private Action buttonForReinicializeClickedObserver; //calback pro stisknutí tačítka pro reinicializaci robota
private MainWindow()
{
InitializeComponent();
controllView = ControllView.getInstance();
controllView.Dock = DockStyle.Fill;
absoluteControllView = AbsoluteControllView.getInstance();
absoluteControllView.Dock = DockStyle.Fill;
diagnosticView = DiagnosticView.getInstance();
diagnosticView.Dock = DockStyle.Fill;
recalibrView = RecalibrView.getInstance();
recalibrView.Dock = DockStyle.Fill;
splitContainer1.Panel1.Controls.Add(controllView);
splitContainer1.Panel2.Controls.Add(diagnosticView);
}
private System.Timers.Timer gamePadChecker; // kontrololor připojeného externího ovladače
/// <param name="mainWindow">hlavní okno aplikace</param>
public Controller(MainWindow mainWindow)
{
this.mainWindow = mainWindow;
controllView = ControllView.getInstance();
absoluteControllView = AbsoluteControllView.getInstance();
diagnosticView = DiagnosticView.getInstance();
mainWindow.subscribeWindowShownObserver(inicialize);
mainWindow.subscribeWindowCloseObserver(closeApplication);
mainWindow.subscribeButtonForRecalibrClickObserver(buttonForRecalibrClicked);
mainWindow.subscribeButtonForConnectionSettingsClickObserver(buttonForConnectionSettingsClicked);
mainWindow.subscribeButtonForReinicializeClickObserver(buttonForReinicializeClicked);
controllView.subscribeAbsolutePositioningObserver(buttonForChangeControllModePressed);
absoluteControllView.subscribeJoystickPositioningObserver(buttonForChangeControllModePressed);
absoluteControllView.subscribeButtonForAbsoluteMoveClickObserver(buttonForAbsoluteMoveClicked);
absoluteControllView.subscribeButtonForSetDefaultPositionClickObserver(buttonForSetDefaultStateClicked);
absoluteControllView.subscribeButtonForCalibrClickObserver(buttonForCalibrClicked);
absoluteControllView.subscribeButtonForCancelCalibrationClickObserver(buttonForCancelCalibrationClicked);
absoluteControllView.subscribecheckBoxLimitProtectionObserver(checkBoxLimitProtectionChanged);
MotorsSettings.getInstance().subscribeMotorsSetingsChanged(refreshMotorsParameters);
createGamePadChecker();
}