private void btnSetStartPoint_Click(JaguarCtrl jc, object sender, EventArgs e) { cam = new CameraInfoGE(); double centerLat = double.Parse(centerLatitude); double centerLong = double.Parse(centerLongitude); try { centerLat = double.Parse(jc.txtStartLat.Text); } catch { } try { centerLong = double.Parse(jc.txtStartLong.Text); } catch { } centerLat = (centerLat > 90 ? 90 : centerLat); centerLat = (centerLat < -90 ? -90 : centerLat); centerLong = (centerLong > 180 ? 180 : centerLong); centerLong = (centerLong < -180 ? -180 : centerLong); cam.FocusPointLatitude = centerLat; cam.FocusPointLongitude = centerLong; cam.FocusPointAltitude = 0; cam.Range = cameraRange; cam.Tilt = 0; googleEarth.SetCamera(cam, 0.6); }
public void Initialize(JaguarCtrl jc) { centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString(); centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString(); jc.txtStartLat.Text = centerLatitude; jc.txtStartLong.Text = centerLongitude; if (true)//(jc.DesignMode == false) { googleEarth = new ApplicationGEClass(); MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk); //ShowWindowAsync(googleEarth.GetMainHwnd(), 0); GEHrender = (IntPtr)googleEarth.GetRenderHwnd(); GEParentHrender = GetParent(GEHrender); MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true); SetParent(GEHrender, jc.panelGE.Handle); // don'tdo it now , we keep google earth window to clear the KML data in temporary node //Hide the main GE window //SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW); } }
//this is a zoom function private void trackBarZoom_Scroll(JaguarCtrl jc, object sender, EventArgs e) { if (cam != null) { cameraRange = jc.trackBarZoom.Value; cam.Range = cameraRange; googleEarth.SetCamera(cam, 0.6); } }
// Constructor for the Navigation class public Navigation(JaguarCtrl jc) { // Initialize vars jaguarControl = jc; realJaguar = jc.realJaguar; simulatedJaguar = jc.simulatedJaguar; this.Initialize(); // Start Control Thread controlThread = new Thread(new ThreadStart(runControlLoop)); controlThread.Start(); }
// this function will set map center as default map start point private void btnSetMapCenter_Click(JaguarCtrl jc, object sender, EventArgs e) { PointOnTerrainGE pointGe = new PointOnTerrainGE(); pointGe = googleEarth.GetPointOnTerrainFromScreenCoords(0, 0); double lat = pointGe.Latitude; double longitude = pointGe.Longitude; jc.txtStartLat.Text = lat.ToString(); jc.txtStartLong.Text = longitude.ToString(); btnSetStartPoint_Click(jc, null, null); }
// Constructor for the Navigation class public Navigation(JaguarCtrl jc) { // Initialize vars jaguarControl = jc; realJaguar = jc.realJaguar; simulatedJaguar = jc.simulatedJaguar; map = new Map(); particles = new Particle[numParticles]; propagatedParticles = new Particle[numParticles]; // Create particles for (int i = 0; i < numParticles; i++) { particles[i] = new Particle(); propagatedParticles[i] = new Particle(); } this.Initialize(); // Start Control Thread controlThread = new Thread(new ThreadStart(runControlLoop)); controlThread.Start(); }
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile) { double centerLat = double.Parse(centerLatitude); double centerLong = double.Parse(centerLongitude); try { centerLat = double.Parse(jc.txtStartLat.Text); } catch { } try { centerLong = double.Parse(jc.txtStartLong.Text); } catch { } jc.jaguarSetting.GoogleEarthStartLat = centerLat; jc.jaguarSetting.GoogleEarthStartLong = centerLong; try { robotCfg.WriteXml(configFile); } catch { } try { PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0); } catch { } }
