public static RovioMcuReport Parse(RovioResponse dic)
{
RovioMcuReport report = new RovioMcuReport();
//0E0100000000000000000003CB744B
string responses = dic["responses"];
byte[] data = new byte[responses.Length / 2];
for (int i = 0; i < data.Length; i++)
{
data[i] = byte.Parse(responses.Substring(i * 2, 2), System.Globalization.NumberStyles.HexNumber);
}
int offset = 0;
//Length of the packet
int length = data[offset]; offset += 1;
//NOT IN USE
offset += 1;
//Direction of rotation of left wheel since last read (bit 2)
int leftWheelDirection = data[offset]; offset += 1;
//Number of left wheel encoder ticks since last read
int leftWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of right wheel since last read (bit 2)
int rightWheelDirection = data[offset]; offset += 1;
//Number of right wheel encoder ticks since last read
int rightWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of rear wheel since last read (bit 2)
int rearWheelDirection = data[offset]; offset += 1;
//Number of rear wheel encoder ticks since last read
int rearWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//NOT IN USE
offset += 1;
//Head position
int headPosition = data[offset]; offset += 1;
//Battery
// 0x7F: Battery Full (0x7F or higher for new battery)
// 0x??: Orange light in Rovio head. ( to be define)
// 0x6A: Very low battery (Hungry, danger, very low battery level)
// libNS need take control to go home and charging
// 0x64: Shutdown level (MCU will cut off power for protecting the battery)
int battery = data[offset]; offset += 1;
//status
//bit 0 : Light LED (head) status, 0: OFF, 1: ON
//bit 1 : IR-Radar power status. 0: OFF, 1: ON
//bit 2 : IR-Radar detector status: 0: fine, 1: barrier detected.
//bit 3-5: Charger staus
// 0x00 : nothing happen
// 0x01 : charging completed.
// 0x02 : in charging
// 0x04 : something wrong, error occur.
//bit 6,7: undefined, do not use.
byte status = data[offset]; offset += 1;
report.HeadLight = ((status & 0x01) == 0x01) ? HeadLightState.On : HeadLightState.Off;
return(report);
}
public static RovioMcuReport Parse(RovioResponse dic)
{
RovioMcuReport report = new RovioMcuReport();
//0E0100000000000000000003CB744B
string responses = dic["responses"];
byte[] data = new byte[responses.Length / 2];
for(int i=0;i<data.Length; i++)
data[i] = byte.Parse(responses.Substring(i * 2, 2), System.Globalization.NumberStyles.HexNumber);
int offset = 0;
//Length of the packet
int length = data[offset]; offset += 1;
//NOT IN USE
offset += 1;
//Direction of rotation of left wheel since last read (bit 2)
int leftWheelDirection = data[offset]; offset +=1;
//Number of left wheel encoder ticks since last read
int leftWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of right wheel since last read (bit 2)
int rightWheelDirection = data[offset]; offset +=1;
//Number of right wheel encoder ticks since last read
int rightWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of rear wheel since last read (bit 2)
int rearWheelDirection = data[offset]; offset +=1;
//Number of rear wheel encoder ticks since last read
int rearWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//NOT IN USE
offset += 1;
//Head position
int headPosition = data[offset]; offset += 1;
//Battery
// 0x7F: Battery Full (0x7F or higher for new battery)
// 0x??: Orange light in Rovio head. ( to be define)
// 0x6A: Very low battery (Hungry, danger, very low battery level)
// libNS need take control to go home and charging
// 0x64: Shutdown level (MCU will cut off power for protecting the battery)
int battery = data[offset]; offset += 1;
//status
//bit 0 : Light LED (head) status, 0: OFF, 1: ON
//bit 1 : IR-Radar power status. 0: OFF, 1: ON
//bit 2 : IR-Radar detector status: 0: fine, 1: barrier detected.
//bit 3-5: Charger staus
// 0x00 : nothing happen
// 0x01 : charging completed.
// 0x02 : in charging
// 0x04 : something wrong, error occur.
