void controller_OnButtonsChanged(object sender, ControllerSlam.ButtonArgs e)
{
if (tcpClient != null && tcpClient.Status == TCPSlamClient.ClientStatus.Connected)
{
if (e.CameraMove != 0)
{
if (cameraWindow != null)
{
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetCameraAngle(e.CameraMove); }));
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetTemperatureValue(e.CameraMove); }));
}
}
if (e.LeftStickChanged)
{
tcpClient.SendData(TCPSlamBase.MessageType.LeftMotor, BitConverter.GetBytes(e.LeftStick));
if (cameraWindow != null)
{
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetLeftWheelPower(e.LeftStick); }));
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.UpdateLineGraphs(); }));
}
}
if (e.RightStickChanged)
{
tcpClient.SendData(TCPSlamBase.MessageType.RightMotor, BitConverter.GetBytes(e.RightStick));
if (cameraWindow != null)
{
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetRightWheelPower(e.RightStick); }));
cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.UpdateLineGraphs(); }));
}
}
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
controller = new ControllerSlam();
controller.OnButtonsChanged += new EventHandler<ControllerSlam.ButtonArgs>(controller_OnButtonsChanged);
tcpClient = new TCPSlamClient();
tcpClient.Port = 9988;
tcpClient.OnConnectionStatusChanged += new EventHandler<TCPSlamClient.ClientStatusArgs>(tcpClient_OnConnectionStatusChanged);
tcpClient.OnDataReceived += new EventHandler<TCPSlamBase.MessageArgs>(tcpClient_OnDataReceived);
txtIP.Text = Common.GetIP();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
skeleton = new SkeletonSlam();
skeleton.onHandHeightChanged += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onHandHeightChanged);
skeleton.onRightAngleTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightAngleTurn);
skeleton.onLeftQuarterTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftQuarterTurn);
skeleton.onRightQuarterTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightQuarterTurn);
skeleton.onLeftHalfTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftHalfTurn);
skeleton.onLeftFullTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftFullTurn);
skeleton.onRightHalfTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightHalfTurn);
skeleton.onRightFullTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightFullTurn);
controller = new ControllerSlam();
controller.OnButtonsChanged += new EventHandler<ControllerSlam.ButtonArgs>(controller_OnButtonsChanged);
tcpClient = new TCPSlamClient();
tcpClient.Port = 9988;
tcpClient.OnConnectionStatusChanged += new EventHandler<TCPSlamClient.ClientStatusArgs>(tcpClient_OnConnectionStatusChanged);
tcpClient.OnDataReceived += new EventHandler<TCPSlamBase.MessageArgs>(tcpClient_OnDataReceived);
txtIP.Text = Common.GetIP();
}
