/// <summary>
/// Places a command packet into the tx queue.
/// </summary>
/// <param name="cmd"></param>
public static void EnqueueCommand(TJCommand cmd)
{
EnqueueTXPacket(cmd.ToRawPacket());
}
// =================================================================== Optical Flow Control Tab ===================================================================
///// <summary>
///// Called when the camera button is clicked, enable the camera
///// </summary>
//private void btnCamera_Click(object sender, RoutedEventArgs e)
//{
// if (btnCamera == null || btnGetFrame == null)
// return;
// TJCommand cmd = new TJCommand(TJCommandID.ToggleCameraCmdID);
// TJDragonfly.EnqueueCommand(cmd);
// if (btnCamera.Content.ToString() == "Enable Camera")
// {
// btnCamera.Content = "Disable Camera";
// btnGetFrame.IsEnabled = true;
// }
// else
// {
// btnCamera.Content = "Enable Camera";
// btnGetFrame.IsEnabled = false;
// }
//}
/// <summary>
/// Called when the get frame button is clicked
/// </summary>
private void btnGetFrame_Click(object sender, RoutedEventArgs e)
{
//if (btnCamera == null || btnGetFrame == null)
// return;
if (btnGetFrame.IsEnabled)
{
TJCommand cmd = new TJCommand(TJCommandID.GetFrameCmdID);
TJDragonfly.EnqueueCommand(cmd);
}
}
// Commented out for now
// Used for switch communication channel
//private void btnSetAddress_Click(object sender, RoutedEventArgs e)
//{
// btnSetAddress.IsEnabled = false;
// //if (!TJDragonfly.IsConnected)
// // ConnectToDragonfly();
// //if (!TJDragonfly.IsConnected)
// // return;
// try
// {
// // Set command to robot to change address
// //int neg = -1;
// //byte[] robotPacket = new byte[32];
// //robotPacket[0] = (byte)TJCommandID.SetAddressCmdID;
// //robotPacket[2] = (byte)(cbbRobotID.SelectedIndex);
// //robotPacket[3] = (byte)neg;
// //robotPacket[4] = (byte)neg;
// //robotPacket[5] = (byte)neg;
// //TJDragonfly.EnqueueTXPacket(robotPacket);
// // Change the nRF address on SDK
// switch (chID)
// {
// case 0:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID0); break;
// case 1:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID1); break;
// case 2:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID2); break;
// case 3:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID3); break;
// case 4:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID4); break;
// case 5:
// TJnRFController.SetRFRX((byte)TechJectDF.TJnRFController.nRFChID.chID5); break;
// default:
// break;
// }
// Thread.Sleep(800);
// Console.WriteLine("nRF has been changed to ID " + cbbRobotID.SelectedIndex);
// }
// catch (Exception)
// {
// Console.WriteLine("nRF ID change failed, please try again.");
// }
// btnSetAddress.IsEnabled = true;
//}
//private void cbbRobotID_SelectionChanged(object sender, SelectionChangedEventArgs e)
//{
// chID = (byte)(cbbRobotID.SelectedIndex);
//}
/// <summary>
/// This method responds to any changes in the status of the connection to the dragonfly.
/// </summary>
void TJDragonfly_DragonflyConnectionChanged()
{
if (TJDragonfly.IsConnected)
{
ClearGraphs();
ClearGraphs2();
TJDragonfly.DragonflyStateUpdate += UpdateUIState;
TJDragonfly.DragonflyState2Update += UpdateUIState2;
TJDragonfly.DragonflyCameraUpdate += UpdateCameraFrame;
TJDragonfly.DragonflyStartFrame += InitializeFrame;
TJDragonfly.DragonflyEndFrame += DisplayFrame;
TJCommand cmd = new TJCommand(TJCommandID.SetTogglesCmdID);
TJDragonfly.EnqueueCommand(cmd);
btnConnect.Content = "Disconnect";
}
else
{
TJDragonfly.DragonflyConnectionChanged -= TJDragonfly_DragonflyConnectionChanged;
TJDragonfly.DragonflyStateUpdate -= UpdateUIState;
TJDragonfly.DragonflyState2Update -= UpdateUIState2;
TJDragonfly.DragonflyCameraUpdate -= UpdateCameraFrame;
TJDragonfly.DragonflyStartFrame -= InitializeFrame;
TJDragonfly.DragonflyEndFrame -= DisplayFrame;
btnConnect.Content = "Connect";
}
}
/// <summary>
/// This method responds to any changes in the status of the connection to the dragonfly.
/// </summary>
void TJDragonfly_DragonflyConnectionChanged()
{
if (TJDragonfly.IsConnected)
{
TJDragonfly.DragonflyBootloaderUpdate += CheckBootloaderStatus;
TJCommand cmd = new TJCommand(TJCommandID.SetTogglesCmdID);
TJDragonfly.EnqueueCommand(cmd);
}
else
{
TJDragonfly.DragonflyConnectionChanged -= TJDragonfly_DragonflyConnectionChanged;
TJDragonfly.DragonflyBootloaderUpdate -= CheckBootloaderStatus;
}
}
