/// <summary>
/// In the Start() method we can call all the different methods which shall be executed by the robot. This happens via a new
/// console window which allows input and also shows the possible inputs with a explanation.
/// </summary>
public void Start()
{
_robot.Enable();
if (_robot != null && _robot.Enable())
{
var consoleInput = "";
while (consoleInput != "exit")
{
ConsoleFormatter.Custom(ConsoleColor.DarkGreen,
"'stop' - stop robot, 'exit' - terminate program",
"'disable' - disable robot, 'enable' - enable robot",
"'movecm <cm>', 'movev <v>'",
"'turndg <dg>'",
"'keys' - start arrow keys mode",
"'up' - arm gets higher",
"'down' - arm gets lower",
"'divide' - more space between grippers",
"'join' - less space between grippers",
"'task' - starts the task programm",
/*
* "'auto' - starts drive, henry drives forward and stops if a obstacle is in front of him and waits a given ammount of time",
* "'testcorridor' - testing check2() Method, which is based on corridor calculation ",
* "'testauto4' - testing check() with safety_threshold",
* "'auto4' - starts autodrive based on default safety_threshold=700",
*/
"'forward' - MUST henry drives forward, if there is an obstacle he waits for it to go away",
"'random' - CAN CAN Have - drives forward, if there is an obstacle the robot decides randomly where to drive",
"'autodrive' - NICE to Have - drives forward, if there is an obstacle the robot checks where to drive");
consoleInput = Console.ReadLine();
consoleInput = consoleInput.Trim();
var inputArray = consoleInput.Split(' ');
switch (inputArray[0])
{
/// Must-Haves:
/// auto represents our must haves, these include that Henry stops if a obstacle is
/// right infront of him and that he waits a certain amount of time. If the obstacle
/// disappeared Henry moves forward
case "forward":
Auto1 instanceAuto10 = new Auto1();
while (true)
{
instanceAuto10.Decide_basedonthresholdlist();
}
break;
/// Can Haves:
/// Henry drives forward. If he detects an obstacle he chooses randomly where to drive.
case "random":
Auto1 instanceAuto20 = new Auto1();
while (true)
{
instanceAuto20.randomDriveLeftOrRight();
}
break;
/// Nice to haves:
/// Henry drives forward. If he detects an obstacle he chooses where to drive based on his scanning data.
case "autodrive":
Auto1 instanceAuto30 = new Auto1();
while (true)
{
instanceAuto30.driveLeftOrRight();
}
break;
/*
* case "auto":
*
* Auto1 instanceAuto_1 = new Auto1();
* //Looping the method call infinitifely
* int neverEnding = 1;
* while (neverEnding == 1) {
* //Calling the Method
* instanceAuto_1.Decide();
* }
* break;
* //case for testing the check2() Method in order to check the thresholdlist and comparison with medianlist
*
* case "testcorridor":
* Auto1 instanceAuto1_2 = new Auto1();
* //var thresholdlist = new List<double>();
* //thresholdlist = instanceAuto1_2.generateCorridorList();
* //checking thresholdlist
* //for(int i =0; i<=thresholdlist.Count()-1; i++){
* // Debug.WriteLine("Nächste Stelle in der Thresholdliste = "+ thresholdlist[i]);
* // }
* //checking check2() Method
* //instanceAuto1_2.Check2();
* int forever = 1;
* while (forever==1){
* //instanceAuto1_2.Check2();
* instanceAuto1_2.Decide_basedonthresholdlist();
* }
* break;
*
* // Case for just executing the Check()-Method and its output
* case "testauto4":
*
* Auto1 instanceAuto = new Auto1();
* int loop_infinitely = 1;
*
* while (loop_infinitely == 1)
* {
* instanceAuto.Check();
* }
*
* break;
*
* // case for executing the output of the decide() Method in the class Auto1
* case "auto4":
*
* // new instance of class Auto1
* Auto1 instanceAuto2 = new Auto1();
*
* // Looping the method call infinitifely
* while (true)
* {
* // Calling the Method
* instanceAuto2.Decide();
* }
* break;
*/
case "stop":
_robot.StopImmediately();
break;
case "enable":
_robot.Enable();
break;
case "disable":
_robot.Move(0);
_robot.Disable();
break;
case "exit":
_robot.Move(0);
_robot.Disable();
consoleInput = "exit"; // not needed
break;
case "movecm":
if (inputArray.Length > 1)
{
if (int.TryParse(inputArray[1], out var j))
{
_robot.MoveInCm(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "movev":
if (inputArray.Length > 1)
{
// if passed value is "1.5" the result will be j=1.5
// if passed value is "1,5" the result will be j=15
// because the system is written in english
if (double.TryParse(inputArray[1], NumberStyles.Number, CultureInfo.InvariantCulture, out var j))
{
_robot.Move(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "turndg":
if (inputArray.Length > 1)
{
if (int.TryParse(inputArray[1], out var j))
{
_robot.TurnInDegrees(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid.");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "keys":
ConsoleFormatter.Custom(ConsoleColor.DarkGreen,
"'arrow keys' - direct the robot",
"'space' - slow down robot",
"'D' - disable robot",
"'E' - enable robot",
