static void Main(string[] args) { int id = 1; var connection = new ReadyConnection(id, "http://192.168.100.142:5123/"); var commHandler = new ReadyCommunication(connection); var navHandler = new ReadyNavigation(connection); var sysHandler = new ReadySystem(connection); var orbit = new Orbit(); var waypoint = navHandler.getWaypoint("embaixo da mesa"); orbit.setOrbitAroundWaypoint(1.0, Orbit.Orientation.Clockwise, waypoint); var responseTest = sysHandler.requestFocus(); while (!sysHandler.isCurrentApplication()) { Console.WriteLine("nao sou"); } ; Console.WriteLine("sou"); var lockAnswer = sysHandler.lockFocus(); var coordinate = orbit.getCurrentCoordinate(); navHandler.goToCoordinate(coordinate.Position, coordinate.Orientation); while (true) { var distace = navHandler.getDistanceFromCoordinate(orbit.getCurrentCoordinate().Position); if (distace <= 0.3) { coordinate = orbit.setCurrentCoordinate(); navHandler.goToCoordinate(coordinate.Position, coordinate.Orientation); var speakResponse = commHandler.speak("going to the next position!"); Console.WriteLine(speakResponse); } Thread.Sleep(100); } Console.ReadKey(); }
static void Main(string[] args) { int id = 3; var connection = new ReadyConnection(id, "http://192.168.100.142:5123/"); var commHandler = new ReadyCommunication(connection); var navHandler = new ReadyNavigation(connection); var sysHandler = new ReadySystem(connection); var currentCoordinate = new Coordinate(); var targetCoordinate = new Coordinate(); var responseFocus = sysHandler.requestFocus(); Console.WriteLine(responseFocus); while (!sysHandler.isCurrentApplication()) { Console.WriteLine("Nao sou a aplicacao em Foco"); } ; sysHandler.lockFocus(); Console.WriteLine("Sou a aplicacao em Foco"); Random rnd = new Random(); bool called = false; bool go = false; double distance = 0f; float angle = 0f; currentCoordinate = navHandler.getCurrentCoordinate(); targetCoordinate = currentCoordinate; while (true) { currentCoordinate = navHandler.getCurrentCoordinate(); if (GetDistance(currentCoordinate, targetCoordinate) < 0.3f) { angle = rnd.Next(360); distance = navHandler.getDistance(angle); targetCoordinate.Position.x = Math.Cos(AngleToRadians(angle)) * (distance - distance * 0.2f) + currentCoordinate.Position.x; targetCoordinate.Position.y = Math.Sin(AngleToRadians(angle)) * (distance - distance * 0.2f) + currentCoordinate.Position.y; targetCoordinate.Position.z = currentCoordinate.Position.z; targetCoordinate.Orientation = angle; navHandler.goToCoordinate(targetCoordinate.Position, targetCoordinate.Orientation); } if (go == true) { go = false; } called = commHandler.wordWasSaid("waiter"); if (called == true) { navHandler.goToCoordinate(currentCoordinate.Position, currentCoordinate.Orientation); DateTime time = DateTime.Now.AddSeconds(10); while (time > DateTime.Now || go != true) { go = commHandler.wordWasSaid("go"); } called = false; } } }