// see http://code.jonwagner.com/2012/09/06/best-practices-for-c-asyncawait/
// http://www.c-sharpcorner.com/UploadFile/pranayamr/difference-between-await-and-continuewith-keyword-in-C-Sharp/
// http://code.jonwagner.com/2012/09/04/deadlock-asyncawait-is-not-task-wait/
// https://msdn.microsoft.com/en-us/library/ff963550.aspx - Parallel Programming book
public override async Task Init(CancellationTokenSource cts, string[] args)
{
await base.Init(cts, args); // produces hardwareBrick and sets it for communication
joystick.joystickEvent += Joystick_joystickEvent;
sensorsController = new SensorsControllerPlucky(hardwareBrick, loopTimeMs);
await sensorsController.InitSensors(cts);
InitDrive(); // also initializes Odometry and attaches it to the drive
InitGps();
behaviorFactory = new BehaviorFactory(subsumptionTaskDispatcher, driveGeometry, speaker);
// we can set behavior combo now, or allow ControlDeviceCommand to set it later.
//behaviorFactory.produce(BehaviorCompositionType.JoystickAndStop);
robotState = new RobotState();
robotPose = new RobotPose();
robotState.powerLevelPercent = 100; // can be changed any time. Used by behaviors.
robotPose.geoPosition.moveTo(lng, lat, elev); // will be set to GPS coordinates, if available
robotPose.direction.heading = headingDegrees; // will be set to Compass Heading, if available
robotPose.reset();
robotSlam = new RobotSLAM();
await InitComm(cts); // may throw exceptions
// see what kind of timer we have to measure durations:
if (Stopwatch.IsHighResolution)
{
Debug.WriteLine("OK: operations are timed using the system's high-resolution performance counter.");
}
else
{
Debug.WriteLine("Warning: operations are timed using the DateTime class.");
}
stopWatch.Start();
if (isCommError)
{
speaker.Speak("Plucky cannot see his brick");
}
else
{
speaker.Speak("I am Plucky");
}
}
// see http://code.jonwagner.com/2012/09/06/best-practices-for-c-asyncawait/
// http://www.c-sharpcorner.com/UploadFile/pranayamr/difference-between-await-and-continuewith-keyword-in-C-Sharp/
// http://code.jonwagner.com/2012/09/04/deadlock-asyncawait-is-not-task-wait/
// https://msdn.microsoft.com/en-us/library/ff963550.aspx - Parallel Programming book
public override async Task Init(CancellationTokenSource cts, string[] args)
{
await base.Init(cts, args); // produces hardwareBrick and sets it for communication
joystick.joystickEvent += Joystick_joystickEvent;
sensorsController = new SensorsControllerPlucky(hardwareBrick, loopTimeMs);
await sensorsController.InitSensors(cts);
InitDrive();
behaviorFactory = new BehaviorFactory(subsumptionTaskDispatcher, driveGeometry, speaker);
// we can set behavior combo now, or allow ControlDeviceCommand to set it later.
//behaviorFactory.produce(BehaviorCompositionType.JoystickAndStop);
robotState = new RobotState();
robotPose = new RobotPose();
robotState.powerLevelPercent = 100; // can be changed any time. Used by behaviors.
robotPose.geoPosition.moveTo(lng, lat, elev); // will be set to GPS coordinates, if available
robotPose.direction.heading = headingDegrees; // will be set to Compass Heading, if available
robotPose.resetXY();
robotSlam = new RobotSLAM();
await InitComm(cts); // may throw exceptions
// see what kind of timer we have to measure durations:
if (Stopwatch.IsHighResolution)
{
Debug.WriteLine("OK: operations are timed using the system's high-resolution performance counter.");
}
else
{
Debug.WriteLine("Warning: operations are timed using the DateTime class.");
}
stopWatch.Start();
if (isCommError)
{
speaker.Speak("Plucky cannot see his brick");
}
else
{
speaker.Speak("I am Plucky");
}
}