public SLAM(double mapWidth, double mapHeight, double cellSize, string port)
{
robot = new Robot ();
map = new SlamMap (robot, mapWidth, mapHeight, cellSize);
mapView = new MapView (map);
ekfSlam = new EkfSlam (1); // 1 degree per scan.
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
window = new MapWindow (mapView);
window.DeleteEvent += delegate
{
proxy.Release ();
};
//AddSampleLandmarks ();
}
private Robot robot; // Robot model that this view represents.
#endregion Fields
#region Constructors
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.RobotView"/> class.
/// </summary>
/// <param name="robotModel">Robot model that this view represents.</param>
public RobotView(Robot robotModel)
{
robot = robotModel;
relativeRotation = 0.0;
lastRotation = -7.0;
robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Robot_Update);
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.Map"/> class.
/// </summary>
/// <param name="robotModel">Robot roaming on this map.</param>
public SlamMap(Robot robotModel, double mapWidth, double mapHeight, double mapCellSize)
{
// Robot starts in the center of the map.
robot = robotModel;
landmarks = new List<Landmark>();
cellSize = mapCellSize;
width = mapWidth;
height = mapHeight;
}
private TextView textView; // Textview to hold landmark information.
#endregion Fields
#region Constructors
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapWindow"/> class.
/// </summary>
/// <param name="mapView">Map view contained in this window.</param>
public MapWindow(MapView mapView)
: base("Map")
{
robot = mapView.RobotView.Robot;
this.mapView = mapView;
// Subscribe to events.
mapView.MapModel.MapUpdated += new EventHandler<MapUpdateEventArgs> (Map_Update);
mapView.RobotView.Robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Robot_Update);
SetPosition (WindowPosition.Center);
Resizable = false;
DeleteEvent += delegate
{
Application.Quit ();
};
TextBuffer textBuffer = new TextBuffer (new TextTagTable ());
textView = new TextView ();
textView.Indent = 10;
textView.Editable = false;
textView.Buffer = textBuffer;
textView.CursorVisible = false;
textView.SetSizeRequest (mapView.ViewWidth, 150);
foreach (Landmark landmark in mapView.MapModel.Landmarks)
{
this.textView.Buffer.Text += landmark.ToString ();
}
ScrolledWindow scrolledWindow = new ScrolledWindow ();
scrolledWindow.Add (textView);
commandEntry = new Entry ();
commandEntry.Activated += CommandEntry_OnActivated;
sendButton = new Button ("Send");
sendButton.Clicked += SendButton_OnClick;
HBox hbox = new HBox (false, 0);
hbox.Add (commandEntry);
hbox.Add (sendButton);
VBox vbox = new VBox (false, 0);
vbox.Add (this.mapView);
vbox.Add (scrolledWindow);
vbox.Add (hbox);
Add (vbox);
Shown += OnShown;
}
public MainClass(string port, int baudRate)
{
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.BaudRate = baudRate;
robot = new Robot ();
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
proxy.Start ();
}
private void InitializeAll()
{
AppGlobals.Logic = new Logic(new LaserSpotDetector1());
AppGlobals.Robot = new Robot(new RobotEngineMc());
_scene = new Scene();;
_form = AppGlobals.Form;
_robot = AppGlobals.Robot;
while (AppGlobals.Camera == null || AppGlobals.Robot == null)
Thread.Sleep(100);
}
public RobotUpdateEventArgs(Robot updatedRobot)
{
robot = updatedRobot;
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.PathView"/> class.
/// </summary>
/// <param name="robotModel">The instance oif the robot that will be followed.</param>
public PathView(Robot robotModel)
{
robot = robotModel;
robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Path_Update);
}
