public NaoConnection(string hostName, string userName, string password)
: base(hostName, userName, password)
{
ip = hostName;
dc = new InputChannel (this, ip, 4712);
using (var sr = new System.IO.StreamReader("queryJoints.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
execute(line);
}
}
protected void OnConnectionToggleToggled(object sender, EventArgs e)
{
bool active = connectionToggle.Active;
if (active)
{
commandConnection = new PythonConnection(ipEntry.Text, userNameEntry.Text, passwordEntry.Text);
// Open a separate data connection:
// Has to be done before sending prep_code.py as it defines necessary variables for prep_code.py
videoChannel = new InputChannel (commandConnection, ipEntry.Text, 4711);
using (var sr = new System.IO.StreamReader("prep_code.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
commandConnection.execute(line);
}
}
else
{
controlToggle.Active = false;
cameraToggle.Active = false;
commandConnection.execute("close()");
commandConnection.Dispose();
videoChannel.Dispose();
commandConnection = null;
videoChannel = null;
}
stiffnessToggle.Sensitive = active;
cameraToggle.Sensitive = active;
ttsButton.Sensitive = active;
ipEntry.Sensitive = !active;
userNameEntry.Sensitive = !active;
passwordEntry.Sensitive = !active;
}
