/// <summary>
/// Initializes a new instance of the MainViewModel class.
/// </summary>
public MainViewModel()
{
instance = this; // this sets the static Instance property to this instance.
Plugins = new ObservableCollection <PluginBase>();
Devices = new ObservableCollection <Device>();
Motors = new ObservableCollection <MotorViewModel>();
Plugins.CollectionChanged += Plugins_CollectionChanged;
Controllers = new ObservableCollection <ControllerViewModel>();
Controllers.CollectionChanged += Controllers_CollectionChanged;
Robot = new Robot();
// This lets us know what's going on with the Robot's internal Joint collection.
Robot.Controllers.CollectionChanged += RobotControllers_CollectionChanged;
//InputSignalRegistry = new ViewModel.SignalSinkRegistryViewModel();
InputSignalRegistry = new ObservableDictionary <string, string>();
Messenger.Default.Register <Messages.RemoveController>(this,
(message) =>
{
Controllers.Remove(message.ControllerToRemove);
com = this.Robot.Com;
}
);
}
/// <summary>
/// Initializes a new instance of the MainViewModel class.
/// </summary>
public MainViewModel()
{
instance = this; // this sets the static Instance property to this instance.
Plugins = new ObservableCollection<PluginBase>();
Devices = new ObservableCollection<Device>();
Motors = new ObservableCollection<MotorViewModel>();
Plugins.CollectionChanged += Plugins_CollectionChanged;
Controllers = new ObservableCollection<ControllerViewModel>();
Controllers.CollectionChanged += Controllers_CollectionChanged;
Robot = new Robot();
// This lets us know what's going on with the Robot's internal Joint collection.
Robot.Controllers.CollectionChanged += RobotControllers_CollectionChanged;
//InputSignalRegistry = new ViewModel.SignalSinkRegistryViewModel();
InputSignalRegistry = new ObservableDictionary<string, string>();
Messenger.Default.Register<Messages.RemoveController>(this,
(message) =>
{
Controllers.Remove(message.ControllerToRemove);
com = this.Robot.Com;
}
);
}
/// <summary>
/// Создает новый объект API с указанным транспортом пакетов сообщений
/// </summary>
/// <param name="transport">Транспорт пакетов сообщений, например HttpPacketTransport</param>
public SuatmmExchange(IPacketTransport transport)
{
if (transport == null)
{
throw new ArgumentNullException(nameof(transport));
}
this.transport = transport;
}
/// <summary>
/// Retorna o transporte para a conexão atual.
/// Se ainda não estiver conectado, tenta conectar no servidor.
/// O estado desconctado é um estado terminal.
/// Retorna uma excessão caso não consiga conectar no servidor.
/// </summary>
/// <param name="forceConnect">Força uma reconexão mesmo que esteja desconectado.</param>
/// <returns>O transporte atualmente conectado.</returns>
protected IPacketTransport InternalGetTransport(bool forceConnect)
{
if (m_State == ChannelState.Connected)
{
return(m_transport);
}
lock (m_transportInitializeLock)
{
if (m_State == ChannelState.Connected)
{
return(m_transport);
}
if (!forceConnect)
{
if (m_State != ChannelState.NotConnected)
{
SocketException sex = new SocketException((int)SocketError.NotConnected);
throw sex;
}
}
m_State = ChannelState.Connecting;
TcpClient client = new TcpClient();
IPacketTransport transport = null;
try
{
client.Connect(m_remoteHostName, m_remotePort);
// TODO: Channel: implement multiple transport options
transport = new PacketTransport(client);
transport.SetReceiveAction(OnPacketReceived);
transport.SetDisconnectAction(OnDisconnected);
transport.Start();
m_transport = transport;
m_State = ChannelState.Connected;
return(m_transport);
}
catch (Exception)
{
m_State = ChannelState.NotConnected;
client?.Close();
transport?.Dispose();
throw;
}
}
}
/// <summary>
/// Gets the LoadCommand.
