public MainWindow()
{
var splitters = new char[] { ':' };
var storage = IsolatedStorageFile.GetUserStoreForDomain();
try {
using (var stream = new IsolatedStorageFileStream(FileName, FileMode.Open, storage))
using (var reader = new StreamReader(stream)) {
while (!reader.EndOfStream)
{
var keyValue = reader.ReadLine().Split(splitters);
Application.Current.Properties[keyValue[0]]
= double.TryParse(keyValue[1], out var number)
? number
: (object)keyValue[1];
}
}
} catch (FileNotFoundException) { }
InitializeComponent();
_context = (MainWindowContext)DataContext;
_context.PropertyChanged += (_, e) => {
if (e.PropertyName == nameof(MainWindowContext.State) &&
_context.State == MainWindowContext.ConnectionState.Disconnected)
{
MainTab.Dispatch(it => (it.SelectedContent as ITabControl)?.OnLeave());
}
};
SerialPortCombo.Items.Add(AutoSelectString);
SerialPortCombo.SelectedIndex = 0;
}
public static async Task Handle(
MainWindowContext context,
CancellationTokenSource connecting
)
{
var stopwatch = new Stopwatch();
stopwatch.Start();
try {
try {
var dictionary = Application.Current.Properties;
foreach (string key in dictionary.Keys)
{
var parameter = Methods.Parameters[key];
if (parameter != null)
{
parameter.Value = (double)dictionary[key];
}
}
} catch (Exception exception) {
context.ErrorInfo = exception.Message;
}
while (!connecting.IsCancellationRequested)
{
context.ConnectedTime = Format("0.0", stopwatch.ElapsedMilliseconds / 1000.0);
try {
context.ChassisState = Methods.State;
var(_, _, x, y, theta, _, _, _) = Methods.Odometry;
context.Odometry = string.Format(
CultureInfo.InvariantCulture,
"{0}, {1}, {2}°",
Format("0.##", x),
Format("0.##", y),
Format("0.#", theta.ToDegree()));
} catch (Exception exception) {
context.ErrorInfo = exception.Message;
}
await Task.Delay(99, connecting.Token).ConfigureAwait(false);
}
} catch (Exception exception) {
context.ErrorInfo = exception.Message;
} finally {
Methods.ShutdownSafety();
context.State = MainWindowContext.ConnectionState.Disconnected;
}
}
