public RobotController(IRobot robot)
{
Robot = robot;
commandFactory = new RobotCommandFactory(robot);
}
public void Setup()
{
TableDimensions = new TableDimensions(TableSize, TableSize);
Robot = new Robot(TableDimensions);
Factory = new RobotCommandFactory();
}
static void Main(string[] args)
{
// for number conversion
Thread.CurrentThread.CurrentCulture = System.Globalization.CultureInfo.InvariantCulture;
Thread.CurrentThread.CurrentUICulture = System.Globalization.CultureInfo.InstalledUICulture;
ButtonEvents buttons = new ButtonEvents();
TcpListener server = null;
TcpClient client = null;
bool run = true;
buttons.EscapePressed += () =>
{
if (server != null)
{
server.Stop();
}
if (client != null)
{
client.Close();
}
run = false;
};
LcdConsole.WriteLine("EV3Scanner 3.0");
float mainRatio = 1.667f;
float secondaryRatio = 3.0f;
float handRatio = 1f;
#if DUMPLOGS
StringBuilder logs = new StringBuilder();
#endif
// stop here
if (!run)
{
return;
}
// main loop
LcdConsole.WriteLine("Starting...");
try
{
using (IRobot robot = new ScannerRobot()
{
})
{
// apply settings
robot.RatioSettings[RobotSetup.XPort] = mainRatio;
robot.RatioSettings[RobotSetup.YPort] = secondaryRatio;
robot.RatioSettings[RobotSetup.PenPort] = handRatio;
// printer
// robot.SpeedSettings[RobotSetup.XPort] = 64;
// robot.SpeedSettings[RobotSetup.YPort] = 113; // adjust Y motor speed as X motor produces almost twice as much speed (0.56)
// robot.SpeedSettings[RobotSetup.PenPort] = 127;
// scanner
robot.SpeedSettings[RobotSetup.XPort] = 16;
robot.SpeedSettings[RobotSetup.YPort] = 113; // adjust Y motor speed as X motor produces almost twice as much speed (0.56)
robot.SpeedSettings[RobotSetup.PenPort] = 127;
// calibrate robot
LcdConsole.WriteLine("Calibrating...");
robot.Calibrate(() => { return(!run); });
// Set the TcpListener on port 13000.
Int32 port = 13000;
// TcpListener server = new TcpListener(port);
server = new TcpListener(IPAddress.Any, port);
// Start listening for client requests.
server.Start();
// Buffer for reading data
Byte[] bytes = new Byte[256];
// Enter the listening loop.
while (run)
{
LcdConsole.WriteLine("Waiting for a connection... ");
// blinking green
Buttons.LedPattern(4);
// Perform a blocking call to accept requests.
// You could also user server.AcceptSocket() here.
client = server.AcceptTcpClient();
LcdConsole.WriteLine("Connected!");
// turn off
Buttons.LedPattern(0);
// Get a stream object for reading and writing
NetworkStream stream = client.GetStream();
// if robot is sending data, publish to network channel
EventHandler <DataEventArgs> dataCB = (o, e) => {
try
{
byte[] msg = System.Text.Encoding.ASCII.GetBytes(e.Data);
stream.Write(msg, 0, msg.Length);
}
catch (IOException)
{
// disconnected
robot.Off();
}
};
robot.OnData += dataCB;
#if DUMPLOGS
// DEBUG
byte[] logBuffer = Encoding.ASCII.GetBytes(logs.ToString());
client.GetStream().Write(logBuffer, 0, logBuffer.Length);
#endif
try
{
string data = null;
int read;
string message = "";
// Loop to receive all the data sent by the client.
while (run && (read = stream.Read(bytes, 0, bytes.Length)) != 0)
{
// Translate data bytes to a ASCII string.
data = System.Text.Encoding.ASCII.GetString(bytes, 0, read);
for (int i = 0; i < read; i++)
{
char c = data[i];
if (c != '\0')
{
message += c;
}
else
{
// get message type
IRobotCommand command = RobotCommandFactory.Create(message);
if (command != null)
{
robot.Queue(command);
}
//
message = "";
}
}
}
}
catch (IOException)
{
LcdConsole.Clear();
LcdConsole.WriteLine("Disconnected!");
// stop sending data
robot.OnData -= dataCB;
}
}
}
}
catch (Exception ex)
{
/*
#if DEBUG
* // Set the TcpListener on port 13000.
* int port = 13000;
*
* // TcpListener server = new TcpListener(port);
* TcpListener debugServer = new TcpListener(IPAddress.Any, port);
*
* // Start listening for client requests.
* debugServer.Start();
*
* LcdConsole.WriteLine("Wait debugger");
*
* // Perform a blocking call to accept requests.
* // You could also user server.AcceptSocket() here.
* using (TcpClient debugClient = debugServer.AcceptTcpClient())
* {
* // Get a stream object for reading and writing
* NetworkStream stream = debugClient.GetStream();
*
* foreach (String it in Assembly.GetExecutingAssembly().GetManifestResourceNames())
* {
* byte[] msg = System.Text.Encoding.ASCII.GetBytes(it + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
* }
*
* while (ex != null)
* {
* byte[] msg = System.Text.Encoding.ASCII.GetBytes(ex.Message + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
*
* msg = System.Text.Encoding.ASCII.GetBytes(ex.StackTrace + "\n");
* // Send back a response.
* stream.Write(msg, 0, msg.Length);
* ex = ex.InnerException;
* }
* }
*
* // Stop listening for new clients.
* debugServer.Stop();
#else
* throw;
#endif
*/
throw;
}
finally
{
// Stop listening for new clients.
server.Stop();
}
}
