/// <summary>
/// Returns a list of paths stored in the robot.
/// </summary>
/// <returns></returns>
public string[] GetPathList()
{
RovioResponse response = MovementControl(Commands.GetPathList);
// solves version bug
if (response.ContainsKey("version"))
{
Thread.Sleep(2000);
return(this.GetPathList());
}
List <string> list = new List <string>();
if (response["responses"] == "0")
{
//path_list_refreshed = 1;
//if (list.indexOf(" = 0") != -1)
//{
// list = list.substring(list.indexOf("responses = 0") + 13);
// if (trim(list).length)
// {
// var paths = list.split('|');
// for (i = 0; i < paths.length; i++)
// {
// addPathToList(paths[i]);
// }
// }
//}
}
return(list.ToArray());
}
/// <summary>
/// Turning on/off IR detector.
/// </summary>
/// <param name="state">0 - off, 1 - on</param>
/// <returns></returns>
public string SetIRState(bool enabled)
{
RovioResponse response = MovementControl(Commands.TestCommand,
new RequestItem("IR", enabled ? 1 : 0));
return("");
}
/// <summary>
/// Deletes specified path.
/// </summary>
/// <param name="PathName">name of the path</param>
/// <returns>Response code</returns>
public string Deletepath(string PathName)
{
RovioResponse response = MovementControl(Commands.Deletepath,
new RequestItem("name", PathName));
return("");
}
internal Dictionary <FlashParameters, Int32> ReadAllParameters()
{
Dictionary <FlashParameters, Int32> dic = new Dictionary <FlashParameters, int>();
RovioResponse response = MovementControl(Commands.ReadParameter);
foreach (RovioResponseItem item in response)
{
if (!item.Key.StartsWith("v"))
{
continue;
}
FlashParameters paraId = (FlashParameters)int.Parse(item.Key.Substring(1));
int value = -1;
if (string.IsNullOrEmpty(item.Value))
{
value = -1;
}
else
{
value = Int32.Parse(item.Value);
}
if (dic.ContainsKey(paraId))
{
dic[paraId] = value;
}
else
{
dic.Add(paraId, value);
}
}
return(dic);
}
/// <summary>
/// Turn off or turn on Rovio head light.
/// </summary>
/// <param name="Value">0 - Off, 1 - On</param>
/// <returns></returns>
public string SetHeadLight(HeadLightState state)
{
RovioResponse response = MovementControl(Commands.TestCommand,
new RequestItem("LIGHT", (int)state));
return("");
}
/// <summary>
/// Emails current image or if in path recording mode sets an action.
/// </summary>
/// <param name="email">email address ([email protected])</param>
/// <returns></returns>
public string EmailImage(string email)
{
RovioResponse response = MovementControl(Commands.EmailImage,
new RequestItem("email", email));
return("");
}
public static RovioStatus Parse(RovioResponse response)
{
RovioStatus status = new RovioStatus();
return(status);
}
/// <summary>
/// Stops the recoding of a path and stores it in flash memory; javascript will give default name if user does not provide one.
/// </summary>
/// <param name="PathName">name of the path</param>
/// <returns>Response code</returns>
public string StopRecording(string PathName)
{
RovioResponse response = MovementControl(Commands.StopRecording,
new RequestItem("name", PathName));
return("");
}
/// <summary>
/// Replays a stored path from closest point to the beginning; If NorthStar signal is lost it stops.
/// </summary>
/// <remarks>In API 1.2 there is no mention of PathName parameter</remarks>
/// <param name="PathName"></param>
/// <returns></returns>
public string PlayPathBackward(string PathName)
{
RovioResponse response = MovementControl(Commands.PlayPathBackward,
new RequestItem("name", PathName));
return("");
}
/// <summary>
/// Read parameter in the robot’s Flash memory.
