public RoboUSBLinkApp()
{
MainThreadQueue = new Queue<RoboUSBLinkComm.VoidFunc>();
AsyncResults = new List<IAsyncResult>();
Application.EnableVisualStyles();
Application.Idle += new EventHandler(this.InvokeApplicationThreadItems);
Comm = new RoboUSBLinkComm("/dev/ttyACM0", this.MarshalToMainThread);
MainForm = new RoboUSBLinkForm(Comm);
MainForm.FormClosing += HandleMainFormFormClosing;
MainForm.Load += (sender, e) => Comm.Start();
MainForm.Show(null);
}
public RoboUSBLinkForm(RoboUSBLinkComm comm)
{
Comm = comm;
this.Size = new Size(800, 600);
//this.DoubleBuffered = true;
this.Text = "Robot Status";
InitFonts();
InitControls();
Data = new RoboDataModel(comm);
Data.BoardData += HandleDataBoardData;
Data.BoardOffline += HandleDataBoardOffline;
Data.CommOffline += HandleCommOffline;
Data.CommOnline += HandleCommOnline;
Data.RangeChanged += HandleRangeChanged;
Data.VoltageChanged += HandleVoltageChanged;
Data.DebugMessage += HandleDebugMessage;
}
private void MarshalToMainThread(RoboUSBLinkComm.VoidFunc func)
{
lock(MainThreadQueue)
{
MainThreadQueue.Enqueue(func);
if (!isMarshaling)
{
isMarshaling = true;
// if this generates too much garbage collection pressure, fix it then
IAsyncResult ar = MainForm.BeginInvoke(new RoboUSBLinkComm.VoidFunc(this.InvokeOnMainThread));
AsyncResults.Add(ar);
}
}
for (int i = 0; i < AsyncResults.Count; ++i)
{
IAsyncResult ar = AsyncResults[i];
if (ar.IsCompleted)
{
MainForm.EndInvoke(ar);
AsyncResults.RemoveAt(i);
--i;
}
}
}
private void AttachToComm(RoboUSBLinkComm comm)
{
}
