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;
}
// constructor
public RSV2BrowsingFSM(MappingFSM mapfsm, RobosapienV2 robo,
int robIpos, int robJpos, int robOrient)
{
mappingFSM = mapfsm;
Robosapien = robo;
ipos = robIpos;
jpos = robJpos;
orientation = robOrient;
LastKnownCartIpos = mappingFSM.ipos;
LastKnownCartJpos = mappingFSM.jpos;
// creating the task queue
TaskQueue = new int[MAX_QUEUE_LENGTH];
TaskQueueLength = 0;
// registering browsing FSM in mapping FSM
mappingFSM.registerBrowingFSM(this);
// now setting up our Last Known location inside the mappingh FSM
mappingFSM.LastKnownRsv2Ipos = robIpos;
mappingFSM.LastKnownRsv2Jpos = robJpos;
}
// constructor
public RSV2TrainingFSM(RobosapienV2 rsv2)
{
Robosapien = rsv2;
state = stIdle;
}
//constructor
public RSV2MetanetworkFSM(RobosapienV2 robo)
{
Robosapien = robo;
state = stIdle;
}