//bit 6,7: undefined, do not use.
byte status = data[offset]; offset += 1;
report.HeadLight = ((status & 0x01) == 0x01) ? HeadLightState.On : HeadLightState.Off;
return report;
}
internal override void Load(Dictionary <FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
RovioAPI api = owner.rovio.API;
this.brightness = report.brightness;
this.resolutionId = report.ResolutionId;
this.videoCompression = report.VideoCompression;
this.frameRate = report.frame_rate;
this.acFrequency = report.ACFrequency;
this.modified = false;
}
internal override void Load(Dictionary <FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
MailSettings settings = owner.rovio.API.GetMail();
this.enabled = settings.Enabled;
this.mailServer = settings.MailServer;
this.port = settings.Port;
this.sender = settings.Sender;
this.receiver = settings.Receiver;
this.subject = settings.Subject;
this.body = settings.Body;
this.userName = settings.UserName;
this.password = settings.Password;
this.authRequired = settings.AuthRequired;
this.interval = settings.Interval;
this.modified = false;
}
internal override void Load(Dictionary<FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
//此处跟Rovio Web设置保持一致，范围是1-10, 1为最慢
this.movementSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.MovementSpeed], 1, 10, 0.5);
this.turnSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.TurnSpeed], 1, 10, 0.5);
this.rotSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.RotSpeed], 1, 10, 0.8);
this.modified = false;
}
/// <summary>
/// Returns MCU report including wheel encoders and IR obstacle avoidance.
/// </summary>
/// <returns></returns>
public RovioMcuReport GetMCUReport()
{
RovioResponse dic = MovementControl(Commands.GetMCUReport);
return(RovioMcuReport.Parse(dic));
}
internal abstract void Load(Dictionary<FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport);
internal override void Load(Dictionary<FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
MailSettings settings = owner.rovio.API.GetMail();
this.enabled = settings.Enabled;
this.mailServer = settings.MailServer;
this.port = settings.Port;
this.sender = settings.Sender;
this.receiver = settings.Receiver;
this.subject = settings.Subject;
this.body = settings.Body;
this.userName = settings.UserName;
this.password = settings.Password;
this.authRequired = settings.AuthRequired;
this.interval = settings.Interval;
this.modified = false;
}
internal abstract void Load(Dictionary <FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport);
public void Load()
{
RovioAPI api = rovio.API;
MovementController movement = api.Movement;
CameraController camera = api.Camera;
RovioStatusReport report = movement.GetReport();
RovioMcuReport mcuReport = movement.GetMCUReport();
Dictionary <FlashParameters, Int32> flashParameters = movement.ReadAllParameters();
this.Name = api.GetName();
this.DateTime = api.GetTime();
this.MaintainAspectRatio = RovioAPI.GetBoolean(flashParameters[FlashParameters.MaintainAspectRatio]);
///// <summary>
///// i_LR
///// </summary>
//latency = 4,
this.PlayerType = (VideoPlayers)flashParameters[FlashParameters.video_player];
///// <summary>
///// i_UPnP upnp just enabled
///// </summary>
//upnp_just_enabled = 6,
///// <summary>
///// i_SS show status
///// </summary>
//show_online_status = 7,
///// <summary>
///// i_MIIP1 manual ip
///// </summary>
//manual_internetip = 8,
///// <summary>
///// i_MIIP2 manual ip
///// </summary>
//manual_internetip2 = 9,
///// <summary>
///// i_VIA verify internet access
///// </summary>
//net_verify_access = 10,
this.FirmwareAlert = RovioAPI.GetBoolean(
flashParameters[FlashParameters.firmware_alert]);
///// <summary>
///// i_AVF auto set video frequency
///// </summary>
//video_freq = 12,
this.IrDetectEnabled = ((report.Flags & RovioFlags.IRDetectorActivated) == RovioFlags.IRDetectorActivated);
this.HeadLight = mcuReport.HeadLight;
this.BlueLights = (BlueLightState)RovioAPI.GetByte(flashParameters[FlashParameters.BlueLights], (byte)BlueLightState.All);
this.NightMode = (NightMode)RovioAPI.GetByte(flashParameters[FlashParameters.NightMode], (byte)NightMode.Normal);
this.SpeakerVolume = report.speaker_volume;
this.MicrophoneVolume = report.mic_volume;
groupVideo.Load(flashParameters, report, mcuReport);
groupMovement.Load(flashParameters, report, mcuReport);
groupMail.Load(flashParameters, report, mcuReport);
}
internal override void Load(Dictionary<FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
RovioAPI api = owner.rovio.API;
this.brightness = report.brightness;
this.resolutionId = report.ResolutionId;
this.videoCompression = report.VideoCompression;
this.frameRate = report.frame_rate;
this.acFrequency = report.ACFrequency;
this.modified = false;
}
internal override void Load(Dictionary <FlashParameters, Int32> flashParameters, RovioStatusReport report, RovioMcuReport mcuReport)
{
//此处跟Rovio Web设置保持一致，范围是1-10, 1为最慢
this.movementSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.MovementSpeed], 1, 10, 0.5);
this.turnSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.TurnSpeed], 1, 10, 0.5);
this.rotSpeed = RovioAPI.GetDouble(
flashParameters[FlashParameters.RotSpeed], 1, 10, 0.8);
this.modified = false;
}