Exemplo n.º 1
0
        public void Initialize(JaguarCtrl jc)
        {
            centerLatitude       = jc.jaguarSetting.GoogleEarthStartLat.ToString();
            centerLongitude      = jc.jaguarSetting.GoogleEarthStartLong.ToString();
            jc.txtStartLat.Text  = centerLatitude;
            jc.txtStartLong.Text = centerLongitude;
            if (true)//(jc.DesignMode == false)
            {
                googleEarth = new ApplicationGEClass();

                MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
                //ShowWindowAsync(googleEarth.GetMainHwnd(), 0);

                GEHrender       = (IntPtr)googleEarth.GetRenderHwnd();
                GEParentHrender = GetParent(GEHrender);

                MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
                SetParent(GEHrender, jc.panelGE.Handle);



                // don'tdo it now , we keep google earth window to clear the KML data in temporary node
                //Hide the main GE window
                //SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
            }
        }
Exemplo n.º 2
0
        /// <summary>Load GoogleEarth to a new Panel
        /// Load GoogleEarth to a new Panel
        /// </summary>
        public void LoadGoogleEarth()
        {
            //将GoogleEarth加载到窗口上
            myGEHandler = new SetGEHandler();
            _geApp      = new ApplicationGEClass();
            myGEHandler.SetGEHandlerToControl(this.pnlGoogleEarth, _geApp);
            _gEHandler = (IntPtr)_geApp.GetRenderHwnd();

            this.StartMouseHook();
        }
Exemplo n.º 3
0
        public void Initialize(JaguarCtrl jc)
        {

            centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString();
            centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString();
            jc.txtStartLat.Text = centerLatitude;
            jc.txtStartLong.Text = centerLongitude;
            if (true)//(jc.DesignMode == false)
            {
                googleEarth = new ApplicationGEClass();

                MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
                //ShowWindowAsync(googleEarth.GetMainHwnd(), 0);

                GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
                GEParentHrender = GetParent(GEHrender);

                MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
                SetParent(GEHrender, jc.panelGE.Handle);



                // don'tdo it now , we keep google earth window to clear the KML data in temporary node
                //Hide the main GE window
                //SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW); 
            }

        }
Exemplo n.º 4
0
        private void JaguarCtrl_Load(object sender, EventArgs e)
        {
            for (int i = 0; i < 2; i++)
            {
                armMotor[i] = new MotorData();
            }
            myJaguar.connectRobot (jaguarSetting.RobotID);
            
            //for google earth application
            cenerLatitude = jaguarSetting.GoogleEarthStartLat.ToString ();
            centerLongitude = jaguarSetting.GoogleEarthStartLong.ToString();
            txtStartLat.Text = cenerLatitude;
            txtStartLong.Text = centerLongitude;
            if (this.DesignMode == false)
            {
                googleEarth = new ApplicationGEClass();

                MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
                //ShowWindowAsync(googleEarth.GetMainHwnd(), 0);

                GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
                GEParentHrender = GetParent(GEHrender);

                MoveWindow(GEHrender, 0, 0, this.panelGE.Width, this.panelGE.Height, true);
                SetParent(GEHrender, this.panelGE.Handle);



                // don'tdo it now , we keep google earth window to clear the KML data in temporary node
                //Hide the main GE window
                //SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW); 
            }
        
        

            //for Axis camera
            try
            {
                // Set properties, deciding what url completion to use by MediaType.
                myAMC.MediaUsername = jaguarSetting.CameraUser;
                myAMC.MediaPassword = jaguarSetting.CameraPWD;
                myAMC.MediaType = "mjpeg";
                myAMC.MediaURL = CompleteURL(jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort , "mjpeg");
                myAMC.AudioConfigURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/view/param.cgi?camera=1&action=list&group=Audio,AudioSource.A0";