/// </summary>
/// <param name="index">0 – 19</param>
/// <returns></returns>
public Int32 ReadParameter(long index)
{
RovioResponse response = MovementControl(Commands.ReadParameter,
new RequestItem("index", index));
return(Int32.Parse(response["value"]));
}
public static RovioMcuReport Parse(RovioResponse dic)
{
RovioMcuReport report = new RovioMcuReport();
//0E0100000000000000000003CB744B
string responses = dic["responses"];
byte[] data = new byte[responses.Length / 2];
for (int i = 0; i < data.Length; i++)
{
data[i] = byte.Parse(responses.Substring(i * 2, 2), System.Globalization.NumberStyles.HexNumber);
}
int offset = 0;
//Length of the packet
int length = data[offset]; offset += 1;
//NOT IN USE
offset += 1;
//Direction of rotation of left wheel since last read (bit 2)
int leftWheelDirection = data[offset]; offset += 1;
//Number of left wheel encoder ticks since last read
int leftWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of right wheel since last read (bit 2)
int rightWheelDirection = data[offset]; offset += 1;
//Number of right wheel encoder ticks since last read
int rightWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of rear wheel since last read (bit 2)
int rearWheelDirection = data[offset]; offset += 1;
//Number of rear wheel encoder ticks since last read
int rearWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//NOT IN USE
offset += 1;
//Head position
int headPosition = data[offset]; offset += 1;
//Battery
// 0x7F: Battery Full (0x7F or higher for new battery)
// 0x??: Orange light in Rovio head. ( to be define)
// 0x6A: Very low battery (Hungry, danger, very low battery level)
// libNS need take control to go home and charging
// 0x64: Shutdown level (MCU will cut off power for protecting the battery)
int battery = data[offset]; offset += 1;
//status
//bit 0 : Light LED (head) status, 0: OFF, 1: ON
//bit 1 : IR-Radar power status. 0: OFF, 1: ON
//bit 2 : IR-Radar detector status: 0: fine, 1: barrier detected.
//bit 3-5: Charger staus
// 0x00 : nothing happen
// 0x01 : charging completed.
// 0x02 : in charging
// 0x04 : something wrong, error occur.
//bit 6,7: undefined, do not use.
byte status = data[offset]; offset += 1;
report.HeadLight = ((status & 0x01) == 0x01) ? HeadLightState.On : HeadLightState.Off;
return(report);
}
/// <summary>
/// Rename the old path.
/// </summary>
/// <param name="OldPathName"></param>
/// <param name="NewPathName"></param>
/// <returns></returns>
public string RenamePath(string OldPathName, string NewPathName)
{
RovioResponse response = MovementControl(Commands.RenamePath,
new RequestItem("name", OldPathName),
new RequestItem("newname", NewPathName));
return("");
}
public static RovioMcuReport Parse(RovioResponse dic)
{
RovioMcuReport report = new RovioMcuReport();
//0E0100000000000000000003CB744B
string responses = dic["responses"];
byte[] data = new byte[responses.Length / 2];
for(int i=0;i<data.Length; i++)
data[i] = byte.Parse(responses.Substring(i * 2, 2), System.Globalization.NumberStyles.HexNumber);
int offset = 0;
//Length of the packet
int length = data[offset]; offset += 1;
//NOT IN USE
offset += 1;
//Direction of rotation of left wheel since last read (bit 2)
int leftWheelDirection = data[offset]; offset +=1;
//Number of left wheel encoder ticks since last read
int leftWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of right wheel since last read (bit 2)
int rightWheelDirection = data[offset]; offset +=1;
//Number of right wheel encoder ticks since last read
int rightWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//Direction of rotation of rear wheel since last read (bit 2)
int rearWheelDirection = data[offset]; offset +=1;
//Number of rear wheel encoder ticks since last read
int rearWheelTicks = data[offset] + data[offset + 1] * 256; offset += 2;
//NOT IN USE
offset += 1;
//Head position
int headPosition = data[offset]; offset += 1;
//Battery
// 0x7F: Battery Full (0x7F or higher for new battery)
// 0x??: Orange light in Rovio head. ( to be define)
// 0x6A: Very low battery (Hungry, danger, very low battery level)
// libNS need take control to go home and charging
// 0x64: Shutdown level (MCU will cut off power for protecting the battery)
int battery = data[offset]; offset += 1;
//status
//bit 0 : Light LED (head) status, 0: OFF, 1: ON
//bit 1 : IR-Radar power status. 0: OFF, 1: ON
//bit 2 : IR-Radar detector status: 0: fine, 1: barrier detected.
