public SubscriptionTester()
{
cmdMan = new CommandManager();
cmdMan.Started += new CommandManagerStatusChangedEventHandler(cmdMan_Started);
cmdMan.Stopped += new CommandManagerStatusChangedEventHandler(cmdMan_Stopped);
cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
cnnMan = new ConnectionManager(2020, cmdMan);
cnnMan.DataReceived += new ConnectionManagerDataReceivedEH(cnnMan_DataReceived);
cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
cnnMan.Started += new ConnectionManagerStatusChangedEventHandler(cnnMan_Started);
cnnMan.Stopped += new ConnectionManagerStatusChangedEventHandler(cnnMan_Stopped);
svSpeech = new RecognizedSpeechSharedVariable("recognizedSpeech");
svInteger = new IntSharedVariable("svInteger");
svInteger.ValueChanged += new SharedVariableSubscriptionReportEventHadler <int>(svInteger_ValueChanged);
svDoubles = new DoubleArraySharedVariable("svDoubles");
svDoubles.ValueChanged += new SharedVariableSubscriptionReportEventHadler <double[]>(svDoubles_ValueChanged);
svBytes = new ByteArraySharedVariable("svBytes");
svBytes.ValueChanged += new SharedVariableSubscriptionReportEventHadler <byte[]>(svBytes_ValueChanged);
svMatrix = new MatrixSharedVariable("svMatrix");
svMatrix.ValueChanged += new SharedVariableSubscriptionReportEventHadler <Robotics.Mathematics.Matrix>(svMatrix_ValueChanged);
svVector = new VectorSharedVariable("svVector");
svVector.ValueChanged += new SharedVariableSubscriptionReportEventHadler <Robotics.Mathematics.Vector>(svVector_ValueChanged);
svString = new StringSharedVariable("svString");
svString.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(svString_WriteNotification);
svRecognized = new StringSharedVariable("recognized");
svRecognized.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(svString_WriteNotification);
}
private void SuscribeToSharedVars()
{
if (!this.isSuscribedToGestureVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.gestureSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.gestureSharedVariable);
else this.gestureSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.gestureSharedVariable.Name];
this.gestureSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.gestureSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(gestureSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to gesture variable");
this.status.IsSuscribedToGestureVar = true;
this.isSuscribedToGestureVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to gesture variable"); }
}
if (!this.isSuscribedToLocationVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentLocationSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentLocationSharedVar);
else this.currentLocationSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentLocationSharedVar.Name];
this.currentLocationSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentLocationSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentLocationSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to location variable");
this.status.IsSuscribedToLocationVar = true;
this.isSuscribedToLocationVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to location variable"); }
}
if (!this.isSuscribedToRegionVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentRegionSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentRegionSharedVar);
else this.currentRegionSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentRegionSharedVar.Name];
this.currentRegionSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentRegionSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentRegionSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to region variable");
this.status.IsSuscribedToRegionVar = true;
this.isSuscribedToRegionVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to region variable"); }
}
if (!this.isSuscribedToRoomVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentRoomSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentRoomSharedVar);
else this.currentRoomSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentRoomSharedVar.Name];
this.currentRoomSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentRoomSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentRoomSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to room variable");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToRoomVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to room variable"); }
}
if (!this.isSuscribedToRecoSpeechs)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.recogSpeechsSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.recogSpeechsSharedVar);
else
this.recogSpeechsSharedVar = (RecognizedSpeechSharedVariable)this.cmdMan.SharedVariables[this.recogSpeechsSharedVar.Name];
this.recogSpeechsSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.recogSpeechsSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<Robotics.HAL.Sensors.RecognizedSpeech>(recogSpeechsSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to reco speech variable");
