static void Main(string[] args)
{
int id = 1;
var connection = new ReadyConnection(id, "http://192.168.100.142:5123/");
var commHandler = new ReadyCommunication(connection);
var navHandler = new ReadyNavigation(connection);
var sysHandler = new ReadySystem(connection);
var orbit = new Orbit();
var waypoint = navHandler.getWaypoint("embaixo da mesa");
orbit.setOrbitAroundWaypoint(1.0, Orbit.Orientation.Clockwise, waypoint);
var responseTest = sysHandler.requestFocus();
while (!sysHandler.isCurrentApplication())
{
Console.WriteLine("nao sou");
}
;
Console.WriteLine("sou");
var lockAnswer = sysHandler.lockFocus();
var coordinate = orbit.getCurrentCoordinate();
navHandler.goToCoordinate(coordinate.Position, coordinate.Orientation);
while (true)
{
var distace = navHandler.getDistanceFromCoordinate(orbit.getCurrentCoordinate().Position);
if (distace <= 0.3)
{
coordinate = orbit.setCurrentCoordinate();
navHandler.goToCoordinate(coordinate.Position, coordinate.Orientation);
var speakResponse = commHandler.speak("going to the next position!");
Console.WriteLine(speakResponse);
}
Thread.Sleep(100);
}
Console.ReadKey();
}
static void Main(string[] args)
{
int id = 3;
var connection = new ReadyConnection(id, "http://192.168.100.142:5123/");
var commHandler = new ReadyCommunication(connection);
var navHandler = new ReadyNavigation(connection);
var sysHandler = new ReadySystem(connection);
var currentCoordinate = new Coordinate();
var targetCoordinate = new Coordinate();
var responseFocus = sysHandler.requestFocus();
Console.WriteLine(responseFocus);
while (!sysHandler.isCurrentApplication())
{
Console.WriteLine("Nao sou a aplicacao em Foco");
}
;
sysHandler.lockFocus();
Console.WriteLine("Sou a aplicacao em Foco");
Random rnd = new Random();
bool called = false;
bool go = false;
double distance = 0f;
float angle = 0f;
currentCoordinate = navHandler.getCurrentCoordinate();
targetCoordinate = currentCoordinate;
while (true)
{
currentCoordinate = navHandler.getCurrentCoordinate();
if (GetDistance(currentCoordinate, targetCoordinate) < 0.3f)
{
angle = rnd.Next(360);
distance = navHandler.getDistance(angle);
targetCoordinate.Position.x = Math.Cos(AngleToRadians(angle)) * (distance - distance * 0.2f) + currentCoordinate.Position.x;
targetCoordinate.Position.y = Math.Sin(AngleToRadians(angle)) * (distance - distance * 0.2f) + currentCoordinate.Position.y;
targetCoordinate.Position.z = currentCoordinate.Position.z;
targetCoordinate.Orientation = angle;
navHandler.goToCoordinate(targetCoordinate.Position, targetCoordinate.Orientation);
}
if (go == true)
{
go = false;
}
called = commHandler.wordWasSaid("waiter");
if (called == true)
{
navHandler.goToCoordinate(currentCoordinate.Position, currentCoordinate.Orientation);
DateTime time = DateTime.Now.AddSeconds(10);
while (time > DateTime.Now || go != true)
{
go = commHandler.wordWasSaid("go");
}
called = false;
}
}
}
