private void BuildServoGroups()
{
var servoGroupsField = IR3ServoControllerType.GetField("ServoGroups");
if (servoGroupsField == null)
{
LogFormatted("Failed Getting ServoGroups fieldinfo");
}
else if (IR3Wrapper.ActualServoController == null)
{
LogFormatted("ServoController Instance not found");
}
else
{
actualServoGroups = servoGroupsField.GetValue(IR3Wrapper.ActualServoController);
}
}
internal static bool InitWrapper()
{
// Prevent the init function from continuing to initialize if InfernalRobotics is not installed.
if (hasAssembly == null)
{
LogFormatted("Attempting to Grab IR3 Assembly...");
hasAssembly = AssemblyLoader.loadedAssemblies.Any(a => a.dllName.Equals("InfernalRobotics_v3"));
if (hasAssembly.Value)
{
LogFormatted("Found IR3 Assembly!");
}
else
{
LogFormatted("Did not find IR3 Assembly.");
}
}
if (!hasAssembly.Value)
{
isWrapped = false;
return(isWrapped);
}
isWrapped = false;
ActualServoController = null;
IR3Controller = null;
LogFormatted("Attempting to Grab IR3 Types...");
IR3ServoControllerType = GetType("InfernalRobotics_v3.Command.Controller");
if (IR3ServoControllerType == null)
{
return(false);
}
LogFormatted("IR3 Version:{0}", IR3ServoControllerType.Assembly.GetName().Version.ToString());
IR3ServoMechanismType = GetType("InfernalRobotics_v3.Control.IServo");
if (IR3ServoMechanismType == null)
{
LogFormatted("[IR3 Wrapper] Failed to grab Mechanism Type");
return(false);
}
IR3ServoMotorType = GetType("InfernalRobotics_v3.Control.IMotor");
if (IR3ServoMotorType == null)
{
LogFormatted("[IR3 Wrapper] Failed to grab ServoMotor Type");
return(false);
}
IR3ServoType = GetType("InfernalRobotics_v3.Control.IServo");
if (IR3ServoType == null)
{
LogFormatted("[IR3 Wrapper] Failed to grab Servo Type");
return(false);
}
IR3ServoPartType = GetType("InfernalRobotics_v3.Control.IServo");
if (IR3ServoType == null)
{
LogFormatted("[IR3 Wrapper] Failed to grab ServoPart Type");
return(false);
}
IR3ControlGroupType = GetType("InfernalRobotics_v3.Command.ControlGroup");
if (IR3ControlGroupType == null)
{
var IR3assembly = AssemblyLoader.loadedAssemblies.FirstOrDefault(a => a.assembly.FullName.Contains("InfernalRobotics_v3"));
if (IR3assembly == null)
{
LogFormatted("[IR3 Wrapper] cannot find InfernalRobotics_v3.dll");
return(false);
}
foreach (Type t in IR3assembly.assembly.GetExportedTypes())
{
LogFormatted("[IR3 Wrapper] Exported type: " + t.FullName);
}
LogFormatted("[IR3 Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
try
{
var propertyInfo = IR3ServoControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (propertyInfo == null)
{
LogFormatted("[IR3 Wrapper] Cannot find Instance Property");
}
else
{
ActualServoController = propertyInfo.GetValue(null, null);
}
}
catch (Exception e)
{
LogFormatted("No Instance found, " + e.Message);
}
if (ActualServoController == null)
{
LogFormatted("Failed grabbing Instance");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IR3Controller = new InfernalRoboticsAPI();
isWrapped = true;
return(true);
}
private void DetermineReady()
{
LogFormatted("Getting APIReady Object");
apiReady = IR3ServoControllerType.GetProperty("APIReady", BindingFlags.Public | BindingFlags.Static);
LogFormatted("Success: " + (apiReady != null));
}
