private static void CreateNewConfig(string path)
{
Controller.Rover rover = new Controller.Rover();
string json = rover.ToJson();
File.WriteAllText(path, json);
}
public NewRoverConnector(SerialPortAddress address, string json)
{
_rover = Controller.Rover.FromJson(json);
_rover.NewMessage += _rover_NewMessage;
_port = new SerialPort(address.Name);
_port.Encoding = Encoding.ASCII;
_port.Open();
readerThread = new Thread(() =>
{
while (_keepreading)
{
try
{
System.Diagnostics.Debug.WriteLine(_port.ReadLine());
}
catch
{
}
}
});
readerThread.Start();
}
static void Main(string[] args)
{
System.Console.WriteLine("Starting");
string json = File.ReadAllText("config.json");
Controller.Rover rover = Controller.Rover.FromJson(json);
rover.NewMessage += (sender, text) =>
{
System.Console.WriteLine(text);
};
while (true)
{
System.Console.WriteLine("Enter angle");
int angle = int.Parse(System.Console.ReadLine() ?? "");
rover.SetLegs(angle);
}
SerialPort port = new SerialPort("COM9");
port.Encoding = Encoding.ASCII;
port.Open();
port.WriteLine($"{{0 {0} {400}}}");
port.WriteLine($"{{0 {1} {400}}}");
port.WriteLine($"{{0 {2} {400}}}");
port.WriteLine($"{{0 {3} {400}}}");
while (true)
{
System.Console.WriteLine("0. Exit");
System.Console.WriteLine("1. Set single servo");
System.Console.WriteLine("2. Set Angle");
int command = int.Parse(System.Console.ReadLine() ?? "");
if (command == 0)
{
break;
}
else if (command == 1)
{
System.Console.WriteLine("Enter index: ");
int index = int.Parse(System.Console.ReadLine() ?? "");
while (true)
{
System.Console.WriteLine("Enter pulse: ");
string input = System.Console.ReadLine() ?? "";
if (string.IsNullOrWhiteSpace(input))
{
break;
}
int pulse = int.Parse(input);
System.Console.WriteLine($"Servo: {index} set to {pulse}");
port.WriteLine($"{{0 {index} {pulse}}}");
}
}
else if (command == 2)
{
while (true)
{
}
}
else if (command == 3)
{
//System.Console.WriteLine("Enter index: ");
//int index = int.Parse(System.Console.ReadLine() ?? "");
//System.Console.WriteLine("Enter pulse: ");
//int pulse = int.Parse(System.Console.ReadLine() ?? "");
//System.Console.WriteLine($"Servo: {index} set to {pulse}");
//port.WriteLine($"{{0 {index} {pulse}}}");
}
else
{
System.Console.WriteLine("Command unknown");
}
}
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
}
