private void BuildServoGroups()
{
var servoGroupsField = IRControllerType.GetField("ServoGroups");
if (servoGroupsField == null)
{
LogFormatted("Failed Getting ServoGroups fieldinfo");
}
else if (IRWrapper.ActualController == null)
{
LogFormatted("ServoController Instance not found");
}
else
{
actualServoGroups = servoGroupsField.GetValue(IRWrapper.ActualController);
}
}
internal static bool InitWrapper()
{
isWrapped = false;
ActualController = null;
IRController = null;
LogFormatted("Attempting to Grab IR Types...");
IRControllerType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t =>
{
if (t.FullName == "InfernalRobotics_v3.Command.Controller")
{
IRControllerType = t;
}
});
if (IRControllerType == null)
{
return(false);
}
LogFormatted("IR Version:{0}", IRControllerType.Assembly.GetName().Version.ToString());
IRMotorType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t =>
{
if (t.FullName == "InfernalRobotics_v3.Interfaces.IMotor")
{
IRMotorType = t;
}
});
if (IRMotorType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Motor Type");
return(false);
}
IRServoType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t =>
{
if (t.FullName == "InfernalRobotics_v3.Interfaces.IServo")
{
IRServoType = t;
}
});
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Servo Type");
return(false);
}
IRControlGroupType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t =>
{
if (t.FullName == "InfernalRobotics_v3.Command.ControlGroup")
{
IRControlGroupType = t;
}
});
if (IRControlGroupType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
try
{
var propertyInfo = IRControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (propertyInfo == null)
{
LogFormatted("[IR Wrapper] Cannot find Instance Property");
}
else
{
ActualController = propertyInfo.GetValue(null, null);
}
}
catch (Exception e)
{
LogFormatted("No Instance found, " + e.Message);
}
if (ActualController == null)
{
LogFormatted("Failed grabbing Instance");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IRController = new InfernalRoboticsAPI();
isWrapped = true;
return(true);
}
private void DetermineReady()
{
LogFormatted("Getting APIReady Object");
apiReady = IRControllerType.GetProperty("APIReady", BindingFlags.Public | BindingFlags.Static);
LogFormatted("Success: " + (apiReady != null));
}
internal bool InternalInitWrapper()
{
instance = this;
isWrapped = false;
ActualController = null;
IRController = null;
LogFormatted("Attempting to Grab IR Types...");
IRControllerType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Command.ServoController");
if (IRControllerType == null)
{
return(false);
}
LogFormatted("IR Version:{0}", IRControllerType.Assembly.GetName().Version.ToString());
IRServoMechanismType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Control.IMechanism");
if (IRServoMechanismType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Mechanism Type");
return(false);
}
IRServoMotorType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Control.IServoMotor");
if (IRServoMotorType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoMotor Type");
return(false);
}
IRServoType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Control.IServo");
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Servo Type");
return(false);
}
IRServoPartType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Control.IPart");
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ServoPart Type");
return(false);
}
IRControlGroupType = AssemblyLoader.loadedAssemblies
.Select(a => a.assembly.GetExportedTypes())
.SelectMany(t => t)
.FirstOrDefault(t => t.FullName == "InfernalRobotics.Command.ServoController+ControlGroup");
if (IRControlGroupType == null)
{
var irassembly = AssemblyLoader.loadedAssemblies.FirstOrDefault(a => a.assembly.FullName.Contains("InfernalRobotics"));
if (irassembly == null)
{
LogFormatted("[IR Wrapper] cannot find InvernalRobotics.dll");
return(false);
}
foreach (Type t in irassembly.assembly.GetExportedTypes())
{
LogFormatted("[IR Wrapper] Exported type: " + t.FullName);
}
LogFormatted("[IR Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
try {
var propertyInfo = IRControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (propertyInfo == null)
{
LogFormatted("[IR Wrapper] Cannot find Instance Property");
}
else
{
ActualController = propertyInfo.GetValue(null, null);
}
} catch (Exception e) {
LogFormatted("No Instance found, " + e.Message);
}
if (ActualController == null)
{
LogFormatted("Failed grabbing Instance");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IRController = new InfernalRoboticsAPI();
isWrapped = true;
return(true);
}
internal bool InternalInitWrapper()
{
instance = this;
isWrapped = false;
IRController = null;
LogFormatted("Attempting to Grab IR Types...");
IRControllerType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRobotics_v3.Command.Controller")
{
IRControllerType = t;
}
});
if (IRControllerType == null)
{
return(false);
}
LogFormatted("IR Version:{0}", IRControllerType.Assembly.GetName().Version.ToString());
IRMotorType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRobotics_v3.Interfaces.IMotor")
{
IRMotorType = t;
}
});
if (IRMotorType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Motor Type");
return(false);
}
IRServoType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRobotics_v3.Interfaces.IServo")
{
IRServoType = t;
}
});
if (IRServoType == null)
{
LogFormatted("[IR Wrapper] Failed to grab Servo Type");
return(false);
}
IRControlGroupType = null;
AssemblyLoader.loadedAssemblies.TypeOperation(t => {
if (t.FullName == "InfernalRobotics_v3.Command.ControlGroup")
{
IRControlGroupType = t;
}
});
if (IRControlGroupType == null)
{
LogFormatted("[IR Wrapper] Failed to grab ControlGroup Type");
return(false);
}
LogFormatted("Got Assembly Types, grabbing Instance");
Controller = IRControllerType.GetProperty("Instance", BindingFlags.Public | BindingFlags.Static);
if (Controller == null)
{
LogFormatted("[IR Wrapper] Cannot find Instance Property");
return(false);
}
LogFormatted("Got Instance, Creating Wrapper Objects");
IRController = new InfernalRoboticsAPI();
isWrapped = true;
return(true);
}
