public Form1() { ModeCartTraining = ModeRSV2Training = false; ModeCartExecutingMetaNetwork = false; ModeCartMapping = ModeRSV2Browsing = false; ModeRsv2ExecutingMetaNetwork = false; InitializeComponent(); server = new EZRoboNetDevice(1, EZRoboNetDevice.t_Node_Station); rnd = new Random((int)DateTime.Now.Ticks); SensorDataRequested = CameraFrameRequested = false; rsv2pass = cartpass = 0; robosapien = new RobosapienV2(server, 2, rnd); cart = new LMMobileRobot(server, 3, rnd); cartTrainingFSM = new CartTrainingFSM(cart); cartMNExecutingFSM = new CartMetaNetworkFSM(cart); rsv2MNExecutingFSM = new RSV2MetanetworkFSM(robosapien); // creating mapping and browsing FSMs mappingFSM = new MappingFSM(cart, 4, MappingFSM.orSOUTH, 1, 1); rsv2BrowsingFSM = new RSV2BrowsingFSM(mappingFSM, robosapien, 0, 1, RSV2BrowsingFSM.orSOUTH); rsv2TrainingFSM = new RSV2TrainingFSM(robosapien); timer1.Start(); timer2.Start(); comboBox1.SelectedIndex = 2; comboBox2.SelectedIndex = 2; }
// constructor public RSV2BrowsingFSM(MappingFSM mapfsm, RobosapienV2 robo, int robIpos, int robJpos, int robOrient) { mappingFSM = mapfsm; Robosapien = robo; ipos = robIpos; jpos = robJpos; orientation = robOrient; LastKnownCartIpos = mappingFSM.ipos; LastKnownCartJpos = mappingFSM.jpos; // creating the task queue TaskQueue = new int[MAX_QUEUE_LENGTH]; TaskQueueLength = 0; // registering browsing FSM in mapping FSM mappingFSM.registerBrowingFSM(this); // now setting up our Last Known location inside the mappingh FSM mappingFSM.LastKnownRsv2Ipos = robIpos; mappingFSM.LastKnownRsv2Jpos = robJpos; }
// constructor public RSV2TrainingFSM(RobosapienV2 rsv2) { Robosapien = rsv2; state = stIdle; }
//constructor public RSV2MetanetworkFSM(RobosapienV2 robo) { Robosapien = robo; state = stIdle; }