public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field) { this.lcm = lcm; this.field = field; this.lcm.Subscribe("MaestroDriver/Flags", this); this.Running = false; }
public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field) { this.lcm = lcm; this.field = field; this.lcm.Subscribe("MaestroDriver/Flags", this); this.Running = false; }
public static void Main(string[] args) { LCM.LCM.LCM myLCM = null; try { Console.WriteLine("Starting Maestro driver..."); myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1"); Console.WriteLine("LCM Connected!"); } catch (Exception ex) { Console.Error.WriteLine("Ex: " + ex); Environment.Exit(1); } List <DeviceListItem> connectedDevices = Usc.getConnectedDevices(); Console.WriteLine("Number of MicroMaestros detected=" + connectedDevices.Count); GoalFlags[] goals = new GoalFlags[4]; Dictionary <string, int> goalIDs = new Dictionary <string, int>(); goalIDs.Add("00032615", 3); //D goalIDs.Add("00031531", 2); //C goalIDs.Add("00032614", 1); //B goalIDs.Add("00032598", 0); //A foreach (DeviceListItem dli in connectedDevices) { Console.WriteLine( "Detected Maestro: {serialNumber=" + dli.serialNumber + ", text=" + dli.text + "}"); goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli)); } CubeRouteField field = new CubeRouteField(goals); foreach (GoalFlags flags in goals) { for (int i = 0; i < 5; i++) { flags.setFlagPosition(i, 0); } } // GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000); GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field); Console.WriteLine("Running..."); conn.Run(); }
public static void Main(string[] args) { LCM.LCM.LCM myLCM = null; try { Console.WriteLine ("Starting Maestro driver..."); myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1"); Console.WriteLine ("LCM Connected!"); } catch (Exception ex) { Console.Error.WriteLine("Ex: " + ex); Environment.Exit(1); } List<DeviceListItem> connectedDevices = Usc.getConnectedDevices(); Console.WriteLine ("Number of MicroMaestros detected=" + connectedDevices.Count); GoalFlags[] goals = new GoalFlags[4]; Dictionary<string, int> goalIDs = new Dictionary<string, int>(); goalIDs.Add("00032615", 3);//D goalIDs.Add("00031531", 2);//C goalIDs.Add("00032614", 1);//B goalIDs.Add("00032598", 0);//A foreach (DeviceListItem dli in connectedDevices) { Console.WriteLine ( "Detected Maestro: {serialNumber=" + dli.serialNumber + ", text=" + dli.text + "}"); goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli)); } CubeRouteField field = new CubeRouteField(goals); foreach (GoalFlags flags in goals) { for(int i = 0; i< 5; i++) { flags.setFlagPosition(i, 0); } } // GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000); GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field); Console.WriteLine ("Running..."); conn.Run (); }