private void WalkToMark()
{
WalkToLandMarkInfo walkToMark = new WalkToLandMarkInfo(0, 0);
if (this._walkToNaoMark != null)
{
this._walkToNaoMark.StopWalking();
this._walkToNaoMark.Dispose();
}
this._walkToNaoMark = new WalkToNaoMark(this._connection, walkToMark);
this._walkToNaoMark.StartWalking();
this._walkToNaoMark.WaitUntilWalkingIsComplete();
this.Say("Checkpoint");
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">Robot connection</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left)
{
this.MarkInfo = markInfo;
this.StartLookDirection = startLookDirection;
this._robotConnectionHelper = connection;
if (!_robotConnectionHelper.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
_walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork);
_walkWorker.WorkerSupportsCancellation = true;
_walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted);
}
/// <summary>
/// Default constructor
/// </summary>
/// <param name="ip">The robot ip</param>
/// <param name="port">The robot port</param>
/// <param name="markInfo">The checkpoint's mark information</param>
/// <param name="grabLocation">The grab location information</param>
/// <param name="logger">The logger</param>
public NaoCoopRobot(string ip, int port, WalkToLandMarkInfo markInfo, GrabLocationInfo grabLocation, ILog logger)
{
this._logger = logger;
this._connection = new NaoConnectionHelper(ip, port);
this._markInfo = markInfo;
this._grabLocationInfo = grabLocation;
/*
* if (this._connection == null || !this._connection.TestConnection())
* {
* throw new Exception("Could not connect to the Robot.");
* }
*/
this._objectHandlingExecuter = new ObjectHandlingExecuter(_connection);
this._robotSynch = new RobotSynchronization(_connection);
this.Initialize();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="robotIP">Robot ip</param>
/// <param name="robotPort">Robot port</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(string robotIP, int robotPort, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) :
this(new NaoConnectionHelper(robotIP, robotPort), markInfo, startLookDirection)
{
}
