private void waitClient()
{
_server = new Server(StereoVision.PORT);
_server.waitConnection();
_connected = true;
_vrAibo.Dispose();
_frmVrAiboRemote.Dispose();
_vrAibo = new GLab.VirtualAibo.VrAibo(parcours)
{
Position = START_POS, Rotation = START_ANGLE
};
}
public override void Setup()
{
/*
* DEFAULT PARCOURS LAB TASK WITH TERRAIN
*/
parcours = new List <Parcours>
{
new ParcoursTerrain(),
new Parcours00(0, 0, 0, false),
new Parcours01(1, 0, -90, false),
new Parcours02(1, 1, 180, false),
new Parcours03(0, 1, 90, false)
};
// Creates a new Virtual Aibo
_vrAibo = new GLab.VirtualAibo.VrAibo(parcours)
{
Position = START_POS, Rotation = START_ANGLE
};
/*
* TREASURE LAB TASK
*/
//List<Parcours> stripes = new List<Parcours>
// {
// new Stripe00(),
// new Stripe01(),
// new Stripe02(),
// new Stripe03(),
// new StripeTreasure()
// };
/*
* TREASURE LAB TASK WITH TERRAIN
*/
//List<Parcours> stripes = new List<Parcours>
// {
// new ParcoursTerrain(),
// new Stripe00(false),
// new Stripe01(false),
// new Stripe02(false),
// new Stripe03(false),
// new StripeTreasure(false)
// };
// Creates a new Virtual Aibo
//_vrAibo = new GLab.VirtualAibo.VrAibo(stripes) { Position = new Vector2(0, 20) };
// Use left and right cameras, omit center camera
_vrAibo.ShowLeftCamera(true);
_vrAibo.ShowRightCamera(true);
_vrAibo.ShowCenterCamera(false);
// Create a remote control window an link to Aibo instance
_frmVrAiboRemote = new FrmVrAiboRemote(_vrAibo, _timer);
// Hook functionality to blue green and red button.
_frmVrAiboRemote.HookMeBlue += delegate { GoAibo = !GoAibo; };
_frmVrAiboRemote.HookMeGreen += ImageProcessing;
// _frmVrAiboRemote.HookMeRed += delegate { };
Logger.Instance.LogInfo("Use Aibo remote to walk around.");
Logger.Instance.LogInfo("Walk onto the red line and press the BLUE button to start line tracking.");
// Setup stereo vision facilities
_stereoVision = new GLab.StereoVision.StereoVision(
GLab.VirtualAibo.VrAibo.SurfaceWidth,
GLab.VirtualAibo.VrAibo.SurfaceHeight,
_vrAibo.Disparity * 200
);
Start();
}