private void WalkToMark() { WalkToLandMarkInfo walkToMark = new WalkToLandMarkInfo(0, 0); if (this._walkToNaoMark != null) { this._walkToNaoMark.StopWalking(); this._walkToNaoMark.Dispose(); } this._walkToNaoMark = new WalkToNaoMark(this._connection, walkToMark); this._walkToNaoMark.StartWalking(); this._walkToNaoMark.WaitUntilWalkingIsComplete(); this.Say("Checkpoint"); }
/// <summary> /// Constructor /// </summary> /// <param name="connection">Robot connection</param> /// <param name="markInfo">Checkpoint mark information</param> /// <param name="startLookDirection">Start look direction</param> public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo, FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) { this.MarkInfo = markInfo; this.StartLookDirection = startLookDirection; this._robotConnectionHelper = connection; if (!_robotConnectionHelper.TestConnection(string.Empty)) { throw new ArgumentException("Could not connect to the robot!"); } _walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork); _walkWorker.WorkerSupportsCancellation = true; _walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted); }
/// <summary> /// Default constructor /// </summary> /// <param name="ip">The robot ip</param> /// <param name="port">The robot port</param> /// <param name="markInfo">The checkpoint's mark information</param> /// <param name="grabLocation">The grab location information</param> /// <param name="logger">The logger</param> public NaoCoopRobot(string ip, int port, WalkToLandMarkInfo markInfo, GrabLocationInfo grabLocation, ILog logger) { this._logger = logger; this._connection = new NaoConnectionHelper(ip, port); this._markInfo = markInfo; this._grabLocationInfo = grabLocation; /* * if (this._connection == null || !this._connection.TestConnection()) * { * throw new Exception("Could not connect to the Robot."); * } */ this._objectHandlingExecuter = new ObjectHandlingExecuter(_connection); this._robotSynch = new RobotSynchronization(_connection); this.Initialize(); }
/// <summary> /// Constructor /// </summary> /// <param name="robotIP">Robot ip</param> /// <param name="robotPort">Robot port</param> /// <param name="markInfo">Checkpoint mark information</param> /// <param name="startLookDirection">Start look direction</param> public WalkToNaoMark(string robotIP, int robotPort, WalkToLandMarkInfo markInfo, FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) : this(new NaoConnectionHelper(robotIP, robotPort), markInfo, startLookDirection) { }