public DeviceArm() : base()
{
string cmd;
driver = new ServoDriver();
driver.Run();
while (true)
{
cmd = Console.ReadLine();
if (cmd.Equals("x"))
{
break;
}
if (cmd.Equals("r"))
{
com.Send(ComData.RequestReset());
continue;
}
com.Send(new ComData(cmd));
}
EventBulletin.GetInstance().Notify(EventBulletin.Event.CLOSE, null, null);
Environment.Exit(0);
}
public Device()
{
com = ComFactory.MakeDefault();
com.setOnRead(onComRead);
EventBulletin.Subscribe(EventBulletin.Event.CLOSE, (o, e) => { onClose(); });
}
//private Com com;
public MainWindow(Controller mainController)
{
controller = mainController;
eventBulletin = EventBulletin.GetInstance();
InitializeComponent();
lib = new Library(grdLeft, grdMid, this.Resources["MyContentTray"] as Style);
}
public ControllerKeyboard(Com com) : base(com)
{
kpPosDir = new PosDirProcessor();
kpRaw = new RawAnglesProcessor();
keysDown = new Collection <Key>();
keysToggle = new Collection <Key>();
EventBulletin.Subscribe(EventBulletin.Event.KEY_DOWN, (o, e) =>
{
keyDown((KeyEventArgs)e);
});
EventBulletin.Subscribe(EventBulletin.Event.KEY_UP, (o, e) =>
{
keyUp((KeyEventArgs)e);
});
}
private void init()
{
lastPacketKey = new PacketKey(0); // is time
writeThread = new Thread(writeLoop);
sendQ = new LinkedList <Packet>();
writeResetEvent = new AutoResetEvent(false);
EventBulletin.Subscribe(EventBulletin.Event.CLOSE, (o, e) => { Close(); });
Task.Delay(0).ContinueWith((t) =>
{
connectProcedure();
running = true;
beginRead(incommingRead);
writeThread.Start();
});
}
private void SocketExceptionContainer(Action fn)
{
try
{
fn();
}
catch (Exception e)
{
foreach (string m in acceptedSocketExceptions)
{
if (e.Message.Contains(m))
{
Console.WriteLine("Connection terminated");
EventBulletin.GetInstance().Notify(EventBulletin.Event.CLOSE, null, null);
return;
}
}
throw e;
}
}
private Program()
{
//com = ComFactory.MakeDefault();
com = ComFactory.MakeDummy();
com.setOnRead(tempOnRead);
Task.Delay(0).ContinueWith((t) =>
{
string cmd;
while (true)
{
cmd = Console.ReadLine();
Console.WriteLine("echo: " + cmd);
if (cmd.Equals("x"))
{
break;
}
if (cmd.Equals("r"))
{
com.Send(ComData.RequestClose());
continue;
}
com.Send(new ComData(cmd));
}
Console.WriteLine("close");
EventBulletin.GetInstance().Notify(EventBulletin.Event.CLOSE, null, null);
});
controllerDefault = ControllerFactory.MakeDefault(com);
mainWindow = new MainWindow(controllerDefault);
mainWindow.Show();
EventBulletin.Subscribe(EventBulletin.Event.CLOSE, (o, e) => { tempOnClose(); });
app = new Application();
app.Run(mainWindow);
}
