private void OnRobotChange(object sender, TopBar.RobotChangeEventArgs e)
{
try
{
if (connectionThread == null || connectionThread.IsAlive == false)
{
currentConfig = e.ConfigFiles;
connectionThread = new Thread(new ThreadStart(delegate() { connect(); }));
connectionThread.Start();
}
else
{
e.Cancel = true;
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnTextChanged(object sender, TextChangedEventArgs e)
{
try
{
if (currentConfigFiles != null)
{
if (
(sender == FriendlyNameBox && (!currentConfigFiles.MyroConfiguration.FriendlyName.Equals(FriendlyNameBox.Text))) ||
(sender == HttpPortBox && (!currentConfigFiles.MyroConfiguration.HttpPort.ToString().Equals(HttpPortBox.Text))) ||
(sender == DsspPortBox && (!currentConfigFiles.MyroConfiguration.DsspPort.ToString().Equals(DsspPortBox.Text))))
{
currentModified = true;
setModifiedStyle();
}
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
//private void OnBrowseManifest(object sender, ExecutedRoutedEventArgs e)
//{
// var dlg = new OpenFileDialog();
// if (curManifest != null && curManifest.Length > 0)
// dlg.FileName = curManifest;
// dlg.DefaultExt = ".manifest.xml";
// dlg.Filter = "DSS Manifest (.manifest.xml)|*.manifest.xml";
// if (dlg.ShowDialog(this) == true)
// {
// lock (connectionThreadLock)
// {
// curManifest = dlg.FileName;
// if (connectionThread == null || connectionThread.IsAlive == false)
// {
// connectionThread = new Thread(new ThreadStart(delegate() { connect(); }));
// connectionThread.Start();
// }
// }
// }
//}
//private void ToggleConnect(object sender, RoutedEventArgs e)
//{
// if (curManifest == null || curManifest.Length <= 0)
// BrowseManifest(sender, e);
// lock (connectionThreadLock)
// {
// if (connectionThread == null || connectionThread.IsAlive == false)
// {
// connectionThread = new Thread(new ThreadStart(delegate() { connect(); }));
// connectionThread.Start();
// }
// }
//}
private void OnInitialized(object sender, EventArgs e)
{
try
{
Robot.RobotStateChangeEvent += OnRobotStateChange;
commandWindow.StartScripting();
commandWindow.PythonExecuting +=
delegate(object source, EventArgs e2)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { topBar.IsRunning = true; }));
};
commandWindow.PythonFinished +=
delegate(object source, EventArgs e2)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { topBar.IsRunning = false; }));
};
editor = new Editor(this);
editor.InsertedEditor += OnEditorInserted;
editor.RemovedEditor += OnEditorRemoved;
editor.ActivatedEditor += OnEditorActivated;
editor.ModifiedChanged += OnEditorNameChanged;
editor.NameChanged += OnEditorNameChanged;
//SetButtonsEnabled();
editor.RequestNewDocument();
webcamDisplay.StartUpdate();
simDisplay = new SimulatorDisplay();
simDisplay.SimulatorFound += OnFoundSimulator;
simDisplay.Start();
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnEditorInserted(object sender, Editor.EditorEventArgs e)
{
try
{
var header = new Grid();
header.Children.Add(new Label()
{
Content = e.Document.FileName
});
header.Children.Add(new Button()
{
Content = new Image()
{
Source = new BitmapImage(new Uri("cross.png", UriKind.Relative))
}
});
var item = new CloseableTabItemDemo.CloseableTabItem()
{
Header = e.Document.FileName,
Content = e.Document.EditorControl
};
item.GotFocus +=
delegate(object sender2, RoutedEventArgs e2)
{
e.Document.EditorControl.Focus();
};
item.CloseTab +=
delegate(object sender2, RoutedEventArgs e2)
{
editor.RequestClose(e.Document);
};
mainTabs.Items.Add(item);
mainTabs.SelectedIndex = mainTabs.Items.Count - 1;
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
}
}
private void OnClosing(object sender, System.ComponentModel.CancelEventArgs e)
{
try
{
if (editor.RequestCloseAll() == false)
{
e.Cancel = true;
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
e.Cancel = true;
return;
}
this.IsEnabled = false;
Window closing = new ClosingWindow();
closing.Show();
try
{ controlPanel.Dispose(); }
catch (Exception err) { GUIUtilities.ReportUnexpectedException(err); }
try
