public bool Connect(int port, string IP, short ID, string Logfile)
{
mLogFileName = Logfile;
mID = ID;
mIP = IP;
mPort = port;
#region logger
try
{
if (mLogger == null)
{
// instantiate the logger
mLogger = Logger.Logger.Instance;
// instantiate the log observer that will write to disk
mFileLogger = new FileLogger(this.mLogFileName);
mFileLogger.Init();
// Add mFileLogger to the Logger.
mLogger.RegisterObserver(mFileLogger);
mLogger.AddLogMessage("******* NEW RUN OF THE AGENT! *******");
}
}
catch (Exception)
{
Clean();
return(false);
}
#endregion logger
#region Communication
try
{
IPAddress ipAddress = IPAddress.Parse(mIP);
mComm.Init(mID, ipAddress, mPort);
mComm.SendMessage(Command.Login, mID.ToString());
mComm.Listen();
}
catch (Exception ex)
{
mLogger.AddLogMessage("Communication Init: " + ex.Message);
if (mLogger != null)
{
mFileLogger.Terminate();
}
return(false);
}
#endregion Communication
// connection established successfully
AHStateManager(GameState.Idle);
return(true);
}
public override void MotionGuidance()
{
while (internalState == ModuleState.Active)
{
communicator.SendMessage(Command.Message, DoubleToString(commandsQueue.GetNext(QueueType.Velocity)));
Thread.Sleep(Ts);
}
}