static void Main(string[] args)
{
EZRoboNetDevice netdev = new EZRoboNetDevice(1, (byte)t_Robot.t_Station); // creating a network device as a station
rnd = new Random((int)DateTime.Now.Ticks);
MyRobot myrobot = new MyRobot(netdev,
2, // this is the ID of the robot which MyRobot controls (in this case it is the arduino, and its assigned id is 2)
rnd // this is an unused/useless parameter for now...
);
// send something out
// sending a sample answer
CommandMsg outmsg = new CommandMsg();
outmsg.robot = t_Robot.t_Station;
outmsg.Cmd = RobotCmd.rc_ManualCommand;
outmsg.CmdParams = new byte[] { (byte)'H', (byte)'E', (byte)'L', (byte)'L', (byte)'O' };
outmsg.ParamsLength = (byte)outmsg.CmdParams.Length; // 5 bytes
// send it
myrobot.sendCommandMessage(outmsg);
while (true)
{
Application.DoEvents();
}
}
public MyRobot(EZRoboNetDevice netdevice, // the robonet device
byte avatarnodeid, // an id for the robot
Random randgen // and a random number generator (not necessary. residual parameter from early implementations)
)
: base(netdevice, avatarnodeid, randgen)
{
// initialize your robot here
}
public EZStationPacketFSM(EZRoboNetDevice device, EZFrame frame)
{
// registering the Net Device
NetDevice = device;
// capturing time of first reception
ReceptionStartTime = DateTime.Now;
// acknowledging
NetDevice.sendAcknowledge(PacketSenderID);
// retrieving sender id
PacketSenderID = frame.SenderID;
// calculating total packet length
ushort packetlength = (ushort)(frame.Payload[3] + 256 * frame.Payload[4] + 5);
CurrentPacketLength = packetlength;
// calculating total number of frames required for full packet transmission
TotalFrames = packetlength / EZRoboNetDevice.MAX_FRAME_PAYLOAD_LENGTH + 1;
// allocating memory space for the packet being received
CurrentPacket = new byte[packetlength];
// now filling initial space in CurrentPacket
int i;
for (i = 0; i < frame.PayloadLength; i++)
{
CurrentPacket[i] = frame.Payload[i];
}
// done copying
// setting number of frames received to 1
FramesReceived = 1;
// sending an acknowledgement frame
NetDevice.sendAcknowledge(frame.SenderID);
if (FramesReceived < TotalFrames)
{ // need to receive more
state = EZRoboNetDevice.stReceiving;
// marrking time of acknowledgement
FrameReceptionStartTime = DateTime.Now;
}
else
{
state = EZRoboNetDevice.stPacketReady;
FramesReceived = 0;
TotalFrames = 0;
}
}
public RoboEntity(EZRoboNetDevice netdevice, byte avatarnodeid, Random randgen)
{
NetDevice = netdevice;
AvatarNodeID = avatarnodeid;
// assigning random generator
RandGen = randgen;
// initializing the timer
SyncTimer = new Timer();
SyncTimer.Interval = 500; // 0.5 s interval
SyncTimer.Elapsed += handleMessages;
// initializing the incoming packet queue
ReceivedPackets = new EZPacket[MAX_RECEIVED_PACKETS_NUM];
ReceivedPacketsNum = 0;
// registering the entity to the NetDevice server
EntityID = NetDevice.registerEntity(this);
// starting the Timer
SyncTimer.Start();
}
