//functions called by the networkplaybehaviour
public void SendCommands(SerializableCommandList commands)
{
CommandMsg msg = new CommandMsg();
byte[] result;
BinaryFormatter bf = new BinaryFormatter();
System.IO.MemoryStream ms = new System.IO.MemoryStream();
bf.Serialize(ms, commands);
result = ms.ToArray();
CommandMsg cmdMsg = new CommandMsg();
cmdMsg.serializedCommands = result;
//f(cmdMsg.serializedCommands);
if (remoteConnection != null)
{
remoteConnection.Send(CommandMsg.msgType, cmdMsg);
}
else
{
Debug.Log("no remote connection to send to");
}
}
private void Client_EnableRecordRequestOnNatSuccessEvent(object obj, CommandMsg msg)
{
recorder = new RTPRecorderCouple(21011, CONNECTED_MODE.NAT);
IsRecording = true;
this.SetMessage(Application.Current.FindResource("ISRECORDING").ToString());
}
static void Main(string[] args)
{
EZRoboNetDevice netdev = new EZRoboNetDevice(1, (byte)t_Robot.t_Station); // creating a network device as a station
rnd = new Random((int)DateTime.Now.Ticks);
MyRobot myrobot = new MyRobot(netdev,
2, // this is the ID of the robot which MyRobot controls (in this case it is the arduino, and its assigned id is 2)
rnd // this is an unused/useless parameter for now...
);
// send something out
// sending a sample answer
CommandMsg outmsg = new CommandMsg();
outmsg.robot = t_Robot.t_Station;
outmsg.Cmd = RobotCmd.rc_ManualCommand;
outmsg.CmdParams = new byte[] { (byte)'H', (byte)'E', (byte)'L', (byte)'L', (byte)'O' };
outmsg.ParamsLength = (byte)outmsg.CmdParams.Length; // 5 bytes
// send it
myrobot.sendCommandMessage(outmsg);
while (true)
{
Application.DoEvents();
}
}
// the message handling function (called by an internal timer)
public override void handleMessages(object sender, EventArgs e)
{
int packetsavailable = packetsAvailable();
EZPacket pack;
// 1. checking pakcets available and acting
if (packetsavailable > 0)
{
pack = getNextAvailablePacket();
// unwrapping the packet
CommandMsg msg = RobotMessenger.convertBytes2CommandMsg(pack.Message);
////////////////// Handle the message here //////////////////
// sending a sample answer
CommandMsg outmsg = new CommandMsg();
outmsg.robot = t_Robot.t_Station;
outmsg.Cmd = RobotCmd.rc_ManualCommand;
outmsg.CmdParams = new byte[] { (byte)'H', (byte)'E', (byte)'L', (byte)'L', (byte)'O' };
outmsg.ParamsLength = (byte)outmsg.CmdParams.Length; // one byte - ability index
// send it
sendCommandMessage(outmsg);
}
}
protected void HandleCommand(CommandMsg action)
{
if (isCurrentView)
{
switch (action.Command)
{
case CommandType.Insert:
Create();
break;
case CommandType.Delete:
Delete();
break;
case CommandType.Save:
Save();
break;
case CommandType.Update:
Update();
break;
default:
break;
}
}
}
void ReceviceCmdMsg(CommandMsg msg, params object[] objs)
{
//Debug.Log("ReceviceCmdMsg " + msg.index + " currentframe " + m_world.FrameCount);
//立即返回确认消息
AffirmMsg amsg = new AffirmMsg();
amsg.index = msg.index;
amsg.time = msg.serverTime;
ProtocolAnalysisService.SendCommand(amsg);
if (m_world.IsStart)
{
//TODO 如果全部都与本地预测相同则不再重计算
for (int i = 0; i < msg.msg.Count; i++)
{
//Debug.Log("RecordCommand " + Serializer.Serialize(msg.msg[i]));
RecordCommand(msg.msg[i]);
}
Recalc();
}
else
{
//存入未执行命令列表
//Debug.Log("存入未执行命令列表");
//GameDataCacheComponent gdcc = m_world.GetSingletonComp<GameDataCacheComponent>();
//gdcc.m_noExecuteCommandList.Add(msg);
}
}
private void Client_DropCallSuccessEvent(object obj, CommandMsg msg)
{
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate
{
btnCall.Content = "☎";
btnCall.ToolTip = "Call";
}));
}
private void Couplemodeclient_RegSuccessEvent(object obj, CommandMsg msg)
