/// <summary>
/// This is another init method that is generally not called by the end-user.
/// The purpose of the comPort argument is the same as with the string version,
/// init(string baseName, string comPort).
/// </summary>
/// <param name="config"></param>
/// <param name="comPort"></param>
public static void Init(MyroConfigFiles config, string comPort)
{
bool isScribbler = config.BaseName.ToLower().Equals("scribbler");
// If this is a Scribbler, wait for it to start
if (isScribbler)
{
CurrentConfig = config;
LastStateChange = RobotStateChange.CONNECTING;
try
{
// Start DSS if not started
if (bank == null)
{
startDSS(config);
createAdapters();
}
connectWaitForScribbler(comPort);
}
catch (Exception)
{
LastStateChange = RobotStateChange.CONNECTING_FAILED;
CurrentConfig = null;
throw;
}
LastStateChange = RobotStateChange.CONNECTING_SUCCEEDED;
}
else
{
if (bank == null)
{
CurrentConfig = config;
LastStateChange = RobotStateChange.CONNECTING;
try
{
startDSS(config);
createAdapters();
}
catch (Exception)
{
LastStateChange = RobotStateChange.CONNECTING_FAILED;
CurrentConfig = null;
throw;
}
LastStateChange = RobotStateChange.CONNECTING_SUCCEEDED;
}
else
{
throw new MyroInitException("Myro is already initialized");
}
}
}
/// <summary>
/// This is an internal helper method that starts the DSS environment,
/// using the manifest file specified in the MyroConfigFiles argument.
/// </summary>
/// <param name="config"></param>
private static void startDSS(MyroConfigFiles config)
{
string manifestFile = Path.Combine(Path.Combine(Params.ConfigPath, config.BaseName + ".manifest"), config.BaseName + ".manifest.xml");
Robot.httpPort = config.MyroConfiguration.HttpPort;
Robot.dsspPort = config.MyroConfiguration.DsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
}
/// <summary>
/// This version of Init is generally not called by the end-user. It
/// uses a configuation that is already found by a MyroConfigFinder class.
/// </summary>
/// <param name="config"></param>
public static void Init(MyroConfigFiles config)
{
Init(config, null);
}
