private void ShutdownRobotConnection()
{
if (_robot != null)
{
_robot.SensorControl.StopAll();
_robot.Sleep();
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
}
public void ShutdownRobotConnection()
{
if (m_robot != null)
{
if (SpheroConnected)
{
try
{
if (!AccelerometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + AccelerometerFiltered.filePath);
}
if (!GyrometerFiltered.close())
{
SpheroName = "ERROR: Consult debug.";
Debug.WriteLine("Unable to close stream,/n" +
"please close application and manually delete file://" + GyrometerFiltered.filePath);
}
m_robot.SensorControl.StopAll();
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent -= OnGyrometerUpdated;
m_robot.Sleep();
m_robot.Disconnect();
Debug.WriteLine("Sphero Disconnected");
}
catch (Exception)
{
throw;
}
}
m_robot = null;
}
SpheroConnected = false;
InitializeSensorReading.IsEnabled = false;
SpheroName = kNoSpheroConnected;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
//Завершаем работу с роботом
private void ShutdownRobotConnection()
{
if (m_robot != null)
{
m_robot.SensorControl.StopAll();
m_robot.Sleep();
m_robot.Disconnect();
ConnectionToggle.OffContent = "Disconnected";
SpheroName.Text = c_noSpheroConnected;
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
}
//Завершаем работу с роботом
private void ShutdownRobotConnection()
{
if (m_robot != null && m_robot.ConnectionState == ConnectionState.Connected)
{
m_robot.SensorControl.StopAll();
m_robot.CollisionControl.StopDetection();
m_robot.Sleep();
m_robot.Disconnect();
ConnectionToggle.OffContent = "Disconnected";
SpheroName.Text = c_noSpheroConnected;
SetRedColor();
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
}
//! @brief disconnect from the robot and stop listening
private void ShutdownRobotConnection()
{
if (m_robot != null)
{
m_robot.SensorControl.StopAll();
m_robot.Sleep();
// temporary while I work on Disconnect.
//m_robot.Disconnect();
ConnectionToggle.OffContent = "Disconnected";
SpheroName.Text = kNoSpheroConnected;
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent -= OnGyrometerUpdated;
m_robot.CollisionControl.StopDetection();
m_robot.CollisionControl.CollisionDetectedEvent -= OnCollisionDetected;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
}
public void ShutdownRobotConnection()
{
if (m_robot != null)
{
try
{
m_robot.SensorControl.StopAll();
m_robot.Sleep();
m_robot.Disconnect();
m_robot.SensorControl.AccelerometerUpdatedEvent -= OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent -= OnGyrometerUpdated;
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent -= OnRobotDiscovered;
provider.NoRobotsEvent -= OnNoRobotsEvent;
provider.ConnectedRobotEvent -= OnRobotConnected;
}
catch (Exception)
{
throw;
}
}
}
static void Main(string[] args)
{
SpheroConnector spheroConnector = new SpheroConnector();
Sphero sphero = null;
string[] parameters = new string[] { "none" };
string command = "none";
while (!string.IsNullOrEmpty(command))
{
command = parameters[0];
switch (command)
{
case "find":
spheroConnector.Scan();
var deviceNames = spheroConnector.DeviceNames;
for (int i = 0; i < deviceNames.Count; i++)
{
Console.WriteLine("{0}: {1}", i, deviceNames[i]);
}
break;
case "connect":
if (parameters.Length < 2)
{
break;
}
int index = -1;
if (int.TryParse(parameters[1], out index))
{
try
{
sphero = spheroConnector.Connect(index);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
else
{
Console.WriteLine("'{0}' is not a valid device index.", parameters[1]);
}
break;
case "close":
spheroConnector.Close();
break;
case "sleep":
sphero.Sleep();
break;
case "setcolor":
if (parameters.Length < 2)
{
break;
}
ChangeColor(sphero, parameters[1]);
break;
case "getresponses":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroResponsePacket> packets = sphero.Listener.GetLastResponsePackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "getasync":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroAsyncPacket> packets = sphero.Listener.GetLastAsyncPackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "exit":
spheroConnector.Close();
Console.WriteLine("See you soon ... ;) ");
Thread.Sleep(1500);
return;
case "sendprogram":
{
var area = StorageArea.Temporary;
IEnumerable <string> programLines = GetOrbBasicLinesFromFile("orbbasic.txt");
foreach (var programLine in programLines)
{
Console.WriteLine(programLine);
}
sphero.EraseOrbBasicStorage(area);
sphero.SendOrbBasicProgram(area, programLines);
}
break;
case "runprogram":
{
StorageArea area = StorageArea.Temporary;
sphero.ExecuteOrbBasicProgram(area, 10);
}
break;
case "abortprogram":
sphero.AbortOrbBasicProgram();
break;
case "diagnostics":
{
sphero.PerformLevelOneDiagnostics();
}
break;
case "none":
Console.WriteLine("Welcome to Sphero CMD controll application");
break;
case "help":
Console.WriteLine("HELP will be realized soon.");
break;
case "goForward":
if (parameters.Length < 3)
{
break;
}
ChangeColor(sphero, "Red");
GoForward(sphero, Byte.Parse(parameters[1]), int.Parse(parameters[2]));
break;
default:
Console.WriteLine("Unknown command. Please type 'help' for getting list of available commands.");
break;
}
Console.Write("> ");
parameters = Console.ReadLine().Split(new char[] { ' ' });
}
}