//bit 3-5: Charger staus
// 0x00 : nothing happen
// 0x01 : charging completed.
// 0x02 : in charging
// 0x04 : something wrong, error occur.
//bit 6,7: undefined, do not use.
byte status = data[offset]; offset += 1;
report.HeadLight = ((status & 0x01) == 0x01) ? HeadLightState.On : HeadLightState.Off;
return report;
}
internal static RovioStatusReport Parse(RovioStatusReport report, RovioResponse dic)
{
report.str = dic.ToString();
report.Location = new RovioLocation(
short.Parse(dic["x"]),
short.Parse(dic["y"]),
double.Parse(dic["theta"]));
report.parseRoomId(dic["room"]);
report.parseNavStrength(dic["ss"]);
//如果信号太弱，将RoomId置为-1。
if (!report.HasNavSignal)
{
report.RoomID = -1;
}
report.BeaconSignalStrength = UInt16.Parse(dic["beacon"]);
report.BeaconPoitionX = Int16.Parse(dic["beacon_x"]);
report.NextRoomID = int.Parse(dic["next_room"]);
report.NextRoomSS = UInt16.Parse(dic["next_room_ss"]);
report.parseNavState(dic["state"]);
report.ui_status = int.Parse(dic["ui_status"]);
report.resistance = int.Parse(dic["resistance"]);
report.sm = int.Parse(dic["sm"]);
report.WayPointIndex = int.Parse(dic["pp"]);
report.parseFlags(dic["flags"]);
report.brightness = byte.Parse(dic["brightness"]);
report.ResolutionId = int.Parse(dic["resolution"]);
report.VideoCompression = (VideoCompression)int.Parse(dic["video_compression"]);
report.frame_rate = int.Parse(dic["frame_rate"]);
report.Privilege = (UserPrivilege)int.Parse(dic["privilege"]);
report.AuthenticationRequired = (int.Parse(dic["user_check"]) == 1);// ???? == 0
//0 (lowest) – 31 (highest)
report.speaker_volume = double.Parse(dic["speaker_volume"]) / 31.0;
//0 (lowest) – 31 (highest)
report.mic_volume = double.Parse(dic["mic_volume"]) / 31.0;
report.parseWifiStrength(dic["wifi_ss"]);
// 0 = Not showing the time. 1 = Showing time.
report.show_time = (int.Parse(dic["show_time"]) == 1);
report.ddns_state = (DdnsStates)int.Parse(dic["ddns_state"]);
report.email_state = int.Parse(dic["email_state"]);
report.parseBatteryStrength(dic["battery"]);
report.parseCharging(dic["charging"]);
report.HeadPositionTickCount = int.Parse(dic["head_position"]);
report.ACFrequency = (ACFrequency)int.Parse(dic["ac_freq"]);
return(report);
}
public static UPnPInfo Parse(RovioResponse response)
{
UPnPInfo info = new UPnPInfo();
info.Enable = (response["Enable"] == "1");
info.Port = int.Parse(response["Port"]);
info.IP = response["IP"];
info.HttpPort = int.Parse(response["HTTP"]);
info.RstpTcpPort = int.Parse(response["RTSP_TCP"]);
info.RstpUdpPort = int.Parse(response["RTSP_UDP"]);
return info;
}
/// <summary>
/// Generates a report from libNS module that provides Rovio’s current status.
/// </summary>
/// <returns></returns>
public RovioStatusReport GetReport()
{
RovioResponse reports = MovementControl(Commands.GetReport);
ResponseCodes responses = (ResponseCodes)int.Parse(reports["responses"]);
if (responses != ResponseCodes.SUCCESS)
{
throw new Exception("获取报告失败：" + responses);
}
report.Update(reports);
return(report);
}
public static UPnPInfo Parse(RovioResponse response)
{
UPnPInfo info = new UPnPInfo();
info.Enable = (response["Enable"] == "1");
info.Port = int.Parse(response["Port"]);
info.IP = response["IP"];
info.HttpPort = int.Parse(response["HTTP"]);
info.RstpTcpPort = int.Parse(response["RTSP_TCP"]);
info.RstpUdpPort = int.Parse(response["RTSP_UDP"]);
return(info);
}
public bool CheckConnection()
{
try
{
RovioResponse response = api.Request("/GetMyself.cgi", 2000,
new RequestItem("ShowPrivilege", 0));
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// Returns homing, docking and driving parameters.
