C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/SystemController/SystemControllerMainForm.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.Text;
using System.Windows.Forms;
using GpsModule;
using NavigationController;
using PlatformController;
using VisionSystem;
using UtmConvert;
using CompassDial;

namespace system_controller {
    public partial class SystemControllerMainForm : Form {

                public delegate void updateStatusEventHandler();
                public event updateStatusEventHandler updateStatusEvent;

                Bitmap backupMap;
                SystemData _data;
                RaceStrategy _strategy;
        PointPickerForm _waypointChooser;
        WaypointInserter _waypointInserter;
                CompassDialForm compass;
                bool _silent = true;

                public bool Silent {
                        get { return _silent; }
                        set {
                                _silent = value;
                                if (_silent) {
                                        _data.Navigation.updateDataEvent -= updateNavigationUi;
                                        _data.Platform.updateDataEvent -= updatePlatformUi;
                                        _data.Gps.updateDataEvent -= updateGpsUi;
                                        _strategy.updateUiEvent -= updateStrategyUi;
                                } else {
                                        _data.Navigation.updateDataEvent += updateNavigationUi;
                                        _data.Platform.updateDataEvent += updatePlatformUi;
                                        _data.Gps.updateDataEvent += updateGpsUi;
                                        _strategy.updateUiEvent += updateStrategyUi;
                                }
                        }
                }

                public SystemControllerMainForm() {
                        InitializeComponent();
                        updateStatusEvent += updateDebugTextBox;
                        newRace();
                        if (_data.RaceMode)
                                _data.Platform.updateResetEvent += newRace;
                        _data.ErrorLogger.updateStatusEvent += updateDebugTextBox;
                }

                private void silentCheckBox_CheckedChanged(object sender, EventArgs e) {
                        if (_data.RaceMode) {
                                _data.Platform.setSilentMode(silentCheckBox.Checked);
                                _data.Navigation.setSilentMode(silentCheckBox.Checked);
                                _data.Gps.setSilentMode(silentCheckBox.Checked);
                                Silent = silentCheckBox.Checked;
                        }
                }

                //navigation Data
                private void updateNavigationUi() {
            xAccTextBox.Text = Math.Round(_data.Navigation.Data.XAccGs, 2).ToString();
            yAccTextBox.Text = Math.Round(_data.Navigation.Data.YAccGs,2).ToString();
            zAccTextBox.Text = Math.Round(_data.Navigation.Data.ZAccGs,2).ToString();
                        encoderCountsTextBox.Text = _data.Navigation.Data.EncoderCounts.ToString();
                        steeringTextBox.Text = _data.Navigation.Data.Steering.ToString();
                        throttleTextBox.Text = _data.Navigation.Data.Throttle.ToString();
                }

                //platform data
                private void updatePlatformUi() {
                        systemVoltageTextBox.Text = Math.Round(_data.Platform.Data.SystemBatteryVolts, 2).ToString();
                        platformVoltageTextBox.Text = Math.Round(_data.Platform.Data.MicroBatteryVolts, 2).ToString();
                        leftIrTextBox.Text = Math.Round(_data.Platform.Data.InfraredLeftCm, 2).ToString();
                        rightIrTextBox.Text = Math.Round(_data.Platform.Data.InfraredRightCm, 2).ToString();
                        leftBumperTextBox.Text = _data.Platform.Data.BumperLeft.ToString();
                        rightBumperTextBox.Text = _data.Platform.Data.BumperRight.ToString();
                        leftSonarTextBox.Text = Math.Round(_data.Platform.Data.SonarRangefinderLeftCm, 2).ToString();
                        centerSonarTextBox.Text = Math.Round(_data.Platform.Data.SonarRangefinderCenterCm, 2).ToString();
                        rightSonarTextBox.Text = Math.Round(_data.Platform.Data.SonarRangefinderRightCm, 2).ToString();
                        compassHeadingTextBox.Text = Math.Round(_data.Platform.Data.CompassHeadingDouble, 2).ToString();
                        if (compass != null && compass.Visible) 
                                compass.drawCompassDial(Math.Round(_data.Platform.Data.CompassHeadingDouble, 2));
                }