{
if (!client.IsRegistered)
{
ConnectSuccess(msg);
client.IsRegistered = true;
}
connectedmode = CONNECTED_MODE.PUBLIC;
}
// this method requests sensory data from the robosapien V2 avatar
public void requestSensorData()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_SendSensors;
msg.ParamsLength = 1;
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
this.sendCommandMessage(msg);
}
private void Couplemodeclient_RegSuccessNatEvent(object obj, CommandMsg msg)
{
if (!client.IsRegistered)
{
client.RegTimerInit();
ConnectSuccess(msg);
client.IsRegistered = true;
}
connectedmode = CONNECTED_MODE.NAT;
}
private void Client_DisableRecordRequestSuccessEvent(object obj, CommandMsg msg)
{
if (recorder != null)
{
recorder.Close();
recorder.Dispose();
recorder = null;
}
IsRecording = false;
this.SetMessage(Application.Current.FindResource("ISNOTRECORDING").ToString());
}
public override void handleMessages(object sender, EventArgs e)
{
int packetsavailable = packetsAvailable();
EZPacket pack;
// 1. checking pakcest available and acting
if (packetsavailable > 0)
{
pack = getNextAvailablePacket();
// unwrapping the packet
CommandMsg msg = RobotMessenger.convertBytes2CommandMsg(pack.Message);
// handling the message
switch (msg.Cmd)
{
case RobotCmd.rc_CommandDone: // handling the flags
flagAbilityExecuting = false;
flagAbilityDone = true;
break;
case RobotCmd.rc_ManualCommand: // Nothing...
break;
case RobotCmd.rc_SendCMUCAMAbstractionData: // nothing...
break;
case RobotCmd.rc_SendSensors: // nothing
break;
case RobotCmd.rc_SensorData: // retrieving sensory data from the avatar
acquireSensorData(msg);
flagSensorDataAcquired = true;
break;
case RobotCmd.rc_CMUCAMAbstractionData: // retrieving a CMUCAM frame
acquireCMUCAMAbstractionData(msg);
break;
case RobotCmd.rc_SonarFired: // handling flags
flagSonarArrayFiring = false;
flagSonarArrayFiringDone = true;
break;
}
}
// 2. Cheking state and flags
if (flagAbstractionDataReady)
{
requestCMUCAMAbstractionData();
}
}
// this method copies sensor data from the frame into the entity's sensor member variables
public void acquireSensorData(CommandMsg msg)
{
byte[] sensorData = msg.CmdParams;
// movingcurrent sensor readings to previous sensor readings array
// assigning sensor readings
int i;
for (i = 0; i < 8; i++)
{
PrevSonarArray[i] = SonarArray[i];
SonarArray[i] = (ushort)(sensorData[2 * i] + sensorData[2 * i + 1] * 256);
}
}
// this method requests a CMUCAM Frame
public void requestCMUCAMAbstractionData()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_SendCMUCAMAbstractionData;
msg.ParamsLength = 1;
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
flagAbstractionDataReady = false;
this.sendCommandMessage(msg);
}
// the following method commands the mobile robot to fire the sonar array
public void fireSonarArray()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_FireSonarArray;
msg.ParamsLength = 1; // one byte - just zero
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
// raising flags
flagSonarArrayFiring = true;
flagSonarArrayFiringDone = false;
this.sendCommandMessage(msg);
}
// this method downloads a command to the avatar
// based on the available abilities
public void useAbility(t_RSV2Ability ability)
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_ManualCommand;
msg.ParamsLength = 1; // one byte - ability index
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = (byte)ability;
// raising flag
flagAbilityDone = false;
flagAbilityExecuting = true;
this.sendCommandMessage(msg);
}
// bytes to Object
public static Object getObject(byte[] arr)
{
