public MockRobot()
{
Head = new Head(Align.Normal, 0);
LeftElbow = new Elbow(180);
RightElbow = new Elbow(180);
LeftWrist = new Wrist(0);
RightWrist = new Wrist(0);
}
public override int GetHashCode()
{
unchecked // Overflow is fine, just wrap
{
int hash = 17;
hash = hash * 23 + Shoulder.GetHashCode();
hash = hash * 23 + Elbow.GetHashCode();
hash = hash * 23 + Wrist.GetHashCode();
return(hash);
}
}
public static IObservableBodyPart CreateElbow()
{
var elbowStateMachine = CreateElbowStateList();
var elbow = new Elbow()
{
Id = GenerateGuidId()
};
elbow.SetStates(elbowStateMachine);
return(elbow);
}
public override bool Set(IModalityAccessor other)
{
var o = other as ArmModalityAccessor;
if (o == null)//|| o.Side != Side && (o.Side!= SideType.None && Side!= SideType.None))//constraint on the side
{
return(false);
}
Enabled = o.Enabled;
if (!Enabled)
{
return(true);
}
shoulder.Set(o.shoulder);
Clavicle.Set(o.Clavicle);
wrist.Set(o.wrist);
Elbow.Set(o.Elbow);
hand.Set(o.hand);
return(true);
}
public void StartArm()
{ // Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num = dynamixel.portHandler(DEVICENAME);
// Initialize PacketHandler Structs
dynamixel.packetHandler();
// Open port
if (dynamixel.openPort(port_num))
{
Console.WriteLine("Succeeded to open the port!");
}
else
{
Console.WriteLine("Failed to open the port!");
Console.WriteLine("Press any key to terminate...");
Console.ReadKey();
return;
}
// Set port baudrate
if (dynamixel.setBaudRate(port_num, BAUDRATE))
{
Console.WriteLine("Succeeded to change the baudrate!");
}
else
{
Console.WriteLine("Failed to change the baudrate!");
Console.WriteLine("Press any key to terminate...");
Console.ReadKey();
return;
}
// enable the turret, shoulder, elbow and base
Base.StartServo(port_num);
Shoulder.StartServo(port_num);
Elbow.StartServo(port_num);
Gripper.StartServo(port_num);
}
public Arm()
{
Elbow = new Elbow(this);
Wrist = new Wrist(this);
}
//Maybe more complex than necessary...
public void SetTurnSpriteRotation(Elbow elbow)
{
turnSprite.gameObject.transform.rotation = Quaternion.Euler(0f, 0f, 0f);
switch (elbow)
{
//Default is Up Right
case Elbow.UpLeft:
turnSprite.flipX = true;
turnSprite.flipY = false;
break;
case Elbow.UpRight:
turnSprite.flipX = false;
turnSprite.flipY = false;
break;
case Elbow.DownRight:
turnSprite.flipX = false;
turnSprite.flipY = true;
break;
case Elbow.DownLeft:
turnSprite.flipX = true;
turnSprite.flipY = true;
break;
}
}
public MockRobot WithRightElbowCollapsed()
{
RightElbow = new Elbow(45);
return(this);
}
public MockRobot WithLeftElbowCollapsed()
{
LeftElbow = new Elbow(45);
return(this);
}
/// <summary>
/// The values to write to each servo to move the arm of the UGV to a postion that allows for optimal view of the main payload
/// </summary>
public void ArmSearchPosition()
{
Base.Move_To(Base_Search_Position);
Shoulder.Move_To(Shoulder_Search_Position);
Elbow.Move_To(Elbow_Search_Position);
}
public LcarsMessageBox(object prompt, string title, MessageBoxButtons buttons, MessageBoxIcon icon)
{
buttonStyle = buttons;
bool cancelVisible = false;
bool abortVisible = false;
bool retryVisible = false;
bool ignoreVisible = false;
bool yesVisible = false;
bool noVisible = false;
int okx = 183;
int cx = 50;
switch (buttons)
{
case MessageBoxButtons.OKCancel:
cancelVisible = true;
break;
case MessageBoxButtons.AbortRetryIgnore:
abortVisible = true;
retryVisible = true;
ignoreVisible = true;
// cancelEnabled = true;
cx = 210;
okx = 115;
break;
case MessageBoxButtons.RetryCancel:
retryVisible = true;
cancelVisible = true;
break;
case MessageBoxButtons.YesNo:
yesVisible = true;
noVisible = true;
okx = 210;
cx = 115;
break;
case MessageBoxButtons.YesNoCancel:
cancelVisible = true;
yesVisible = true;
noVisible = true;
okx = 210;
cx = 115;
break;
}
LcarsColorFunction colorFunction;
switch (icon)
{
case MessageBoxIcon.Error:
//vbCritical
colorFunction = LcarsColorFunction.FunctionOffline;
// pass redAlert() to LCARSmain if exists.