this.status.IsSuscribedToRecoSpeechVar = true;
this.isSuscribedToRecoSpeechs = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to reco speech variable"); }
}
if (!this.isSuscribedToSkeletons)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.skeletonsSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.skeletonsSharedVariable);
else this.skeletonsSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.skeletonsSharedVariable.Name];
this.skeletonsSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.skeletonsSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(skeletonsSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to skeletons.");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToSkeletons = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to skeletons variable"); }
}
if (!this.isSuscribedToNearesObjForLoc)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.nearestObjForLocDirection.Name))
this.cmdMan.SharedVariables.Add(this.nearestObjForLocDirection);
else this.nearestObjForLocDirection = (DoubleSharedVariable)this.cmdMan.SharedVariables[this.nearestObjForLocDirection.Name];
this.nearestObjForLocDirection.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.nearestObjForLocDirection.WriteNotification += new SharedVariableSubscriptionReportEventHadler<double>(nearestObjForLocDirection_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to " + this.nearestObjForLocDirection.Name + " shared var");
this.status.IsSuscribedToNearObjForLoc = true;
this.isSuscribedToNearesObjForLoc = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to " + this.nearestObjForLocDirection.Name + " shared var");
}
}
if (!this.isSuscribedToInGoodRegion)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.svInGoorRegionForLoc.Name))
this.cmdMan.SharedVariables.Add(this.svInGoorRegionForLoc);
else this.svInGoorRegionForLoc = (IntSharedVariable)this.cmdMan.SharedVariables[this.svInGoorRegionForLoc.Name];
this.svInGoorRegionForLoc.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.svInGoorRegionForLoc.WriteNotification += new SharedVariableSubscriptionReportEventHadler<int>(svInGoorRegionForLoc_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to " + this.svInGoorRegionForLoc.Name + " shared var");
this.status.IsSuscribedToInGoodRegion = true;
this.isSuscribedToInGoodRegion = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HA9000.-> Can't suscribe to " + this.svInGoorRegionForLoc.Name + " shared var");
}
}
if (!this.isSuscribedToCellphone)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.cell_phoneSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.cell_phoneSharedVariable);
else this.cell_phoneSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.cell_phoneSharedVariable.Name];
this.cell_phoneSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.cell_phoneSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(cellphoneSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to Cellphone.");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToCellphone = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to cellphone variable"); }
}
if (!this.isSuscribedToFall)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.fallSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.fallSharedVariable);
else this.fallSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.fallSharedVariable.Name];
this.fallSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.fallSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(fallSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to Fall variable.");
this.isSuscribedToFall = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to fall variable"); }
}
if (!this.isSuscribedToHomeSensors)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.sensorsSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.sensorsSharedVariable);
else this.sensorsSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.sensorsSharedVariable.Name];
this.sensorsSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.sensorsSharedVariable.WriteNotification+=new SharedVariableSubscriptionReportEventHadler<string>(sensorsSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000 -> Subscibed to Home Sensors variable.");
this.isSuscribedToHomeSensors = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000 -> Can't subscribe to Home Sensors variable");
}
}
}
public HAL9000Brain()
{
this.isAware = false;
this.currentRoom = "unknown";
this.currentRegion = "unknown";
this.currentLocation = "unknown";
this.knownPersons = new SortedList<string, Person>();
this.knownRooms = new SortedList<string, string>();
this.knownRegions = new SortedList<string, string>();
this.knownLocations = new SortedList<string, string>();