                //gps data
                private void updateGpsUi() {
                        gpsFixTextBox.Text = _data.Gps.Gga.Data.QualityIndicator.ToString();
                        if (_data.Gps.Gga.Data.QualityIndicator > 0) {
                                sateliteCountTextBox.Text = _data.Gps.Gga.Data.SatelitesInView.ToString();
                                latTextBox.Text = _data.Gps.Gga.Data.Latitude;
                                lonTextBox.Text = _data.Gps.Gga.Data.Longitude;
                                speedOfverGroundTextBox.Text = _data.Gps.Rmc.Data.SpeedOverGround.ToString();
                                gpsNorthingTextBox.Text = Math.Round(_strategy.CurrentGpsLocation.Point.Y, 2).ToString();
                                gpsEastingTextBox.Text = Math.Round(_strategy.CurrentGpsLocation.Point.X, 2).ToString();
                                if (_data.UtmPoint2.Handle != "") { //draw robot gps position
                                        Bitmap b = new Bitmap(backupMap);
                                        _data.drawCurrentPosition(ref b, _strategy.CurrentGpsLocation, Color.Red);
                                        _data.drawCurrentPosition(ref b, _strategy.CurrentVectorLocation, Color.Blue);
                                        _data.drawCurrentPosition(ref b, _strategy.CurrentLocation, Color.Green);
                                        mapPictureBox.Image = b;
                                        mapPictureBox.Invalidate();
                                }
                        }
                }

                //strategy data
                private void updateStrategyUi() {
                        waypointDistanceTextBox.Text = Math.Round(_strategy.WaypointDistance, 2).ToString();
                        thetaTextBox.Text = Math.Round(_strategy.Theta, 2).ToString();
                        crossTrackErrorTextBox.Text = Math.Round(_strategy.CrossTrackError, 2).ToString();
                        turnDirectionTextBox.Text = _strategy.TurnDirection;
                        offsetCompassTextBox.Text = Math.Round(_strategy.OffsetCompassHeading, 2).ToString();
                        totalDistanceTextBox.Text = Math.Round(_data.Navigation.Data.Meters, 2).ToString();
                        eastingTextBox.Text = Math.Round(_strategy.CurrentVectorLocation.Point.X, 2).ToString();
                        northingTextBox.Text = Math.Round(_strategy.CurrentVectorLocation.Point.Y, 2).ToString();
                }

        private void exitToolStripMenuItem1_Click(object sender, EventArgs e) {
                        if (_data.RaceMode) {
                                _data.Navigation.setThrottleSetpoint(0);
                                _data.Platform.greenLedOff();
                                _data.Navigation.setDeadMan(1);
                        }
                        _data.safeShutdown();
            this.Close();
        }

                private void updateDebugTextBox() {
                        if (this.InvokeRequired) this.Invoke(updateStatusEvent);
                        else debugTextBox.AppendText(_strategy.EventLog.DataString + "\r\n");
                }

        private void platformToolStripMenuItem1_Click(object sender, EventArgs e) {
            _data.showPlatform();
        }

        private void navigationToolStripMenuItem1_Click(object sender, EventArgs e) {
            _data.showNavigation();
        }

        private void visionToolStripMenuItem1_Click(object sender, EventArgs e) {
            _data.showVision();
        }

        private void gPSToolStripMenuItem2_Click(object sender, EventArgs e) {
            _data.showGps();
        }

        private void uTMConvertToolStripMenuItem1_Click(object sender, EventArgs e) {
            _data.showUtm();
        }

        private void mapPictureBox_MouseDoubleClick(object sender, MouseEventArgs e) {
            if (_data.UtmPoint2.Handle != "") {
                double mouseX = (double)e.X * ((double)(mapPictureBox.Image.Width)
                    / (double)(mapPictureBox.Width));
                double mouseY = (double)e.Y * ((double)(mapPictureBox.Image.Height)
                    / (double)(mapPictureBox.Height));
                double x = (double)(_data.Click1.X) / (double)(_data.ScaleX)
                    + (mouseX - (double)_data.Click1.X) / (double)(_data.ScaleDeltaX);
                double y = (double)(_data.Click1.Y) / (double)(_data.ScaleY)
                    + (mouseY - (double)_data.Click1.Y) / (double)(_data.ScaleDeltaY);
                UtmPoint uPt = new UtmPoint();
                uPt.Point.X = x;
                uPt.Point.Y = y;
                uPt.Zone = _data.Parser.UtmPointSetList[0].Points[0].Zone;
                _waypointInserter = new WaypointInserter(uPt
                    , _data.Parser.UtmPointSetList[0].Points.Count);
                _waypointInserter.waypointInsertEvent += onWaypointInsert;
                _waypointInserter.Show();
            }
        }

