public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
ariaManager = new AriaManager();
ariaManager.InitializeAria();
UpdateConnectedTextblock(ariaManager.IsConnected(), ariaHardwareState);
robotSpeech = new RobotSpeech(servoManager);
robotEyes = new RobotEyes();
robotEyes.InitializeHardware();
personTracking = new PersonTracking(servoManager, ariaManager);
sequenceProcessor = new SequenceProcessor(servoManager, ariaManager, robotSpeech, robotEyes, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor, personTracking, robotSpeech);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
UpdateMotionEnabledDisplay();
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
ariaManager = new AriaManager();
ariaManager.InitializeAria();
UpdateConnectedTextblock(ariaManager.IsConnected(), ariaHardwareState);
robotSpeech = new RobotSpeech(servoManager);
robotEyes = new RobotEyes();
robotEyes.InitializeHardware();
personTracking = new PersonTracking(servoManager, ariaManager);
sequenceProcessor = new SequenceProcessor(servoManager, ariaManager, robotSpeech, robotEyes, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor, personTracking, robotSpeech);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
UpdateMotionEnabledDisplay();
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public SequenceProcessor(ServoManager servoManager, AriaManager ariaManager, RobotSpeech robotSpeech, RobotEyes robotEyes, string sequenceFileName)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
this.robotSpeech = robotSpeech;
this.robotEyes = robotEyes;
sequenceList = new SequenceList(sequenceFileName);
}
public PersonTracking(ServoManager servoManager, AriaManager ariaManager)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
wheelWatchdogTimer.AutoReset = false;
wheelWatchdogTimer.Elapsed += OnWheelWatchdogTimerEvent;
}
public PersonTracking(ServoManager servoManager, AriaManager ariaManager)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
wheelWatchdogTimer.AutoReset = false;
wheelWatchdogTimer.Elapsed += OnWheelWatchdogTimerEvent;
}