this.knownObjects = new SortedList<string, PhysicalObject>();
this.languageProcessor = new NaturalLanguageProcessor(this);
this.actionsToPerform = new List<SentenceImperative>();
this.recognizedSentences = new Queue<string>();
this.lastRecoGestures = new Queue<Gesture>();
this.lastPersonFallDetected = new Queue<string>();
this.sensorLectures = new Queue<string>();
this.validRoomsFile = "ValidRooms.txt";
this.validNamesFile = "ValidNames.txt";
this.knownObjectsFile = "KnownObjects.txt";
this.world = new World();
this.foundHumans = new List<string>();
this.currentRoomSharedVar = new StringSharedVariable("robotRoom");
this.currentRegionSharedVar = new StringSharedVariable("robotRegion");
this.currentLocationSharedVar = new StringSharedVariable("robotLocation");
this.gestureSharedVariable = new StringSharedVariable("gesture");
this.recogSpeechsSharedVar = new RecognizedSpeechSharedVariable("recognizedSpeech");
this.skeletonsSharedVariable = new StringSharedVariable("hf_skeletons");
this.nearestObjForLocDirection = new DoubleSharedVariable("mp_objforloc");
this.svInGoorRegionForLoc = new IntSharedVariable("mp_ingoodregion");
this.cell_phoneSharedVariable = new StringSharedVariable("cell_phone");
this.fallSharedVariable = new StringSharedVariable("positionhumanfall");
this.sensorsSharedVariable = new StringSharedVariable("home_sensors");
this.isSuscribedToGestureVar = false;
this.isSuscribedToLocationVar = false;
this.isSuscribedToRegionVar = false;
this.isSuscribedToRoomVar = false;
this.isSuscribedToRecoSpeechs = false;
this.isSuscribedToSkeletons = false;
this.isSuscribedToNearesObjForLoc = false;
this.isSuscribedToInGoodRegion = false;
this.isSuscribedToCellphone = false;
this.isSuscribedToFall = false;
this.isSuscribedToHomeSensors = false;
this.status = new HAL9000Status();
this.status.BrainWaveType = BrainWaveType.Alpha;
this.cmdMan = new HAL9000CmdMan(this.status);
this.cnnMan = new ConnectionManager("ACT-PLN", 2025, this.cmdMan);
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
this.cnnMan.ClientDisconnected += new System.Net.Sockets.TcpClientDisconnectedEventHandler(cnnMan_ClientDisconnected);
this.cnnMan.DataReceived += new ConnectionManagerDataReceivedEH(cnnMan_DataReceived);
this.cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
this.SetupCommandExecuters();
this.cnnMan.Start();
this.cmdMan.Start();
}
/// <summary>
/// Registers an existing variable within the list
/// </summary>
/// <param name="type">The type of the variable to register</param>
/// <param name="isArray">Indicates if the variable is an array</param>
/// <param name="name">The name of the variable to register</param>
/// <param name="data">The data of the variable to register received in the read operation</param>
private bool RegisterVar(string type, bool isArray, string name, string data)
{
SharedVariable variable;
variable = null;
switch (type)
{
case "double":
if (isArray)
{
variable = new DoubleArraySharedVariable(this.owner, name, false);
}
else
{
variable = new DoubleSharedVariable(this.owner, name, false);
}
break;
case "HumanFace":
if (!isArray)
{
variable = new DetectedHumanFaces(this.owner, name, false);
}
break;
case "int":
if (isArray)
{
variable = new IntArraySharedVariable(this.owner, name, false);
}
else
{
variable = new IntSharedVariable(this.owner, name, false);
}
break;
case "LaserReadingArray":
if (!isArray)
{
variable = new LaserReadingArrayShV(this.owner, name, false);
}
break;
case "long":
if (isArray)
{
variable = new LongArraySharedVariable(this.owner, name, false);
}
else
{
variable = new LongSharedVariable(this.owner, name, false);
}
break;
case "Matrix":
if (!isArray)
{
variable = new MatrixSharedVariable(this.owner, name, false);
}
break;
case "RecognizedSpeech":
if (!isArray)
{
variable = new RecognizedSpeechSharedVariable(this.owner, name, false);
}
break;
case "var":
variable = new VarSharedVariable(this.owner, name, false);
isArray = false;
break;
case "Vector":
if (!isArray)
{
variable = new VectorSharedVariable(this.owner, name, false);
}
break;
case "string":
if (!isArray)
{
variable = new StringSharedVariable(this.owner, name, false);
}
break;
}
if (variable == null)
{
return(false);
}
rwLock.AcquireWriterLock(-1);
if (!variables.ContainsKey(name))
{
variables.Add(name, variable);
}
else
{
rwLock.ReleaseWriterLock();
return(false);
}
rwLock.ReleaseWriterLock();
Exception ex;
variable.UpdateInfo(500, out ex);
variable.Initialized = true;
return(variable.Update(type, isArray, -1, name, data, out ex));
}
public void Run()
{
int svCount;
cmdMan.Start();
Response rsp;
IAsyncResult result =
cmdMan.BeginSendCommand(new Command("stop", String.Empty), 100);
cmdMan.EndSendCommand(result, out rsp);
while (cnnMan.ConnectedClientsCount < 1)
{
Thread.Sleep(100);
}
e.WaitOne();
Console.WriteLine("Loading shared variables from blackboard");
svCount = cmdMan.SharedVariables.LoadFromBlackboard();
