public Form1()
{
ModeCartTraining = ModeRSV2Training = false;
ModeCartExecutingMetaNetwork = false;
ModeCartMapping = ModeRSV2Browsing = false;
ModeRsv2ExecutingMetaNetwork = false;
InitializeComponent();
server = new EZRoboNetDevice(1, EZRoboNetDevice.t_Node_Station);
rnd = new Random((int)DateTime.Now.Ticks);
SensorDataRequested = CameraFrameRequested = false;
rsv2pass = cartpass = 0;
robosapien = new RobosapienV2(server, 2, rnd);
cart = new LMMobileRobot(server, 3, rnd);
cartTrainingFSM = new CartTrainingFSM(cart);
cartMNExecutingFSM = new CartMetaNetworkFSM(cart);
rsv2MNExecutingFSM = new RSV2MetanetworkFSM(robosapien);
// creating mapping and browsing FSMs
mappingFSM = new MappingFSM(cart, 4, MappingFSM.orSOUTH, 1, 1);
rsv2BrowsingFSM = new RSV2BrowsingFSM(mappingFSM, robosapien, 0, 1, RSV2BrowsingFSM.orSOUTH);
rsv2TrainingFSM = new RSV2TrainingFSM(robosapien);
timer1.Start();
timer2.Start();
comboBox1.SelectedIndex = 2;
comboBox2.SelectedIndex = 2;
}
public EZStationPacketFSM(EZRoboNetDevice device, EZFrame frame)
{
// registering the Net Device
NetDevice = device;
// capturing time of first reception
ReceptionStartTime = DateTime.Now;
// acknowledging
NetDevice.sendAcknowledge(PacketSenderID);
// retrieving sender id
PacketSenderID = frame.SenderID;
// calculating total packet length
ushort packetlength = (ushort)(frame.Payload[3] + 256 * frame.Payload[4] + 5);
CurrentPacketLength = packetlength;
// calculating total number of frames required for full packet transmission
TotalFrames = packetlength / EZRoboNetDevice.MAX_FRAME_PAYLOAD_LENGTH + 1;
// allocating memory space for the packet being received
CurrentPacket = new byte[packetlength];
// now filling initial space in CurrentPacket
int i;
for (i = 0; i < frame.PayloadLength; i++)
CurrentPacket[i] = frame.Payload[i];
// done copying
// setting number of frames received to 1
FramesReceived = 1;
// sending an acknowledgement frame
NetDevice.sendAcknowledge(frame.SenderID);
if (FramesReceived < TotalFrames)
{ // need to receive more
state = EZRoboNetDevice.stReceiving;
// marrking time of acknowledgement
FrameReceptionStartTime = DateTime.Now;
}
else
{
state = EZRoboNetDevice.stPacketReady;
FramesReceived = 0;
TotalFrames = 0;
}
}
public RoboEntity(EZRoboNetDevice netdevice, byte avatarnodeid, Random randgen)
{
NetDevice = netdevice;
AvatarNodeID = avatarnodeid;
// assigning random generator
RandGen = randgen;
// initializing the timer
SyncTimer = new System.Windows.Forms.Timer();
SyncTimer.Interval = 500; // 0.5 s interval
SyncTimer.Tick += handleMessages;
// initializing the incoming packet queue
ReceivedPackets = new EZPacket[MAX_RECEIVED_PACKETS_NUM];
ReceivedPacketsNum = 0;
// registering the entity to the NetDevice server
EntityID = NetDevice.registerEntity(this);
// starting the Timer
SyncTimer.Start();
}
// constructor
public LMMobileRobot(EZRoboNetDevice netdevice, byte avatarnodeid, Random randgen)
: base(netdevice, avatarnodeid, randgen)
{
flagAbstractionDataReady = false;
flagAbstractionReady = false;
flagSensorDataAcquired = false;
AbstractionBytes = 0;
// creating the sonar array
SonarArray = new ushort[8];
PrevSonarArray = new ushort[8];
// creating the cognitive array
CogTop = createLMCartCognitiveArray(ref CogSonarNode, ref CogCamLinesNodes);
state = stIdle;
flagSonarArrayFiring = flagSonarArrayFiringDone = false;
flagAbilityDone = flagAbilityExecuting = false;
RawAbstraction = new byte[ABSTRACTION_FRAME_HEIGHT * ABSTRACTION_FRAME_WIDTH * 3];
}