        private void onWaypointSelect() {
            if (_data.UtmPoint1.Handle == "")
                _data.UtmPoint1 = _waypointChooser.getSelectedPoint();
            else
                _data.UtmPoint2 = _waypointChooser.getSelectedPoint();
            if (_data.UtmPoint1.Handle == _data.UtmPoint2.Handle)
                onWaypointSelectCancel();
            if (_data.UtmPoint2.Handle != "") {
                Bitmap b = new Bitmap(mapPictureBox.Image);
                _data.drawRedLines(ref b);
                mapPictureBox.Image = b;
                                backupMap = new Bitmap(mapPictureBox.Image);
                mapPictureBox.Invalidate();
            }
        }

        private void onWaypointSelectCancel() {
            _data.Parser.Parse("ddd_dd");
            _data.Click1 = new System.Drawing.Point();
            _data.Click2 = new System.Drawing.Point();
            _data.UtmPoint1 = new UtmPoint();
            _data.UtmPoint2 = new UtmPoint();
            mapPictureBox.Image = new Bitmap(_data.MapFileName);
        }

        private void mapPictureBox_MouseMove(object sender, MouseEventArgs e) {
            if (_data.UtmPoint2.Handle != "") {
                int mouseX = (int)((float)e.X * ((float)(mapPictureBox.Image.Width)
                    / (float)(mapPictureBox.Width)));
                int mouseY = (int)((float)e.Y * ((float)(mapPictureBox.Image.Height)
                    / (float)(mapPictureBox.Height)));
                int x = (int)((float)(_data.Click1.X) / _data.ScaleX + (float)(mouseX
                    - _data.Click1.X) / _data.ScaleDeltaX);
                int y = (int)((float)(_data.Click1.Y) / _data.ScaleY + (float)(mouseY
                    - _data.Click1.Y) / _data.ScaleDeltaY);
                if (SystemControllerMainForm.ActiveForm != null)
                    toolTip1.Show(x.ToString() + ", " + y.ToString()
                        , SystemControllerMainForm.ActiveForm
                    , e.X + mapGroupBox.Location.X, e.Y + mapGroupBox.Location.Y);
            }
        }

        private void mapPictureBox_MouseClick(object sender, MouseEventArgs e) {
            if (_data.UtmPoint2.Handle == "") {
                Bitmap b = new Bitmap(mapPictureBox.Image);
                _data.drawClickedWaypoint(ref b, (int)(e.X * ((double)(b.Width)
                    / (double)(mapPictureBox.Width)))
                    , (int)(e.Y * ((double)(b.Height) / (double)(mapPictureBox.Height))));
                mapPictureBox.Image = b;
                mapPictureBox.Invalidate();
                _waypointChooser = new PointPickerForm(_data.Parser.UtmPointSetList);
                _waypointChooser.waypointSelectEvent += onWaypointSelect;
                _waypointChooser.waypointSelectCancelEvent += onWaypointSelectCancel;
                _waypointChooser.Show();
            }
        }

        private void onWaypointInsert() {
            _data.Parser.UtmPointSetList[0].Points.Insert(
                _waypointInserter.getInsertedWaypointIndex()
                , _waypointInserter.getInsertedWaypoint());
            Bitmap b = new Bitmap(_data.MapFileName);
            _data.drawRedLines(ref b);
            mapPictureBox.Image = b;
            mapPictureBox.Invalidate();
        }

        private void newToolStripMenuItem_Click(object sender, EventArgs e) {
                        //start the race over again
                        newRace();
                        debugTextBox.Clear();
        }

                public void newRace() {
                        try {
                                if (_data == null) _data = new SystemData();
                                if (_data.RaceMode) {
                                        if (_strategy != null) _strategy.shutdownRace();
                                        _strategy = new RaceStrategy(ref _data
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["steering_kp"])
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["cone_search_distance"])
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["cone_distance_limit"])
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["dummy_distance_limit"])
                                                , int.Parse(InitializationParameters
                                                .IniFileParameters["minimum_speed"])
                                                , int.Parse(InitializationParameters
                                                .IniFileParameters["maximum_speed"]));
                                        _data.Navigation.setEncoderCounts(0);
                                        if (!_silent) _strategy.updateUiEvent += updateStrategyUi;
                                }
                                mapPictureBox.Image = new Bitmap(_data.MapFileName);
                                _strategy.EventLog.updateStatusEvent += updateDebugTextBox;
                        } catch (Exception e) {
                                _data.logError(e);
                        }
                }

        private void saveToolStripMenuItem_Click(object sender, EventArgs e) {
            _data.saveMap();
        }

                private void lookForConeButton_Click(object sender, EventArgs e) {
                        _strategy.prepareToLookForCone();
                }

                private void compassDialToolStripMenuItem_Click(object sender, EventArgs e) {
                        compass = new CompassDialForm();
                        compass.Show();
                }
    }
}

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