C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/SystemController/SystemData.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using GpsModule;
using NavigationController;
using PlatformController;
using VisionSystem;
using UtmConvert;
using System.Drawing;

namespace system_controller {
    class SystemData {

        string _waypointsFileName = "";
        public string WaypointsFileName {
            get { return _waypointsFileName; }
        }

        string _mapFileName = "";
        public string MapFileName {
            get { return _mapFileName; }
        }

        PlatformStrategy _platform;
                public PlatformStrategy Platform {
            get { return _platform; }
            //set { _platform = value; }
        }

        NavigationStrategy _navigation;
                public NavigationStrategy Navigation {
            get { return _navigation; }
            //set { _navigation = value; }
        }
        VisionSystemMainForm _vision;

        public VisionSystemMainForm Vision {
            get { return _vision; }
            //set { _vision = value; }
        }

                GpsStrategy _gps;
                public GpsStrategy Gps {
            get { return _gps; }
            //set { _gps = value; }
        }

        UtmConvertMainForm _utm;
        public UtmConvertMainForm Utm {
            get { return _utm; }
            //set { _utm = value; }
        }

                ConvertLatLonUtm _convertUtm;
                public ConvertLatLonUtm ConvertUtm {
                        get { return _convertUtm; }
                }

        System.Drawing.Point _click1, _click2;

        public System.Drawing.Point Click2 {
            get { return _click2; }
            set { _click2 = value; }
        }

        public System.Drawing.Point Click1 {
            get { return _click1; }
            set { _click1 = value; }
        }
        UtmPoint _utmPoint1, _utmPoint2;

        public UtmPoint UtmPoint1 {
            get { return _utmPoint1; }
            set { _utmPoint1 = value; }
        }

        public UtmPoint UtmPoint2 {
            get { return _utmPoint2; }
            set { _utmPoint2 = value; }
        }

        string _point1 = "", _point2 = "";
        public string Point1 {
            get { return _point1; }
            set { _point1 = value; }
        }

        public string Point2 {
            get { return _point2; }
            set { _point2 = value; }
        }

        XmlParser _parser;

        public XmlParser Parser {
            get { return _parser; }
            set { _parser = value; }
        }

        float _scaleDeltaX;
        public float ScaleDeltaX {
            get { return _scaleDeltaX; }
        }

        float _scaleDeltaY;
        public float ScaleDeltaY {
            get { return _scaleDeltaY; }
        }

        float _scaleX;
        public float ScaleX {
            get { return _scaleX; }
        }

        float _scaleY;
        public float ScaleY {
            get { return _scaleY; }
        }

                bool _raceMode = false;
                public bool RaceMode {
                        get { return _raceMode; }
                }
                ErrorLogger _errorLogger;
                public ErrorLogger ErrorLogger {
                        get { return _errorLogger; }
                        set { _errorLogger = value; }
                }

        public SystemData() {
                        //need to call here because the log file and directory 
                        //are stored in the ini file!
                        InitializationParameters.readIniParameters();
                        _errorLogger = new ErrorLogger();
                        _errorLogger.openFile();
                        InitializationParameters.updateErrorEvent += logError;
                        InitializationParameters.readIniParameters();
                        _convertUtm = new ConvertLatLonUtm();
            _mapFileName = InitializationParameters
                .IniFileParameters["map"];
            _waypointsFileName = InitializationParameters
                .IniFileParameters["waypoints"];
                        _raceMode = InitializationParameters
                                .IniFileParameters["race_mode"] == "yes";
            _parser = new XmlParser();
                        //assign error events to the logData function
                        _parser.updateErrorEvent += logError;
            _parser.readFile(_waypointsFileName);
                        if (_waypointsFileName.EndsWith(".gpx"))
                                _parser.parseGPX();
                        else _parser.Parse("ddd_dd");
            _click1 = new System.Drawing.Point();
            _click2 = new System.Drawing.Point();
            _utmPoint1 = new UtmPoint();
            _utmPoint2 = new UtmPoint();


