public SLAM(double mapWidth, double mapHeight, double cellSize, string port)
{
robot = new Robot ();
map = new SlamMap (robot, mapWidth, mapHeight, cellSize);
mapView = new MapView (map);
ekfSlam = new EkfSlam (1); // 1 degree per scan.
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
window = new MapWindow (mapView);
window.DeleteEvent += delegate
{
proxy.Release ();
};
//AddSampleLandmarks ();
}
private TextView textView; // Textview to hold landmark information.
#endregion Fields
#region Constructors
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapWindow"/> class.
/// </summary>
/// <param name="mapView">Map view contained in this window.</param>
public MapWindow(MapView mapView)
: base("Map")
{
robot = mapView.RobotView.Robot;
this.mapView = mapView;
// Subscribe to events.
mapView.MapModel.MapUpdated += new EventHandler<MapUpdateEventArgs> (Map_Update);
mapView.RobotView.Robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Robot_Update);
SetPosition (WindowPosition.Center);
Resizable = false;
DeleteEvent += delegate
{
Application.Quit ();
};
TextBuffer textBuffer = new TextBuffer (new TextTagTable ());
textView = new TextView ();
textView.Indent = 10;
textView.Editable = false;
textView.Buffer = textBuffer;
textView.CursorVisible = false;
textView.SetSizeRequest (mapView.ViewWidth, 150);
foreach (Landmark landmark in mapView.MapModel.Landmarks)
{
this.textView.Buffer.Text += landmark.ToString ();
}
ScrolledWindow scrolledWindow = new ScrolledWindow ();
scrolledWindow.Add (textView);
commandEntry = new Entry ();
commandEntry.Activated += CommandEntry_OnActivated;
sendButton = new Button ("Send");
sendButton.Clicked += SendButton_OnClick;
HBox hbox = new HBox (false, 0);
hbox.Add (commandEntry);
hbox.Add (sendButton);
VBox vbox = new VBox (false, 0);
vbox.Add (this.mapView);
vbox.Add (scrolledWindow);
vbox.Add (hbox);
Add (vbox);
Shown += OnShown;
}