{ commandWindow.Dispose(); }
catch (Exception err) { GUIUtilities.ReportUnexpectedException(err); }
try
{ webcamDisplay.Dispose(); }
catch (Exception err) { GUIUtilities.ReportUnexpectedException(err); }
try
{ simDisplay.Dispose(); }
catch (Exception err) { GUIUtilities.ReportUnexpectedException(err); }
try
{ Robot.Shutdown(); }
catch (Exception err) { GUIUtilities.ReportUnexpectedException(err); }
closing.Close();
}
//private void disconnect()
//{
// Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
// new ThreadStart(delegate()
// {
// manifestBox.Text = "Disconnecting from robot...";
// }));
// controlPanel.SetRobot(null);
// if (robot != null)
// robot.Shutdown();
// robot = null;
// Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
// new ThreadStart(delegate()
// {
// controlPanel.IsEnabled = false;
// try
// {
// ((Image)connectButton.Content).Source = new BitmapImage(new Uri("disconnect.png", UriKind.Relative));
// manifestBox.Text = (curManifest == null ? "Disconnected" : curManifest + " (disconnected)");
// }
// catch (Exception e) { Console.WriteLine(e); }
// }));
//}
private void connect()
{
try
{
if (connected == false && currentConfig != null)
{
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
//manifestBox.Text = "Connecting to robot...";
commandWindow.ExecuteCommand("from myro import *");
commandWindow.LogText("> init('" + currentConfig.BaseName + "')\n", Colors.MediumBlue);
}));
Robot.Init(currentConfig.ManifestFilePath,
currentConfig.MyroConfiguration.HttpPort,
currentConfig.MyroConfiguration.DsspPort);
controlPanel.SetRobot();
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
controlPanel.IsEnabled = true;
try
{
//((Image)connectButton.Content).Source = new BitmapImage(new Uri("connected.png", UriKind.Relative));
//manifestBox.Text = (curManifest == null ? "" : curManifest);
}
catch (Exception e) { Console.WriteLine(e); }
}));
}
}
catch (Exception e)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() { GUIUtilities.ReportUnexpectedException(e); }));
}
}
private void reset()
{
if (livePanelList.Count > 0)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
try
{
foreach (var pi in livePanelList)
{
servicePanel.Children.Remove(pi.Group);
}
}
catch (Exception e)
{
GUIUtilities.ReportUnexpectedException(e);
//Console.WriteLine(e.ToString());
}
}));
}
panelList = origPanelList;
livePanelList.Clear();
}
private void checkNewPanels()
{
List <ServicePanelInfo> toRemove = new List <ServicePanelInfo>();
List <Thread> threads = new List <Thread>();
foreach (var pi in panelList)
{
var myPi = pi;
Thread t = new Thread(new ThreadStart(
delegate()
{
try
{
//Console.WriteLine("Adding " + myPi.Name);
Robot.GetNames(myPi.Name);
lock (toRemove) { toRemove.Add(myPi); }
}
catch (Exception) { }
}));
t.Start();
threads.Add(t);
}
foreach (var t in threads)
{
t.Join();
}
ManualResetEvent signal = new ManualResetEvent(false);
Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate()
{
try
{
var newLivePanelList = new List <ServicePanelInfo>(livePanelList);
foreach (var pi in toRemove)
{
pi.Meters = new CircleMeters()
{
//Width = 200,
//Height = 30,
};
var myPi = pi;
pi.Meters.ValueChange += (CircleMeters.ValueChangeHandler)
delegate(object sender, Myro.GUI.WPFControls.CircleMeters.ValueChangeArgs e)
{
Robot.Set(myPi.Name, e.Index, e.Value);
};
pi.Meters.SetColor(pi.Color);
pi.Group = new GroupBox()
{
Header = pi.Description,
Margin = new Thickness(5.0, 5.0, 5.0, 10.0),
HorizontalAlignment = HorizontalAlignment.Stretch,
VerticalAlignment = VerticalAlignment.Top,
HorizontalContentAlignment = HorizontalAlignment.Stretch,
Content = pi.Meters
};
newLivePanelList.Add(pi);
panelList.Remove(pi);
servicePanel.Children.Add(pi.Group);
}
// Swap in reference to new list, changed atomically because updateLoop
// may be using the list to update sensor readings
livePanelList = newLivePanelList;
}
catch (Exception e)
{
GUIUtilities.ReportUnexpectedException(e);
//Console.WriteLine(e.ToString());
//throw;
}
finally { signal.Set(); }
}));
signal.WaitOne();
}
