public void CreateOptionsFile()
{
XmlSerializer ser = new XmlSerializer( typeof(Options));
Options o = new Options();
StreamWriter wr = new StreamWriter( options_path );
ser.Serialize(wr,(object)o);
wr.Flush();
wr.Close();
}
//CONSOLE
/////////////
public Robot1()
{
//ACCELEROMETER
this.usrCtrlAxis2D = new UsrCtrlAxis2D();
this.usrCtrlAxis2D.Size = new Size(350, 350);
this.usrCtrlAxis2D.Location = new Point(0, 0);
this.usrCtrlAxis2D.BackColor = Color.AliceBlue;
//this.tabPage19.Controls.Add(this.usrCtrlAxis2D);
InitializeComponent();
batt.aktualne_nap = 0.1f; //initial value for battery monitor
SetMap();
Robot1.CheckForIllegalCrossThreadCalls = false;
comboBox1.SelectedItem = "nothing";
comboBox2.SelectedItem = "nothing";
comboBox3.SelectedItem = "nothing";
comboBox4.SelectedItem = "nothing";
comboBox5.SelectedItem = "nothing";
comboBox6.SelectedItem = "nothing";
comboBox7.SelectedItem = "nothing";
comboBox8.SelectedItem = "nothing";
comboBox9.SelectedItem = "nothing";
comboBox10.SelectedItem = "nothing";
//Trajectory activation
button12.Enabled = true;
button14.Enabled = false;
button17.Enabled = false;
button13.Enabled = false;
button18.Enabled = false;
button15.Enabled = false;
//Audio stream
foreach (IPAddress ip in System.Net.Dns.GetHostAddresses(""))
{
m_pLocalIP.Items.Add(ip.ToString());
}
m_pLocalIP.SelectedIndex = m_pLocalIP.Items.Count-2;
//m_pLocalIP.SelectedIndex = 0;
m_pCodec.Items.Add("G711 a-law");
m_pCodec.Items.Add("G711 u-law");
m_pCodec.Enabled = false;
LoadWaveDevices();
m_pActiveCodec = new PCMA();
//Bootloader
comboBoxport.SelectedIndex = 0;
comboBoxMCU.SelectedIndex = 0;
//Inicialize TCP Client
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
groupComPortSettings.Enabled = false;
groupComPortDefault.Enabled = false;
groupTcpClientServerSettings.Enabled = true;
groupTcpClientServerDefault.Enabled = true;
textTCPClientServerIPAddress.ReadOnly = false;
textTCPCommunicationType.Text = "CLIENT";
labelCommunicationType.Text = "TCP Client";
toolStripconnect.Enabled = true;
ThreadCheckStat = new Thread(CheckStatus);
ThreadCheckStat.Start();
//Small Cam
o = new Options();
combo_streams.SelectedText = "1";
//AUDIO DELEGATE
m_DelegateAddString = new DelegateAddString(this.AddString);
m_DelegateAddString1 = new DelegateAddString1(this.AddString1);
//ACCELEROMETER
//this.usrCtrlAxis3D = new UsrCtrlAxis3D();
//this.usrCtrlAxis3D.Size = new Size(350, 350);
//this.usrCtrlAxis3D.Location = new Point(0, 0);
//this.Controls.Add(this.usrCtrlAxis3D);
this.mySerialPort = new SerialPort("COM4", 9600, Parity.None, 8, StopBits.One);
this.mySerialPort.Handshake = Handshake.None;
this.mySerialPort.RtsEnable = true;
this.mySerialPort.DataReceived += new SerialDataReceivedEventHandler(MySerialPort_DataReceived);
}
private void Robot_Load(object sender, EventArgs e)
{
labelCommunicationType.Text = "TCP Client";
labelConnectingStatus.Text = "Closed";
label122.Text = "Not";
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
labelJoystickName.Text = null;
SetMap();
Maps.SelectedItem = "TUKE";
//Full Screen
Options op = new Options();
op = op.ReadOptionsFromFile();
this.combo_method.SelectedIndex = op.Scale;
this.combo_streams.SelectedIndex = op.Streams;
this.textBox1.Text = op.Text;
//this.lbl_foreColor.BackColor = ColorTranslator.FromHtml(op.ForeColor);
}
private void Robot_Load(object sender, EventArgs e)
{
//Tracking
//pictureBox27.Load(Application.StartupPath + "\\Resources\\image1.jpg");
/////3D
lights = new TVLightEngine();
globals = new TVGlobals();
atmosphere = new TVAtmosphere();
maths = new TVMathLibrary();
materialfactory = new TVMaterialFactory();
texturefactory = new TVTextureFactory();
tv = new TVEngine();
physics = new TVPhysics();
//Setup TV
tv.SetDebugMode(true, true);
tv.SetDebugFile(System.IO.Path.GetDirectoryName(Application.ExecutablePath) + "\\debugfile.txt");
tv.SetAntialiasing(true, CONST_TV_MULTISAMPLE_TYPE.TV_MULTISAMPLE_2_SAMPLES);
//Enter Your Beta Username And Password Here
//tv.SetBetaKey("", "");
tv.SetAngleSystem(CONST_TV_ANGLE.TV_ANGLE_DEGREE);
//tv.Init3DWindowed(this.Handle, true);
tv.Init3DWindowed(this.pictureBox3D.Handle, true);
tv.GetViewport().SetAutoResize(true);
tv.DisplayFPS(true);
tv.SetVSync(true);
scene = new TVScene();
input = new TVInputEngine();
input.Initialize(true, true);
camera = new TVCamera();
camera = scene.GetCamera();
camera.SetViewFrustum(45, 1000, 0.1f);
camera.SetPosition(0, 5, -20);
camera.SetLookAt(0, 3, 0);
viewport = new TVViewport();