        }

                public void logError(Exception error) {
                        _errorLogger.write(DateTime.Now.ToString() + ":\r\n"
                                + "Message: " + error.Message + "\r\n"
                                + "Stack Trace: " + error.StackTrace + "\r\n"
                                + "Source: " + error.Source + "\r\n");
                }

        public void saveMap() {
            Printer p = new Printer();
            p.writeUtmXmlFile(_parser.UtmPointSetList);
        }

        public bool waypointMatch(UtmPoint p) {
            if (_point2 == "")
                return _point1 == p.Handle;
            else return _point2 == p.Handle;
        }


                const int LINE_WIDTH = 4;
                const int CIRCLE_DIAMETER = 16;

        public void drawRedLines(ref Bitmap map) {
            float deltaClickX = (float)_click2.X - (float)_click1.X;
            float deltaClickY = (float)_click2.Y - (float)_click1.Y;
            float deltaUtmX = (float)(_utmPoint2.Point.X - _utmPoint1.Point.X);
            float deltaUtmY = (float)(_utmPoint2.Point.Y - _utmPoint1.Point.Y);
            _scaleDeltaX = deltaClickX / deltaUtmX;
            _scaleDeltaY = deltaClickY / deltaUtmY;
            _scaleX = (float)_click1.X / (float)_utmPoint1.Point.X;
            _scaleY = (float)_click1.Y / (float)_utmPoint1.Point.Y;
            Graphics g = Graphics.FromImage(map);
            Pen pen = new Pen(Color.Red, 4);
            SolidBrush brush = new SolidBrush(Color.Orange);
            SolidBrush gBrush = new SolidBrush(Color.Gray);
            float nextX = 0, nextY = 0;
            for (int i = 0; i < _parser.UtmPointSetList[0].Points.Count; ++i) {
                float deltaX = (float)(_parser.UtmPointSetList[0].Points[i].Point.X)
                    - (float)(_utmPoint1.Point.X);
                float deltaY = (float)(_parser.UtmPointSetList[0].Points[i].Point.Y)
                    - (float)(_utmPoint1.Point.Y);
                float x1 = (float)(_parser.UtmPointSetList[0].Points[i].Point.X);
                float y1 = (float)(_parser.UtmPointSetList[0].Points[i].Point.Y);
                if (_parser.UtmPointSetList[0].Points[i].Note == "dummy")
                    g.FillEllipse(gBrush, x1 * _scaleX + deltaX * _scaleDeltaX
                        - 8, y1 * _scaleY + deltaY * _scaleDeltaY - 8, 16, 16);
                else
                    g.FillEllipse(brush, x1 * _scaleX + deltaX * _scaleDeltaX
                        - 8, y1 * _scaleY + deltaY * _scaleDeltaY - 8, 16, 16);
                g.DrawLine(pen, x1 * _scaleX + nextX, y1 * _scaleY + nextY
                    , x1 * _scaleX + deltaX * _scaleDeltaX
                    , y1 * _scaleY + deltaY * _scaleDeltaY);
                nextX = _scaleX + deltaX * _scaleDeltaX;
                nextY = _scaleY + deltaY * _scaleDeltaY;
            }
        }

                public void drawCurrentPosition(ref Bitmap map, UtmPoint point, Color color) {
                        float deltaClickX = (float)_click2.X - (float)_click1.X;
                        float deltaClickY = (float)_click2.Y - (float)_click1.Y;
                        float deltaUtmX = (float)(_utmPoint2.Point.X - _utmPoint1.Point.X);
                        float deltaUtmY = (float)(_utmPoint2.Point.Y - _utmPoint1.Point.Y);
                        _scaleDeltaX = deltaClickX / deltaUtmX;
                        _scaleDeltaY = deltaClickY / deltaUtmY;
                        _scaleX = (float)_click1.X / (float)_utmPoint1.Point.X;
                        _scaleY = (float)_click1.Y / (float)_utmPoint1.Point.Y;
                        Graphics g = Graphics.FromImage(map);
                        SolidBrush brush = new SolidBrush(color);
                        float x1 = (float)point.Point.X;
                        float y1 = (float)point.Point.Y;
                        float deltaX = (float)point.Point.X - (float)(_utmPoint1.Point.X);
                        float deltaY = (float)point.Point.Y - (float)(_utmPoint1.Point.Y);
                        x1 = x1 * _scaleX + deltaX * _scaleDeltaX - 6;
                        y1 = y1 * _scaleY + deltaY * _scaleDeltaY - 6;
                        g.FillEllipse(brush, x1, y1, 12, 12);
                        //Pen pen = new Pen(Color.Black, 1);
                        //g.DrawLine(pen, x1 + 6, 0, x1 + 6, map.Height);
                        //g.DrawLine(pen, 0, y1 + 6, map.Width, y1 + 6);
                }

