private void BuildServoGroups(object irServoController)
{
LogFormatted("Getting ServoGroups Object");
var servoGroupsField = IRServoControllerType.GetField("ServoGroups");
if (servoGroupsField == null)
{
LogFormatted("Failed Getting ServoGroups fieldinfo");
}
else
{
actualServoGroups = servoGroupsField.GetValue(irServoController);
LogFormatted("Success: " + (actualServoGroups != null));
}
}
internal IRAPI(Object IRServoController)
{
//store the actual object
actualServoController = IRServoController;
//these sections get and store the reflection info and actual objects where required. Later in the properties we then read the values from the actual objects
//for events we also add a handler
LogFormatted("Getting APIReady Object");
APIReadyField = IRServoControllerType.GetField("APIReady", BindingFlags.Public | BindingFlags.Static);
LogFormatted("Success: " + (APIReadyField != null).ToString());
LogFormatted("Getting ServoGroups Object");
ServoGroupsField = IRServoControllerType.GetField("ServoGroups", BindingFlags.Public | BindingFlags.Static);
actualServoGroups = ServoGroupsField.GetValue(actualServoController);
LogFormatted("Success: " + (actualServoGroups != null).ToString());
}
private void BuildServoGroups()
{
var servoGroupsField = IRServoControllerType.GetField("ServoGroups");
if (servoGroupsField == null)
{
LogFormatted("Failed Getting ServoGroups fieldinfo");
}
else if (IRminWrapper.ActualServoController == null)
{
LogFormatted("ServoController Instance not found");
}
else
{
actualServoGroups = servoGroupsField.GetValue(IRminWrapper.ActualServoController);
}
}
internal static bool InitWrapper()
{
isWrapped = false;
ActualServoController = null;
IRController = null;
LogFormatted("Attempting to Grab IR Types...");
IRServoControllerType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Command.ServoController")
{
IRServoControllerType = t;
}
});
if (IRServoControllerType == null)
{
return(false);
}
LogFormatted("IR Version:{0}", IRServoControllerType.Assembly.GetName().Version.ToString());
IRServoMechanismType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Control.IMechanism")
{
IRServoMechanismType = t;
}
});
if (IRServoMechanismType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Mechanism Type");
return(false);
}
IRServoMotorType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Control.IServoMotor")
{
IRServoMotorType = t;
}
});
if (IRServoMotorType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoMotor Type");
return(false);
}
IRServoType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Control.IServo")
{
IRServoType = t;
}
});
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Servo Type");
return(false);
}
IRServoPartType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Control.IPart")
{
IRServoPartType = t;
}
});
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoPart Type");
return(false);
}
IRControlGroupType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRoboticsMinimal.Command.ServoController+ControlGroup")
{
IRControlGroupType = t;
}
});
if (IRControlGroupType == null)
{
var irassembly = AssemblyLoader.loadedAssemblies.FirstOrDefault(a => a.assembly.FullName.Contains("InfernalRoboticsMinimal"));
if (irassembly == null)
{
LogFormatted("[IR Wrapper] cannot find IRMin.dll");
return(false);
}
foreach (Type t in irassembly.assembly.GetExportedTypes())
{
LogFormatted("[IR Wrapper] Exported type: " + t.FullName);
}
LogFormatted("[IR Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
try {
var propertyInfo = IRServoControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (propertyInfo == null)
{
LogFormatted("[IR Wrapper] Cannot find Instance Property");
}
else
{
ActualServoController = propertyInfo.GetValue(null, null);
}
} catch (Exception e) {
LogFormatted("No Instance found, " + e.Message);
}
if (ActualServoController == null)
{
LogFormatted("Failed grabbing Instance");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IRController = new InfernalRoboticsMinimalAPI();
isWrapped = true;
return(true);
}
private void DetermineReady()
{
LogFormatted("Getting APIReady Object");
apiReady = IRServoControllerType.GetProperty("APIReady", BindingFlags.Public | BindingFlags.Static);
LogFormatted("Success: " + (apiReady != null));
}
internal static bool InitWrapper()
{
// Prevent the init function from continuing to initialize if InfernalRobotics is not installed.
if (hasAssembly == null)
{
LogFormatted("Attempting to Grab IR Assembly...");
hasAssembly = AssemblyLoader.loadedAssemblies.Any(a => a.dllName.Equals("InfernalRobotics"));
if (hasAssembly.Value)
{
LogFormatted("Found IR Assembly!");
}
else
{
LogFormatted("Did not find IR Assembly.");
}
}
if (!hasAssembly.Value)
{
isWrapped = false;
return(isWrapped);
}
isWrapped = false;
ActualServoController = null;
IRController = null;
LogFormatted("Attempting to Grab IR Types...");
IRServoControllerType = GetType("InfernalRobotics.Command.ServoController");
if (IRServoControllerType == null)
{
return(false);
}
LogFormatted("IR Version:{0}", IRServoControllerType.Assembly.GetName().Version.ToString());
IRServoMechanismType = GetType("InfernalRobotics.Control.IMechanism");
if (IRServoMechanismType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Mechanism Type");
return(false);
}
IRServoMotorType = GetType("InfernalRobotics.Control.IServoMotor");
if (IRServoMotorType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoMotor Type");
return(false);
}
IRServoType = GetType("InfernalRobotics.Control.IServo");
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Servo Type");
return(false);
}
IRServoPartType = GetType("InfernalRobotics.Control.IPart");
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoPart Type");
return(false);
}
IRControlGroupType = GetType("InfernalRobotics.Command.ServoController+ControlGroup");
if (IRControlGroupType == null)
{
var irassembly = AssemblyLoader.loadedAssemblies.FirstOrDefault(a => a.assembly.FullName.Contains("InfernalRobotics"));
if (irassembly == null)
{
LogFormatted("[IR Wrapper] cannot find InvernalRobotics.dll");
return(false);
}
foreach (Type t in irassembly.assembly.GetExportedTypes())
{
LogFormatted("[IR Wrapper] Exported type: " + t.FullName);
}
LogFormatted("[IR Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
try
{
var propertyInfo = IRServoControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (propertyInfo == null)
{
LogFormatted("[IR Wrapper] Cannot find Instance Property");
}
else
{
ActualServoController = propertyInfo.GetValue(null, null);
}
}
catch (Exception e)
{
LogFormatted("No Instance found, " + e.Message);
}
if (ActualServoController == null)
{
LogFormatted("Failed grabbing Instance");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IRController = new InfernalRoboticsAPI();
isWrapped = true;
return(true);
}
