public Control(Robot R)
{
m_Robot = R;
//Stop the updating of the fields
updateFieldsTimer.Stop();
InitializeComponent();
}
public RangeImageViewer(Robot Robot)
{
m_Robot = Robot;
m_DrawStyle = DrawStyle.TrianglesColorByDistance;
scanParams = new ScanParameters();
// these should probably be read in from a file or something...
scanParams.HRange = 0;
scanParams.HRes = 0;
scanParams.scanBottom = -45;
scanParams.scanLines = 360;
scanParams.scanRes = (float).25;
InitializeComponent();
}
public MainFrame(Robot R)
{
m_Robot = R;
InitializeComponent();
DeviceList L = Manager.GetDevices(DeviceType.Joystick, EnumDevicesFlags.AllDevices);
L.MoveNext();
if (L.Current == null)
{
JoystickControl.Enabled = false;
}
else
{
DeviceInstance DevInstance = (DeviceInstance)L.Current;
m_JoystickDevice = new Device(DevInstance.InstanceGuid);
m_JoystickDevice.SetCooperativeLevel(this, CooperativeLevelFlags.NonExclusive | CooperativeLevelFlags.Background);
foreach (DeviceObjectInstance doi in m_JoystickDevice.Objects)
{
if ((doi.ObjectId & (int)DeviceObjectTypeFlags.Axis) != 0)
m_JoystickDevice.Properties.SetRange(ParameterHow.ById, doi.ObjectId, new InputRange(-2550, 2550));
}
m_JoystickDevice.Properties.AxisModeAbsolute = true;
}
UpdateFields();
FastRefreshTimer.Enabled = true;
//m_ImageViewer = new ImageViewer();
//m_ImageViewer.Show();
//m_RangeImageViewer = new RangeImageViewer(m_Robot);
//m_RangeImageViewer.Show();
m_Control = new Control(m_Robot);
m_Control.Show();
//m_SphereRecognitionView = new SphereRecognitionView(m_Robot);
//m_SphereRecognitionView.Show();
//m_Navigation = new Navigation(m_Robot);
//m_Navigation.Show();
}
public Control(Robot R)
{
m_Robot = R;
InitializeComponent();
//Stop the updating of the fields
updateFieldsTimer.Stop();
//statusTimer.Stop();
//Prepare the delay for when we send the command,
//but it takes a few seconds for the robot to start moving
//So we dont want to check if its done until it actually starts moving
movingTimer = new System.Windows.Forms.Timer();
movingTimer.Interval = 500;
movingTimer.Tick += new EventHandler(verifyMoving);
//Fire up the drawing and all other
//things related to the Map/Path
//Autonomous Navigation
initAutonomousNav();
}
public SphereRecognitionView(Robot R)
{
m_Robot = R;
InitializeComponent();
}
public Debug(Robot Robot)
{
m_Robot = Robot;
InitializeComponent();
}
/**
* @brief Constructor.
* @param R The robot to process
*/
public Control(Robot R)
{
m_Robot = R; //construtor
InitializeComponent();
/**
* @brief Stop the updating of the fields
*/
updateFieldsTimer.Stop();
//statusTimer.Stop();
/** @brief Prepare the delay for when we send the command,
*but it takes a few seconds for the robot to start moving
*That's why we dont want to check if its done until it actually starts moving
*/
movingTimer = new System.Windows.Forms.Timer();
movingTimer.Interval = 500;
movingTimer.Tick += new EventHandler(verifyMoving);
//Fire up the drawing and all other
//things related to the Map/Path
//Autonomous Navigation
initAutonomousNav();
/**
* @brief Set up all LIDAR related stuff
*/
initLidarScanning();
}
public Navigation(Robot R)
{
InitializeComponent();
m_Robot = R;
if (m_Robot == null)
m_Map = new Map(1024, 1024, 0.1f);
else
m_Map = m_Robot.Map;
m_History = new List<PointF>();
m_Scale = 0.05f;
m_PathPen = new Pen(Color.Black, 2.0f);
m_HistoryBrush = new SolidBrush(Color.Black);
m_NoScanWaypointBrush = new SolidBrush(Color.Black);
m_DirectionalScanWaypointBrush = new SolidBrush(Color.Green);
m_FullScanWaypointBrush = new SolidBrush(Color.Blue);
m_RobotBrush = new SolidBrush(Color.DarkGray);
m_BlackPen = new Pen(Color.Black, 2.0f);
m_Path = new Path();
m_MinorGridPen = new Pen(Color.Silver, 1.0f);
m_MinorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dot;
m_MajorGridPen = new Pen(Color.Black, 1.0f);
m_MajorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
m_IndexToMove = -1;
m_MovingPoint = false;
UpdateMap();
if (m_Robot != null)
ScrollToPosition(m_Robot.Telemetry.Position);
//---------------------
//For RangeImage Viewer
//---------------------
m_DrawStyle = DrawStyle.TrianglesColorByDistance;
scanParams = new ScanParameters();
// these should probably be read in from a file or something...
scanParams.HRange = 0;
scanParams.HRes = 0;
scanParams.scanBottom = -45;
scanParams.scanLines = 360;
scanParams.scanRes = (float).25;
//InitGraphics();
InitializeComponent();
}
