// Cancels the operation created by RunAsync. // Precondition: IsRunning is true // Postcondition: IsRunning is false public void CancelAsync() { if (!IsRunning) { throw new InvalidOperationException("This SonarDetector is not running"); } processingThread.Abort(); processingThread = null; sensorArray = null; IsRunning = false; }
private void Dashboard_Load(object sender, EventArgs e) { //SensorArray.AddSensor(new NmeaSensor("Wind 3100", "COM101")); //SensorArray.AddSensor(new NmeaSensor("GPS", "COM102")); //SensorArray.AddSensor(new NmeaSensor("Multi 3100", "COM103")); ISensor vs = new VirtualNmeaSensor(); vs.OnUpdate += new Notify(this.RefreshStatistics); vs.OnReceive += new RawReceive(this.ReceiveLine); SensorArray.AddSensor(vs); StartFile(); SensorArray.Start(); }
// Begin asynchronously processing sonar distance array // If it is currently running, IsRunning will be set to true. // When the sonar detector is running, it will fire OnDistanceChanged events and OnObstacleTooClosed events // Call CancelAsync() to cancel this process. // Precondition: IsRunning is false // Postcondition: IsRunning is true public void RunAsync(SensorArray sensorArray) { if (IsRunning) { throw new InvalidOperationException("This SonarDetector is already running"); } IsRunning = true; this.sensorArray = sensorArray; updateDistanceData(); updateHistoricalData(); processingThread = new Thread(ProcessingThread_DoWork); processingThread.Start(); }
//****************** Consturtors ****************** public Navigator(IObstacleMap obstacleMap, IObstacleDetector obstacleDetector, ObstacleLocalizer obstacleLocalizer, ICartographer cartographer, IDoorDetector doorDetector, Pose pose, SonarDetector sonarDetector, SensorArray sensorArray) { this.ObstacleDetector = obstacleDetector; this.ObstacleMap = obstacleMap; this.ObstacleLocalizer = obstacleLocalizer; this.DoorDetector = doorDetector; this.CurrentPose = pose; this.Cartographer = cartographer; this.SonarDetector = sonarDetector; this.ChairSensorArray = sensorArray; pose.CurrentRoom = Cartographer.GetStartingRoom(); LastPoint = pose.CurrentPositionInUV; FollowRouteThread = new Thread(UpdateRoute); FollowRouteThread.Name = "FollowRouteThread"; FollowRouteThread.Start(); this.ObstacleDetector.ObstaclesDetected += ObstacleDetector_ObstaclesDetected; // ? }
private void SkipperForm_FormClosing(object sender, FormClosingEventArgs e) { _redraw = false; SensorArray.Stop(); }
/// <summary> /// Public constructor /// </summary> /// <param name="cartographer">Instance of the cartographer</param> /// <param name="eyetribeConnected">Whether an EyeTribe is connected</param> /// <param name="controllerConnected">Whether an Xbox 360 controller is connected</param> public MainWindow(Pose pose, ObstacleMap obstacleMap, ICartographer cartographer = null, INavigator nav = null, IDoorDetector doorDetector = null, OverlayRenderer overlayRenderer = null, bool eyetribeConnected = false, bool controllerConnected = false, SensorArray senorArray = null) { //Only done here because it is passed to this function Data.EyeTribeConnected = eyetribeConnected; Data.XboxConnected = controllerConnected; Data.Cartographer = cartographer; Data.Navigator = nav; InitializeComponent(); this.doorsControl.DoorDetector = doorDetector; this.CurrentPose = pose; this.doorsControl.SensorInfo = senorArray; this.overlayRenderer = overlayRenderer; this.NavigationTab.SetPose(this.CurrentPose); ConfigureOverlays(); Input.Input.DeviceChanged += Input_DeviceChanged; }
private void Dashboard_FormClosing(object sender, FormClosingEventArgs e) { SensorArray.Stop(); StopFile(); }
static void Main() { //change the test file xml here and make sure it is in bin. string startingXMLFile = "ETRL_03_07.xml"; //string startingXMLFile = "FloorPlanTest.xml"; //string startingOpenFile = "Sloan46_FINAL.xml"; double compassToMapOffset = 72.0; // List of all the objects we'll be initializing. // Default to null, as some of them will only // be initialized conditionally e.g. // vehicle is only initialized if // there is a vehicle connected. SerialPort sp = null; IVehicle vehicle = null; IImageStream depthStream = null; IImageStream videoStream = null; IObstacleDetector obstacleDetector = null; ICartographer cartographer = null; IOdometer odometer = null; IInputDevice input = KeyboardInput.Instance; ObstacleMap obstacleMap = null; INavigator navigator = null; MainWindow mainWindow = null; Driver.Driver driver = null; VisualInputGridPresenter uiInputPresenter = null; ObstacleGridPresenter uiGridPresenter = null; PositioningSystem ips = null; OverlayRenderer overlayRenderer = null; SensorArray sensorArray = null; Pose pose = null; IDoorDetector doorDetector = null; ObstacleLocalizer obstacleLocalizer = null; SonarDetector sonarDetector = null; Config.Initialize(); Devices.Initialize(); //string wheelchair_com_port = Devices.IsWheelchairConnected(); string wheelchair_com_port = "COM3";//Devices.FindComPort("Arduino