private void connectRobot() { //save any change to xml file row.LaserRangeIP = txtRobotIP.Text; row.RobotID = txtRobotID.Text; row.RobotIP = txtRobotIP.Text; row.GPSIP = txtGPSIP.Text; row.IMUIP = txtGPSIP.Text; row.CameraIP = txtCameraIP.Text; //row.CameraPWD = txtCameraPWD.Text; row.CameraUser = txtCameraID.Text; try { robotConfig.WriteXml(configFile); } catch { } //write gateway config file XmlTextWriter textWriter = new XmlTextWriter("C:\\DrRobotAppFile\\gatewayConfig.xml", null); textWriter.WriteStartDocument(); // Write comments textWriter.WriteComment("For Gateway Communication"); // Write first element textWriter.WriteStartElement("GateWaySetting", ""); // Write next element textWriter.WriteStartElement("RobotID", ""); textWriter.WriteString(row.RobotID); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotMethod", ""); textWriter.WriteString("WiFi"); //textWriter.WriteString("Serial"); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotCom", ""); textWriter.WriteString("COM1"); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotIP", ""); textWriter.WriteString(row.RobotIP); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotPort", ""); textWriter.WriteString("10001"); textWriter.WriteEndElement(); // Ends the document. textWriter.WriteEndElement(); textWriter.WriteEndDocument(); // close writer textWriter.Close(); Thread.Sleep(1000); //start one gateway p1 = new Process(); p1.StartInfo.FileName = "C:\\DrRobotAppFile\\WirobotGateway.exe"; p1.StartInfo.WindowStyle = ProcessWindowStyle.Minimized; p1.Start(); Thread.Sleep(1000); controlForm = new JaguarCtrl(this, robotConfig); controlForm.Show(); }
// Constructor for the Navigation class public Navigation(JaguarCtrl jc) { // Initialize vars jaguarControl = jc; realJaguar = jc.realJaguar; simulatedJaguar = jc.simulatedJaguar; genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps); this.Initialize(); // Start Control Thread controlThread = new Thread(new ThreadStart(runControlLoop)); controlThread.Start(); }
// Constructor for the Navigation class public Navigation(JaguarCtrl jc) { // Initialize vars jaguarControl = jc; realJaguar = jc.realJaguar; simulatedJaguar = jc.simulatedJaguar; //genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps); map = new Map(); particles = new Particle[numParticles]; propagatedParticles = new List<Particle>(numParticles); // Create particles for (int i = 0; i < numParticles; i++) { particles[i] = new Particle(); propagatedParticles.Add(new Particle()); } this.Initialize(); // Start Control Thread controlThread = new Thread(new ThreadStart(runControlLoop)); controlThread.Start(); }
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile) { double centerLat = double.Parse(centerLatitude); double centerLong = double.Parse(centerLongitude); try { centerLat = double.Parse(jc.txtStartLat.Text); } catch { } try { centerLong = double.Parse(jc.txtStartLong.Text); } catch { } jc.jaguarSetting.GoogleEarthStartLat = centerLat; jc.jaguarSetting.GoogleEarthStartLong = centerLong; try { robotCfg.WriteXml(configFile); } catch { } try { PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0); } catch { } }
public void Initialize(JaguarCtrl jc) { centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString(); centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString(); jc.txtStartLat.Text = centerLatitude; jc.txtStartLong.Text = centerLongitude; if (true)//(jc.DesignMode == false) { googleEarth = new ApplicationGEClass(); MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk); //ShowWindowAsync(googleEarth.GetMainHwnd(), 0); GEHrender = (IntPtr)googleEarth.GetRenderHwnd(); GEParentHrender = GetParent(GEHrender); MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true); SetParent(GEHrender, jc.panelGE.Handle); // don'tdo it now , we keep google earth window to clear the KML data in temporary node //Hide the main GE window //SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW); } }
public ParamEdit(JaguarCtrl jc) { jaguar = jc; InitializeComponent(); button1.PerformClick(); }
