static void Main(string[] args)
{
Log.Module = Module;
robotFolder = Path.GetDirectoryName(Application.ExecutablePath);
motionsFolder = string.Format("{0}\\Motions", robotFolder);
audioFolder = string.Format("{0}\\Audio", robotFolder);
networkBusy = false; // There is no network traffic between server and client.
bool newStart = true; // kan misschien weg.
Log.WriteLineMessage("==================================");
Log.WriteLineMessage("Roboard KHR-1HV Server Application");
Log.WriteLineMessage("==================================");
Network mainServer = new Network();
Log.WriteLineMessage("Checking folder structure");
// Does the Motions folder exists?
if (!Directory.Exists(motionsFolder))
{
Log.WriteLineFail("Motions folder exist");
// If not lets create one.
Directory.CreateDirectory(motionsFolder);
Log.WriteLineSucces("Motions folder created");
// Delete the Table.ini since all the motions are gone,
// lets create a new Table.ini
File.Delete(string.Format("{0}\\Table.ini", robotFolder));
Log.WriteLineSucces("Deleting existing Table.ini");
}
else
{
Log.WriteLineSucces("Motions folder exist");
}
// Does the Audio folder exists?
if (!Directory.Exists(audioFolder))
{
Log.WriteLineFail("Audio folder exist");
// If not lets create one
Directory.CreateDirectory(audioFolder);
Log.WriteLineSucces("Audio folder created");
}
else
{
Log.WriteLineSucces("Audio folder exist");
}
if (!Server.MainIni.Open)
{
Server.MainIni.Init();
}
if (!Server.Table.Open)
{
Server.Table.Init();
}
if (!Server.Trim.Open)
{
Server.Trim.Init();
}
if (MainIni.EnableRemoteControl)
{
if (!Server.XBox360.Open)
{
Server.XBox360.Init();
}
}
// RCServo.Close();
RCServo.Init();
Server.I2C.Init();
Server.SPI.Init();
Server.AD7918.Init();
Server.MotionInterpreter.Init();
// Check if start-up motion is set
// and play that motion
//
if (Server.MainIni.PowerUpMotion != -1)
{
Log.WriteLineMessage(string.Format("Play startup motion: {0}", Server.MainIni.PowerUpMotion));
}
// remember that the voltage needs to be divided by 10;
Listen(mainServer); // function call to start listening for connections.
while (newStart)
{
//Network.messageHandler += new Network.NewMessageEventHandler(mainServer_messageHandler);
infinteLoop = true;
while (infinteLoop)
{
// networkbusy werkt niet meer door de threading. Dit moet opgelost worden door
// 1-of de networkbusy ook te laten afhangen van playingdone.
// in iedergeval moet er in de motioninterpreter een property komen die laat zien dat
// de motion playing is of niet.
// 2-of in de xbox360controller een stop en start.
if (!networkBusy)
{
// for real time mixing, read the sensor and do the calculations
// and apply them to the current servo position with mixwidth as sensorvalue.
Server.XBox360.ControllerState();
if (Server.XBox360.Open)
{
//if (Server.XBox360.Buttons == 128)
//{
// Server.MotionInterpreter.playing = false;
// //newStart = false;
// break;
//}
if (Server.XBox360.Buttons == 64)
{
if (RCServo.Connected)
{
RCServo.Close();
}
else
{
RCServo.Init();
}
Thread.Sleep(1000);
}
for (int i = 0; i < StaticUtilities.numberOfMotions; i++)
{
// check if the button pressed is linked to a motion in the table and
// that the controller state is not 65535 (no motion).
if ((Convert.ToInt32(Table.MotionTable["Motion" + (i + 1).ToString()]["Control"]) == Server.XBox360.Buttons) && (Server.XBox360.Buttons != 65535))
{
Log.WriteLineMessage(string.Format("Playing motion: {0}, {1}", Table.MotionTable["Motion" + (i + 1).ToString()]["Name"], Table.MotionTable["Motion" + (i + 1).ToString()]["Control"]));
Server.MotionInterpreter.Filename = Server.Table.MotionTable["Motion" + (i + 1).ToString()]["Filename"];
Server.MotionInterpreter.Play();
break;
}
} // END For
} // END If
} // END If
} // END While
} // END While
AD7918.Close();
SPI.Close();
I2C.Close();
RCServo.Close();
mainServer.StopListening();
Log.WriteLineMessage("Exit");
Application.Exit();
}
static void Main(string[] args)
{
Log.Module = Module;
robotFolder = Path.GetDirectoryName(Application.ExecutablePath);
motionsFolder = string.Format("{0}\\Motions", robotFolder);
audioFolder = string.Format("{0}\\Audio", robotFolder);
networkBusy = false; // There is no network traffic between server and client.
bool newStart = true; // kan misschien weg.
