public Asimov(ICreateController create)
: this(create, null)
{
// Find the Kinect and subscribe to changes in the sensor
KinectSensorChooser sensorChooser = new KinectSensorChooser();
sensorChooser.KinectChanged += this.KinectSensorChanged;
sensorChooser.Start();
}
public BeckhoffOnlineControllerTreeImporter(ITagImporter tagImporter)
{
_twinCatClient = new TwinCatClientWrapper();
_tagController = new BeckhoffTagController();
_tagListener = new BeckhoffPollingTagListener();
_alarmsImporter = new BeckhoffOnlineAlarmsImporter();
_findControllerTags = new ControllerTagFinder(tagImporter, new Log4NetLogger());
_createController = new ControllerFactory();
_logger = new Log4NetLogger();
_controllerTree = new ControllerTree();
}
public Asimov(ICreateController create, KinectSensor kinect)
{
this.create = create;
this.kinect = kinect;
this.modeController = new ModeController(this.create);
this.gestures = this.InitGestures();
this.lastActionTime = DateTime.MinValue;
// Beep to indicate Asimov has started
create.Beep();
// Disable all safety features of the Create
create.SetMode(CreateMode.Full);
}
public BeckhoffOnlineControllerTreeImporter(
ITwinCatClient twinCatClient,
ITagController tagController,
ITagListener tagListener,
IFindControllerTags findControllerTags,
ICreateController createController,
IAlarmsImporter alarmsImporter,
ILogger logger)
{
_twinCatClient = twinCatClient;
_tagController = tagController;
_tagListener = tagListener;
_alarmsImporter = alarmsImporter;
_findControllerTags = findControllerTags;
_createController = createController;
_logger = logger;
_controllerTree = new ControllerTree();
}
public ModeController(ICreateController roomba)
{
this.CurrentMode = AsimovMode.None;
this.create = roomba;
this.lastActionTime = DateTime.MinValue;
}
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
if (this.create != null)
{
this.create.Dispose();
this.create = null;
}
if (this.kinect != null)
{
this.kinect.Dispose();
this.kinect = null;
}
}
}