cmdMan.Ready = true;
Console.WriteLine("Loaded " + svCount.ToString() + " shared variables.");
if (svCount > 0)
{
Console.WriteLine("Enumerating:");
foreach (SharedVariable shv in cmdMan.SharedVariables)
{
Console.WriteLine("\t" + shv.ToString());
}
}
Console.WriteLine();
if (!cmdMan.SharedVariables.Contains(svSpeech))
{
cmdMan.SharedVariables.Add(svSpeech);
}
else
{
svSpeech = (RecognizedSpeechSharedVariable)cmdMan.SharedVariables["recognizedSpeech"];
}
if (!cmdMan.SharedVariables.Contains(svInteger))
{
cmdMan.SharedVariables.Add(svInteger);
}
else
{
svInteger = (IntSharedVariable)cmdMan.SharedVariables["svInteger"];
}
if (!cmdMan.SharedVariables.Contains(svDoubles))
{
cmdMan.SharedVariables.Add(svDoubles);
}
else
{
svDoubles = (DoubleArraySharedVariable)cmdMan.SharedVariables["svDoubles"];
}
if (!cmdMan.SharedVariables.Contains(svBytes))
{
cmdMan.SharedVariables.Add(svBytes);
}
else
{
svBytes = (ByteArraySharedVariable)cmdMan.SharedVariables["svBytes"];
}
if (!cmdMan.SharedVariables.Contains(svMatrix))
{
cmdMan.SharedVariables.Add(svMatrix);
}
else
{
svMatrix = (MatrixSharedVariable)cmdMan.SharedVariables["svMatrix"];
}
if (!cmdMan.SharedVariables.Contains(svVector))
{
cmdMan.SharedVariables.Add(svVector);
}
else
{
svVector = (VectorSharedVariable)cmdMan.SharedVariables["svVector"];
}
if (!cmdMan.SharedVariables.Contains(svString))
{
cmdMan.SharedVariables.Add(svString);
}
else
{
svString = (StringSharedVariable)cmdMan.SharedVariables["svString"];
}
if (!cmdMan.SharedVariables.Contains(svRecognized))
{
cmdMan.SharedVariables.Add(svRecognized);
}
else
{
svRecognized = (StringSharedVariable)cmdMan.SharedVariables["recognized"];
}
Console.Write("Subscribing...");
try
{
svSpeech.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svSpeech.WriteNotification += new SharedVariableSubscriptionReportEventHadler <Robotics.HAL.Sensors.RecognizedSpeech>(svSpeech_WriteNotification);
svInteger.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svDoubles.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svDoubles.WriteNotification += new SharedVariableSubscriptionReportEventHadler <double[]>(svDoubles_WriteNotification);
svMatrix.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svVector.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svString.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svRecognized.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svBytes.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svBytes.WriteNotification += new SharedVariableSubscriptionReportEventHadler <byte[]>(svBytes_WriteNotification);
}
catch (Exception ex) { Console.WriteLine(ex.Message); }
Console.Write("\b\b\b");
Console.WriteLine();
Console.WriteLine("Done!");
if (cmdMan.SharedVariables.Contains("svBytes"))
{
byte[] data;
Random rnd = new Random();
for (int i = 0; i < 10; ++i)
{
data = new byte[rnd.Next(1, 21)];
for (int j = 0; j < data.Length; ++j)
{
data[j] = (byte)rnd.Next(1, 220);
}
svBytes.TryWrite(data);
Thread.Sleep(100);
}
}
/*
* if (cmdMan.SharedVariables.Contains("svDoubles"))
* {
* double[] data;
* Random rnd = new Random();
*
* for (int i = 0; i < 10; ++i)
* {
* data = new double[rnd.Next(1, 21)];
* for (int j = 0; j < data.Length; ++j)
* data[j] = rnd.Next(1, 1000);
* svDoubles.TryWrite(data);
* Thread.Sleep(100);
* }
* }
*/
for (int i = 0; i < 500; ++i)
{
svSpeech.TryWrite(new Robotics.HAL.Sensors.RecognizedSpeech(
new Robotics.HAL.Sensors.RecognizedSpeechAlternate[] {
new Robotics.HAL.Sensors.RecognizedSpeechAlternate(i.ToString(), 1),
new Robotics.HAL.Sensors.RecognizedSpeechAlternate("Hello", 0)
}
));
//Console.ReadLine();
}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
/*
* sw.Start();
* System.Text.StringBuilder sb = new System.Text.StringBuilder(65536);
* for (int i = 0; i < 65536; ++i)
* {
* sb.Append((char)('a' + i % 25));
* }
* string longStr = sb.ToString();
* sw.Stop();
* sw.Reset();
* //svString.TryWrite(longStr);
* sw.Start();
* for (int i = 0; i < 1000; ++i )
* svString.TryWrite(longStr, 0);
* sw.Stop();
* Console.WriteLine("Written 1000 times a 64k string > " + sw.ElapsedMilliseconds.ToString() + "ms elapsed.");
* Console.ReadLine();
*/
//Thread.Sleep(1000);
svInteger.TryWrite(1);
svDoubles.TryWrite(new double[] { 0, 0 });
svMatrix.Write(Robotics.Mathematics.Matrix.Identity(2));
svVector.Write(Robotics.Mathematics.Vector.Zero(4));
svString.TryWrite("Realmente dijo \"Hola mundo\"?");
Console.ReadLine();
Console.Clear();
//while (true)
// Thread.Sleep(10);
if (cmdMan.SharedVariables.Contains("var1"))
{
VarSharedVariable var1 = (VarSharedVariable)cmdMan.SharedVariables["var1"];
var1.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(var1_WriteNotification);
var1.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
for (int i = 0; i < 10; ++i)
{
var1.Write(i.ToString());
Thread.Sleep(100);
}
}
}
