//------------------------------------------------------------------------------------------------------------------------
//Function: RobotSimulator (constructor)
//Sets up the simulation, setting up the framerate, web service communication (between robot and simulation), and simulation
//UI.
//------------------------------------------------------------------------------------------------------------------------
public RobotSimulator()
{
InitializeComponent();
// Set the framerate to 30 FPS.
Application.Current.Host.Settings.MaxFrameRate = 30;
// Connect to and set up the web service.
robotService = new ServiceClient();
robotService.getMotionCompleted += new EventHandler<getMotionCompletedEventArgs>(robotService_getMotionCompleted);
robotService.getMotionAsync();
/*broker = new brokerService.Service1SoapClient();
broker.GetAddressCompleted += new EventHandler<GetAddressCompletedEventArgs>(broker_getAddressCompleted);
broker.GetAddressAsync(0);*/
// Create a box around the entire boundary of the simulator area
Rectangle worldBoundary = new Rectangle();
worldBoundary.Width = simWorld.getWorldSize() - 2;
worldBoundary.Height = simWorld.getWorldSize() - 2;
SolidColorBrush lightGray = new SolidColorBrush(Colors.LightGray);
worldBoundary.Fill = lightGray;
worldBoundary.Margin = new Thickness(0, 0, 0, 0);
worldBoundary.HorizontalAlignment = HorizontalAlignment.Left;
worldBoundary.VerticalAlignment = VerticalAlignment.Top;
objectInWorld worldBoundaryObject = new objectInWorld(worldBoundary, 0.0);
worldObjects.Add(worldBoundaryObject);
// Calculate all of the physics-related variables for the entire simulated world.
simWorld.populateWorld(LayoutRoot, worldObjects); // Now just for the world boundary
// Start a thread that checks for updates from the web service and sends updates (from the sensors) to the web service.
runner = new Thread(robotUpdater);
runner.Start();
// This function initializes the contents of the maze and other pieces in the simulator.
simWorld.defaultTestSetup(LayoutRoot, theRobot, ref robotRotation);
// Populate the list of the combobox.
populateComboBox(defaultActionComboBox, defaultOptions);
defaultActionComboBox.SelectedIndex = 0; // By default, the default action is to move forward.
}