viewport = tv.CreateViewport(this.Handle, "viewport");
viewport.SetCamera(camera);
viewport.SetBackgroundColor(Color.Blue.ToArgb());
bDoLoop = true;
InitSound();
InitMaterials();
InitTextures();
InitFonts();
InitShaders();
InitEnvironment();
InitPhysics();
InitLandscape();
InitObjects();
InitLights();
InitPhysicsMaterials();
Init2DText();
this.Show();
this.Focus();
GameLoop();
tv = null;
this.Close();
//// /3D
groupComPortDefault.Enabled = false;
groupComPortSettings.Enabled = false;
groupTcpClientServerSettings.Enabled = false;
groupTcpClientServerDefault.Enabled = false;
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
groupAdvencedSuppDevices.Enabled = false;
groupJoystickInit.Enabled = false;
labelCommunicationType.Text = null;
labelConnectingStatus.Text = null;
labelJoystickName.Text = null;
SetMap();
Maps.SelectedItem = "TUKE";
//Full Screen
Options op = new Options();
op = op.ReadOptionsFromFile();
this.combo_method.SelectedIndex = op.Scale;
this.combo_streams.SelectedIndex = op.Streams;
this.textBox1.Text = op.Text;
//this.lbl_foreColor.BackColor = ColorTranslator.FromHtml(op.ForeColor);
}
public Robot1()
{
//ACCELEROMETER
this.usrCtrlAxis2D = new UsrCtrlAxis2D();
this.usrCtrlAxis2D.Size = new Size(350, 350);
this.usrCtrlAxis2D.Location = new Point(0, 0);
this.usrCtrlAxis2D.BackColor = Color.AliceBlue;
this.usrCtrlAxis3D = new UsrCtrlAxis3D();
this.usrCtrlAxis3D.Size = new Size(350, 350);
this.usrCtrlAxis3D.Location = new Point(0, 0);
InitializeComponent();
//VERSION UPDATE PUBLISH
Version version2 = new Version();
if (System.Deployment.Application.ApplicationDeployment.IsNetworkDeployed)
{
System.Deployment.Application.ApplicationDeployment ad = System.Deployment.Application.ApplicationDeployment.CurrentDeployment;
version2 = ad.CurrentVersion;
}
//VERSION UPDATE BUILD
Version vrs = new Version(Application.ProductVersion);
this.Text = "CONTROL APPLICATION ORCS ROBOT G4 (SECURITY GUARD ROBOT) / AssemblyBuid " + vrs.Major + "." + vrs.Minor + "." + vrs.Build + "." + vrs.Revision + " / Publish Version ClickOnce " + PublishVersion().ToString() + " / RC" + version2.Revision.ToString(); //String.Format("ClickOnce Version {0}.{1}.{2}.{3}", version.Major, version.Minor, version.Revision, version.Build);
//BATTERY
batt.aktualne_nap = 0.1f; //initial value for battery monitor
SetMap();
Robot1.CheckForIllegalCrossThreadCalls = false;
comboBox1.SelectedItem = "nothing";
comboBox2.SelectedItem = "nothing";
comboBox3.SelectedItem = "nothing";
comboBox4.SelectedItem = "nothing";
comboBox5.SelectedItem = "nothing";
comboBox6.SelectedItem = "nothing";
comboBox7.SelectedItem = "nothing";
comboBox8.SelectedItem = "nothing";
comboBox9.SelectedItem = "nothing";
comboBox10.SelectedItem = "nothing";
//Trajectory activation
button12.Enabled = true;
button14.Enabled = false;
button17.Enabled = false;
button13.Enabled = false;
button18.Enabled = false;
button15.Enabled = false;
//Audio stream
foreach (IPAddress ip in System.Net.Dns.GetHostAddresses(""))
{
m_pLocalIP.Items.Add(ip.ToString());
}
m_pLocalIP.SelectedIndex = m_pLocalIP.Items.Count-2;
//m_pLocalIP.SelectedIndex = 0;
m_pCodec.Items.Add("G711 a-law");
m_pCodec.Items.Add("G711 u-law");
m_pCodec.Enabled = false;
LoadWaveDevices();
m_pActiveCodec = new PCMA();
//Bootloader
comboBoxport.SelectedIndex = 0;
comboBoxMCU.SelectedIndex = 0;
//Inicialize TCP Client
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
textTCPClientServerIPAddress.ReadOnly = false;
textTCPCommunicationType.Text = "CLIENT";
labelCommunicationType.Text = "TCP Client";
toolStripconnect.Enabled = true;
ThreadCheckStat = new Thread(CheckStatus);
ThreadCheckStat.Start();
//Small Cam
o = new Options();
combo_streams.SelectedText = "1";
//AUDIO DELEGATE
m_DelegateAddString = new DelegateAddString(this.AddString);
m_DelegateAddString1 = new DelegateAddString1(this.AddString1);
//ACCELEROMETER
//this.usrCtrlAxis3D = new UsrCtrlAxis3D();
//this.usrCtrlAxis3D.Size = new Size(350, 350);
//this.usrCtrlAxis3D.Location = new Point(0, 0);
//this.Controls.Add(this.usrCtrlAxis3D);
this.panelMEMS.Controls.Add(this.usrCtrlAxis2D);
this.panelMEMS.Controls.Add(this.usrCtrlAxis3D);
CreateGraph(); //MEMS Create Graph
this.mySerialPort = new SerialPort("COM5", 9600, Parity.None, 8, StopBits.One);
this.mySerialPort.Handshake = Handshake.None;
this.mySerialPort.RtsEnable = true;
this.mySerialPort.DataReceived += new SerialDataReceivedEventHandler(MySerialPort_DataReceived);
//GPS
GPS.GPSFileLogCreate();
}