public BadgerDriverService(BadgerControlSubsystem badgerControlSubsystem)
{
shouldSendRelativeArmCommand = false;
rightJoystickId = 0;
leftJoystickId = 0;
initSetup = new Object();
joystickDisconnected = false;
this.badgerControlSubsystem = badgerControlSubsystem;
joystickConfirmedFromVisualView = false;
joystickConfirmedFromStatusView = false;
joystickMessageGiven = false;
_eventAggregator = ApplicationService.Instance.EventAggregator;
_eventAggregator.GetEvent<ConfirmJoystickEvent>().Subscribe((confirmationID) =>
{
if (confirmationID == BadgerControlStatusView.JOYSTICK_ID)
joystickConfirmedFromStatusView = true;
else if (confirmationID == BadgerControlVisualView.JOYSTICK_ID)
joystickConfirmedFromVisualView = true;
if (JoyStickConfirmed && !joystickMessageGiven)
{
_eventAggregator.GetEvent<LoggerEvent>().Publish("Joystick connected.");
joystickMessageGiven = true; // jank hack to fix the duplicate event publishing due to multithreading
}
});
relativeLock = new Object();
}
public DriveModes(BadgerControlSubsystem badgerControlSubsystem, Component parentComponent, RemoteDriverService remoteDriveService, string serviceName)
{
this.badgerControlSubsystem = badgerControlSubsystem;
this.parentComponent = parentComponent;
this.remoteDriveService = remoteDriveService;
this.serviceName = serviceName;
}
private BadgerControlSubsystem() : base(GUI_SUBSYSTEM_ID, "BadgerControlSubsystem")
{
// setup event listeners
#region EVENT_LISTENERS
_eventAggregator = ApplicationService.Instance.EventAggregator;
_eventAggregator.GetEvent <UpdateIPEvent>().Subscribe((ip) =>
{
//CurrentRemoteIP = ip;
});
_eventAggregator.GetEvent <UpdateSubsystemIdEvent>().Subscribe((subsystem) =>
{
CurrentRemoteSubsystemID = subsystem;
});
_eventAggregator.GetEvent <UpdateDriveModeEvent>().Subscribe((drive) =>
{
//CurrentDriveComponent = drive;
});
#endregion
localJausAddress = new JausAddress(GUI_SUBSYSTEM_ID, GUI_NODE_ID, GUI_COMPONENT_ID);
badgerControlSubsystemInstance = this;
remoteVelocityStateDriverService = new RemoteVelocityStateDriverService(this);
remotePrimitiveDriverService = new RemotePrimitiveDriverService(this);
discoveredDriveModes = new Dictionary <long, DriveModes>();
observableDriveModes = new ObservableCollection <DriveModes>();
}
public BadgerControlService(BadgerControlSubsystem badgerControlSubsystem)
{
this.badgerControlSubsystem = badgerControlSubsystem;
confirmControlMessage = new ConfirmControl();
rejectControlMessage = new RejectControl();
}
public static BadgerControlSubsystem CreateInstance()
{
if (badgerControlSubsystemInstance == null)
{
badgerControlSubsystemInstance = new BadgerControlSubsystem();
}
return(badgerControlSubsystemInstance);
}
public BadgerControlDriveViewModel(IEventAggregator eventAggregator)
{
this.Confirm = new DelegateCommand<object>(OnConfirm);
this._eventAggregator = eventAggregator;
driveMode = DriveModeOption.REMOTE;
driveModeString = "Remote";
driveServices = new List<string>();
badgerControlSubsystem = BadgerControlSubsystem.GetInstance();
driveModesList = badgerControlSubsystem.ObservableDriveModes;
driveModesList.CollectionChanged += DriveModesChanged;
}
public BadgerControlConnectionViewModel(IEventAggregator eventAggregator)
{
this.Abort = new DelegateCommand<object>(OnAbort);
this.Connect = new DelegateCommand<object>(OnConnect);
this._eventAggregator = eventAggregator;
badgerControlSubsystem = BadgerControlSubsystem.GetInstance();
port = Subsystem.JAUS_PORT;
ip = "192.168.0.100";
subsystemID = 10;
}
public BadgerRobotsInformationViewModel(IEventAggregator eventAggregator)
{
this._eventAggregator = eventAggregator;
badgerControlSubsystem = BadgerControlSubsystem.GetInstance();
Refresh = new DelegateCommand<object>(OnRefresh);
Activate = new DelegateCommand<object>(OnActivate);
Deactivate = new DelegateCommand<object>(OnDeactivate);
RequestControl = new DelegateCommand<object>(OnRequestControl);
ReleaseControl = new DelegateCommand<object>(OnReleaseControl);
discoveredSubsystems = badgerControlSubsystem.DiscoveredSubsystems;
discoveredSubsystems.CollectionChanged += DiscoveredSubsystemsUpdated;
currentNodes = new List<Node>();
}
public BadgerControlMapViewModel(IEventAggregator eventAggregator)
{
this._eventAggregator = eventAggregator;
badgerControlSubsystem = BadgerControlSubsystem.GetInstance();
}
public RemoteVelocityStateDriverService(BadgerControlSubsystem badgerControlSubsystem)
{
this.badgerControlSubsystem = badgerControlSubsystem;
}
private BadgerControlSubsystem()
: base(GUI_SUBSYSTEM_ID, "BadgerControlSubsystem")
{
// setup event listeners
#region EVENT_LISTENERS
_eventAggregator = ApplicationService.Instance.EventAggregator;
_eventAggregator.GetEvent<UpdateIPEvent>().Subscribe((ip) =>
{
//CurrentRemoteIP = ip;
});
_eventAggregator.GetEvent<UpdateSubsystemIdEvent>().Subscribe((subsystem) =>
{
CurrentRemoteSubsystemID = subsystem;
});
_eventAggregator.GetEvent<UpdateDriveModeEvent>().Subscribe((drive) =>
{
//CurrentDriveComponent = drive;
});
#endregion
localJausAddress = new JausAddress(GUI_SUBSYSTEM_ID, GUI_NODE_ID, GUI_COMPONENT_ID);
badgerControlSubsystemInstance = this;
remoteVelocityStateDriverService = new RemoteVelocityStateDriverService(this);
remotePrimitiveDriverService = new RemotePrimitiveDriverService(this);
discoveredDriveModes = new Dictionary<long, DriveModes>();
observableDriveModes = new ObservableCollection<DriveModes>();
}
public static BadgerControlSubsystem CreateInstance()
{
if (badgerControlSubsystemInstance == null)
badgerControlSubsystemInstance = new BadgerControlSubsystem();
return badgerControlSubsystemInstance;
}
public BadgerControlModule(RegionManager regionManager)
{
this.regionManager = regionManager;
subsystem = BadgerControlSubsystem.CreateInstance();
subsystem.InitializeComponents();
}
public RemotePrimitiveDriverService(BadgerControlSubsystem badgerControlSubsystem)
{
this.badgerControlSubsystem = badgerControlSubsystem;
}
