public MainWindow()
{
InitializeComponent();
ArduMan.findArduinos();
testDuino = ArduMan.getHandArduino();
testDuino.Data_Received+=testDuino_Data_Received;
}
public MainWindow()
{
InitializeComponent();
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
handDuino = ArduMan.getHandArduino();
handDuino.Data_Received += handDuino_Data_Received;
armDuino = ArduMan.getArmArduino();
armDuino.Data_Received += armDuino_Data_Received;
Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui
Console.WriteLine("***Arm Control Booted***");
xboxController = new XboxController.XboxController();
armInput = armInputManager.getInstance(xboxController);
armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput);
xboxControllerMonitor.xboxController = xboxController;
armSideView.armInputManager = armInput;
armTopView.armInputManager = armInput;
Console.WriteLine("***XBOX CONTROLLER CONNECTED***");
wristComponent._xboxController = xboxController;
}
public MainWindow() {
InitializeComponent();
incomingCOMViz.title = "Incoming COM";
incomingNETViz.title="Incoming NET";
outgoingCOMViz.title="Outgoing COM";
outgoingNETViz.title="Outgoing NET";
leftVid.setTitle("Palm Camera");
rightVid.setTitle("Angle Camera");
macroButtons.MacroPressed += macroButtons_MacroPressed;
GUIArmDrive.directionPressed += GUIArmDrive_directionPressed;
GUIArmDrive.isGrayedOut = true;
ControlStatusPanel.activateButtonClicked += ControlStatusPanel_activateButtonClicked;
ArduManage = ArduinoManager.Instance;
if (ArduManage.findArduinos()) { //An ARM Arduino is connected to the computer
try {
ARM = ArduManage.getArmArduino();
}
catch {
MessageBox.Show("No ARM Arduino found, GUI cannot function correctly...");
}
ARM.Data_Received += ARM_Data_Received;
ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, true);
}
else {
ControlStatusPanel.toggleLights(Control_Status.ControlStatus.Indication_Lights.Arm_Connected, false);
}
leftVid.setMJPEGVideoFeedSource("HTTP://localhost:8080");
leftVid.StartVideo();
rightVid.setMJPEGVideoFeedSource("HTTP://localhost:8080");
rightVid.StartVideo();
}
public localArmCommandTransmitter(Arduino _armArduino , armInputManager _armInput)
{
armArduino = _armArduino;
armInput = _armInput;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
}
float deadzone = 15; // set lower for HIGHER resolution
public MainWindow()
{
InitializeComponent();
ARMan = ArduinoManager.Instance;
ARMan.findArduinos();
hanDuino = ARMan.getHandArduino();
hanDuino.Data_Received += hanDuino_Data_Received;
comInViz.setTitle("WRIST COM IN");
comOutViz.setTitle("WRIST COM OUT");
XBController = new XboxController.XboxController();
XBController.ThumbStickLeft += XBController_ThumbStickLeft;
XBController.ButtonAReleased += XBController_ButtonAReleased; //Press A to start/restart dance, exit live data mode.
XBController.ButtonBReleased += XBController_ButtonBReleased; //Press B to go into live input mode, exit dance mode.
XBController.ButtonStartReleased += XBController_ButtonStartReleased; //Press start button for emergency stop
XBController.TriggerRight += XBController_TriggerRight;
}
int deadzone = 1; //Lower this value for increased resolution (might cause slower response)
public MainWindow()
{
InitializeComponent();
serialTimer = new Timer(serialTimerCallback, null, 0, 50);
wristInViz.setTitle("WRIST COM IN");
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
wristDuino = ArduMan.getHandArduino();
wristDuino.Data_Received += wristDuino_Data_Received;
XBoxCon = new XboxController.XboxController();
XBoxCon.ThumbStickLeft+= XBoxCon_ThumbStickLeft;
Dispatcher.Invoke(() => maxMagSlider.Value = MAX_MAGNITUDE);
}
public MainWindow()
{
InitializeComponent();
cameraView = new dualCameraViewer.MainWindow();
cameraView.Show();
comVizIn.setTitle("PT COM IN");
comVizOut.setTitle("PT COM OUT");
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
PTDuino = ArduMan.getPanTiltArduino();
PTDuino.Data_Received += PTDuino_Data_Received;
orientation = OculusOrientation.getInstance();
orientation.orientationChanged += orientation_orientationChanged;
}
public MainWindow()
{
InitializeComponent();
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
frontDriveDuino = ArduMan.getDriveFrontArduino();
backDriveDuino = ArduMan.getDriveBackArduino();
frontDriveDuino.Data_Received += frontDriveDuino_Data_Received;
backDriveDuino.Data_Received += backDriveDuino_Data_Received;
xboxCont = new XboxController.XboxController();
xboxCont.ThumbStickLeft += xboxCont_ThumbStickLeft;
xboxCont.ThumbStickRight += xboxCont_ThumbStickRight;
backDuinoInViz.setTitle("BACK COM IN");
backDuinoOutViz.setTitle("BACK COM OUT");
frontDuinoInViz.setTitle("FRONT COM IN");
frontDuinoOutViz.setTitle("FRONT COM OUT");
sendTimer = new Timer(sendTimerCallback, null, 0, 200);
}
public localArmCommandTransmitter(Arduino _armArduino, Arduino _handArduino, armInputManager _armInput)
{
armArduino = _armArduino;
armInput = _armInput;
handArduino = _handArduino;
armInput.targetElbowChanged += armInput_targetElbowChanged;
