private void fillInConfig(MyroConfigFiles myroConfig)
{
if (myroConfig == null)
{
IconBox.Source = null;
IconRectangle.Visibility = Visibility.Visible;
FriendlyNameBox.Text = "";
HttpPortBox.Text = Params.DefaultHttpPort.ToString();
DsspPortBox.Text = Params.DefaultDsspPort.ToString();
}
else
{
if (myroConfig.IconFilePath != null)
{
setIcon(new BitmapImage(new Uri("file://" + myroConfig.IconFilePath)));
}
else
{
setIcon(null);
}
ManifestBox.Text = myroConfig.ManifestFilePath;
FriendlyNameBox.Text = myroConfig.MyroConfiguration.FriendlyName;
HttpPortBox.Text = myroConfig.MyroConfiguration.HttpPort.ToString();
DsspPortBox.Text = myroConfig.MyroConfiguration.DsspPort.ToString();
}
}
/// <summary>
/// Copy the image to the proper location and name, i.e. make it the robot's icon.
/// </summary>
/// <param name="config"></param>
/// <param name="imagePath"></param>
public void WriteImage(MyroConfigFiles config, string imagePath)
{
string iconPath = Path.Combine(configPath,
(config.BaseName + IconSuffix + Path.GetExtension(imagePath)));
File.Copy(imagePath, iconPath);
config.IconFilePath = iconPath;
}
/// <summary>
/// Store the MyroRobotConfiguration member of the MyroConfigFiles parameter.
/// The GUI calls this when the user modifies a robot configuration.
/// </summary>
/// <param name="config"></param>
public void WriteConfig(MyroConfigFiles config)
{
using (var writer = new StreamWriter(config.ConfigFilePath))
{
new XmlSerializer(typeof(MyroRobotConfiguration))
.Serialize(writer, config.MyroConfiguration);
config.MyroConfigExisted = true;
}
}
/// <summary>
/// Look for a robot configuration matching the base name, ignoring case. Throws
/// BaseNameNotFoundException.
/// </summary>
/// <param name="baseName"></param>
/// <returns></returns>
public MyroConfigFiles FindFromBaseName(string baseName)
{
MyroConfigFiles config = FindConfigFiles().Find(
c => c.BaseName.Equals(baseName, StringComparison.InvariantCultureIgnoreCase));
if (config == null)
{
throw new BaseNameNotFoundException();
}
else
{
return(config);
}
}
public static UIElement MakeListItem(MyroConfigFiles myroConfig)
{
Grid s1 = new Grid() { HorizontalAlignment = HorizontalAlignment.Stretch };
s1.ColumnDefinitions.Add(new ColumnDefinition() { Width = GridLength.Auto });
s1.ColumnDefinitions.Add(new ColumnDefinition());
StackPanel s2 = new StackPanel()
{
VerticalAlignment = VerticalAlignment.Center,
Orientation = Orientation.Vertical
};
s2.SetValue(Grid.ColumnProperty, 1);
Label l1 = new Label()
{
Content = myroConfig.BaseName,
Padding = new Thickness(0, 0, 5, 0)
};
Label l2 = new Label()
{
Content =
myroConfig.MyroConfigExisted ?
