private void Form1_Load(object sender, EventArgs e)
{
commProtocol = new CommProtocol(UGVStationNodeID);
commProtocol.initializeConnection(commPort, 57600);
// Add UGV destination node and MAC address
commProtocol.addAddress(7, "0013A20040A54318");
//link call backs
commProtocol.LinkCallback(new NGCP.VehicleWaypointCommand(), new Comnet.CallBack(VehicleWaypointCommandCallback));
commProtocol.LinkCallback(new NGCP.VehicleModeCommand(), new Comnet.CallBack(VehicleModeCommandCallback));
commProtocol.LinkCallback(new NGCP.ArmCommand(), new Comnet.CallBack(ArmCommandCallback));
commProtocol.LinkCallback(new NGCP.VehicleSystemStatus(), new Comnet.CallBack(VehicleSystemStatusCallback));
commProtocol.LinkCallback(new NGCP.VehicleGlobalPosition(), new Comnet.CallBack(VehicleGlobalPositionCallback));
commProtocol.LinkCallback(new NGCP.SpeedSteeringCommand(), new Comnet.CallBack(SpeedSteeringCommandCallback));
commProtocol.start();
}
static void Main(string[] args)
{
if (Settings.UseCommProtocol)
{
commProtocol = new CommProtocol(Settings.CommNode);
commProtocol.initializeConnection(Settings.CommPort, Settings.CommBaud);
//parse address to add
//this is a bad way to do this should be changed michael wallace 5/12/2017
string[] words = Settings.CommAddresses.Split(null);
int[] destNode = Array.ConvertAll(words.Where((str, ix) => ix % 2 == 0).ToArray(), int.Parse); //even
string[] destAddress = words.Where((str, ix) => ix % 2 == 1).ToArray(); //odd
if (destNode.Length == destAddress.Length)
{
for (int x = 0; x < destNode.Length; x++)
{
commProtocol.addAddress(destNode[x], destAddress[x]);
}
}
//link call backs
commProtocol.LinkCallback(new NGCP.VehicleWaypointCommand(), new Comnet.CallBack(VehicleWaypointCommandCallback));
commProtocol.LinkCallback(new NGCP.VehicleModeCommand(), new Comnet.CallBack(VehicleModeCommandCallback));
commProtocol.LinkCallback(new NGCP.ArmCommand(), new Comnet.CallBack(ArmCommandCallback));
commProtocol.LinkCallback(new NGCP.VehicleSystemStatus(), new Comnet.CallBack(VehicleSystemStatusCallback));
commProtocol.start();
}
State = NGCP.UGV.UGV.DriveState.DriveAwayFromTarget;
while (true)
{
Console.ReadLine();
Console.WriteLine("test package sent\n");
commProtocol.SendState(new UGVState(), 100);
}
}