public SkillHelper(IRobotMessenger misty)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_misty.RegisterDriveEncoderEvent(EncoderEventCallback, 100, true, null, "SkillHelperEncoderEvent", OnResponse);
_misty.RegisterIMUEvent(ImuEventCallback, 100, true, null, "SkillHelperIMUEvent", OnResponse);
_misty.RegisterTimeOfFlightEvent(TofEventCallback, 0, true, null, "SkillHelperTofEventEvent", OnResponse);
_misty.RegisterHazardNotificationEvent(HazardEventCallback, 0, true, "SkillHelperHazardEvent", OnResponse);
}
public SkillHelper(IRobotMessenger misty)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
LogMessage("SkillHelper initiating. Registering event callbacks for encoders and IMU.");
_misty.RegisterDriveEncoderEvent(EncoderEventCallback, 100, true, null, "SkillHelperEncoderEvent", OnResponse);
_misty.RegisterIMUEvent(ImuEventCallback, 100, true, null, "SkillHelperIMUEvent", OnResponse);
// THE HAZARD HANDLING CODE IS CURRENTLY DISABLED
//_misty.RegisterHazardNotificationEvent(HazardEventCallback, 0, true, "SkillHelperHazardEvent", OnResponse);
}
/// <summary>
/// This event handler is called when the robot/user sends a start message
/// The parameters can be set in the Skill Runner (or as json) and used in the skill if desired
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
_misty.SendDebugMessage("MistyMiner skill started", null);
_misty.MoveHead(20, 0, 0, 0, AngularUnit.Position, null);
//_takeImageTimer = new Timer(CheckForOreCallback, null, 0, 5000);
_misty.RegisterCapTouchEvent(CheckForOreCallback, 1000, true, null, null, null);
_misty.RegisterIMUEvent(setYaw, 5, true, null, null, null);
List <ActuatorPositionValidation> HeadPositionValidation = new List <ActuatorPositionValidation>();
HeadPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.HeadPitch
});
_misty.RegisterActuatorEvent(setHeadPitch, 10, true, HeadPositionValidation, null, null);
List <ActuatorPositionValidation> ArmPositionValidation = new List <ActuatorPositionValidation>();
ArmPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.RightArm
});
_misty.RegisterActuatorEvent(setArmPitch, 100, true, ArmPositionValidation, null, null);
_misty.RegisterTimeOfFlightEvent(setTimeOfFlight, 0, true, null, null, null);
//Clean up any lingering runs
yaw.YawReached -= HandleYawReached;
yaw.YawReached -= HandleReturnYawReached;
yaw.YawReached -= FinalYaw;
tof.DistanceReached -= HandleOreReached;
tof.DistanceReached -= HandleReturnReached;
arm.ArmPosReached -= ArmDown;
arm.ArmPosReached -= ArmUp;
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"MistyMiner : OnStart: => Exception", ex);
_misty.SendDebugMessage($"MistyMiner : OnStart: => Exception" + ex, null);
}
}