/// </summary>
/// <returns></returns>
public TuningParameters GetTuningParameters()
{
RovioResponse response = MovementControl(Commands.GetTuningParameters);
TuningParameters result = new TuningParameters
{
LeftRight = byte.Parse(response["LeftRight"]),
Forward = byte.Parse(response["Forward"]),
Reverse = byte.Parse(response["Reverse"]),
DriveTurn = byte.Parse(response["DriveTurn"]),
HomingTurn = byte.Parse(response["HomingTurn"]),
ManDrive = byte.Parse(response["ManDrive"]),
ManTurn = byte.Parse(response["ManTurn"]),
DockTimeout = int.Parse(response["DockTimeout"]),
};
return(result);
}
/// <summary>
///
/// </summary>
/// <param name="action"></param>
/// <param name="speed">1 (fastest) – 10 (slowest) </param>
internal string ManualDrive(int action, int speed, int?angle = null)
{
if (angle == null)
{
RovioResponse response = this.MovementControl(Commands.ManualDrive,
new RequestItem("drive", action),
new RequestItem("speed", speed));
}
else
{
RovioResponse response = this.MovementControl(Commands.ManualDrive,
new RequestItem("drive", action),
new RequestItem("speed", speed),
new RequestItem("angle", angle.Value));
}
return("");
}
/// <summary>
/// Change camera sensor’s settings.
/// </summary>
/// <param name="Frequency">50 – 50Hz, 60 – 60Hz, 0 – Auto detect</param>
/// <returns></returns>
public string SetCamera(ACFrequency frequency)
{
int number = 50;
switch (frequency)
{
case ACFrequency._50Hz:
number = 50;
break;
case ACFrequency._60Hz:
number = 60;
break;
case ACFrequency.AutoDetect:
number = 0;
break;
}
RovioResponse response = rovio.Request("SetCamera.cgi?Frequency=" + number.ToString());
return("");
}
/// <summary>
/// Change the brightness setting of camera's images.
/// </summary>
/// <param name="brightness">0 - 6 (The lower the value is, the dimmer the image is)</param>
/// <returns></returns>
public void ChangeBrightness(int brightness)
{
RovioResponse response = rovio.Request("ChangeBrightness.cgi?Brightness=" + brightness.ToString());
}
/// <summary>
/// Change the frame rate setting of camera's images.
/// </summary>
/// <param name="framerate">2 – 32 frame per seconds respectively</param>
/// <returns></returns>
public void ChangeFramerate(int framerate)
{
RovioResponse response = rovio.Request("ChangeFramerate.cgi?Framerate=" + framerate.ToString());
}
/// <summary>
/// Change the quality setting of camera's images. (only available with MPEG4)
/// </summary>
/// <param name="ratio">0 – 2 (representing low, medium and high quality respectively)</param>
/// <returns></returns>
public void ChangeCompressRatio(VideoCompression ratio)
{
RovioResponse response = rovio.Request("ChangeCompressRatio.cgi?Ratio=" + ratio.ToString());
}
/// <summary>
/// Change the resolution setting of camera's images.
/// </summary>
/// <param name="ResType">Camera supports 4 types of resolution:0 - {176, 144}1 - {352, 288}2 - {320, 240} (Default)3 - {640, 480}</param>
/// <returns></returns>
public void ChangeResolution(int ResType)
{
RovioResponse response = rovio.Request("ChangeResolution.cgi?ResType=" + ResType.ToString());
}
/// <summary>
/// The basic command for acquiring MJPEG.
