public bool connect(string ip, bool onlymotion = false)
{
this.IP = ip;
bool b = false;
try
{
proxyMotion = new MotionProxy(ip, Port);
if (onlymotion == false)
{
bool bc = proxyMotion.setCollisionProtectionEnabled("Arms", false);
if (!bc)
Console.WriteLine("Failed to disable collision protection");
StartMotorMonitor();
proxyBehaviorManager = new BehaviorManagerProxy(ip, Port);
// Turn off the LEDs
proxyLed = new LedsProxy(ip, Port);
List<string> ledgroups = proxyLed.listGroups();
foreach (string ledgroup in ledgroups)
{
proxyLed.off(ledgroup);
}
// Speech
proxyTTS = new TextToSpeechProxy(ip, Port);
if (ip != "127.0.0.1")
{
// Sentinel
proxySentinel = new SentinelProxy(ip, Port);
// Turning off "Motor hot!"
proxySentinel.enableHeatMonitoring(false);
}
// camera
proxyCamera = new VideoDeviceProxy(ip, Port);
// IdleMovement
InitIdleMovement();
}
b = true;
}
catch (Exception e)
{
Console.WriteLine("MotionProxy.Connect Exception: " + e);
b = false;
}
IsConnected = b;
return b;
}
public Leds(string ip, int port)
{
LedsProxy led = new LedsProxy(ip, port);
led.on("ChestLedsRed");
Thread.Sleep(2000);
led.on("ChestLedsGreen");
Thread.Sleep(2000);
led.off("ChestLeds");
}
public MainWindow(string ip,int port,int condition)
: this()
{
this.ip = ip;
this.port = port;
this.condition = condition;
this.started = false;
led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
completeCheck = new Check.Check();
}
public MainWindow(string ip,int port,int condition)
: this()
{
this.ip = ip;
this.port = port;
led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
this.condition = condition;
this.started = false;
this.interupted = false;
}
public MainWindow(string ip, int port, int condition)
{
count = 1;
this.ip = ip;
this.port = port;
this.condition = condition;
ready = true;
this.Background = new SolidColorBrush(Colors.LightGreen);
InitializeComponent();
this.tts = new TextToSpeechProxy(ip, port);
gazeControl = new GazeControl(ip, port);
this.led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
started = false;
}
public MainWindow(string ip, int port, int condition)
{
this.ip = ip;
this.port = port;
this.condition = condition;
InitializeComponent();
completeCheck = new Check.Check();
ready = true;
this.Background = new SolidColorBrush(Colors.LightGreen);
gazeControl = new GazeControl(ip, port);
kinect = new HCI.GAS.Kinect.KinectAudio("XMLs\\Thoughtfulness_Grammar.xml",ip,port);
led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
//TODO: check if auto has been depreciated.
kinect.auto = false;
end = false;
tts = new TextToSpeechProxy(ip, port);
}
public void ledOff()
{
LedsProxy led = new LedsProxy(coms.naoStatus.ip, coms.naoStatus.port);
led.off("ChestLeds");
}
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
end = true;
if (gazeControl != null)
gazeControl.end();
if (kinect != null)
kinect.EndKinect();
LedsProxy led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsRed");
kinect = null;
}