/// </summary>
public void LoadData(string ConfigPath)
{
//robot.setpointTimer.Stop();
if (robot.Com != null)
{
robot.Com.SendData = true;
}
BinaryFormatter ser = new BinaryFormatter();
FileStream reader;
com = this.Robot.Com;
if (ConfigPath != null)
{
reader = new FileStream(ConfigPath, FileMode.Open);
}
else
{
reader = new FileStream("data.ControllerConfig", FileMode.Open);
}
ApplicationData appData = (ApplicationData)ser.Deserialize(reader);
reader.Close();
this.Controllers = appData.Controllers;
this.InputSignalRegistry = appData.InputSignalRegistry;
// We have to manually create new plugin instances
foreach (var plugin in appData.Plugins)
{
PluginBase newPlugin = plugin.GetPlugin();
newPlugin.PostLoadSetup(); // This function calls any user code that's specified
Plugins.Add(newPlugin);
//(PluginBase)Activator.CreateInstance(AppDomain.CurrentDomain, "RobotApp", plugin.TypeName);
}
foreach (var controllerVm in this.Controllers)
{
// In the future, ControllerViewModel should have a Robot property that propogates to its controllers and motors
if (controllerVm.Controller != null)
{
//this.Controllers.Add(new ControllerViewModel(new Controller() { Robot = this.Robot, Id = controllerVm.Id, FriendlyName = controllerVm.FriendlyName }));
//controllerVm.Controller = new Controller() { Robot = this.Robot, Id = controllerVm.Id, FriendlyName = controllerVm.FriendlyName };
controllerVm.Controller.Robot = Robot;
this.Robot.Controllers.Add(controllerVm.Id, controllerVm.Controller);
foreach (var motor in controllerVm.Motors)
{
motor.Controller = controllerVm.Controller;
motor.Controller.Robot = Robot;
if (motor.Motor.ControlMode != ControlMode.Reserved)
{
motor.Controller.SendNum++;
}
this.Motors.Add(motor);
MainViewModel.Instance.Robot.Motors.Add(motor.Motor);
motor.Motor.UpdateConfiguration();
motor.SetupMessenger();
}
}
}
if (PropertyChanged != null)
{
PropertyChanged(this, new PropertyChangedEventArgs("Controllers"));
}
//robot.setpointTimer.Start();
robot.Com_UpdateSetpoints();
}
/// <summary>
/// Gets the LoadCommand.
/// </summary>
public void LoadData(string ConfigPath)
{
//robot.setpointTimer.Stop();
if(robot.Com != null)
robot.Com.SendData = true;
BinaryFormatter ser = new BinaryFormatter();
FileStream reader;
com = this.Robot.Com;
if(ConfigPath != null)
reader = new FileStream(ConfigPath, FileMode.Open);
else
reader = new FileStream("data.ControllerConfig", FileMode.Open);
ApplicationData appData = (ApplicationData)ser.Deserialize(reader);
reader.Close();
this.Controllers = appData.Controllers;
this.InputSignalRegistry = appData.InputSignalRegistry;
// We have to manually create new plugin instances
foreach(var plugin in appData.Plugins)
{
PluginBase newPlugin = plugin.GetPlugin();
newPlugin.PostLoadSetup(); // This function calls any user code that's specified
Plugins.Add(newPlugin);
//(PluginBase)Activator.CreateInstance(AppDomain.CurrentDomain, "RobotApp", plugin.TypeName);
}
foreach (var controllerVm in this.Controllers)
{
// In the future, ControllerViewModel should have a Robot property that propogates to its controllers and motors
if (controllerVm.Controller != null)
{
//this.Controllers.Add(new ControllerViewModel(new Controller() { Robot = this.Robot, Id = controllerVm.Id, FriendlyName = controllerVm.FriendlyName }));
//controllerVm.Controller = new Controller() { Robot = this.Robot, Id = controllerVm.Id, FriendlyName = controllerVm.FriendlyName };
controllerVm.Controller.Robot = Robot;
this.Robot.Controllers.Add(controllerVm.Id, controllerVm.Controller);
foreach (var motor in controllerVm.Motors)
{
motor.Controller = controllerVm.Controller;
motor.Controller.Robot = Robot;
if (motor.Motor.ControlMode != ControlMode.Reserved) motor.Controller.SendNum++;
this.Motors.Add(motor);
MainViewModel.Instance.Robot.Motors.Add(motor.Motor);
motor.Motor.UpdateConfiguration();
motor.SetupMessenger();
}
}
}
if (PropertyChanged != null) PropertyChanged(this, new PropertyChangedEventArgs("Controllers"));
//robot.setpointTimer.Start();
robot.Com_UpdateSetpoints();
}
