public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field)
{
this.lcm = lcm;
this.field = field;
this.lcm.Subscribe("MaestroDriver/Flags", this);
this.Running = false;
}
public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field)
{
this.lcm = lcm;
this.field = field;
this.lcm.Subscribe("MaestroDriver/Flags", this);
this.Running = false;
}
public static void Main(string[] args)
{
LCM.LCM.LCM myLCM = null;
try
{
Console.WriteLine("Starting Maestro driver...");
myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1");
Console.WriteLine("LCM Connected!");
}
catch (Exception ex)
{
Console.Error.WriteLine("Ex: " + ex);
Environment.Exit(1);
}
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
Console.WriteLine("Number of MicroMaestros detected=" + connectedDevices.Count);
GoalFlags[] goals = new GoalFlags[4];
Dictionary <string, int> goalIDs = new Dictionary <string, int>();
goalIDs.Add("00032615", 3); //D
goalIDs.Add("00031531", 2); //C
goalIDs.Add("00032614", 1); //B
goalIDs.Add("00032598", 0); //A
foreach (DeviceListItem dli in connectedDevices)
{
Console.WriteLine(
"Detected Maestro: {serialNumber=" + dli.serialNumber +
", text=" + dli.text + "}");
goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli));
}
CubeRouteField field = new CubeRouteField(goals);
foreach (GoalFlags flags in goals)
{
for (int i = 0; i < 5; i++)
{
flags.setFlagPosition(i, 0);
}
}
// GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000);
GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field);
Console.WriteLine("Running...");
conn.Run();
}
public static void Main(string[] args)
{
LCM.LCM.LCM myLCM = null;
try
{
Console.WriteLine ("Starting Maestro driver...");
myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1");
Console.WriteLine ("LCM Connected!");
}
catch (Exception ex)
{
Console.Error.WriteLine("Ex: " + ex);
Environment.Exit(1);
}
List<DeviceListItem> connectedDevices = Usc.getConnectedDevices();
Console.WriteLine ("Number of MicroMaestros detected=" + connectedDevices.Count);
GoalFlags[] goals = new GoalFlags[4];
Dictionary<string, int> goalIDs = new Dictionary<string, int>();
goalIDs.Add("00032615", 3);//D
goalIDs.Add("00031531", 2);//C
goalIDs.Add("00032614", 1);//B
goalIDs.Add("00032598", 0);//A
foreach (DeviceListItem dli in connectedDevices)
{
Console.WriteLine (
"Detected Maestro: {serialNumber=" + dli.serialNumber +
", text=" + dli.text + "}");
goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli));
}
CubeRouteField field = new CubeRouteField(goals);
foreach (GoalFlags flags in goals)
{
for(int i = 0; i< 5; i++)
{
flags.setFlagPosition(i, 0);
}
}
// GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000);
GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field);
Console.WriteLine ("Running...");
conn.Run ();
}