public void Initialize(JaguarCtrl jc)
{
centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString();
centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString();
jc.txtStartLat.Text = centerLatitude;
jc.txtStartLong.Text = centerLongitude;
if (true)//(jc.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
SetParent(GEHrender, jc.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
}
public GoogleEarthViewer()
{
InitializeComponent();
GEPlugin.
EARTHLib.ApplicationGE g = new ApplicationGEClass();
ShowWindowAsync(ge.GetMainHwnd(), 0);
SetParent(ge.GetRenderHwnd(), this.Handle.ToInt32());
ResizeGoogleControl();
}
public GoogleEarthViewer()
{
InitializeComponent();
GEPlugin.
EARTHLib.ApplicationGE g = new ApplicationGEClass();
ShowWindowAsync(ge.GetMainHwnd(), 0);
SetParent(ge.GetRenderHwnd(), this.Handle.ToInt32());
ResizeGoogleControl();
}
/// <summary>Load GoogleEarth to a new Panel
/// Load GoogleEarth to a new Panel
/// </summary>
public void LoadGoogleEarth()
{
//将GoogleEarth加载到窗口上
myGEHandler = new SetGEHandler();
_geApp = new ApplicationGEClass();
myGEHandler.SetGEHandlerToControl(this.pnlGoogleEarth, _geApp);
_gEHandler = (IntPtr)_geApp.GetRenderHwnd();
this.StartMouseHook();
}
private void btnFlyTo_Click(object sender, EventArgs e)
{
try
{
var googleEarth = new ApplicationGEClass();
String tempKmlFile = System.IO.Path.GetTempPath() + Guid.NewGuid().ToString() + ".kml";
KmlHelper kmlWriter = new KmlHelper();
kmlWriter.AddPoint(_Point.Latitude, _Point.Longitude, "Temporary location", "", "", "");
kmlWriter.SaveToFile(tempKmlFile);
while (googleEarth.IsInitialized() == 0)
{
Thread.Sleep(500);
}
googleEarth.OpenKmlFile(tempKmlFile, 0);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
}
private void btnFlyTo_Click(object sender, EventArgs e)
{
try
{
var googleEarth = new ApplicationGEClass();
String tempKmlFile = System.IO.Path.GetTempPath() + Guid.NewGuid().ToString() + ".kml";
KmlHelper kmlWriter = new KmlHelper();
kmlWriter.AddPoint(_Point.Latitude, _Point.Longitude, "Temporary location", "", "", "");
kmlWriter.SaveToFile(tempKmlFile);
while ( googleEarth.IsInitialized() == 0 )
{
Thread.Sleep(500);
}
googleEarth.OpenKmlFile(tempKmlFile, 0);
}
catch ( Exception ex )
{
MessageBox.Show(ex.ToString());
}
}
public void Initialize(JaguarCtrl jc)
{
centerLatitude = jc.jaguarSetting.GoogleEarthStartLat.ToString();
centerLongitude = jc.jaguarSetting.GoogleEarthStartLong.ToString();
jc.txtStartLat.Text = centerLatitude;
jc.txtStartLong.Text = centerLongitude;
if (true)//(jc.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, jc.panelGE.Width, jc.panelGE.Height, true);
SetParent(GEHrender, jc.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
}
/// <summary>
/// Initializes the Google Earth interface.
/// </summary>
public static void Init()
{
s_oGEClass = new ApplicationGEClass();
}
private void JaguarCtrl_Load(object sender, EventArgs e)
{
for (int i = 0; i < 2; i++)
{
armMotor[i] = new MotorData();
}
myJaguar.connectRobot (jaguarSetting.RobotID);
//for google earth application
cenerLatitude = jaguarSetting.GoogleEarthStartLat.ToString ();
centerLongitude = jaguarSetting.GoogleEarthStartLong.ToString();
txtStartLat.Text = cenerLatitude;
txtStartLong.Text = centerLongitude;
if (this.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, this.panelGE.Width, this.panelGE.Height, true);
SetParent(GEHrender, this.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
//for Axis camera
try
{
// Set properties, deciding what url completion to use by MediaType.
