public Robot(RobotPHX robotPHX, string name)
{
this.robotPHX = robotPHX;
servoMotors[(int)ServoType.FINGER] = robotPHX.QueryDeviceServoMotor(name + "_doigt/a1/servo");
servoMotors[(int)ServoType.ARM] = robotPHX.QueryDeviceServoMotor(name + "_bras/a1/servo");
servoMotors[(int)ServoType.SHOULDER] = robotPHX.QueryDeviceServoMotor(name + "_epaule/a1/servo");
Debug.Assert(servoMotors[0] != null &&
servoMotors[1] != null &&
servoMotors[2] != null);
core = robotPHX.QueryGeom("basPlatine");
Debug.Assert(core != null);
gyro = robotPHX.QueryDeviceAccelGyro("basPlatine/gyro");
Debug.Assert(gyro != null);
}
public int GetRobots()
{
Connection connection = new Connection(true);
for (int i = 0; connection.Connect("localhost", 13000 + i, true); i++)
{
Console.WriteLine("Connection etablished to Moda Server , on port : " + (13000 + i));
RobotPHX robotPHX = connection.QueryRobotPHX("/blli");
if (robotPHX != null)
{
Robot robot = new Robot(robotPHX, "p0");
mutex.WaitOne();
availableRobot.Push(robot);
listRobot.Add(robot);
mutex.ReleaseMutex();
}
else
{
Console.WriteLine("Error while retreiving robot, skipping");
}
connection = new Connection(true);
}
return(listRobot.Count);
}
protected AbstractRobot(RobotPHX robot)
{
Robot = robot;
}
protected AbstractRobot()
{
Robot = null;
}
public RobotNN(RobotPHX robot)
{
Robot = robot;
Network = NetworkFactory.CreateDefaultNetwork(new float[] {});
Genotype = new Genome(Network.Weights);
}
public RobotNN(RobotPHX robot, Genome genome)
{
Robot = robot;
Genotype = genome;
Network = NetworkFactory.CreateDefaultNetwork(Genotype.GetWeights());
}