public override void Start()
{
if (currentID != -1)
{
return;
}
var response = connection.execute(command).Trim();
try
{
currentID = int.Parse(response);
}
catch (FormatException)
{
currentID = -1;
}
}
public override void Start()
{
if (active)
{
return;
}
active = true;
WalkControl.x_speed += this.deltaSpeed;
WalkControl.stepAngle += this.deltaAngle;
WalkControl.frequency += this.deltaFrequency;
connection.execute("motion.setWalkArmsEnabled(True, True)");
var command = String.Format("motion.setWalkTargetVelocity({0}, 0, {1}, {2})", toString(WalkControl.x_speed), toString(WalkControl.stepAngle), toString(WalkControl.frequency));
connection.execute(command);
}
protected void say(string msg)
{
if (msg.Contains("\""))
{
throw new ArgumentException("The message must not contain quotes!");
}
commandConnection.execute(String.Format("tts.post.say(\"{0}\")", msg));
}
protected void OnConnectionToggleToggled(object sender, EventArgs e)
{
bool active = connectionToggle.Active;
if (active)
{
commandConnection = new PythonConnection(ipEntry.Text, userNameEntry.Text, passwordEntry.Text);
// Open a separate data connection:
// Has to be done before sending prep_code.py as it defines necessary variables for prep_code.py
videoChannel = new InputChannel(commandConnection, ipEntry.Text, 4711);
using (var sr = new System.IO.StreamReader("prep_code.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
{
commandConnection.execute(line);
}
}
}
else
{
controlToggle.Active = false;
cameraToggle.Active = false;
commandConnection.execute("close()");
commandConnection.Dispose();
videoChannel.Dispose();
commandConnection = null;
videoChannel = null;
}
stiffnessToggle.Sensitive = active;
cameraToggle.Sensitive = active;
ttsButton.Sensitive = active;
ipEntry.Sensitive = !active;
userNameEntry.Sensitive = !active;
passwordEntry.Sensitive = !active;
}