break;
case MessageBoxIcon.Question:
//vbQuestion
colorFunction = LcarsColorFunction.StaticBlue;
break;
case MessageBoxIcon.Exclamation:
//vbExclamation
colorFunction = LcarsColorFunction.StaticTan;
break;
case MessageBoxIcon.Information:
//vbInformation
colorFunction = LcarsColorFunction.LCARSDisplayOnly;
break;
default:
colorFunction = LcarsColorFunction.StaticTan;
break;
}
FormBorderStyle = FormBorderStyle.None;
Size = new Size(305, 200);
BackColor = Color.Black;
StartPosition = FormStartPosition.CenterScreen;
TopMost = true;
Elbow elbow1 = new Elbow();
Controls.Add(elbow1);
elbow1.Location = new Point(0, 0);
elbow1.Size = new Size(80, 60);
elbow1.HorizantalBarHeight = 30;
elbow1.VerticalBarWidth = 10;
elbow1.ElbowStyle = LcarsElbowStyle.UpperLeft;
elbow1.ColorFunction = colorFunction;
elbow1.Text = "";
Elbow elbow2 = new Elbow();
Controls.Add(elbow2);
elbow2.Location = new Point(0, 140);
elbow2.Size = new Size(80, 60);
elbow2.HorizantalBarHeight = 15;
elbow2.VerticalBarWidth = 10;
elbow2.Clickable = false;
elbow2.ElbowStyle = LcarsElbowStyle.LowerLeft;
elbow2.ColorFunction = colorFunction;
elbow2.Text = "";
TextButton titleBar = new TextButton();
Controls.Add(titleBar);
titleBar.Location = new Point(50, 0);
titleBar.Size = new Size(255, 30);
titleBar.TextHeight = 31;
titleBar.ColorFunction = colorFunction;
titleBar.Text = title;
FlatButton vertBar = new FlatButton();
Controls.Add(vertBar);
vertBar.Location = new Point(0, 66);
vertBar.Size = new Size(10, 68);
vertBar.Clickable = false;
vertBar.ColorFunction = colorFunction;
vertBar.Text = "";
HalfPillButton bottomBar = new HalfPillButton();
Controls.Add(bottomBar);
bottomBar.Location = new Point(85, 185);
bottomBar.Size = new Size(217, 15);
bottomBar.Clickable = false;
bottomBar.ColorFunction = colorFunction;
bottomBar.Text = "";
//draw text
RichTextBox errorTextBox = new RichTextBox();
Controls.Add(errorTextBox);
errorTextBox.Location = new Point(30, 36);
errorTextBox.Size = new Size(243, 107);
errorTextBox.BackColor = Color.Black;
errorTextBox.BorderStyle = BorderStyle.None;
errorTextBox.WordWrap = true;
errorTextBox.Font = FontProvider.Lcars(14);
errorTextBox.ForeColor = Color.Orange;
errorTextBox.BringToFront();
errorTextBox.Text = prompt.ToString();
errorTextBox.ReadOnly = true;
// BUTTONS
//draw OK/Yes/retry button
StandardButton yesOkRetryButton = new StandardButton();
Controls.Add(yesOkRetryButton);
yesOkRetryButton.Location = new Point(okx, 149);
yesOkRetryButton.Size = new Size(90, 30);
yesOkRetryButton.ColorFunction = LcarsColorFunction.PrimaryFunction;
yesOkRetryButton.Name = "yesOkRetryButton";
if (yesVisible)
{
yesOkRetryButton.Text = "YES";
yesOkRetryButton.Click += OnYesClick;
}
else if (retryVisible)
{
yesOkRetryButton.Text = "RETRY";
yesOkRetryButton.Click += OnRetryClick;
}
else
{
yesOkRetryButton.Text = "OK";
yesOkRetryButton.Click += OnOkClick;
}
yesOkRetryButton.ButtonTextAlign = ContentAlignment.MiddleCenter;
yesOkRetryButton.BringToFront();
if (cancelVisible || ignoreVisible)
{
StandardButton cancelIgnoreButton = new StandardButton();
Controls.Add(cancelIgnoreButton);
cancelIgnoreButton.Location = new Point(cx, 149);
cancelIgnoreButton.Size = new Size(90, 30);
cancelIgnoreButton.Name = "cancelIgnoreButton";
cancelIgnoreButton.ColorFunction = LcarsColorFunction.CriticalFunction;
if (ignoreVisible)
{
cancelIgnoreButton.Text = "IGNORE";
cancelIgnoreButton.Click += OnIgnoreClick;
}
else if (cancelVisible)
{
cancelIgnoreButton.Text = "CANCEL";
cancelIgnoreButton.Click += OnCancelClick;
}
cancelIgnoreButton.ButtonTextAlign = ContentAlignment.MiddleCenter;
cancelIgnoreButton.BringToFront();
}
if (abortVisible || noVisible)
{
//draw abort/no button
StandardButton noAbortButton = new StandardButton();
Controls.Add(noAbortButton);
noAbortButton.Location = new Point(20, 149);
noAbortButton.Size = new Size(90, 30);
noAbortButton.ColorFunction = LcarsColorFunction.CriticalFunction;
if (abortVisible)
{
noAbortButton.Text = "ABORT";
noAbortButton.Click += OnAbortClick;
}
else if (noVisible)
{
noAbortButton.Text = "NO";
noAbortButton.Click += OnNoClick;
}
noAbortButton.ButtonTextAlign = ContentAlignment.MiddleCenter;
noAbortButton.BringToFront();
}
KeyPreview = true;
KeyDown += Me_KeyDown;
elbow1.MouseDown += Title_MouseDown;
elbow1.MouseMove += Title_MouseMove;
titleBar.MouseDown += Title_MouseDown;
titleBar.MouseMove += Title_MouseMove;
}
