public void ShutdownRobotConnection()
{
if (m_robot != null)
{
if (SpheroConnected)
{
try
{
if (!AccelerometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + AccelerometerFiltered.filePath);
}
if (!GyrometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + GyrometerFiltered.filePath);
}
m_robot.SensorControl.StopAll();
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent -= OnGyrometerUpdated;
m_robot.Sleep();
m_robot.Disconnect();
Debug.WriteLine("Sphero Disconnected");
}
catch (Exception)
{
throw;
}
}
m_robot = null;
}
SpheroConnected = false;
InitializeSensorReading.IsEnabled = false;
SpheroName = kNoSpheroConnected;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
private void button_Click(object sender, RoutedEventArgs e)
{
if (!isOn)
{
isOn = true;
string file = "CSVData";
filter = new FilteredSensor(FILTER_COUNTS, file);
// // Create an inferred delegate that invokes methods for the timer.
AutoResetEvent autoEvent = new AutoResetEvent(false);
TimerCallback tcb = getFilter;
aTimer = new Timer(tcb, autoEvent, 1000, 250);
button.Content = "Click to Stop";
//if (EnsureUnsnapped())
//{
// FileSavePicker savePicker = new FileSavePicker();
// savePicker.SuggestedStartLocation = PickerLocationId.DocumentsLibrary;
// // Dropdown of file types the user can save the file as
// savePicker.FileTypeChoices.Add("Comma-Separated-Values", new List<string>() { ".csv" });
// // Default file name if the user does not type one in or select a file to replace
// savePicker.SuggestedFileName = "CSVData";
// StorageFile file = await savePicker.PickSaveFileAsync();
// if (file != null)
// {
// // Prevent updates to the remote version of the file until we finish making changes and call CompleteUpdatesAsync.
// CachedFileManager.DeferUpdates(file);
// // write to file
// // Application now has read/write access to all contents in the picked folder (including other sub-folder contents)
// StorageApplicationPermissions.FutureAccessList.AddOrReplace("PickedFileToken", file);
// Debug.WriteLine("file: " + file.Name);
// // Let Windows know that we're finished changing the file so the other app can update the remote version of the file.
// // Completing updates may require Windows to ask for user input.
// FileUpdateStatus status = await CachedFileManager.CompleteUpdatesAsync(file);
// if (status == FileUpdateStatus.Complete)
// {
// Debug.WriteLine("File " + file.Name + " was saved.");
// filter = new FilteredSensor(FILTER_COUNTS, file);
// // Create an inferred delegate that invokes methods for the timer.
// AutoResetEvent autoEvent = new AutoResetEvent(false);
// TimerCallback tcb = getFilter;
// aTimer = new Timer(tcb, autoEvent, 1000, 250);
// button.Content = "Click to Stop";
// }
// else
// {
// Debug.WriteLine("File " + file.Name + " couldn't be saved.");
// }
// }
// else
// {
// Debug.WriteLine("Operation cancelled.");
// }
//}
}
else
{
try
{
aTimer.Dispose();
}
catch (Exception)
{
throw;
}
if (filter.close())
{
Debug.WriteLine("Stream successfully closed.");
button.Content = "Click to Start";
isOn = false;
}
else
{
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + filter.filePath);
}
}
}