/// <summary>
/// Initializes a new instance of the MainViewModel class.
/// </summary>
public MainViewModel()
{
instance = this; // this sets the static Instance property to this instance.
Plugins = new ObservableCollection<PluginBase>();
Devices = new ObservableCollection<Device>();
Motors = new ObservableCollection<MotorViewModel>();
Plugins.CollectionChanged += Plugins_CollectionChanged;
Controllers = new ObservableCollection<ControllerViewModel>();
Controllers.CollectionChanged += Controllers_CollectionChanged;
Robot = new Robot();
// This lets us know what's going on with the Robot's internal Joint collection.
Robot.Controllers.CollectionChanged += RobotControllers_CollectionChanged;
//InputSignalRegistry = new ViewModel.SignalSinkRegistryViewModel();
InputSignalRegistry = new ObservableDictionary<string, string>();
Messenger.Default.Register<Messages.RemoveController>(this,
(message) =>
{
Controllers.Remove(message.ControllerToRemove);
com = this.Robot.Com;
}
);
}
static void Main(string[] args)
{
_robot = new Robot();
_tmr = new Timer(TmrOnElapsed, null, Timeout.Infinite, Timeout.Infinite);
TcpListener listen = new TcpListener(13);
listen.Start();
while (true)
{
Console.WriteLine("Warte auf Verbindung auf Port " +
listen.LocalEndpoint + "...");
TcpClient client = listen.AcceptTcpClient();
Console.WriteLine("Verbindung zu " +
client.Client.RemoteEndPoint);
_tmr.Change(3000, Timeout.Infinite);
_robot.RobotConsole[Leds.Led1].LedEnabled = true;
StreamWriter sw = new StreamWriter(client.GetStream());
sw.Write(DateTime.Now.ToString(CultureInfo.InvariantCulture));
sw.Flush();
client.Close();
}
}