public ObjectLibrary(MainController parent, Rpc.Client client)
{
this.objects = new SerializableDictionary<string, RecogObject>();
this.lookupByProperty = new SerializableDictionary<string, List<RecogObject>>();
this.knownPointClouds = new Dictionary<string, PointCloud>();
this.unknownPointClouds = new Dictionary<string, PointCloud>();
this.client = client;
}
public MainController(MainWindow window)
{
this.window = window;
this.nao = new NaoController(NAO_IP, this);
this.thriftTransport = new TSocket(SERVER_IP, 9090);
thriftTransport.Open();
TProtocol protocol = new TBinaryProtocol(thriftTransport);
this.thriftClient = new Rpc.Client(protocol);
this.lib = new ObjectLibrary(this, this.thriftClient, MainController.OBJECT_LIB_PATH);
this.updateThread = new Thread(this.lib.updatePointClouds);
this.updateThread.Start();
this.nav = new NavigationController(this, nao, lib);
this.navThread = null;
switchStates(State.waiting);
}
public static void Start()
{
try
{
TTransport transport = new TSocket("128.208.4.237", 9090);
TProtocol protocol = new TBinaryProtocol(transport);
Rpc.Client client = new Rpc.Client(protocol);
transport.Open();
client.ping();
Console.WriteLine("ping");
Console.WriteLine(client.getObjects());
Console.WriteLine("getObjects");
transport.Close();
}
catch (TApplicationException x)
{
Console.WriteLine(x.StackTrace);
}
}
public ObjectLibrary(MainController parent, Rpc.Client client, string path)
{
this.objects = new SerializableDictionary<string, RecogObject>();
this.lookupByProperty = new Dictionary<string, List<RecogObject>>();
this.knownPointClouds = new Dictionary<string, PointCloud>();
this.unknownPointClouds = new Dictionary<string, PointCloud>();
this.shut_down = false;
this.block = false;
this.parent = parent;
this.client = client;
if (System.IO.File.Exists(path))
{
string[] lines = System.IO.File.ReadAllLines(path);
foreach (string line in lines)
{
RecogObject obj = RecogObject.fromString(line);
this.addObject(obj);
}
}
}
