C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/NavigationController/NavigationControllerMainForm.cs

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Threading;
using System.Text;
using System.Windows.Forms;
using RS232Port;

namespace NavigationController {
        public partial class NavigationControllerMainForm : Form {

                NavigationStrategy _strategy;

                bool _silent = true;
                public bool Silent {
                        get { return _silent; }
                        set {
                                _silent = value;
                                if (_silent) {
                                        _strategy.updateUiEvent -= updateUi;
                                        _strategy.setSilentModeEvent -= setSilentMode;
                                } else {
                                        _strategy.updateUiEvent += updateUi;
                                        _strategy.setSilentModeEvent += setSilentMode;
                                }
                        }
                }

                public NavigationControllerMainForm() {
                        InitializeComponent();
                        _strategy = new NavigationStrategy("COM2", 2185.39);
                        initializeObject();
                }

                public NavigationControllerMainForm(ref NavigationStrategy strategy) {
                        InitializeComponent();
                        _strategy = strategy;
                        initializeObject();
                        onInitialize(); //call because strategy object was initialized non-graphically
                }

                private void initializeObject() {
                        _strategy.updateStatusEvent += onInitialize;
                        toolStripStatusLabel2.Text = _strategy.Status;
                }

                //called by delegate
                private void setSilentMode() {
                        if (Silent != _strategy.Silent)
                                Silent = _strategy.Silent;
                }

                private void onInitialize() {
                        if (!_silent) {
                                toolStripStatusLabel1.Text = _strategy.Data.Status;
                                if (_strategy.Data.Status == "nav_init")
                                        toolStripStatusLabel1.BackColor = Color.Green;
                                else
                                        toolStripStatusLabel1.BackColor = Color.Red;
                        }
                }

                private void launchMakeItCToolStripMenuItem_Click(object sender, EventArgs e) {
                        System.Diagnostics.Process makeItC = new System.Diagnostics.Process();
                        makeItC.StartInfo.FileName = "C:\\Program Files\\Coridium\\bin\\MakeItC.exe";
                        makeItC.StartInfo.WorkingDirectory = "C:\\Program Files\\Coridium\\bin\\";
                        makeItC.Start();
                        System.Diagnostics.Process npp = new System.Diagnostics.Process();
                        npp.StartInfo.FileName = "C:\\Program Files\\Notepad++\\notepad++.exe";
                        npp.Start();
                }

                private void coridiumHideButton_Click(object sender, EventArgs e) {
                        this.Hide();
                }


                private void openCom5Button_Click(object sender, EventArgs e) {
                        toolStripStatusLabel2.Text = _strategy.openPort();
                        toolStripStatusLabel1.Text = _strategy.Data.Status;
                        if (_strategy.Data.Status == "nav_init")
                                toolStripStatusLabel1.BackColor = Color.Green;
                }

                private void closeCom5Button_Click(object sender, EventArgs e) {
                        toolStripStatusLabel2.Text = _strategy.closePort();
                        toolStripStatusLabel1.BackColor = Color.Red;
                        toolStripStatusLabel1.Text = "not initialized";
                }

                private void resetCoridiumcautionToolStripMenuItem_Click(object sender, EventArgs e) {
                        _strategy.resetNavigationController();
                }


                private void navigationControllerSerialPortToolStripMenuItem_Click(object sender, EventArgs e) {
                        _strategy.showSerialPort();
                }

                private void silentCheckBox_CheckedChanged(object sender, EventArgs e) {
                        _strategy.setSilentMode(silentCheckBox.Checked);
                        Silent = silentCheckBox.Checked;
                        onInitialize();
                }

