public NavigationController(MainController main, NaoController nao, ObjectLibrary lib)
{
this.stopped = false;
this.nao = nao;
this.lib = lib;
this.main = main;
}
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 ActionController()
{
this.nao = new NaoController("127.0.0.1");
//this.nao = new NaoController("128.208.4.225");
}
public Executor(ActionSequence<NaoSkeleton> action, NaoController nao, int fps)
{
this.action = action;
this.nao = nao;
this.interval = 1000 / fps;
}