/// <remarks>NOT IMPLEMENTED</remarks>
/// </summary>
/// <returns></returns>
public string GetData()
{
RovioResponse response = rovio.Request("GetData.cgi");
return("");
}
public static RovioStatus Parse(RovioResponse response)
{
RovioStatus status = new RovioStatus();
return status;
}
internal static RovioStatusReport Parse(RovioStatusReport report, RovioResponse dic)
{
report.str = dic.ToString();
report.Location = new RovioLocation(
short.Parse(dic["x"]),
short.Parse(dic["y"]),
double.Parse(dic["theta"]));
report.parseRoomId(dic["room"]);
report.parseNavStrength(dic["ss"]);
//如果信号太弱，将RoomId置为-1。
if (!report.HasNavSignal)
report.RoomID = -1;
report.BeaconSignalStrength = UInt16.Parse(dic["beacon"]);
report.BeaconPoitionX = Int16.Parse(dic["beacon_x"]);
report.NextRoomID = int.Parse(dic["next_room"]);
report.NextRoomSS = UInt16.Parse(dic["next_room_ss"]);
report.parseNavState(dic["state"]);
report.ui_status = int.Parse(dic["ui_status"]);
report.resistance = int.Parse(dic["resistance"]);
report.sm = int.Parse(dic["sm"]);
report.WayPointIndex = int.Parse(dic["pp"]);
report.parseFlags(dic["flags"]);
report.brightness = byte.Parse(dic["brightness"]);
report.ResolutionId = int.Parse(dic["resolution"]);
report.VideoCompression = (VideoCompression)int.Parse(dic["video_compression"]);
report.frame_rate = int.Parse(dic["frame_rate"]);
report.Privilege = (UserPrivilege)int.Parse(dic["privilege"]);
report.AuthenticationRequired = (int.Parse(dic["user_check"]) == 1);// ???? == 0
//0 (lowest) – 31 (highest)
report.speaker_volume = double.Parse(dic["speaker_volume"]) / 31.0;
//0 (lowest) – 31 (highest)
report.mic_volume = double.Parse(dic["mic_volume"]) / 31.0;
report.parseWifiStrength(dic["wifi_ss"]);
// 0 = Not showing the time. 1 = Showing time.
report.show_time = (int.Parse(dic["show_time"]) == 1);
report.ddns_state = (DdnsStates)int.Parse(dic["ddns_state"]);
report.email_state = int.Parse(dic["email_state"]);
report.parseBatteryStrength(dic["battery"]);
report.parseCharging(dic["charging"]);
report.HeadPositionTickCount = int.Parse(dic["head_position"]);
report.ACFrequency = (ACFrequency)int.Parse(dic["ac_freq"]);
return report;
}
/// <summary>
/// Stores parameter in the robot’s Flash memory.
/// </summary>
/// <param name="index">0 – 19</param>
/// <param name="value">32bit signed integer</param>
/// <returns></returns>
internal void SaveParameter(FlashParameters parameterId, Int32 value)
{
RovioResponse response = MovementControl(Commands.SaveParameter,
new RequestItem("index", (int)parameterId),
new RequestItem("value", value));
}
/// <summary>
/// Change the Speaker Volume setting of camera.
/// </summary>
/// <param name="SpeakerVolume">[0.0, 1.0]</param>
/// <returns></returns>
public void ChangeSpeakerVolume(double volume)
{
//Speaker Volume : 0 - 31 (The lower the value is, the lower the speaker volume is)
int rawValue = RovioAPI.SetDouble(volume, 0, 31);
RovioResponse response = rovio.Request("ChangeSpeakerVolume.cgi?SpeakerVolume=" + rawValue);
}
public void Update(RovioResponse dic)
{
Parse(this, dic);
}
/// <summary>
/// Clears home location in the robot's Flash memory.
/// </summary>
/// <returns></returns>
public string ResetHomeLocation()
{
RovioResponse response = MovementControl(Commands.ResetHomeLocation);
return("");
}
/// <summary>
/// Returns string version of libNS and NS sensor.
/// </summary>
/// <returns></returns>
public string GetLibNSVersion()
{
RovioResponse response = MovementControl(Commands.GetLibNSVersion);
return(response["version"]);
}
/// <summary>
/// Start recording a path.
/// </summary>
/// <returns></returns>
public string StartRecoding()
{
RovioResponse response = MovementControl(Commands.StartRecoding);
return("");
}
/// <summary>
/// Terminates recording of a path without storing it to flash memory.
/// </summary>
/// <returns></returns>
public string AbortRecording()
{
RovioResponse response = MovementControl(Commands.AbortRecording);
return("");
}