        public void drawClickedWaypoint(ref Bitmap map, int x, int y) {
            if (_click1.IsEmpty) { _click1.X = x; _click1.Y = y; }
            else { _click2.X = x; _click2.Y = y; } 
            Graphics g = Graphics.FromImage(map);
            SolidBrush brush = new SolidBrush(Color.Green);
            g.FillEllipse(brush, x - 8, y - 8, 16, 16);
        }

        ~SystemData() {
                        safeShutdown();
        }

                public void showPlatform() {
                        initPlatform();
                        PlatformControllerMainForm p = new PlatformControllerMainForm(ref _platform);
                        p.Show();
                }

                public void initPlatform() {
                        try {
                                if (_platform == null) {
                                        _platform = new PlatformStrategy(
                                                InitializationParameters
                                                .IniFileParameters
                                                ["platform_controller_port_name"]
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["magnetic_declination"]));
                                        _platform.updateErrorEvent += logError;
                                }
                        } catch (Exception e) {
                                logError(e);
                        }
                }

        public void showNavigation() {
                        initNavigation();
                        NavigationControllerMainForm p = new NavigationControllerMainForm(ref _navigation);
                        p.Show();
        }

                public void initNavigation() {
                        try {
                                if (_navigation == null) {
                                        _navigation = new NavigationStrategy(
                                                InitializationParameters.IniFileParameters
                                                ["navigation_controller_port_name"]
                                                , double.Parse(InitializationParameters
                                                .IniFileParameters["counts_per_meter"]));
                                        _navigation.updateErrorEvent += logError;
                                }
                        } catch (Exception e) {
                                logError(e);
                        }
                }

        public void showVision() {
            if (_vision != null && !_vision.IsDisposed) {
                _vision.Show();
            } else {
                                _vision = new VisionSystemMainForm(
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["red"]),
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["green"]),
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["blue"]));
                                _vision.updateErrorEvent += logError;   
                _vision.Show();
            }
        }

                public void initVision() {
                        if (_vision == null) {
                                _vision = new VisionSystemMainForm(
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["red"]),
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["green"]),
                                        int.Parse(InitializationParameters
                                        .IniFileParameters["blue"]));
                                _vision.updateErrorEvent += logError;   
                        }
                }

                public void initGps() {
                        try {
                                if (_gps == null) {
                                        _gps = new GpsStrategy(
                                                InitializationParameters
                                                .IniFileParameters["gps_module_port_name"]);
                                        _gps.updateErrorEvent += logError;
                                }
                        } catch (Exception e) {
                                logError(e);
                        }
                }

                public void showGps() {
                        initGps();
                        GpsModuleMainForm g = new GpsModuleMainForm(ref _gps);
                        g.Show();
                }

        public void showUtm() {
            if (_utm != null && !_utm.IsDisposed) {
                                _utm.Show();
            } else {
                _utm = new UtmConvertMainForm();
                _utm.Show();
            }
        }

                public void initUtm() {
                        if (_utm == null)
                                _utm = new UtmConvertMainForm();
                }

                public void safeShutdown() {
                        //if (_vision != null) {
                        //    _vision.Silent = true;
                        //    _vision.stopCamera();
                        //    _vision.Close();
                        //}             
                        if (_gps != null) {
                                _gps.setSilentMode(true);
                                _gps.closePort();
                        }
                        if (_platform != null) {
                                _platform.setSilentMode(true);
                                _platform.closePort();
                        }
                        if (_navigation != null) {
                                _navigation.setSilentMode(true);
                                _navigation.closePort();
                        }
                }
    }
}

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