public override int GetHashCode()
{
int hash = 1;
if (CoreVersion.Length != 0)
{
hash ^= CoreVersion.GetHashCode();
}
if (RobotVersion.Length != 0)
{
hash ^= RobotVersion.GetHashCode();
}
if (ClientVersion.Length != 0)
{
hash ^= ClientVersion.GetHashCode();
}
if (ClientLanguage.Length != 0)
{
hash ^= ClientLanguage.GetHashCode();
}
if (DriverVersion.Length != 0)
{
hash ^= DriverVersion.GetHashCode();
}
if (DriverLanguage.Length != 0)
{
hash ^= DriverLanguage.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
static void Main(string[] args)
{
ILog logger = LogManager.GetLogger(typeof(Program));
XmlConfigurator.Configure();
#region Objects Creation
#region RobotVersions
RobotVersion robotVersion35 = new RobotVersion();
robotVersion35.Name = "35";
RobotVersion robotVersion45 = new RobotVersion();
robotVersion45.Name = "45";
#endregion
#region Robots
Robot robot1 = new Robot();
robot1.Enabled = true;
robot1.IP = "10.0.0.1";
robot1.Name = "robot1";
robot1.Port = 9559;
robot1.RobotVersion = robotVersion35;
Robot robot2 = new Robot();
robot2.Enabled = true;
robot2.IP = "10.0.0.2";
robot2.Name = "robot2";
robot2.Port = 9559;
robot2.RobotVersion = robotVersion35;
Robot robot3 = new Robot();
robot3.Enabled = true;
robot3.IP = "10.0.0.3";
robot3.Name = "robot3";
robot3.Port = 9559;
robot3.RobotVersion = robotVersion45;
#endregion
#region Tasks
Task taskWalkToNaoMark = new Task()
{
Name = "WalkToCheckpoint"
};
taskWalkToNaoMark.Settings.Add(new Setting()
{
Name = "MarkID", Value = "64"
});
taskWalkToNaoMark.Settings.Add(new Setting()
{
Name = "MarkSize", Value = "0.095"
});
taskWalkToNaoMark.Settings.Add(new Setting()
{
Name = "AdvanceDistance", Value = "0.20"
});
taskWalkToNaoMark.Settings.Add(new Setting()
{
Name = "StopDistance", Value = "0.20"
});
Task taskGoToGrabLocation = new Task()
{
Name = "GoToGrabLocation"
};
taskGoToGrabLocation.Settings.Add(new Setting()
{
Name = "GrabLocation", Value = "A"
});
Task taskGoToLiftPosition = new Task()
{
Name = "GoToLiftPosition"
};
Task taskSynchRobot = new Task()
{
Name = "SynchRobot"
};
Task taskLiftObject = new Task()
{
Name = "LiftObject"
};
Task taskWalkWithObject = new Task()
{
Name = "WalkWithObject"
};
#endregion
#region States
State stateInitialized = new State()
{
Name = "Initialized"
};
State stateAtCheckpoint = new State()
{
Name = "AtCheckpoint"
};
State stateAtGrabLocation = new State()
{
Name = "AtGrabLocation"
};
State stateInLiftPosition = new State()
{
Name = "InLiftPosition"
};
State stateInWalkPosition = new State()
{
Name = "InWalkPosition"
};
State stateTerminated = new State()
{
Name = "Terminated"
};
#endregion
#region StateTasks
stateInitialized.StateTasks.Add(new StateTask()
{
Task = taskWalkToNaoMark, Order = 0
});
stateAtCheckpoint.StateTasks.Add(new StateTask()
{
Task = taskGoToGrabLocation, Order = 0
});
stateAtGrabLocation.StateTasks.Add(new StateTask()
{
Task = taskGoToLiftPosition, Order = 0
});
stateInLiftPosition.StateTasks.Add(new StateTask()
{
Task = taskSynchRobot, Order = 0
});
stateInLiftPosition.StateTasks.Add(new StateTask()
{
Task = taskLiftObject, Order = 1
});
stateInWalkPosition.StateTasks.Add(new StateTask()
{
Task = taskWalkWithObject, Order = 0
});
#endregion
#region OperationRobots
OperationRobot singleRobot1 = new OperationRobot()
{
Name = "singleRobot1", RobotVersion = robotVersion45
};
OperationRobot synchRobot1 = new OperationRobot()
{
Name = "synchRobot1", RobotVersion = robotVersion35
};
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateInitialized, Order = 0
});
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateAtCheckpoint, Order = 1
});
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateAtGrabLocation, Order = 2
});
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateInLiftPosition, Order = 3
});
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateInWalkPosition, Order = 4
});
synchRobot1.OperationRobotStates.Add(new OperationRobotState()
{
State = stateTerminated, Order = 5
});
#endregion
#region Operations
Operation operation1 = new Operation()
{
Name = "SingleCarry"
};
operation1.OperationRobots.Add(new OperationRobot()
{
Name = "robot1", RobotVersion = robotVersion45
});
Operation operation2 = new Operation()
{
Name = "SynchronizedCarry"
};
operation2.OperationRobots.Add(synchRobot1);
//operation2.OperationRobots.Add(synchRobot1);
#endregion
#region Executions
Execution execution1 = new Execution()
{
DateCreated = DateTime.Now, Operation = operation2, Status = ExecutionStatus.Pending
};
execution1.ExecutionRobots.Add(new ExecutionRobot()
{
Robot = robot1
});
//execution1.ExecutionRobots.Add(new ExecutionRobot() { Robot = robot2 });
#endregion
#endregion
NaoCoopRobotExecutionEngine executionEngine = new NaoCoopRobotExecutionEngine(logger);
executionEngine.Start(execution1);
Console.ReadLine();
}
