// ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
// Universal Robot connection handler
/// <summary>Opens a window showing the error.</summary>
/// <param name="error">Error message.</param>
private void ConnectionLostUR(string error)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (progDialog != null)
{
if (progDialog.IsActive)
{
progDialog.Close(); // If the progressbar is active from a previous attempt it will be closed
progDialog = null;
}
}
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", error, "Forsøg igen", "Annuller");
infoDlg.OnDialogFinished -= infoDlg_DialogFinished;
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.OnDialogFinished -= handleUR;
infoDlg.OnDialogFinished += handleUR;
infoDlg.Owner = this;
infoDlg.ShowDialog();
}
});
}
/// <summary>Presents the result of the configuration for the user.</summary>
/// <param name="result">Result of the process.</param>
private void ConfigCompleted(bool result)
{
Dispatcher.BeginInvoke((Action)async delegate
{
progDialog.Close();
progDialog = null;
if (result) // Show a message that the process was successful
{
lb_configConfirmation.Content = "Indstillingerne er gemt";
lb_configConfirmation.Visibility = System.Windows.Visibility.Visible;
lb_configConfirmation.Foreground = Brushes.Green;
}
else
{ // Open a window for the user to try again
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", "Indstillingerne kunne ikke gemmes", "Forsøg igen", "Annuller");
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.OnDialogFinished -= handleConfig;
infoDlg.OnDialogFinished += handleConfig;
infoDlg.Owner = this;
infoDlg.ShowDialog();
}
}
await Task.Delay(2000);
lb_configConfirmation.Visibility = System.Windows.Visibility.Hidden; // Hide the message again
});
}
/// <summary>Opens a window showing the error, when the robot is in the wrong mode for movement.</summary>
/// <param name="error">Error message.</param>
private void URNotRunning(string error)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", error, "Luk program");
infoDlg.OnDialogFinished -= infoDlg_DialogFinished;
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.OnDialogFinished -= handleURNOTRUNNING;
infoDlg.OnDialogFinished += handleURNOTRUNNING;
infoDlg.Owner = this;
infoDlg.Show();
Thread NotRunning = new Thread(() => // Wait until the robots modes fulfill the right conditions
{
while (true)
{
if (connection.robotMode == "ROBOT_MODE_RUNNING" && connection.safetyMode == "SAFETY_MODE_NORMAL")
{
break;
}
}
Dispatcher.BeginInvoke((Action) delegate
{
infoDlg.Close();
infoDlg = null;
});
});
NotRunning.IsBackground = true;
NotRunning.Start();
}
});
}
/// <summary>Handles the respons from the user.</summary>
private void handleConnection(object sender, string e)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (e == "Ok") // If the user confirms the establishment a progressbar is presented and a establish connection process is initialized
{
progDialog = new ProgressDialog("Forbinder...");
progDialog.Owner = this;
this.IsEnabled = false;
progDialog.Show();
Logic.OnException -= new Logic.LogicExceptionEventHandler(ShowException);
Logic.OnException += new Logic.LogicExceptionEventHandler(ShowException);
Connection.OnConnectionCompleted -= new Connection.ConnectionCompletedEventHandler(ConnectionCompleted);
Connection.OnConnectionCompleted += new Connection.ConnectionCompletedEventHandler(ConnectionCompleted);
Thread connThread = new Thread(() => // Calls the establish connection in a thread so the progressbar isnt blocked
{
logic.EstablishConnection();
});
connThread.IsBackground = true;
connThread.Start();
}
else if (e == "Annuller") // The user cancels the establishment and the window is closed
{
infoDlg.Close();
infoDlg = null;
this.IsEnabled = true;
}
});
}
/// <summary>Opens a new window to show the error message to the user.</summary>
private void ShowException(string error, string source)
{
Dispatcher.BeginInvoke((Action) delegate
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", error, "OK");
infoDlg.OnDialogFinished -= infoDlg_DialogFinished;
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.Owner = this;
infoDlg.ShowDialog();
});
}
/// <summary>Establish connection event. Opens a window for the user to confirm the establishment.</summary>
private void btn_establishConnection_Click(object sender, RoutedEventArgs e)
{
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Bekræftigelse", "Vil du oprette forbindelse til " + lb_units.SelectedItem.ToString() + "?", "Ok", "Annuller");
infoDlg.OnDialogFinished -= handleConnection;
infoDlg.OnDialogFinished += handleConnection;
infoDlg.Owner = this;
infoDlg.ShowDialog();
}
}
/// <summary>Opens a window showing the error.</summary>
/// <param name="error">Error message.</param>
private void ConnectionLostVF(string error)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (infoDlg == null)
{
infoDlg = new InfoAndErrorWindow("Fejlmeddelelse", error, "Forsøg igen", "Annuller");
infoDlg.OnDialogFinished -= infoDlg_DialogFinished;
infoDlg.OnDialogFinished += infoDlg_DialogFinished;
infoDlg.OnDialogFinished -= handleVF;
infoDlg.OnDialogFinished += handleVF;
infoDlg.Owner = this;
infoDlg.ShowDialog();
}
});
}
/// <summary>Opens the MainWindow if connection is successful.</summary>
private void ConnectionCompleted(bool result)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (result)
{
Logic.OnException -= new Logic.LogicExceptionEventHandler(ShowException); // Remove the listener from this window to prevent duplicate
MainWindow mainWin = new MainWindow();
mainWin.Show();
this.Close();
progDialog.Close();
infoDlg.Close();
infoDlg = null;
}
});
}
/// <summary>Open a new window to present the error to the user.</summary>
/// <param name="error">Error message</param>
/// <param name="source">Source of the error</param>
private void ShowException(string error, string source)
{
Dispatcher.BeginInvoke((Action) delegate
{
if (infoDlg != null)
{
infoDlg.Close();
infoDlg = null;
}
progDialog.Close();
this.IsEnabled = true;
if (errorDlg == null)
{
errorDlg = new InfoAndErrorWindow("Fejlmeddelelse", "Der kunne ikke oprettes forbindelse til " + source, "Ok");
errorDlg.OnDialogFinished -= infoDlg_Error_DialogFinished;
errorDlg.OnDialogFinished += infoDlg_Error_DialogFinished;
errorDlg.Owner = this;
errorDlg.ShowDialog();
}
});
}
/// <summary>DialogFinished event that closes the window.</summary>
private void infoDlg_DialogFinished(object sender, string e)
{
InfoAndErrorWindow dlg = sender as InfoAndErrorWindow;
dlg.Close();
}
/// <summary>DialogFinished event that closes the window.</summary>
void infoDlg_DialogFinished(object sender, string e)
{
infoDlg.Close();
infoDlg = null;
}
/// <summary>DialogFinished event that closes the window.</summary>
void infoDlg_Error_DialogFinished(object sender, string e)
{
errorDlg.Close();
errorDlg = null;
}