Log.WriteLineMessage("==================================");
Log.WriteLineMessage("Roboard KHR-1HV Server Application");
Log.WriteLineMessage("==================================");
Network mainServer = new Network();
Log.WriteLineMessage("Checking folder structure");
// Does the Motions folder exists?
if (!Directory.Exists(motionsFolder))
{
Log.WriteLineFail("Motions folder exist");
// If not lets create one.
Directory.CreateDirectory(motionsFolder);
Log.WriteLineSucces("Motions folder created");
// Delete the Table.ini since all the motions are gone,
// lets create a new Table.ini
File.Delete(string.Format("{0}\\Table.ini",robotFolder));
Log.WriteLineSucces("Deleting existing Table.ini");
}
else
Log.WriteLineSucces("Motions folder exist");
// Does the Audio folder exists?
if (!Directory.Exists(audioFolder))
{
Log.WriteLineFail("Audio folder exist");
// If not lets create one
Directory.CreateDirectory(audioFolder);
Log.WriteLineSucces("Audio folder created");
}
else
Log.WriteLineSucces("Audio folder exist");
if (!Server.MainIni.Open)
Server.MainIni.Init();
if (!Server.Table.Open)
Server.Table.Init();
if (!Server.Trim.Open)
Server.Trim.Init();
if (MainIni.EnableRemoteControl)
if (!Server.XBox360.Open)
Server.XBox360.Init();
// RCServo.Close();
RCServo.Init();
Server.I2C.Init();
Server.SPI.Init();
Server.AD7918.Init();
Server.MotionInterpreter.Init();
// Check if start-up motion is set
// and play that motion
//
if (Server.MainIni.PowerUpMotion != -1)
{
Log.WriteLineMessage(string.Format("Play startup motion: {0}", Server.MainIni.PowerUpMotion));
}
// remember that the voltage needs to be divided by 10;
Listen(mainServer); // function call to start listening for connections.
while (newStart)
{
//Network.messageHandler += new Network.NewMessageEventHandler(mainServer_messageHandler);
infinteLoop = true;
while (infinteLoop)
{
// networkbusy werkt niet meer door de threading. Dit moet opgelost worden door
// 1-of de networkbusy ook te laten afhangen van playingdone.
// in iedergeval moet er in de motioninterpreter een property komen die laat zien dat
// de motion playing is of niet.
// 2-of in de xbox360controller een stop en start.
if (!networkBusy)
{
// for real time mixing, read the sensor and do the calculations
// and apply them to the current servo position with mixwidth as sensorvalue.
Server.XBox360.ControllerState();
if (Server.XBox360.Open)
{
//if (Server.XBox360.Buttons == 128)
//{
// Server.MotionInterpreter.playing = false;
// //newStart = false;
// break;
//}
if (Server.XBox360.Buttons == 64)
{
if (RCServo.Connected)
RCServo.Close();
else
RCServo.Init();
Thread.Sleep(1000);
}
for (int i = 0; i < StaticUtilities.numberOfMotions; i++)
{
// check if the button pressed is linked to a motion in the table and
// that the controller state is not 65535 (no motion).
if ((Convert.ToInt32(Table.MotionTable["Motion" + (i + 1).ToString()]["Control"]) == Server.XBox360.Buttons) && (Server.XBox360.Buttons != 65535))
{
Log.WriteLineMessage(string.Format("Playing motion: {0}, {1}", Table.MotionTable["Motion" + (i + 1).ToString()]["Name"], Table.MotionTable["Motion" + (i + 1).ToString()]["Control"]));
Server.MotionInterpreter.Filename = Server.Table.MotionTable["Motion" + (i + 1).ToString()]["Filename"];
Server.MotionInterpreter.Play();
break;
}
} // END For
} // END If
} // END If
} // END While
} // END While
AD7918.Close();
SPI.Close();
I2C.Close();
RCServo.Close();
mainServer.StopListening();
Log.WriteLineMessage("Exit");
Application.Exit();
}