private void btnSetStartPoint_Click(JaguarCtrl jc, object sender, EventArgs e) { cam = new CameraInfoGE(); double centerLat = double.Parse(centerLatitude); double centerLong = double.Parse(centerLongitude); try { centerLat = double.Parse(jc.txtStartLat.Text); } catch { } try { centerLong = double.Parse(jc.txtStartLong.Text); } catch { } centerLat = (centerLat > 90 ? 90 : centerLat); centerLat = (centerLat < -90 ? -90 : centerLat); centerLong = (centerLong > 180 ? 180 : centerLong); centerLong = (centerLong < -180 ? -180 : centerLong); cam.FocusPointLatitude = centerLat; cam.FocusPointLongitude = centerLong; cam.FocusPointAltitude = 0; cam.Range = cameraRange; cam.Tilt = 0; googleEarth.SetCamera(cam, 0.6); }
public DrRobotRobotConnection(JaguarCtrl jc) { InitializeComponent(); controlForm = jc; DrRobotRobotConnection_Load(); }
private void connectRobot() { //save any change to xml file row.LaserRangeIP = txtRobotIP.Text; row.RobotID = txtRobotID.Text; row.RobotIP = txtRobotIP.Text; row.GPSIP = txtGPSIP.Text; row.IMUIP = txtGPSIP.Text; row.CameraIP = txtCameraIP.Text; //row.CameraPWD = txtCameraPWD.Text; row.CameraUser = txtCameraID.Text; try { robotConfig.WriteXml(configFile); } catch { } //write gateway config file XmlTextWriter textWriter = new XmlTextWriter("C:\\DrRobotAppFile\\gatewayConfig.xml", null); textWriter.WriteStartDocument(); // Write comments textWriter.WriteComment("For Gateway Communication"); // Write first element textWriter.WriteStartElement("GateWaySetting", ""); // Write next element textWriter.WriteStartElement("RobotID", ""); textWriter.WriteString(row.RobotID); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotMethod", ""); textWriter.WriteString("WiFi"); //textWriter.WriteString("Serial"); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotCom", ""); textWriter.WriteString("COM1"); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotIP", ""); textWriter.WriteString(row.RobotIP); textWriter.WriteEndElement(); textWriter.WriteStartElement("RobotPort", ""); textWriter.WriteString("10001"); textWriter.WriteEndElement(); // Ends the document. textWriter.WriteEndElement(); textWriter.WriteEndDocument(); // close writer textWriter.Close(); Thread.Sleep(1000); //start one gateway p1 = new Process(); p1.StartInfo.FileName = "C:\\DrRobotAppFile\\WirobotGateway.exe"; p1.StartInfo.WindowStyle = ProcessWindowStyle.Minimized; p1.Start(); Thread.Sleep(1000); controlForm = new JaguarCtrl(this, robotConfig); controlForm.Show(); }
// Constructor for the Navigation class public Navigation(JaguarCtrl jc) { // Initialize vars jaguarControl = jc; realJaguar = jc.realJaguar; simulatedJaguar = jc.simulatedJaguar; map = new Map(); particles = new Particle[numParticles]; propagatedParticles = new Particle[numParticles]; // Create particles for (int i = 0; i < numParticles; i++) { particles[i] = new Particle(); propagatedParticles[i] = new Particle(); } this.Initialize(); // Start Control Thread controlThread = new Thread(new ThreadStart(runControlLoop)); controlThread.Start(); }
//this is a zoom function private void trackBarZoom_Scroll(JaguarCtrl jc, object sender, EventArgs e) { if (cam != null) { cameraRange = jc.trackBarZoom.Value; cam.Range = cameraRange; googleEarth.SetCamera(cam, 0.6); } }
public DrRobotRobotConnection(JaguarCtrl jc) { InitializeComponent(); controlForm = jc; DrRobotRobotConnection_Load(); }
// this function will set map center as default map start point private void btnSetMapCenter_Click(JaguarCtrl jc, object sender, EventArgs e) { PointOnTerrainGE pointGe = new PointOnTerrainGE(); pointGe = googleEarth.GetPointOnTerrainFromScreenCoords(0, 0); double lat = pointGe.Latitude; double longitude = pointGe.Longitude; jc.txtStartLat.Text = lat.ToString(); jc.txtStartLong.Text = longitude.ToString(); btnSetStartPoint_Click(jc, null, null); }