private async Task <bool> StartDockDetectorAsync()
{
_chargeDetectorRunning = false;
_misty.RegisterSlamStatusEvent(SlamStatusCallback, 0, true, "ChargerDockSlamStatus", null, OnResponse);
_skillHelper.LogMessage("Start dock detector.");
_misty.StartLocatingDockingStation(5000, 5000, OnResponse);
await Task.Delay(5000);
int retries = 0;
while (retries++ < 3 && !_chargeDetectorRunning)
{
string s = string.Empty;
foreach (var status in _slamStatus.StatusList)
{
s += status + "|";
}
if (_slamStatus == null)
{
_skillHelper.LogMessage($"Dock detector did not start. SLAM sensor status is null. Restarting SLAM service.");
}
else
{
_skillHelper.LogMessage($"Dock detector did not start. SLAM sensor status is {_slamStatus.SensorStatus}. SLAM status list is {s}. Restarting SLAM service.");
}
_misty.DisableSlamService(OnResponse);
await Task.Delay(5000);
_misty.EnableSlamService(OnResponse);
await Task.Delay(7000);
_skillHelper.LogMessage("Start dock detector.");
_misty.StartLocatingDockingStation(5000, 5000, OnResponse);
await Task.Delay(5000);
}
_misty.UnregisterEvent("ChargerDockSlamStatus", OnResponse);
if (_slamStatus == null || (_slamStatus.Status & DockingStationDetectorEnabled) == 0)
{
return(false);
}
else
{
return(true);
}
}
/// <summary>
/// Encapsulates starting charger detection with retries.
/// </summary>
private async Task <bool> StartChargerDetectionAsync()
{
_chargeDetectorRunning = false;
_misty.RegisterSlamStatusEvent(SlamStatusCallback, 0, true, "ChargerDockSlamStatus", null, OnResponse);
_skillHelper.LogMessage("Starting charger detector.");
_misty.StartLocatingDockingStation(5000, 5000, true, OnResponse);
await Task.Delay(5000);
int retries = 0;
while (retries++ < 3 && !_chargeDetectorRunning && !_abort)
{
if (_slamStatus == null)
{
_skillHelper.LogMessage($"Charger detection did not start. Occipital sensor status is null. Restarting Occipital service.");
}
else
{
string s = string.Empty;
foreach (var status in _slamStatus.StatusList)
{
s += status + "|";
}
_skillHelper.LogMessage($"Charger detection did not start. Occipital sensor status is {_slamStatus.SensorStatus}. Occipital status list is {s}. Restarting Occipital service.");
}
_misty.DisableSlamService(OnResponse);
await Task.Delay(5000);
_misty.EnableSlamService(OnResponse);
if (_abort)
{
break;
}
await Task.Delay(8000);
if (_abort)
{
break;
}
_misty.StartLocatingDockingStation(5000, 5000, true, OnResponse);
await Task.Delay(5000);
}
_misty.UnregisterEvent("ChargerDockSlamStatus", OnResponse);
//_misty.SetSlamIrExposureAndGain(0.01, 2.0, OnResponse);
if (!_chargeDetectorRunning)
{
_skillHelper.LogMessage("Failed to start the charger detector.");
_skillHelper.MistySpeak("I could not start the charger detector.");
return(false);
}
else
{
return(true);
}
}
