public ArTagAligner(IRobotMessenger misty, SkillHelper skillHelper)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_skillHelper = skillHelper ?? throw new ArgumentNullException(nameof(skillHelper));
Cleanup(); // just in case things weren't cleaned up during the previous run
}
public MistyTellTime(IRobotMessenger misty1, MistySpeechApi speechApi)
{
_misty = misty1;
_speechApi = speechApi;
// Set the current time event
_checkTimeTimer = new Timer(CheckTimeCallback, null, 1000, 60000);
_misty.SkillLogger.LogVerbose($"Misty.Service : IN MistyTellTime() - TELL TIME SERVICE HAS STARTED");
}
public MapNav(IRobotMessenger misty, SkillHelper skillHelper, double headPitchOffset, double headRollOffset, double headYawOffset)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_skillHelper = skillHelper ?? throw new ArgumentNullException(nameof(skillHelper));
_headPitchOffset = headPitchOffset;
_headRollOffset = headRollOffset;
_headYawOffset = headYawOffset;
}
public FollowPath(IRobotMessenger misty, SkillHelper skillHelper)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_skillHelper = skillHelper ?? throw new ArgumentNullException(nameof(skillHelper));
_arTagAligner = new ArTagAligner(_misty, _skillHelper);
_docker = new ChargerDockSmall(_misty, _skillHelper);
}
public ChargerDockSmall(IRobotMessenger misty, SkillHelper skillHelper)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_skillHelper = skillHelper ?? throw new ArgumentNullException(nameof(skillHelper));
Cleanup(); // just in case things weren't cleaned up during the previous run
_ = LoadChargerOffsetsAsync();
}
public SkillHelper(IRobotMessenger misty)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_misty.RegisterDriveEncoderEvent(EncoderEventCallback, 100, true, null, "SkillHelperEncoderEvent", OnResponse);
_misty.RegisterIMUEvent(ImuEventCallback, 100, true, null, "SkillHelperIMUEvent", OnResponse);
_misty.RegisterTimeOfFlightEvent(TofEventCallback, 0, true, null, "SkillHelperTofEventEvent", OnResponse);
_misty.RegisterHazardNotificationEvent(HazardEventCallback, 0, true, "SkillHelperHazardEvent", OnResponse);
}
public SkillHelper(IRobotMessenger misty)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
LogMessage("SkillHelper initiating. Registering event callbacks for encoders and IMU.");
_misty.RegisterDriveEncoderEvent(EncoderEventCallback, 100, true, null, "SkillHelperEncoderEvent", OnResponse);
_misty.RegisterIMUEvent(ImuEventCallback, 100, true, null, "SkillHelperIMUEvent", OnResponse);
// THE HAZARD HANDLING CODE IS CURRENTLY DISABLED
//_misty.RegisterHazardNotificationEvent(HazardEventCallback, 0, true, "SkillHelperHazardEvent", OnResponse);
}
public MistyFoursquareApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyQuoteApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyServiceApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyMapDistanceMatrixApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public WanderDrive(IRobotMessenger robot, CurrentObstacleState wanderState, bool debugMode)
: base(robot, wanderState, debugMode)
{
}
public MistySpeechApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyWeatherApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyStockApi(IRobotMessenger misty1)
{
_misty = misty1;
}
/// <summary>
/// Initialize class variables
/// </summary>
/// <param name="misty">Pass the _misty variable used in the rest of the program</param>
/// <param name="AutoEvent">Pass in the AutoResetEvent used in the hazard events</param>
public MoveCommands(IRobotMessenger misty, AutoResetEvent AutoEvent) // TODO: ref bool _isMovingFromHazard test how refs work in c#
{
_misty = misty;
autoEvent = AutoEvent;
//isMovingFromHazard = _isMovingFromHazard;
}
public void LoadRobotConnection(IRobotMessenger robotInterface)
{
_misty = robotInterface;
_currentObstacleState = new CurrentObstacleState();
_misty.RegisterForSDKLogEvents(PrintMessage);
}
/// <summary>
/// This method is called by the wrapper to set your robot interface
/// You need to save this off in the local variable commented on above as you are going use it to call the robot
/// </summary>
/// <param name="robotInterface"></param>
public void LoadRobotConnection(IRobotMessenger robotInterface)
{
_misty = robotInterface;
_misty.SkillLogger.LogLevel = SkillLogLevel.Verbose;
}
public void LoadRobotConnection(IRobotMessenger robotInterface)
{
Skill.TimeoutInSeconds = int.MaxValue;
_misty = robotInterface;
}
public BaseDrive(IRobotMessenger robot, CurrentObstacleState currentObstacleState, bool debugMode)
{
_misty = robot;
_currentObstacleState = currentObstacleState;
_debugMode = debugMode;
}
/// <summary>
/// Redo the commands in the queue in reverse to retrace steps
/// </summary>
/// <param name="_misty">The IRobotMessenger representing the current Misty in use</param>
