/// <summary>
/// Initializes a new instance of the DashboardForm class
/// </summary>
/// <param name="theEventsPort">The Events Port for passing events back to the service</param>
/// <param name="state">The service state</param>
public DashboardForm(DashboardFormEvents theEventsPort, RobotDashboardState state)
{
this.eventsPort = theEventsPort;
this.InitializeComponent();
this.options = new GUIOptions();
this.options = state.Options;
this.StartPosition = FormStartPosition.Manual;
this.Location = new Point(this.options.WindowStartX, this.options.WindowStartY);
// The dead zone can't be negative, but it can be zero
this.options.DeadZoneX = Math.Abs(state.Options.DeadZoneX);
this.options.DeadZoneY = Math.Abs(state.Options.DeadZoneY);
// Just in case the scale factors have not been initialized
if (state.Options.TranslateScaleFactor == 0)
{
this.options.TranslateScaleFactor = 1.0;
}
else
{
this.options.TranslateScaleFactor = state.Options.TranslateScaleFactor;
}
if (state.Options.RotateScaleFactor == 0)
{
this.options.RotateScaleFactor = 0.5;
}
else
{
this.options.RotateScaleFactor = state.Options.RotateScaleFactor;
}
}
/// <summary>
/// Initialize the State with appropriate values
/// </summary>
private void InitializeState()
{
bool newState = false;
if (this.state == null)
{
this.state = new RobotDashboardState {
TiltAngle = 0
};
newState = true;
}
if (this.state.Options == null)
{
this.state.Options = new GUIOptions
{
DeadZoneX = 150, DeadZoneY = 150, WindowStartX = 10, WindowStartY = 10
};
// Window geometry parameters
this.state.Options.DepthcamWindowStartX = this.state.Options.WindowStartX + 450;
this.state.Options.DepthcamWindowStartY = this.state.Options.WindowStartY;
this.state.Options.DepthcamWindowWidth = 360;
this.state.Options.DepthcamWindowHeight = 300;
this.state.Options.WebcamWindowStartX = this.state.Options.WindowStartX + 450;
this.state.Options.WebcamWindowStartY = this.state.Options.WindowStartY + 310;
this.state.Options.WebcamWindowWidth = 360;
this.state.Options.WebcamWindowHeight = 300;
this.state.Options.TranslateScaleFactor = 0.7;
this.state.Options.RotateScaleFactor = 0.4;
// Camera update interval in milliseconds
// Note that this is only required for the
// simulated webcam because it does not provide
// updates when you subscribe
this.state.Options.CameraInterval = 250;
}
if (this.state.Options.CameraInterval < 100)
{
this.state.Options.CameraInterval = 100;
}
if (newState)
{
SaveState(this.state);
}
}