                /*
                myAMC.PTZControlURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/com/ptz.cgi";
                myAMC.UIMode = "ptz-absolute";
                myAMC.ShowToolbar = true;
                myAMC.StretchToFit = true;
                myAMC.EnableContextMenu = true;
                myAMC.ToolbarConfiguration = "default,+ptz";
                */
                myAMC.ToolbarConfiguration = "default, + audiocontrol,+ rec";

                myAMC.AudioReceiveStop();
                // Start the streaming
                myAMC.Play();
                myAMC.AudioReceiveURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/audio/receive.cgi";
                myAMC.Volume = 100;
                //myAMC.AudioReceiveStart();
                myAMC.AudioTransmitURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/audio/transmit.cgi";
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, "Unable to play stream: " + ex.Message);
            }
            //for joystick control
            if (InitDirectInput())
                tmrJoyStickPoll.Enabled = true;


            //for GPS/IMU communication
            if ((jaguarSetting.IMUIP !="0.0.0.0") && (jaguarSetting .GPSIP != "0.0.0.0"))
            {
                startComm ();
            }

            // for laser scan
            if ((jaguarSetting.LaserRangeIP != "0.0.0.0") && (jaguarSetting.LaserRangePort != 0))
            {
                startCommLaser();
                btnLaserScan.Enabled = true;
            }
            else
            {
                btnLaserScan.Enabled = false;
            }
            drawLaserBackground();
            MOTDIR = jaguarSetting .MotorDir;
            if (jaguarSetting.RobotType.ToLower() == "jaguar")
            {
                armPosIndicator.SetArmPositionIndicatorParameters(0,0);
                pictureBoxRobot.SendToBack();
                armPosIndicator.BringToFront();
                lblMot1.Text = "Front Arm Motor:";
                lblMot2.Text = "Reserved:";
                lblMot3.Text = "Left Track Motor:";
                lblMot4.Text = "Right Track Motor:";
                btnDisArm.Visible = true;
            }
            else if (jaguarSetting.RobotType.ToLower() == "jaguar_4arms")
            {
                armPosIndicator.Set2ArmCtrl(true);
                armPosIndicator.SetArmPositionIndicatorParameters(0, 0);
                pictureBoxRobot.SendToBack();
                armPosIndicator.BringToFront();
                lblMot1.Text = "Front Arm Motor:";
                lblMot2.Text = "Rear Arm Motor:";
                lblMot3.Text = "Left Track Motor:";
                lblMot4.Text = "Right Track Motor:";
                btnDisArm.Visible = true;
            }
            else
            {
                armPosIndicator.SendToBack();
                pictureBoxRobot.BringToFront();
               
                btnDisArm.Visible = false;
                if (jaguarSetting.RobotType.ToLower() == "jaguar_lite")
                {
                    pictureBoxRobot.Image = imageList2.Images[0];
                    lblMot1.Text = "Left Track Motor:";
                    lblMot2.Text = "Right Track Motor:";
                    lblMot3.Visible = false;
                    lblMot4.Visible = false;
                    lblEncoderPos3.Visible = false;
                    lblEncoderPos4.Visible = false;
                    lblVel3.Visible = false;
                    lblVel4.Visible = false;
                    lblTemp3.Visible = false;
                    lblTemp4.Visible = false;
 
                }
                else if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4track")
                {
                    pictureBoxRobot.Image = imageList2.Images[1];
                    lblMot1.Text = "Left Front Motor:";
                    lblMot2.Text = "Right Front Motor:";
                    lblMot3.Text = "Left Rear Motor:";
                    lblMot4.Text = "Right Rear Motor:";
                }
                else //if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4wheel")
                {
                    
                    pictureBoxRobot.Image = imageList2.Images[2];
                    lblMot1.Text = "Left Front Wheel:";
                    lblMot2.Text = "Right Front Wheel:";
                    lblMot3.Text = "Left Rear Wheel:";
                    lblMot4.Text = "Right Rear Wheel:";
                }
                

            }
            pictureBoxStuckDetect.BackColor = Color.Green;
            btnScan.Enabled = false;
        }
Exemplo n.º 5
0
        /// <summary>Load GoogleEarth to a new Panel
        /// Load GoogleEarth to a new Panel
        /// </summary>
        public void LoadGoogleEarth()
        {
            //将GoogleEarth加载到窗口上
            myGEHandler = new SetGEHandler();
            _geApp = new ApplicationGEClass();
            myGEHandler.SetGEHandlerToControl(this.pnlGoogleEarth, _geApp);
            _gEHandler = (IntPtr)_geApp.GetRenderHwnd();

            this.StartMouseHook();
        }