CommandMsg str = new CommandMsg();
//int size = Marshal.SizeOf(str);
int size = arr.Length;
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.Copy(arr, 0, ptr, size);
str = (CommandMsg)Marshal.PtrToStructure(ptr, str.GetType());
Marshal.FreeHGlobal(ptr);
return(str);
}
private void Client_CallConnectedEvent(object obj, CommandMsg msg)
{
if (curCall == null)
{
return;
}
if (curCall.Cust_Idx > 0)
{
SetMessage(string.Format(Application.Current.FindResource("MSG_CALL_STATES_CONNECTED2").ToString(), curCall.Name));
}
else
{
SetMessage(Application.Current.FindResource("MSG_CALL_STATES_CONNECTED").ToString());
}
this.UIChanging(msg.status);
}
// convert bytes to a command message structure
public static CommandMsg convertBytes2CommandMsg(byte[] rawmsg)
{
CommandMsg msg = new CommandMsg();
msg.robot = (t_Robot)rawmsg[0];
msg.Cmd = (RobotCmd)rawmsg[1];
msg.ParamsLength = (ushort)(rawmsg[2] + rawmsg[3] * 256);
int i;
msg.CmdParams = new byte[msg.ParamsLength];
for (i = 0; i < msg.ParamsLength; i++)
{
msg.CmdParams[i] = rawmsg[4 + i];
}
return(msg);
}
private void ConnectSuccess(CommandMsg msg)
{
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate
{
if (msg.status == 0 || msg.status == 99)
{
this.Title = this.Title + " (" + msg.from_ext + ")";
img_antena.ToolTip = Application.Current.FindResource("TOOTIP_MAIN_ANTENA_ON");
img_antena.Style = (Style)Application.Current.FindResource("antena_on");
}
else
{
this.Title = Application.Current.FindResource("MSG_MAIN_TITLE").ToString();
img_antena.ToolTip = Application.Current.FindResource("TOOTIP_MAIN_ANTENA_OFF");
img_antena.Style = (Style)Application.Current.FindResource("antena_off");
}
}));
}
// copying sensor data from the frame into the entity's sensor member variables
public void acquireSensorData(CommandMsg msg)
{
byte[] sensorData = msg.CmdParams;
// assigning sensor readings
sensorLeft_Foot_Front_Bumper = sensorData[0];
sensorLeft_Foot_Rear_Bumper = sensorData[1];
sensorRight_Foot_Front_Bumper = sensorData[2];
sensorRight_Foot_Rear_Bumper = sensorData[3];
sensorLeft_Hand_Bumper = sensorData[4];
sensorRight_Hand_Bumper = sensorData[5];
sensorLeft_Hand_Pickup = sensorData[6];
sensorRight_Hand_Pickup = sensorData[7];
sensorLeft_Wrist_Encoder = sensorData[8];
sensorRight_Wrist_Encoder = sensorData[9];
// analog sensors
sensorCamera_HSD = (ushort)(sensorData[10] + sensorData[11] * 256);
sensorCamera_RST = (ushort)(sensorData[12] + sensorData[13] * 256);
sensorCamera_RDY = (ushort)(sensorData[14] + sensorData[15] * 256);
sensorCamera_SK = (ushort)(sensorData[16] + sensorData[17] * 256);
sensorLeft_Shoulder_Pot = (ushort)(sensorData[18] + sensorData[19] * 256);
sensorRight_Shoulder_Pot = (ushort)(sensorData[20] + sensorData[21] * 256);
sensorLeft_Mic = (ushort)(sensorData[22] + sensorData[23] * 256);
sensorRight_Mic = (ushort)(sensorData[24] + sensorData[25] * 256);
sensorLeft_Head_IR = (ushort)(sensorData[26] + sensorData[27] * 256);
sensorCenter_Head_IR = (ushort)(sensorData[28] + sensorData[29] * 256);
sensorRight_Head_IR = (ushort)(sensorData[30] + sensorData[31] * 256);
// the mic and bumper sensor triggers
sensorLeft_Mic_Triggered = sensorData[32];
sensorRight_Mic_Triggered = sensorData[33];
sensorLeft_Foot_Rear_Triggered = sensorData[34];
sensorLeft_Foot_Front_Triggered = sensorData[35];
sensorRight_Foot_Rear_Triggered = sensorData[36];
sensorRight_Foot_Front_Triggered = sensorData[37];
sensorLeft_Hand_Triggered = sensorData[38];
sensorRight_Hand_Triggered = sensorData[39];
flagSensorDataAcquired = true;
}
private void Client_EnableRecordRequestSuccessEvent(object obj, CommandMsg msg)
{