/// <param name="stepsToRetrace">Number of commands in the queue to retrace</param>
public void RetraceSteps(IRobotMessenger _misty, int stepsToRetrace = -1)
{
HazardSettings hazardSettings = new HazardSettings();
hazardSettings.DisableTimeOfFlights = true;
hazardSettings.DisableBumpSensors = true;
_misty.UpdateHazardSettings(hazardSettings, null);
currentTime = DateTimeOffset.Now;
retracingSteps = true;
if (stepsToRetrace >= moveQueue.Count || stepsToRetrace == -1)
{
stepsToRetrace = moveQueue.Count;
}
//int size = inputBuffer.Count;
Debug.WriteLine("size: " + size);
Debug.WriteLine("stepstoretrace: " + stepsToRetrace);
for (int i = 0; i < stepsToRetrace; i++) // TODO: maybe change the <= to <
{
IRobotCommandEvent moveCommand = Pop();
TimeSpan millisecondsToDriveFor = currentTime.Subtract(moveCommand.Created);
currentTime = moveCommand.Created;
if (moveCommand.Command == "Drive" || moveCommand.Command == "DriveAsync")
{
var linearVelocityString = moveCommand.Parameters["LinearVelocity"];
var angularVelocityString = moveCommand.Parameters["AngularVelocity"];
double linearVelocity = Convert.ToDouble(linearVelocityString);
double angularVelocity = Convert.ToDouble(angularVelocityString);
Debug.WriteLine("MoveCommand[" + i + "] Drive() Linear Velocity: " + (double)linearVelocity * -1 + ", Angular Velocity: " + (double)angularVelocity * -1 + " , ms: " + (int)millisecondsToDriveFor.TotalMilliseconds);
_misty.DriveTime(linearVelocity * -1, angularVelocity * -1, (int)millisecondsToDriveFor.TotalMilliseconds, DriveTrackResponse);
Thread.Sleep((int)millisecondsToDriveFor.TotalMilliseconds + 500);
}
else if (moveCommand.Command == "DriveTime" || moveCommand.Command == "DriveTimeAsync")
{
var linearVelocity = Convert.ToDouble(moveCommand.Parameters["LinearVelocity"]);
var angularVelocity = Convert.ToDouble(moveCommand.Parameters["AngularVelocity"]);
var timeMs = (int)Convert.ToInt64(moveCommand.Parameters["TimeMs"]);
Debug.WriteLine("MoveCommand[" + i + "] DrivTime() Linear Velocity: " + (double)linearVelocity * -1 + ", Angular Velocity: " + (double)angularVelocity * -1 + " , ms: " + (int)millisecondsToDriveFor.TotalMilliseconds);
_misty.DriveTime(linearVelocity * -1, angularVelocity * -1, (int)millisecondsToDriveFor.TotalMilliseconds, DriveTrackResponse);
Thread.Sleep((int)millisecondsToDriveFor.TotalMilliseconds + 500);
}
else if (moveCommand.Command == "Stop" || moveCommand.Command == "StopAsync")
{
Debug.WriteLine("MoveCommand[" + i + "] Stop() Linear Velocity: 0, Angular Velocity: 0 , ms: " + (int)millisecondsToDriveFor.TotalMilliseconds);
_misty.DriveTime(0, 0, (int)millisecondsToDriveFor.TotalMilliseconds, DriveTrackResponse);
Thread.Sleep((int)millisecondsToDriveFor.TotalMilliseconds + 500);
}
else if (moveCommand.Command == "DriveArc" || moveCommand.Command == "DriveArcAsync")
{
var heading = Convert.ToDouble(moveCommand.Parameters["Heading"]);
var radius = Convert.ToDouble(moveCommand.Parameters["Radius"]);
var timeMs = (int)Convert.ToInt64(moveCommand.Parameters["TimeMs"]);
var reverse = Convert.ToBoolean(moveCommand.Parameters["Reverse"]);
Debug.WriteLine("MoveCommand[" + i + "] DriveArc() Heading: " + heading + ", Radius: " + radius + ", TimeMs: " + timeMs + ", Reverse: " + reverse);
_misty.DriveArc(heading, radius, timeMs, !reverse, DriveTrackResponse);
Thread.Sleep(timeMs + 500);
}
Debug.WriteLine("int i = " + i + ", stepstoretrascce = " + stepsToRetrace);
}
hazardSettings.DisableTimeOfFlights = false;
hazardSettings.RevertToDefault = true;
_misty.UpdateHazardSettings(hazardSettings, null);
retracingSteps = false;
}
public FollowPath(IRobotMessenger misty, SkillHelper skillHelper)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_skillHelper = skillHelper ?? throw new ArgumentNullException(nameof(skillHelper));
}
/// <summary>
/// This method is called by the wrapper to set your robot interface
/// You need to save this off in the local variable commented on above as you are going use it to call the robot
/// </summary>
/// <param name="robotInterface"></param>
public void LoadRobotConnection(IRobotMessenger robotInterface)
{
_misty = robotInterface;
}
public MistyTwilioApi(IRobotMessenger misty1, string twilioAccountSid, string twilioAuthToken)
{
_misty = misty1;
TwilioClient.Init(twilioAccountSid, twilioAuthToken);
}
public AssetWrapper(IRobotMessenger robotMessenger)
{
_misty = robotMessenger;
}
public MistyJokeApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public void LoadRobotConnection(IRobotMessenger robotInterface)
{
_misty = robotInterface;
_assetHelper = new AssetHelper(_misty);
}
public AssetHelper(IRobotMessenger robotMessenger)
{
_misty = robotMessenger;
}
public MistyNewsApi(IRobotMessenger misty1)
{
_misty = misty1;
}
public MistyInfo(IRobotMessenger misty1)
{
_misty = misty1;
LoadListOfInfo();
}