myAMC.MediaUsername = jaguarSetting.CameraUser;
myAMC.MediaPassword = jaguarSetting.CameraPWD;
myAMC.MediaType = "mjpeg";
myAMC.MediaURL = CompleteURL(jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort , "mjpeg");
myAMC.AudioConfigURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/view/param.cgi?camera=1&action=list&group=Audio,AudioSource.A0";
/*
myAMC.PTZControlURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/com/ptz.cgi";
myAMC.UIMode = "ptz-absolute";
myAMC.ShowToolbar = true;
myAMC.StretchToFit = true;
myAMC.EnableContextMenu = true;
myAMC.ToolbarConfiguration = "default,+ptz";
*/
myAMC.ToolbarConfiguration = "default, + audiocontrol,+ rec";
myAMC.AudioReceiveStop();
// Start the streaming
myAMC.Play();
myAMC.AudioReceiveURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/audio/receive.cgi";
myAMC.Volume = 100;
//myAMC.AudioReceiveStart();
myAMC.AudioTransmitURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/audio/transmit.cgi";
}
catch (Exception ex)
{
MessageBox.Show(this, "Unable to play stream: " + ex.Message);
}
//for joystick control
if (InitDirectInput())
tmrJoyStickPoll.Enabled = true;
//for GPS/IMU communication
if ((jaguarSetting.IMUIP !="0.0.0.0") && (jaguarSetting .GPSIP != "0.0.0.0"))
{
startComm ();
}
// for laser scan
if ((jaguarSetting.LaserRangeIP != "0.0.0.0") && (jaguarSetting.LaserRangePort != 0))
{
startCommLaser();
btnLaserScan.Enabled = true;
}
else
{
btnLaserScan.Enabled = false;
}
drawLaserBackground();
MOTDIR = jaguarSetting .MotorDir;
if (jaguarSetting.RobotType.ToLower() == "jaguar")
{
armPosIndicator.SetArmPositionIndicatorParameters(0,0);
pictureBoxRobot.SendToBack();
armPosIndicator.BringToFront();
lblMot1.Text = "Front Arm Motor:";
lblMot2.Text = "Reserved:";
lblMot3.Text = "Left Track Motor:";
lblMot4.Text = "Right Track Motor:";
btnDisArm.Visible = true;
}
else if (jaguarSetting.RobotType.ToLower() == "jaguar_4arms")
{
armPosIndicator.Set2ArmCtrl(true);
armPosIndicator.SetArmPositionIndicatorParameters(0, 0);
pictureBoxRobot.SendToBack();
armPosIndicator.BringToFront();
lblMot1.Text = "Front Arm Motor:";
lblMot2.Text = "Rear Arm Motor:";
lblMot3.Text = "Left Track Motor:";
lblMot4.Text = "Right Track Motor:";
btnDisArm.Visible = true;
}
else
{
armPosIndicator.SendToBack();
pictureBoxRobot.BringToFront();
btnDisArm.Visible = false;
if (jaguarSetting.RobotType.ToLower() == "jaguar_lite")
{
pictureBoxRobot.Image = imageList2.Images[0];
lblMot1.Text = "Left Track Motor:";
lblMot2.Text = "Right Track Motor:";
lblMot3.Visible = false;
lblMot4.Visible = false;
lblEncoderPos3.Visible = false;
lblEncoderPos4.Visible = false;
lblVel3.Visible = false;
lblVel4.Visible = false;
lblTemp3.Visible = false;
lblTemp4.Visible = false;
}
else if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4track")
{
pictureBoxRobot.Image = imageList2.Images[1];
lblMot1.Text = "Left Front Motor:";
lblMot2.Text = "Right Front Motor:";
lblMot3.Text = "Left Rear Motor:";
lblMot4.Text = "Right Rear Motor:";
}
else //if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4wheel")
{
pictureBoxRobot.Image = imageList2.Images[2];
lblMot1.Text = "Left Front Wheel:";
lblMot2.Text = "Right Front Wheel:";
lblMot3.Text = "Left Rear Wheel:";
lblMot4.Text = "Right Rear Wheel:";
}
}
pictureBoxStuckDetect.BackColor = Color.Green;
btnScan.Enabled = false;
}
/// <summary>Load GoogleEarth to a new Panel
/// Load GoogleEarth to a new Panel
/// </summary>
public void LoadGoogleEarth()
{
//将GoogleEarth加载到窗口上
myGEHandler = new SetGEHandler();
_geApp = new ApplicationGEClass();
myGEHandler.SetGEHandlerToControl(this.pnlGoogleEarth, _geApp);
_gEHandler = (IntPtr)_geApp.GetRenderHwnd();
this.StartMouseHook();
}