armInput.targetShoulderChanged += armInput_targetShoulderChanged;
armInput.targetTurnTableChanged += armInput_targetTurnTableChanged;
armInput.targetWristChanged += armInput_targetWristChanged;
armInput.targetGripperChanged += armInput_targetGripperChanged;
armInput.EmergencyStop = emerStop;
elbowTimer = new Timer(elbowTimerCallback, null, 0, delay);
shoulderTimer = new Timer(shoulderTimerCallback, null, 0, delay);
turnTableTimer = new Timer(turnTableTimerCallback, null, 0, delay);
wristTimer = new Timer(wristTimerCallback, null, 0, delay);
gripperTimer = new Timer(gripperTimerCallback, null, 0, delay);
}
public MainWindow()
{
InitializeComponent();
driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString();
armIPLabel.Content = rocConstants.MCIP_ARM.ToString();
logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS;
engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString();
NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager);
NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged;
NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged;
NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged;
NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged;
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
backDrive = ArduMan.getDriveBackArduino(false);
frontDrive = ArduMan.getDriveFrontArduino(false);
ptDuino = ArduMan.getPanTiltArduino(true);
ArmDuino = ArduMan.getArmArduino(false);
HandDuino = ArduMan.getHandArduino(false);
miscDuino = ArduMan.getMiscArduino(false);
backDrive.Data_Received += backDrive_Data_Received;
frontDrive.Data_Received += frontDrive_Data_Received;
ptDuino.Data_Received += ptDuino_Data_Received;
ArmDuino.Data_Received += ArmDuino_Data_Received;
HandDuino.Data_Received += HandDuino_Data_Received;
miscDuino.Data_Received += miscDuino_Data_Received;
driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan);
ptMan = ptManager.getInstance(ptDuino, NetMan);
armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan);
hwMonitor = ROCInfo.getInstance(1000);//updates once per second
hwMonitor.updatedValue += hwMonitor_updatedValue;
camMan = cameraManager.getInstance();
camMan.assignCameras();
VideoCaptureDevice panTiltLeft;
VideoCaptureDevice panTiltRight;
if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft) && camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found...
panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS);
panTiltTransmitter.startTransmitting();
}
//////////////
///VIDEO CAMS SETUP
//////////////
VideoCaptureDevice palmCam;
if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam))
{
palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM);
}
VideoCaptureDevice noseCam;
if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam))
{
noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE);
}
VideoCaptureDevice humerusCam;
if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam))
{
humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS);
}
//////////////
///SNAPSHOT CAMS SETUP
//////////////
VideoCaptureDevice logFrontCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam))
{
logFrontSS = new snapShotSender(logFrontCam);
}
VideoCaptureDevice logRightCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam))
{
logRightSS = new snapShotSender(logRightCam);
}
VideoCaptureDevice logBackCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam))
{
logBackSS = new snapShotSender(logBackCam);
}
VideoCaptureDevice logLeftCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam))
{
logLeftSS = new snapShotSender(logLeftCam);
}
}
private armManager(Arduino armArduino, Arduino handArduino, networkManager _netman)
{
armDuino = armArduino;
handDuino = handArduino;
netMan = _netman;
netMan.incomingArm += netMan_incomingArm;
armDuino.Data_Received += armDuino_Data_Received;
handDuino.Data_Received += handDuino_Data_Received;
}
public static armManager getInstance(Arduino armArduino, Arduino handArduino, networkManager _netman)
{
if (instance == null)
{
instance = new armManager(armArduino,handArduino,_netman);
}
return instance;
}
private ptManager(Arduino panTiltArduino, networkManager _netMan)
{
ptDuino = panTiltArduino;
netMan = _netMan;
ptDuino.Data_Received += ptDuino_Data_Received;
netMan.incomingDrive += netMan_incomingDrive;
}
public static ptManager getInstance(Arduino panTiltArduino, networkManager _netMan)
{
if (instance == null)
{
instance = new ptManager(panTiltArduino, _netMan);
}
return instance;
}
private driveManager(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
{
frontDriveDuino = frontArduino;
backDriveDuino = backArduino;
frontDriveDuino.Data_Received += frontDriveDuino_Data_Received;
backDriveDuino.Data_Received += backDriveDuino_Data_Received;
netMan = _netMan;
netMan.incomingDrive += netMan_incomingDrive;
}
public static driveManager getInstance(Arduino backArduino, Arduino frontArduino, networkManager _netMan)
{
if (instance == null)
{
instance = new driveManager(backArduino, frontArduino, _netMan);
}
return instance;
}