if (msg.status == USRSTRUCTS.STATUS_NAT_SUCCESS)
{
client.RecordStartRequestOnNat(curCall.Cust_Tel);
// recorder = new RTPRecorderCouple(msg.port, CONNECTED_MODE.NAT);
}
else
{
// recorder = new RTPRecorderCouple(msg.port, CONNECTED_MODE.PUBLIC);
recorder = new RTPRecorderCouple(CONNECTED_MODE.PUBLIC);
}
// recorder = new RTPRecorderCouple(msg.port, connectedmode);
// client.RecordStartRequestOnNat(curCall.Cust_Tel);
IsRecording = true;
this.SetMessage(Application.Current.FindResource("ISRECORDING").ToString());
}
public void acquireCMUCAMAbstractionData(CommandMsg msg)
{
int parmslength = msg.ParamsLength;
byte[] parms = msg.CmdParams;
int i, j;
int startindex = AbstractionBytes;
for (i = 0; i < parmslength; i++)
{
RawAbstraction[startindex + i] = parms[i];
AbstractionBytes++;
}
flagAbstractionDataReady = true;
if (AbstractionBytes == ABSTRACTION_FRAME_HEIGHT * ABSTRACTION_FRAME_WIDTH * 3)
{
FrameAbstraction = new CMUCAMFrame();
FrameAbstraction.RedChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
FrameAbstraction.GreenChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
FrameAbstraction.BlueChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
for (i = 0; i < ABSTRACTION_FRAME_HEIGHT; i++)
{
FrameAbstraction.RedChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
FrameAbstraction.GreenChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
FrameAbstraction.BlueChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
for (j = 0; j < ABSTRACTION_FRAME_WIDTH; j++)
{
FrameAbstraction.RedChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3];
FrameAbstraction.GreenChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3 + 1];
FrameAbstraction.BlueChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3 + 2];
}
}
flagAbstractionReady = true;
flagAbstractionDataReady = false; // rpeventing a new chuynk request
}
}
private void Handle(CommandMsg commandMsg)
{
try
{
if (!commands.ContainsKey(commandMsg.cmd))
{
throw new UnKownCommandException();
}
var command = commands[commandMsg.cmd];
if (commandMsg.args.Length < command.Item2.ArgsNumber)
{
throw new ArgumentErrorException();
}
if (command.Item2.NeedLogin && !LoginInfo.islogin)
{
throw new NeedLoginException();
}
command.Item1.Process(commandMsg.args);
}
catch (FtpException ex)
{
Send(ex.Message);
if (transSocket != null)
{
transSocket.Close();
}
if (ex is CloseConnectException)
{
Close();
}
}
catch (Exception ex)
{
FtpServer.Logger.Error("全局异常：" + ex.Message);
Send(ResultCode.CloseConnect.ConvertString());
Close();
}
}
// sends a command message to the avatar
public void sendCommandMessage(CommandMsg cmdmsg)
{
int paramLength = cmdmsg.ParamsLength;
int rawmsgLength = paramLength + 4;
byte[] rawcmdmsg = new byte[rawmsgLength];
rawcmdmsg[0] = (byte)cmdmsg.robot;
rawcmdmsg[1] = (byte)cmdmsg.Cmd;
rawcmdmsg[2] = (byte)(paramLength & 0x0FF);
rawcmdmsg[3] = (byte)((paramLength >> 8) & 0x0FF);
int i;
for (i = 0; i < paramLength; i++)
{
rawcmdmsg[4 + i] = cmdmsg.CmdParams[i];
}
// creating the packet now
EZPacket pack = createEZPacket(rawcmdmsg, rawmsgLength);
// sending
NetDevice.pushOutboundPacket(pack);
}
public static void WriteStructVal(CommandMsg msg)
{
string userdatapath = string.Format(@"{0}\{1}", Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData), "MiniCRM");
if (!Directory.Exists(userdatapath))
{
Directory.CreateDirectory(userdatapath);
}
string logpath = string.Format(@"{0}\{1}", userdatapath, "log");
if (!Directory.Exists(logpath))
{
Directory.CreateDirectory(logpath);
}
string logfilepath = string.Format(@"{0}\{1}{2:00}{3:00}_struct.log", logpath, DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day);