myroConfig.MyroConfiguration.FriendlyName :
"No Myro configuration",
Padding = new Thickness(0, 0, 5, 0)
};
Image i = new Image()
{
VerticalAlignment = VerticalAlignment.Center,
Width = 64,
Height = 64,
Margin = new Thickness(2, 2, 3, 2),
Stretch = Stretch.Uniform
};
i.SetValue(Grid.ColumnProperty, 0);
if (myroConfig.IconFilePath != null)
i.Source = new BitmapImage(new Uri("file://" + myroConfig.IconFilePath));
s2.Children.Add(l1);
s2.Children.Add(l2);
s1.Children.Add(i);
s1.Children.Add(s2);
return s1;
}
private void OnSelectConfig(object sender, SelectionChangedEventArgs e)
{
try
{
bool cancelled;
if (currentModified && ConfigList.SelectedIndex != configFiles.IndexOf(currentConfigFiles))
{
if (promptApplyChanges() == true)
cancelled = false;
else
{
ConfigList.SelectedIndex = configFiles.IndexOf(currentConfigFiles);
cancelled = true;
}
}
else
cancelled = false;
if (!currentModified && !cancelled)
if (ConfigList.SelectedIndex >= 0 && ConfigList.SelectedIndex < configFiles.Count)
{
currentConfigFiles = configFiles[ConfigList.SelectedIndex];
fillInConfig(currentConfigFiles);
}
else
{
currentConfigFiles = null;
fillInConfig(null);
}
}
catch (Exception err)
{
GUIUtilities.ReportUnexpectedException(err);
this.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(MyroConfigFiles config)
{
try
{
if (connected == false)
{
//Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
// new ThreadStart(delegate()
// {
//manifestBox.Text = "Connecting to robot...";
commandWindow.ExecuteCommandInteractive("from myro import *");
commandWindow.LogText("> init('" + config.BaseName + "')\n", Colors.MediumBlue);
//}));
Robot.Init(config);
}
}
catch (Exception e)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new ThreadStart(delegate() {
GUIUtilities.ReportUnexpectedException(e);
MessageBox.Show(this, Strings.TrySpecifyCOMPort, "Myro");
}));
}
}
/// <summary>
/// Copy the image to the proper location and name, i.e. make it the robot's icon.
/// </summary>
/// <param name="config"></param>
/// <param name="imagePath"></param>
public void WriteImage(MyroConfigFiles config, string imagePath)
{
string iconPath = Path.Combine(configPath,
(config.BaseName + IconSuffix + Path.GetExtension(imagePath)));
File.Copy(imagePath, iconPath);
config.IconFilePath = iconPath;
}
/// <summary>
/// Store the MyroRobotConfiguration member of the MyroConfigFiles parameter.
/// The GUI calls this when the user modifies a robot configuration.
/// </summary>
/// <param name="config"></param>
public void WriteConfig(MyroConfigFiles config)
{
using (var writer = new StreamWriter(config.ConfigFilePath))
{
new XmlSerializer(typeof(MyroRobotConfiguration))
.Serialize(writer, config.MyroConfiguration);
config.MyroConfigExisted = true;
}
}
/// <summary>
/// This version of Init is generally not called by the end-user. It
/// uses a configuation that is already found by a MyroConfigFinder class.
/// </summary>
/// <param name="config"></param>
public static void Init(MyroConfigFiles config)
{
Init(config, null);
}
/// <summary>
/// This is an internal helper method that starts the DSS environment,
/// using the manifest file specified in the MyroConfigFiles argument.
/// </summary>
/// <param name="config"></param>
private static void startDSS(MyroConfigFiles config)
{
string manifestFile = Path.Combine(Path.Combine(Params.ConfigPath, config.BaseName + ".manifest"), config.BaseName + ".manifest.xml");
Robot.httpPort = config.MyroConfiguration.HttpPort;
Robot.dsspPort = config.MyroConfiguration.DsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
throw new IOException("Manifest file is not a normal file");
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
}
/// <summary>
/// This is another init method that is generally not called by the end-user.
/// The purpose of the comPort argument is the same as with the string version,
/// init(string baseName, string comPort).
/// </summary>
/// <param name="config"></param>
/// <param name="comPort"></param>
public static void Init(MyroConfigFiles config, string comPort)
{
bool isScribbler = config.BaseName.ToLower().Equals("scribbler");
// If this is a Scribbler, wait for it to start
if (isScribbler)
{
CurrentConfig = config;
LastStateChange = RobotStateChange.CONNECTING;
try
{
// Start DSS if not started
if (bank == null)
{
startDSS(config);
createAdapters();
}
connectWaitForScribbler(comPort);
}
catch (Exception)
{
LastStateChange = RobotStateChange.CONNECTING_FAILED;
CurrentConfig = null;
throw;
}
LastStateChange = RobotStateChange.CONNECTING_SUCCEEDED;
}
else
{
if (bank == null)
{
CurrentConfig = config;
LastStateChange = RobotStateChange.CONNECTING;
try
{
startDSS(config);
createAdapters();
}
catch (Exception)
{
LastStateChange = RobotStateChange.CONNECTING_FAILED;
CurrentConfig = null;
throw;
}
LastStateChange = RobotStateChange.CONNECTING_SUCCEEDED;
}
else
{
throw new MyroInitException("Myro is already initialized");
}
}
}
