protected override Response SyncTask(Command command)
{
TBWriter.Spaced(" >>> Received " + command.CommandName + " , received = [" + command.Parameters + "]");
string humanName;
Vector3 posiblePosition;
double humanPan;
double humanTilt;
if (Parse.humanInfo(command.Parameters, out humanName, out posiblePosition, out humanPan, out humanTilt))
{
posiblePosition = taskPlanner.robot.TransMinoru2Robot(posiblePosition);
taskPlanner.personPFAutoDetected = new Human(humanName, posiblePosition);
TBWriter.Info2("PFAutoDetected : founded " + humanName + " located in " + posiblePosition.ToString());
this.cmdMan.PRS_FND_auto(false, "");
}
else
{
taskPlanner.personPFAutoDetected = null;
}
TBWriter.Spaced(" Terminated " + command.CommandName + " , sending = [" + command.Parameters + "] <<<");
return(null);
}
public void SaveScenenNodeList(string filePath)
{
TBWriter.Info4("Saving ScenenNodeList ...");
XmlSerializer serializer;
FileStream fs = File.Open(filePath, FileMode.Create);
serializer = new XmlSerializer(typeof(SceneNode[]));
serializer.Serialize(fs, sceneNodes.ToArray());
fs.Close();
TBWriter.Info2("Saved SceneNodeList in " + filePath);
}
private void cmdMan_SharedVariablesLoaded(CommandManager cmdMan)
{
if (successSharedVarSuscription)
{
return;
}
TBWriter.Write(3, " CmdMan : Shared Variable Loaded succesfully, trying to suscribe . . .");
successSharedVarConnected = suscribeSharedVarConnected();
successSharVarHdPos = suscribeSharVarHdPos();
successSharVarOdometryPos = suscribeSharVarOdometryPos();
successSharVarSkeletons = suscribeSharVarSkeletons();
successSharVarTorso = suscribeSharVarTorso();
successSharVarRobotRegion = suscribeSharVarRobotRegion();
taskPlanner.robot.ActualizeConnectedModules(sharedVarConnected.Value);
successSharedVarSuscription = successSharedVarConnected & successSharVarHdPos & successSharVarOdometryPos & successSharVarSkeletons & successSharVarTorso & successSharVarRobotRegion;
if (successSharedVarSuscription)
{
cmdMan.Ready = true;
TBWriter.Info2(" All Shared Variable Suscribed Succesfully");
TBWriter.Write("");
TBWriter.Write("----- Systems Ready ----- ");
TBWriter.Write("");
}
else
{
cmdMan.Ready = false;
TBWriter.Error(": Shared Variable Suscription Failed");
TBWriter.Warning1("System is not fully ready");
cmdMan.Ready = false;
}
}
