public static void Init(string manifestFile, int httpPort, int dsspPort)
{
if (bank == null)
{
Robot.httpPort = httpPort;
Robot.dsspPort = dsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory(),
new Myro.Adapters.WebcamAdapterFactory(),
new Myro.Adapters.CamControlAdapterFactory()
});
driveAdapter = bank.GetAdapterSpec <DriveAdapter>("drive");
soundAdapter = bank.GetAdapterSpec <VectorAdapter>("tonegen");
webcamAdapter = bank.GetAdapterSpec <WebcamAdapter>("webcam");
camcontrolAdapter = bank.GetAdapterSpec <CamControlAdapter>("camcontrol");
}
else
{
throw new Exception("Myro is already initialized");
}
}
/// <summary>
/// This is an internal helper method that creates the AdapterBank, and
/// caches the pre-known adapters.
/// </summary>
private static void createAdapters()
{
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory(),
new Myro.Adapters.WebcamAdapterFactory(),
new Myro.Adapters.FlukeControlAdapterFactory()
});
driveAdapter = bank.GetAdapterSpec <DriveAdapter>("drive");
soundAdapter = bank.GetAdapterSpec <VectorAdapter>("tonegen");
webcamAdapter = bank.GetAdapterSpec <WebcamAdapter>("webcam");
controlAdapter = bank.GetAdapterSpec <FlukeControlAdapter>("flukecontrol");
}
public Robot(string manifestFile)
{
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(50000, 50001, "file://" + Path.GetFullPath(manifestFile));
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory()
});
Sensors = new MyroSensors(bank);
Movement = new MyroMovement(bank);
Sound = new MyroSound(bank);
}
public MyroSensors(AdapterBank bank)
{
this.bank = bank;
}
/// <summary>
/// This is an internal helper method that creates the AdapterBank, and
/// caches the pre-known adapters.
/// </summary>
private static void createAdapters()
{
bank = new AdapterBank(new List<IAdapterFactory>() {
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory(),
new Myro.Adapters.WebcamAdapterFactory(),
new Myro.Adapters.FlukeControlAdapterFactory()
});
driveAdapter = bank.GetAdapterSpec<DriveAdapter>("drive");
soundAdapter = bank.GetAdapterSpec<VectorAdapter>("tonegen");
webcamAdapter = bank.GetAdapterSpec<WebcamAdapter>("webcam");
controlAdapter = bank.GetAdapterSpec<FlukeControlAdapter>("flukecontrol");
}