StreamWriter w = File.AppendText(logfilepath);
w.WriteLine("{0} {1}", DateTime.Now.ToLongDateString(), DateTime.Now.ToLongTimeString());
w.WriteLine("cmd: {0}, status: {1}, direct: {2}, userid: {3}, from_ext: {4}, to_ext: {5}", msg.cmd, msg.status, msg.direct, msg.userid, msg.from_ext, msg.to_ext);
w.WriteLine("---------------------------------------------------");
w.Flush();
w.Close();
foreach (var logfile in System.IO.Directory.EnumerateFiles(logpath))
{
if (File.GetCreationTime(logfile) < DateTime.Now.AddMonths(-2))
{
if (File.Exists(logfile))
{
File.Delete(logfile);
}
}
}
}
private void Couplemodeclient_CallRingInEvent(object obj, CommandMsg msg)
{
if (curCall != null)
{
return;
}
curCall = new CallList()
{
Direction = 1,
Cust_Tel = msg.from_ext,
Startdate = DateTime.Now,
ext = msg.from_ext,
to_ext = msg.to_ext
};
Customer cust = pb.GetCustomerByTel(msg.from_ext);
string strmsg = string.Empty;
if (cust.Idx < 1)
{
pb.CUSTOMERSTATE = CUSTOMER_STATE.ADD;
cust.Group_Idx = 0;
cust.Cellular = msg.from_ext;
strmsg = Application.Current.FindResource("MSG_CALL_IN").ToString();
}
else
{
pb.CUSTOMERSTATE = CUSTOMER_STATE.MODIFY;
curCall.Cust_Idx = cust.Idx;
curCall.Name = cust.Name;
strmsg = string.Format(Application.Current.FindResource("MSG_CALL_IN2").ToString(), cust.Name);
}
SetMessage(strmsg);
SetNumber(msg.from_ext);
// CallLists calllists = new CallLists();
// calllists.add(curCall);
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate
{
if (startpopup)
{
if (pb == null)
{
pb = new PhoneBook();
pb.Owner = this;
}
// pb.Show();
}
SearchCondition1 con = new SearchCondition1();
con.StartDate = pb.sdate.Value;
con.EndDate = pb.edate.Value;
con.Number = string.IsNullOrEmpty(pb.txtNumber.Text.Trim()) == false ? string.Format("%{0}%", pb.txtNumber.Text.Trim()) : string.Empty;
if (pb.calls == null)
{
pb.calls = new CallLists(con);
pb.dgCallList.ItemsSource = pb.calls;
}
pb.calls.add(curCall);
if (pb.Visibility == Visibility.Collapsed || pb.Visibility == Visibility.Hidden)
{
pb.tabs.SelectedIndex = 1;
pb.dgridCustCallList.ItemsSource = pb.GetCallListByCustIdx(cust.Idx, curCall.Cust_Tel);
pb.btnCustMemo.Visibility = Visibility.Visible;
pb.FlyCustomer = cust;
pb.flyCustomer.Header = Application.Current.FindResource("PB_FLYOUT_TITLE_CUST_INFO").ToString();
pb.flyCustomer.IsOpen = true;
if (startpopup)
{
pb.Visibility = Visibility.Visible;
}
}
else
{
pb.tabs.SelectedIndex = 1;
pb.dgridCustCallList.ItemsSource = pb.GetCallListByCustIdx(cust.Idx, curCall.Cust_Tel);
pb.btnCustMemo.Visibility = Visibility.Visible;
pb.FlyCustomer = cust;
pb.flyCustomer.Header = Application.Current.FindResource("PB_FLYOUT_TITLE_CUST_INFO").ToString();
if (startpopup)
{
pb.flyCustomer.IsOpen = true;
}
}
}));
this.UIChanging(msg.status);
}
// sends a command message to the avatar
public void sendCommandMessage(CommandMsg cmdmsg)
{
int paramLength = cmdmsg.ParamsLength;
int rawmsgLength = paramLength + 4;
byte[] rawcmdmsg = new byte[rawmsgLength];
rawcmdmsg[0] = (byte)cmdmsg.robot;
rawcmdmsg[1] = (byte)cmdmsg.Cmd;
rawcmdmsg[2] = (byte)(paramLength & 0x0FF);
rawcmdmsg[3] = (byte)((paramLength >> 8) & 0x0FF);
int i;
for (i = 0; i < paramLength; i++)
rawcmdmsg[4 + i] = cmdmsg.CmdParams[i];
// creating the packet now
EZPacket pack = createEZPacket(rawcmdmsg, rawmsgLength);
// sending
NetDevice.pushOutboundPacket(pack);
}
// convert bytes to a command message structure
public static CommandMsg convertBytes2CommandMsg(byte[] rawmsg)
{
CommandMsg msg = new CommandMsg();
msg.robot = (t_Robot)rawmsg[0];
msg.Cmd = (RobotCmd)rawmsg[1];