"'X' - terminate keys");
consoleInput = "";
var lastWalkMode = _robot.CurrentWalkMode;
var lastTurnMode = _robot.CurrentTurnMode;
Console.Clear();
CurrentMode(_robot.CurrentWalkMode, _robot.CurrentTurnMode);
while (consoleInput == "")
{
var c = Console.KeyAvailable ? Console.ReadKey(true).Key : ConsoleKey.Spacebar;
#region Keyswitch
switch (c)
{
case ConsoleKey.UpArrow:
ChangeWalkAndTurnMode(Direction.Up);
break;
case ConsoleKey.DownArrow:
ChangeWalkAndTurnMode(Direction.Down);
break;
case ConsoleKey.RightArrow:
ChangeWalkAndTurnMode(Direction.Right);
break;
case ConsoleKey.LeftArrow:
ChangeWalkAndTurnMode(Direction.Left);
break;
case ConsoleKey.Enter:
_robot.StopByMode();
break;
case ConsoleKey.D:
_robot.Disable();
break;
case ConsoleKey.E:
_robot.Enable();
break;
case ConsoleKey.X:
consoleInput = "exit";
ConsoleFormatter.Info("Terminated keys");
break;
}
#endregion
if (_robot.CurrentWalkMode == lastWalkMode && _robot.CurrentTurnMode == lastTurnMode)
{
continue;
}
lastWalkMode = _robot.CurrentWalkMode;
lastTurnMode = _robot.CurrentTurnMode;
Console.Clear();
CurrentMode(_robot.CurrentWalkMode, _robot.CurrentTurnMode);
}
consoleInput = "";
Console.BackgroundColor = ConsoleColor.Black;
break;
case "divide":
_arm.Divide();
break;
case "join":
_arm.Join();
break;
case "up":
_arm.Up();
break;
case "down":
_arm.Down();
break;
case "task":
PracticalTask2B();
break;
}
Console.Clear();
}
}
else
{
ConsoleFormatter.Error(
"Try to enable the robot failed.",
"Press enter to close the application.");
Console.ReadLine();
}
}
public void Start()
{
if (_robot != null && _robot.Enable())
{
var consoleInput = "";
while (consoleInput != "exit")
{
ConsoleFormatter.Custom(ConsoleColor.DarkGreen,
"'stop' - stop robot, 'exit' - terminate program",
"'disable' - disable robot, 'enable' - enable robot",
"'movecm <cm>', 'movev <v>'",
"'turndg <dg>'",
"'keys' - start arrow keys mode",
"'up' - arm gets higher",
"'down' - arm gets lower",
"'divide' - more space between grippers",
"'join' - less space between grippers",
"'task' - starts the task programm");
consoleInput = Console.ReadLine();
consoleInput = consoleInput.Trim();
var inputArray = consoleInput.Split(' ');
switch (inputArray[0])
{
case "stop":
_robot.StopImmediately();
break;
case "enable":
_robot.Enable();
break;
case "disable":
_robot.Move(0);
_robot.Disable();
break;
case "exit":
_robot.Move(0);
_robot.Disable();
consoleInput = "exit"; // not needed
break;
case "movecm":
if (inputArray.Length > 1)
{
if (int.TryParse(inputArray[1], out var j))
{
_robot.MoveInCm(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "movev":
if (inputArray.Length > 1)
{
// if passed value is "1.5" the result will be j=1.5
// if passed value is "1,5" the result will be j=15
// because the system is written in english
if (double.TryParse(inputArray[1], NumberStyles.Number, CultureInfo.InvariantCulture, out var j))
{
_robot.Move(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "turndg":
if (inputArray.Length > 1)
{
if (int.TryParse(inputArray[1], out var j))
{
_robot.TurnInDegrees(j);
}
else
{
ConsoleFormatter.Warning("Parameter is not valid.");
}
}
else
{
ConsoleFormatter.Warning("Parameter expected");
}
break;
case "keys":
ConsoleFormatter.Custom(ConsoleColor.DarkGreen,
"'arrow keys' - direct the robot",
"'space' - slow down robot",
"'D' - disable robot",
"'E' - enable robot",
"'X' - terminate keys");
consoleInput = "";
var lastWalkMode = _robot.CurrentWalkMode;
var lastTurnMode = _robot.CurrentTurnMode;
Console.Clear();
CurrentMode(_robot.CurrentWalkMode, _robot.CurrentTurnMode);
while (consoleInput == "")
{
var c = Console.KeyAvailable ? Console.ReadKey(true).Key : ConsoleKey.Spacebar;
#region Keyswitch
switch (c)
{
case ConsoleKey.UpArrow:
ChangeWalkAndTurnMode(Direction.Up);
break;
case ConsoleKey.DownArrow:
ChangeWalkAndTurnMode(Direction.Down);
break;
case ConsoleKey.RightArrow:
ChangeWalkAndTurnMode(Direction.Right);
break;
case ConsoleKey.LeftArrow:
ChangeWalkAndTurnMode(Direction.Left);
break;
case ConsoleKey.Enter:
_robot.StopByMode();
break;
case ConsoleKey.D:
_robot.Disable();
break;
case ConsoleKey.E:
_robot.Enable();
break;
case ConsoleKey.X:
consoleInput = "exit";
ConsoleFormatter.Info("Terminated keys");
break;
}
#endregion
if (_robot.CurrentWalkMode == lastWalkMode && _robot.CurrentTurnMode == lastTurnMode)
{
continue;
}
lastWalkMode = _robot.CurrentWalkMode;
lastTurnMode = _robot.CurrentTurnMode;
Console.Clear();
CurrentMode(_robot.CurrentWalkMode, _robot.CurrentTurnMode);
}
consoleInput = "";
Console.BackgroundColor = ConsoleColor.Black;
break;
case "divide":
_arm.Divide();
break;
case "join":
_arm.Join();
break;
case "up":
_arm.Up();
break;
case "down":
_arm.Down();
break;
case "task":
PracticalTask2B();
break;
}
Console.Clear();
}
}
else
{
ConsoleFormatter.Error(
"Try to enable the robot failed.",
"Press enter to close the application.");
Console.ReadLine();
}
}