/// <summary>
/// speak out a message. the message is also logged.
/// </summary>
/// <param name="message"></param>
public static void Say(string message)
{
Log(message);
if (CanSay && NaoState.Instance.Connected)
{
Proxies.GetProxy <Aldebaran.Proxies.TextToSpeechProxy>().say(message);
}
}
/// <summary>
/// Unsubscribes from any sonar proxies.
/// </summary>
private static void UnsubscribeSonarProxies()
{
SonarProxy sonar = Proxies.GetProxy <SonarProxy>();
foreach (ArrayList sub in (ArrayList)sonar.getSubscribersInfo())
{
sonar.unsubscribe(sub[0].ToString());
}
}
/// <summary>
/// Unsubscribes from any landmark-detection proxies.
/// </summary>
private static void UnsubscribeLandMarkProxies()
{
LandMarkDetectionProxy landmark = Proxies.GetProxy <LandMarkDetectionProxy>();
foreach (ArrayList sub in (ArrayList)landmark.getSubscribersInfo())
{
landmark.unsubscribe(sub[0].ToString());
}
}
/// <summary>
/// Disconnect from the currently connected-to Nao. Will do nothing if not connected.
/// </summary>
public virtual void Disconnect()
{
if (!Connected)
{
return;
}
Logger.Log(this, "Disconnecting from Nao...");
if (!Proxies.UnsubscribeAll())
{
Logger.Log(this, "Can't unsubscribe. But that's OK if you're using WeBots.");
}
IP = null;
Port = -1;
connected = false;
Proxies.DisposeAllProxies();
if (OnDisconnect != null)
{
OnDisconnect(IP.ToString(), Port);
}
Logger.Log(this, "Disconnected.");
}
///<summary>
/// Creates proxes to be used by this class only.
/// </summary>
private void CreateMyProxies()
{
motion = Proxies.GetProxy <MotionProxy>();
battery = Proxies.GetProxy <BatteryProxy>();
memory = Proxies.GetProxy <MemoryProxy>();
}