msg.ParamsLength = (ushort)(rawmsg[2] + rawmsg[3] * 256);
int i;
msg.CmdParams = new byte[msg.ParamsLength];
for (i = 0; i < msg.ParamsLength; i++)
msg.CmdParams[i] = rawmsg[4 + i];
return msg;
}
// this method requests sensory data from the robosapien V2 avatar
public void requestSensorData()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_SendSensors;
msg.ParamsLength = 1;
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
flagSensorDataAcquired = false;
this.sendCommandMessage(msg);
}
public void acquireCMUCAMAbstractionData(CommandMsg msg)
{
int parmslength = msg.ParamsLength;
byte[] parms = msg.CmdParams;
int i, j;
int startindex = AbstractionBytes;
for (i = 0; i < parmslength; i++)
{
RawAbstraction[startindex + i] = parms[i];
AbstractionBytes++;
}
flagAbstractionDataReady = true;
if (AbstractionBytes == ABSTRACTION_FRAME_HEIGHT * ABSTRACTION_FRAME_WIDTH * 3)
{
FrameAbstraction = new CMUCAMFrame();
FrameAbstraction.RedChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
FrameAbstraction.GreenChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
FrameAbstraction.BlueChannel = new byte[ABSTRACTION_FRAME_HEIGHT][];
for (i = 0; i < ABSTRACTION_FRAME_HEIGHT; i++)
{
FrameAbstraction.RedChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
FrameAbstraction.GreenChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
FrameAbstraction.BlueChannel[i] = new byte[ABSTRACTION_FRAME_WIDTH];
for (j = 0; j < ABSTRACTION_FRAME_WIDTH; j++)
{
FrameAbstraction.RedChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3];
FrameAbstraction.GreenChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3 + 1];
FrameAbstraction.BlueChannel[i][j] = RawAbstraction[(i * ABSTRACTION_FRAME_WIDTH + j) * 3 + 2];
}
}
flagAbstractionReady = true;
flagAbstractionDataReady = false; // preventing a new chunk request
}
}
// this method requests a CMUCAM Frame
public void requestCMUCAMAbstractionData()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_SendCMUCAMAbstractionData;
msg.ParamsLength = 1;
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
flagAbstractionDataReady = false;
this.sendCommandMessage(msg);
}
// the following method commands the mobile robot to fire the sonar array
public void fireSonarArray()
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_FireSonarArray;
msg.ParamsLength = 1; // one byte - just zero
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = 0;
// raising flags
flagSonarArrayFiring = true;
flagSonarArrayFiringDone = false;
this.sendCommandMessage(msg);
}
private void Couplemodeclient_CallFobidenEvent(object obj, CommandMsg msg)
{
}
private void Couplemodeclient_CallInvitingEvent(object obj, CommandMsg msg)
{
}
// this method copies sensor data from the frame into the entity's sensor member variables
public void acquireSensorData(CommandMsg msg)
{
byte[] sensorData = msg.CmdParams;
// movingcurrent sensor readings to previous sensor readings array
// assigning sensor readings
int i;
for (i = 0; i < 8; i++)
{
PrevSonarArray[i] = SonarArray[i];
SonarArray[i] = (ushort)(sensorData[2 * i] + sensorData[2 * i + 1] * 256);
}
}
private void Couplemodeclient_CallProceedingEvent(object obj, CommandMsg msg)
{
}
// this method downloads a command to the avatar
// based on the available abilities
public void useAbility(t_CartAbility ability)
{
CommandMsg msg = new CommandMsg();
msg.robot = t_Robot.t_Station;
msg.Cmd = RobotCmd.rc_ManualCommand;
msg.ParamsLength = 1; // one byte - ability index
msg.CmdParams = new byte[msg.ParamsLength];
msg.CmdParams[0] = (byte)ability;
flagAbilityExecuting = true;
flagAbilityDone = false;
this.sendCommandMessage(msg);
}
