/// <summary>
/// Initializes a new instance of the <see cref="MainWindow"/> class.
/// </summary>
public MainWindow() : base(Gtk.WindowType.Toplevel)
{
Build();
cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
// Init of image widget
imageWidget = new ImageWidget(drawingAreaCamera);
// Customize controls
AdjustControls();
}
/// <summary>
/// Initializes a new instance of the <see cref="MainWindow"/> class.
/// </summary>
public MainWindow() : base(Gtk.WindowType.Toplevel)
{
Build();
cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
// Init of image widget
imageWidget = new ImageWidget(drawingAreaCamera);
// create new timer for battery request, every 10s
batteryTimer = new System.Timers.Timer(10000.0);
batteryTimer.Elapsed += OnBatteryTimerElapsed;
// Customize controls
AdjustControls();
}
/// <summary>
/// Callback called when new message is received from server
/// </summary>
/// <param name="header">Header of message</param>
/// <param name="data">Data of message</param>
public void OnCommandReceivedEvent(string header, string data)
{
if (header == null)
{
// we have lost server
ChangeState(SystemState.NotConnected);
Gtk.Application.Invoke(delegate
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Server lost",
"Server is down: disconnecting");
cmdManager.Close();
});
}
// if we have received a valid message
if (header != null)
{
#if DEBUG
// print message content
if (header.Length > 4)
{
Console.WriteLine("Bad header(" + header.Length + ")");
}
#endif
// Depending on message received (based on header), launch correponding action
header = header.ToUpper();
switch (header)
{
case DestijlCommandList.ANSWER_TIMEOUT:
case DestijlCommandList.ANSWER_COM_ERROR:
Console.WriteLine("Communication lost with robot");
Gtk.Application.Invoke(delegate
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Robot lost", "Communication with robot lost !");
});
ChangeState(SystemState.ServerConnected);
break;
case DestijlCommandList.ROBOT_BATTERY_LEVEL:
string batLevel = "";
switch (data[0])
{
case '2':
batLevel = "High";
break;
case '1':
batLevel = "Low";
break;
case '0':
batLevel = "Empty";
break;
default:
batLevel = "Invalid value";
break;
}
Gtk.Application.Invoke(delegate
{
labelBatteryLevel.Text = batLevel;
});
break;
case DestijlCommandList.CAMERA_IMAGE:
imageReceivedCounter++;
byte[] image = new byte[2];
try
{
image = Convert.FromBase64String(data);
}
catch (FormatException)
{
badImageReceivedCounter++;
Console.WriteLine("Unable to convert from base64 ");
}
try
{
imageWidget.ShowImage(image);
}
catch (GLib.GException)
{
badImageReceivedCounter++;
#if DEBUG
Console.WriteLine("Bad Image: " + badImageReceivedCounter +
" / " + imageReceivedCounter +
" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
#endif
}
break;
case DestijlCommandList.CAMERA_POSITION:
imageWidget.Position = DestijlCommandManager.DecodePosition(data);
break;
default:
Console.WriteLine("Untreated message from supervisor: " + header + ": " + data);
break;
}
}
}
