDevice logLeftCam; if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam)) { logLeftSS = new snapShotSender(logLeftCam); } }