private void OnControllerDiscovered(object sender, Robot robot)
{
if(robot.BluetoothName.Equals(txtController.Text))
{
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
m_controller = (Sphero)robot;
}
}
private void OnRobotDiscovered(object sender, Robot robot)
{
Debug.WriteLine(string.Format("Discovered \"{0}\"", robot.BluetoothName));
if (_robot == null)
{
var provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
_robot = (Sphero)robot;
}
}
public CollisionData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == 16)
{
CollisionAccelerometerReading = new AccelerometerReading((Single)GetFloatFromBytes(0), (Single)GetFloatFromBytes(2), (Single)GetFloatFromBytes(4));
XAxisCollision = (Data[6] & 1) > 0;
YAxisCollision = (Data[6] >> 1 & 1) > 0;
CollisionPower = new TwoAxisSensor((Single)GetFloatFromBytes(7), (Single)GetFloatFromBytes(9));
SpheroSpeed = (Single)Data[11] / 255f;
Timestamp = GetIntFromBytes((Int32)Data[12]);
}
}
private void OnControllerConnected(object sender, Robot robot)
{
tsConnectController.IsOn = true;
tblController.Text = "接続しました。";
if (m_controller != null)
{
m_controller.SetRGBLED(0, 255, 0);
m_controller.SetHeading(0);
if (m_controller.SensorControl != null)
{
m_controller.SensorControl.Hz = 10;
m_controller.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated;
}
}
}
public async void ConnectRobot(Robot robot)
{
if (!await robot.Connect())
{
toastFailConnect(robot.BluetoothName);
}
else
{
EventHandler<Robot> connectedRobotEvent = ConnectedRobotEvent;
if (connectedRobotEvent != null)
{
connectedRobotEvent.Invoke(this, robot);
}
connectedRobots.Add(robot);
toastConnect(robot.BluetoothName);
}
}
public AsyncSensorData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length, UInt64 mask)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == CountBits(mask) * 2)
{
Int32 num = 0;
if (MaskHasFlag(mask, (DataStreaming)((Int64)458752)))
{
Attitude = new AttitudeReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)57344)))
{
Accelorometer = new AccelerometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)7168)))
{
Gyrometer = new GyrometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, DataStreaming.Quaternion))
{
Quaternion = new QuaternionReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4), (Single)GetFloatFromBytes(num + 6));
num = num + 8;
}
if (MaskHasFlag(mask, DataStreaming.Location))
{
Location = new LocationReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
if (MaskHasFlag(mask, DataStreaming.Velocity))
{
Velocity = new VelocityReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
}
}
private void OnRobotConnected(object sender, Robot robot)
{
Debug.WriteLine(string.Format("Connected to {0}", robot));
_robot.SetRGBLED(255, 255, 255);
}
void OnSpheroConnectionStateChanged(Robot sender, ConnectionState state)
{
var handlers = this.SpheroConnectionChanged;
if ((state == ConnectionState.Disconnected) ||
(state == ConnectionState.Connected))
{
handlers(this, EventArgs.Empty);
}
if (state == ConnectionState.Connected)
{
this.sphero.SetBackLED(1.0f);
}
}
//! @brief when a robot is connected, get ready to drive!
private void OnRobotConnected(object sender, Robot robot) {
Debug.WriteLine(string.Format("Connected to {0}", robot));
ConnectionToggle.IsOn = true;
ConnectionToggle.OnContent = "Connected";
m_robot.SetRGBLED(255, 255, 255);
SpheroName.Text = string.Format(kSpheroConnected, robot.BluetoothName);
SetupControls();
m_robot.SensorControl.Hz = 10;
m_robot.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated;
m_robot.SensorControl.GyrometerUpdatedEvent += OnGyrometerUpdated;
m_robot.CollisionControl.StartDetectionForWallCollisions();
m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected;
}
//! @brief when a robot is discovered, connect!
private void OnRobotDiscovered(object sender, Robot robot) {
Debug.WriteLine(string.Format("Discovered \"{0}\"", robot.BluetoothName));
if (m_robot == null) {
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
ConnectionToggle.OnContent = "Connecting...";
m_robot = (Sphero)robot;
SpheroName.Text = string.Format(kConnectingToSphero, robot.BluetoothName);
}
}
private void OnRobotConnected(object sender, Robot robot)
{
Debug.WriteLine(string.Format("Connected to {0}", robot));
//ConnectionToggle.IsOn = true;
//ConnectionToggle.OnContent = "Connected";
_robot.SetBackLED(127);
//m_robot.SetRGBLED(255, 255, 255);
//SpheroName.Text = string.Format(kSpheroConnected, robot.BluetoothName);
//SetupControls();
//_robot.SetHeading(0);
//_robot.Roll(0, 1);
//m_robot.SensorControl.StopAll();
// stop rotors
_robot.WriteToRobot(new DeviceMessage(2, 0x33, new byte[] { 0, 0, 0, 0 }));
_robot.SensorControl.Hz = 10;
_robot.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated;
_robot.SensorControl.AttitudeUpdatedEvent += SensorControl_AttitudeUpdatedEvent;
_robot.SensorControl.GyrometerUpdatedEvent += OnGyrometerUpdated;
_robot.CollisionControl.StartDetectionForWallCollisions();
_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected;
_gameState = GameState.Connected;
_currentColor = Colors.Red;
_robot.SetRGBLED(_currentColor.R,
_currentColor.G,
_currentColor.B);
}
private void OnTargetConnected(object sender, Robot robot)
{
tsConnectTarget.IsOn = true;
tblTarget.Text = "接続しました。";
m_target.SetRGBLED(255, 255, 255);
}
private void OnTargetDiscovered(object sender, Robot robot)
{
if (robot.BluetoothName.Equals(txtTarget.Text))
{
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
m_target = (Sphero)robot;
}
}