Uno"); bool WheelChairConnected = false; if (wheelchair_com_port != "") { WheelChairConnected = true; } //bool WheelChairConnected = true; bool EyeTribeConnected = true; // Devices.IsEyeTribeConnected(); bool ControllerConnected = true; //Devices.IsControllerConnected(); bool KinectConnected = true; //Devices.IsKinectConnected(); //Console.WriteLine("Kinect Connected: {0}", KinectConnected.ToString()); //Console.WriteLine("Eyetribe Connected: {0}", EyeTribeConnected.ToString()); //Console.WriteLine("Wheelchair Connected: {0}", WheelChairConnected.ToString()); //Console.WriteLine("Controller Connected: {0}", ControllerConnected.ToString()); // Initialize vehicle and serial connection if // there is a vehicle connected. if (WheelChairConnected) { //sp = new SerialPort(wheelchair_com_port, 9600); vehicle = Wheelchair.Instance(wheelchair_com_port); vehicle.initializeOffset(Properties.Settings.Default.CalibrationOffset); } else { vehicle = new MockVehicle(); MockVehicleWindow mockDisplay = new MockVehicleWindow((MockVehicle)vehicle); mockDisplay.Show(); } //initalize IPS here IByteReader sensorReader = null; try { //sensorReader = new SerialByteReader("Arduino Mega"); sensorReader = new SerialByteReader("COM4"); } catch (Exception e) { MessageBox.Show(e.Message); } if (sensorReader != null) { ILogger logger = new NullLogger(); sensorArray = new SensorArray(sensorReader, logger); sonarDetector = new SonarDetector(); } else { sensorReader = new NullByteReader(); ILogger logger = new NullLogger(); sensorArray = new SensorArray(sensorReader, logger); } IByteReader byteReader = null; try { //byteReader = new SerialByteReader(Devices.FindComPort("STMicroelectronics")); byteReader = new SerialByteReader("COM3"); } catch (Exception e) { MessageBox.Show(e.Message); } if (byteReader != null) { ILogger logger = new NullLogger(); ips = new MarvelMind(byteReader, logger); } else { //Setup Mock IPS //IByteReader mockByteReader = new FileByteReader(@"C:\Users\Dana\Documents\Visual Studio 2013\Projects\UITests\UITests\Mock_IPS_Data.txt"); //IByteReader mockByteReader = new XLineFixedYByteReader(800, 100, 200); IByteReader mockByteReader = new RandomByteReader(300, 299); ILogger mockLogger = new NullLogger(); ips = new MarvelMind(mockByteReader, mockLogger); } //wait for an iteration of the IPS system that way //we can get the starting location while (false == ips.XUpdated && false == ips.YUpdated) { continue; } //Tuple<double, double> t = new Tuple<double, double>((double)ips.X, (double)ips.Y); Tuple <double, double> t = new Tuple <double, double>((double)ips.Y, (double)ips.X); mPoint startingLocationInXY = new mPoint(t); // UI, input, object detection, navigation, and driver are initialized always, // as they are not directly dependent on external hardware. obstacleMap = new ObstacleMap(); //cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", ips); // might need to be changed later. If the location is not in the starting room. add staring room. //cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", startingLocationInXY); OpenFileDialog ofd = new OpenFileDialog(); ofd.Filter = "XML | *.xml"; ofd.Title = "Open Map"; if (ofd.ShowDialog() == true) { startingXMLFile = ofd.FileName; Console.WriteLine(startingXMLFile); } cartographer = new Cartographer(startingXMLFile, startingLocationInXY); pose = new Pose(ips, cartographer.GetStartingRoom(), sensorArray.CompassDevice, compassToMapOffset); overlayRenderer = new OverlayRenderer(); if (KinectConnected) { depthStream = DepthStream.Instance; videoStream = VideoStream.Instance; // Initialize depthstream if kinect is connected. obstacleDetector = new ObstacleDetector(depthStream, false); obstacleDetector.Start(); obstacleLocalizer = new ObstacleLocalizer(pose); ObstaclesOverlay obstaclesOverlay = new ObstaclesOverlay(obstacleDetector); overlayRenderer.Overlays.Add(obstaclesOverlay); doorDetector = new DepthBasedDoorDetector(); doorDetector.RunAsync(depthStream); try { sonarDetector.RunAsync(sensorArray); } catch (Exception e) { } } // Obstacle detector and driver are only run // if both the vehicle and kinect are connected. if (vehicle != null && KinectConnected) { Vector startPoint = new Vector(7 / 0.75f, 43 / 0.75f); Vector startRotation = new Vector(-7, -43); startRotation.Normalize(); odometer = new Odometer(); navigator = new Navigator(obstacleMap, obstacleDetector, obstacleLocalizer, cartographer, doorDetector, pose, sonarDetector, sensorArray); driver = new Driver.Driver(input, vehicle, navigator); driver.Start(); } mainWindow = new MainWindow(pose, obstacleMap, cartographer, navigator, doorDetector, overlayRenderer, EyeTribeConnected, ControllerConnected, sensorArray); uiInputPresenter = new VisualInputGridPresenter(mainWindow.visualInputGrid); //This starts the program. Application app = new Application(); app.ShutdownMode = ShutdownMode.OnMainWindowClose; app.MainWindow = mainWindow; app.MainWindow.Show(); app.Run(); }