                private void updateUi() {
                        debugTextBox.Text = _strategy.Data.NavigationBuffer;
                        xAccTextBox.Text = Math.Round(_strategy.Data.XAccGs, 2).ToString();
                        yAccTextBox.Text = Math.Round(_strategy.Data.YAccGs, 2).ToString();
                        zAccTextBox.Text = Math.Round(_strategy.Data.ZAccGs, 2).ToString();
                        encoderCountsTextBox.Text = _strategy.Data.EncoderCounts.ToString();
                        countRateTextBox.Text = _strategy.Data.DeltaEncoderCounts.ToString();
                        steeringOutputTextBox.Text = _strategy.Data.Steering.ToString();
                        throttleOutputTextBox.Text = _strategy.Data.Throttle.ToString();
                        dataUpdateRateTextBox.Text = _strategy.WatchdogTimer.ElapsedMilliseconds.ToString();
                        if (_strategy.Data.RunMode == 0) runMode0RadioButton.Checked = true;
                        else if (_strategy.Data.RunMode == 1) runMode1RadioButton.Checked = true;
                        else runMode2RadioButton.Checked = true;
                        deadManCheckBox.Checked = _strategy.Data.DeadMan;
                }

                private void clearDebugWindowButton_Click(object sender, EventArgs e) {
                        debugTextBox.Clear();
                }

                private void ledOnLedButton_Click(object sender, EventArgs e) {
                        _strategy.writeToNavigationController(NavigationCommands.cmdArray
                                [(int)NavigationCommands.commands.systemControllerUp]);
                }

                private void flashLedButton_Click(object sender, EventArgs e) {
                        _strategy.writeToNavigationController(NavigationCommands.cmdArray
                                [(int)NavigationCommands.commands.errorFlashLed]);
                }

                private void turnOffLedButton_Click(object sender, EventArgs e) {
                        _strategy.writeToNavigationController(NavigationCommands.cmdArray
                                [(int)NavigationCommands.commands.resetEncoderLedOff]);
                }

                private void sendCommandEventRaised(object sender, EventArgs e) {
                        int steeringOut = 0, throttleOut = 0;
                        int.TryParse(steeringSetpointTextBox.Text, out steeringOut);
                        int.TryParse(throttleSetpointTextBox.Text, out throttleOut);
                        Control cntrl = (Control)sender;
                        if (cntrl.Tag.ToString() == "steering minus") {
                                steeringOut--;
                                _strategy.setSteeringSetpoint(steeringOut);
                        } else if (cntrl.Tag.ToString() == "steering plus") {
                                steeringOut++;
                                _strategy.setSteeringSetpoint(steeringOut);
                        } else if (cntrl.Tag.ToString() == "steering set")
                                _strategy.setSteeringSetpoint(steeringOut);
                        else if (cntrl.Tag.ToString() == "steering setpoint")
                                _strategy.setSteeringSetpoint(steeringOut);
                        else if (cntrl.Tag.ToString() == "throttle minus") {
                                throttleOut--;
                                _strategy.setThrottleSetpoint(throttleOut);
                        } else if (cntrl.Tag.ToString() == "throttle plus") {
                                throttleOut++;
                                _strategy.setThrottleSetpoint(throttleOut);
                        } else if (cntrl.Tag.ToString() == "throttle set")
                                _strategy.setThrottleSetpoint(throttleOut);
                        else if (cntrl.Tag.ToString() == "throttle setpoint")
                                _strategy.setThrottleSetpoint(throttleOut);
                        else if (cntrl.Tag.ToString() == "mode 0")
                                _strategy.setRunMode(0);
                        else if (cntrl.Tag.ToString() == "mode 1")
                                _strategy.setRunMode(1);
                        else if (cntrl.Tag.ToString() == "mode 2")
                                _strategy.setRunMode(2);
                        else if (cntrl.Tag.ToString() == "dead man") {
                                if(deadManCheckBox.Checked) _strategy.setDeadMan(1);
                                else _strategy.setDeadMan(0);
                        }
                        steeringSetpointTextBox.Text = ((sbyte)steeringOut).ToString();
                        throttleSetpointTextBox.Text = ((sbyte)throttleOut).ToString();
                }
        }
}

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