public void Stop()
{
running = false;
var stopwatch = Stopwatch.StartNew();
while (thread.IsAlive && stopwatch.ElapsedMilliseconds < 5000)
{
Thread.Sleep(50);
}
connector.Close();
}
//evento de click para desligar o sphero
private void m_BtnSleep_Click(object sender, EventArgs e)
{
//enviar o pacote com o comando para desligar ao sphero
m_SpheroConnector.Sphero.SendPacket(new SpheroCommandPacket(CoreCommand.CMD_SLEEP, CommandSequencer.Next, 0x00, 0x00, 0x00, 0x00, 0x00));
m_SpheroConnector.Close();
m_BtnSleep.Enabled = false;
m_LblSpheroStatus.Text = "Sphero: Procurando...";
printToLog("Procurando Sphero...");
//recomeçar a procura...
m_SearchSpheroWorker.RunWorkerAsync();
}
static void Main(string[] args)
{
SpheroConnector spheroConnector = new SpheroConnector();
Sphero sphero = null;
string[] parameters = new string[] { "none" };
string command = "none";
while (!string.IsNullOrEmpty(command))
{
command = parameters[0];
switch (command)
{
case "find":
spheroConnector.Scan();
var deviceNames = spheroConnector.DeviceNames;
for (int i = 0; i < deviceNames.Count; i++)
{
Console.WriteLine("{0}: {1}", i, deviceNames[i]);
}
break;
case "connect":
if (parameters.Length < 2)
{
break;
}
int index = -1;
if (int.TryParse(parameters[1], out index))
{
try
{
sphero = spheroConnector.Connect(index);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
else
{
Console.WriteLine("'{0}' is not a valid device index.", parameters[1]);
}
break;
case "close":
spheroConnector.Close();
break;
case "sleep":
sphero.Sleep();
break;
case "setcolor":
if (parameters.Length < 2)
{
break;
}
ChangeColor(sphero, parameters[1]);
break;
case "getresponses":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroResponsePacket> packets = sphero.Listener.GetLastResponsePackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "getasync":
{
if (parameters.Length < 2)
{
break;
}
int count;
if (int.TryParse(parameters[1], out count))
{
lock (sphero.Listener.SyncRoot)
{
IEnumerable <SpheroAsyncPacket> packets = sphero.Listener.GetLastAsyncPackets(count);
foreach (var packet in packets)
{
Console.WriteLine(packet);
}
}
}
}
break;
case "exit":
spheroConnector.Close();
Console.WriteLine("See you soon ... ;) ");
Thread.Sleep(1500);
return;
case "sendprogram":
{
var area = StorageArea.Temporary;
IEnumerable <string> programLines = GetOrbBasicLinesFromFile("orbbasic.txt");
foreach (var programLine in programLines)
{
Console.WriteLine(programLine);
}
sphero.EraseOrbBasicStorage(area);
sphero.SendOrbBasicProgram(area, programLines);
}
break;
case "runprogram":
{
StorageArea area = StorageArea.Temporary;
sphero.ExecuteOrbBasicProgram(area, 10);
}
break;
case "abortprogram":
sphero.AbortOrbBasicProgram();
break;
case "diagnostics":
{
sphero.PerformLevelOneDiagnostics();
}
break;
case "none":
Console.WriteLine("Welcome to Sphero CMD controll application");
break;
case "help":
Console.WriteLine("HELP will be realized soon.");
break;
case "goForward":
if (parameters.Length < 3)
{
break;
}
ChangeColor(sphero, "Red");
GoForward(sphero, Byte.Parse(parameters[1]), int.Parse(parameters[2]));
break;
default:
Console.WriteLine("Unknown command. Please type 'help' for getting list of available commands.");
break;
}
Console.Write("> ");
parameters = Console.ReadLine().Split(new char[] { ' ' });
}
}